Construction machine

Abstract

To provide a construction machine from / on which an unmanned flying body can easily take off and land.SOLUTION: A construction machine comprises: a cylindrical main body device 240 with a flat top surface; a work device 260 connected to one end of the main body device 240; a fuel tank 212 provided inside the other end of the main body device 240 and storing fuel to drive the work device 260; a takeoff and landing portion 42 which is provided on the flat top surface of the main body device 240 and from / on which the unmanned flying body takes off and lands; a leveling device 41 which is provided on the takeoff and landing portion 42 and whose amount of inclination relative to the vertical axis can be adjusted; and a control device 250 that controls the leveling device 41 before the flying body lands on the takeoff and landing portion 42.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present invention relates to a construction machine, and more particularly to a construction machine that allows easy takeoff and landing of unmanned aerial vehicles. [Background technology]

[0002] It has been proposed to provide a takeoff and landing port for unmanned aerial vehicles to take off and land on work machines such as hydraulic excavators and bulldozers. Patent Document 1 also discloses charging the unmanned aerial vehicle at this takeoff and landing port. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2019 / 026169 Summary of the Invention [Problem to be solved by the invention]

[0004] However, Patent Document 1 does not take into consideration that the work machine will be used on sloped ground, and there is a risk that the unmanned aerial vehicle will not be able to take off or land if the takeoff and landing port is sloped. Furthermore, Patent Document 1 does not disclose supplying fluid to the unmanned aerial vehicle.

[0005] Therefore, an object of the first invention is to provide a construction machine that allows an unmanned aerial vehicle to easily take off and land. [Means for solving the problem]

[0006] The construction machine of the first invention comprises a cylindrical main body device with a flat top surface, a work device connected to one end of the main body device, a fuel tank provided inside the other end of the main body device and storing fuel to power the work device, a takeoff and landing section provided on the flat top surface of the main body device and from which the unmanned aerial vehicle takes off and lands, a leveling device provided on the takeoff and landing section and capable of adjusting the amount of inclination relative to the vertical axis, and a control device that controls the leveling device before the unmanned aerial vehicle lands on the takeoff and landing section. [Effects of the Invention]

[0007] According to the first invention, a leveling table capable of adjusting the amount of inclination relative to the vertical axis is provided in the takeoff and landing section, making it possible to realize a construction machine that allows the unmanned aerial vehicle to easily take off and land. [Brief explanation of the drawings]

[0008] [Figure 1] 1A, 1B, and 1C are schematic diagrams of a conveying device according to a first embodiment of the present invention, in which FIG. 1A is a top view, FIG. 1B is a front view, and FIG. 1C is a side view. [Figure 2] FIG. 2 is a block diagram of the main parts of the transport device and drone of the first embodiment. [Figure 3] FIG. 10 is a schematic diagram showing a state in which the conveying device is on a slope and the drive shaft is driven. [Figure 4] These are diagrams showing a drone landing on the takeoff and landing section, where Figure 4(a) is a diagram showing the drone diagonally above the table section, Figure 4(b) is a diagram showing the drone above the table section, Figure 4(c) is a diagram showing the tapered portion of the second engagement section contacting the gasket, Figure 4(d) is a diagram showing the power transmitting electrode and power receiving electrode contacting each other, and Figure 4(e) is a diagram showing the legs of the drone being held by the holding section. [Figure 5] 10 is a flowchart executed by the control device. [Figure 6] FIG. 1 is a schematic diagram of a hydraulic excavator according to a second embodiment of the present invention. [Figure 7]FIG. 10 is a block diagram of the main parts of a hydraulic excavator and a drone according to the second embodiment. [Figure 8] FIG. 10 is a schematic diagram of a hydraulic excavator according to a third embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0009] Construction machines according to embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Note that the present invention is not limited to the embodiments described below. In this first embodiment, the description will continue using as an example a transport device 1 that supports a UAV (Unmanned Aerial Vehicle, hereinafter referred to as a drone 100), which is an unmanned aerial vehicle that flies over sloping ground. Note that in the following description, for convenience, the vertical direction is defined as the Z direction, and two orthogonal axial directions in a horizontal plane are defined as the X direction and the Y direction.

[0010] (First embodiment) FIG. 1 is a schematic diagram of a transport device 1 representing this first embodiment, with FIG. 1(a) being a top view, FIG. 1(b) being a front view, and FIG. 1(c) being a side view, and FIG. 2 being a block diagram of the main parts of the transport device 1 and drone 100 of this first embodiment. First, the configuration of the transport device 1 will be explained using FIG. 1 and FIG. 2. Note that FIG. 1(b) is illustrated as a cross section taken along line AA of FIG. 1(a). The transport device 1 of the first embodiment is an automatic or remote-operated type without a driver's seat. The transport device 1 includes a traveling device 10, a base unit 20, a main body unit 30, a leveling unit 40, a power transmitting device 50, a fluid supply unit 60, an imaging device 55, a first GNSS (Global Navigation Satellite System) 65, a first communication device 66, a first memory 67, and a control device 70.

[0011] The traveling device 10 moves the transport device 1 and has driving wheels 11, driven wheels 12, crawler tracks 13, and a support body 14. The traveling device 10 also has a traveling motor 15, a central frame 16, a pair of side frames 17, a pair of link mechanisms 18, and a coupler 19. In this first embodiment, the traveling device 10 is detachable from the base part 20 by the coupler 19 (described in detail later).

[0012] In the first embodiment, a triangle is formed by one drive wheel 11 and two driven wheels 12. Note that a plurality of driven wheels smaller than the two driven wheels 12 are provided between the two driven wheels 12. The crawler belt 13 is wound around one driving wheel 11 and two driven wheels 12. The support body 14 rotatably supports the driving wheel 11 and the driven wheels 12. Since there are four triangular track-type traveling bodies in this first embodiment, the conveyance device 1 can travel stably even on uneven ground. Note that an endless track with tracks wound around the front and rear wheels may also be used as the traveling device 10.

[0013] In the first embodiment, the travel motor 15 (see FIG. 2) is an in-wheel motor that is located on the rear side of the drive wheel 11 and transmits driving force to the drive wheel 11. The rotation shaft of the in-wheel motor is connected to the rotation shaft of the drive wheel 11, and the drive wheel 11 is rotated by the rotation driving force of the in-wheel motor, which in turn transmits driving force to the crawler belt 13. Note that a motor other than the in-wheel motor may be used as the travel motor 15.

[0014] The central frame 16 is a frame located between two drive wheels 11 spaced apart in the Y direction, and is connected to a pair of side frames 17 via a pair of link mechanisms 18. A coupler 19 for connecting to a base portion 20 is provided on the upper surface of the central frame 16.

[0015] The pair of side frames 17 are frames connected to the respective drive wheels 11 via bearings (not shown).

[0016] The pair of link mechanisms 18 are Z-shaped or inverted Z-shaped, and include a pair of connecting members 18a, one end of which is connected to the pair of side frames 17 and the other end of which is connected to the central frame 16, and an actuator 18b, one end of which is connected to the connecting member 18a on the central frame 16 side and the other end of which is connected to the connecting member 18a on the side frame 17 side. Two of the pair of connecting members 18a are provided, spaced apart in the Z direction.

[0017] The actuator 18b is provided at an angle and extends and contracts to drive the pair of side frames 17 in the Z and Y directions. The actuator 18b moves the drive wheels 11, the driven wheels 12, and the crawler tracks 13 in the Z and Y directions via the pair of side frames 17. This allows the travel device 10 to change its size in the Z and Y directions. Note that, although a hydraulic jack or an electric jack can be used as the actuator 18b, it is not limited to these.

[0018] In the first embodiment, the coupler 19 has a V-shaped notch, and four couplers are provided on the upper surface of the base unit 20, but the number may be one, and the number can be set arbitrarily. The coupler 19 connects the traveling device 10 and the base unit 20 by engaging a pin (not shown) extending in the -Z direction on the lower surface of the base unit 20 with the V-shaped notch. The coupler 19 also disconnects the traveling device 10 and the base unit 20 by disengaging from the pin. The connection structure between the coupler 19 and the pin is disclosed, for example, in Japanese Patent Application Laid-Open No. 2000-6856. The coupler 19 and the pin may be attached and detached by an electromagnet.

[0019] In the first embodiment, the base unit 20 is a rectangular member, with the main body 30 placed on its upper surface and foldable legs 21 provided on its lower surface. The legs 21 are members that allow the base unit 20 to stand on its own before and after attachment and detachment to the traveling device 10. In the first embodiment, the base unit 20 is provided with two legs 21, but the number can be set as desired. Furthermore, the shape of the base unit 20 is not limited to a rectangular shape, and can be any shape, such as an oval shape. Furthermore, the position of the base unit 20 in the Z direction can be changed by driving the actuator 18b.

[0020] The main body 30 is fixed to the upper surface of the base 20 and houses therein a battery 31 that supplies power to electrical components such as the travel motor 15 and actuator 18b, a leveling motor 32 that drives the leveling unit 40, a container 33 that stores fluid, and a pump 34 that can discharge this fluid into the drone 100.

[0021] The battery 31 is a secondary battery that can be repeatedly charged and discharged, and may be a lithium ion secondary battery, a lithium polymer secondary battery, or the like. If the battery 31 is a lithium ion secondary battery, it can be charged using a constant current, constant voltage power receiving method, and if it is a nickel-metal hydride secondary battery or a nickel-cadmium secondary battery, it can be charged using constant current charging. Note that although some components are omitted from the block diagram of FIG. 2, the battery 31 supplies power to all of the electrical components of the transport device 1.

[0022] The leveling motor 32 is a motor for independently driving three drive shafts 41 (described later) that make up the leveling unit 40 along the Z direction. In the first embodiment, the leveling motor 32 uses three DC motors, but is not limited to this. The leveling motor 32 is driven by power supplied from a battery 31.

[0023] The container 33 is a container for storing fluids such as liquids and gases, and in the first embodiment, supplies liquids such as pesticides, cleaning solutions, chemical solutions, pure water, and drinking water. Note that if the drone flies using gas fuel, the gas fuel (hydrogen, oxygen, etc.) may be stored in the container 33.

[0024] The pump 34 supplies the fluid stored in the container 33 to the drone 100 via a fluid supply unit 60 (described later). In the first embodiment, the pump 34 may be a DC pump or a DC electromagnetic motor that uses an electromagnet instead of a motor. The pump 34 is driven by power supplied from the battery 31.

[0025] The leveling section 40 includes three drive shafts 41, a table section 42, an attitude detection section 43, a holding section 44, a spring 45, and an opening 46, and in this first embodiment functions as a takeoff and landing section for the drone 100 to take off and land.

[0026] The three drive shafts 41 are arranged so that the distance between the drive shafts 41 is equal, and one end is connected to the main body 30, and the other end is connected to the table 42. The three drive shafts 41 are driven in the Z direction by the leveling motor 32. That is, the tilt amount of the table 42 with respect to the vertical axis is adjustable.

[0027] 3 is a schematic diagram showing the state in which the transport device 1 is on a slope and the drive shaft 41 is driven. Driving the drive shaft 41 with the leveling motor 32 makes it possible to level the table portion 42. This allows the drone 100 to easily take off and land on the table portion 42.

[0028] The table unit 42 is provided on the upper surface side (+Z side) of the main body unit 30, and is large enough for the drone 100 to take off and land. In FIG. 1, one drone 100 is shown landing on the table unit 42, but the table unit 42 may be large enough for two or more drones 100 to take off and land. In this case, there may be one leveling unit 40, or multiple leveling units 40 depending on the number of drones 100. Note that although the shape of the table unit 42 is circular in the first embodiment, it may also be rectangular.

[0029] 1, the attitude detection unit 43 is provided on the upper or lower surface of the table unit 42 and detects the attitude of the table unit 42. An inclinometer, a spirit level, or the like can be used as the attitude detection unit 43. The drive shaft 41 described above is driven based on the detection result of the attitude detection unit 43.

[0030] The holding unit 44 engages with legs 109 (described below) provided on the drone 100 to hold the drone 100 on the table unit 42. In the first embodiment, the holding unit 44 is provided on the table unit 42 and is a rectangular groove that can engage with the legs 109. The shape of the groove can be any shape depending on the shape of the legs 109. Instead of a groove, the holding unit 44 may be a locking mechanism that mechanically or electromagnetically locks the legs 109.

[0031] The spring 45 is an elastic member, and one end is connected to the table portion 42, and the other end is connected to the power transmission device 50 (first engagement portion 51, described below). When the drone 100 lands on the table portion 42, the spring 45 elastically deforms so as to contract due to the drone 100's own weight. At this time, the power transmission device 50 is held by the table portion 42.

[0032] The opening 46 is a through-hole provided in the table portion 42. In the first embodiment, the opening 46 is provided in the center of the table portion 42, and serves as a path for routing the wiring of the power transmission device 50 between the leveling unit 40 and the power transmission device 50. The opening 46 also serves as a path for routing a supply pipe 61 (described later) between the leveling unit 40 and the fluid supply unit 60 .

[0033] The power transmitting device 50 (see FIG. 4) is provided on the upper surface side (+Z side) of the table portion 42 via a spring 45. The power transmitting device 50 supplies power to a power receiving device 103 (described below) provided on the drone 100. The power transmitting device 50 has a first engagement portion 51, a power transmitting electrode 52, and a switch (not shown).

[0034] The first engagement portion 51 is capable of engaging with a second engagement portion 111 of the drone 100, which will be described later, and has a tapered opening on the inside that narrows in diameter toward the table portion 42 side (-Z side). The power transmitting electrode 52 is provided in this tapered portion, and power is supplied by contacting the power receiving electrode 112 provided in the tapered portion of the power receiving device 103. The power transmitting electrode 52 and the battery 31 are connected by wiring that passes through the opening 46.

[0035] Note that wireless power feeding may be adopted for power feeding between the power transmitting device 50 and the power receiving device 103. Wireless power feeding is a method of supplying power without contact, and known methods include a magnetic resonance method and an electromagnetic induction method. A switch (not shown) is an on / off switch that controls whether or not the power transmitting device 50 feeds power to the power receiving device 103.

[0036] The fluid supply unit 60 (see FIG. 4) supplies the fluid from the pump 34 to the drone 100. In the first embodiment, the fluid supply unit 60 has a supply pipe 61, a joint 62, and a packing 63.

[0037] One end of supply pipe 61 is connected to pump 34, and the other end passes through opening 46 and is positioned inside first engagement portion 51. Joint 62 has a tapered shape that engages with piping portion 114, which will be described later, and is provided on the other end side of supply pipe 61. Packing 63 is provided in joint 62, and in this first embodiment is an elastically deformable rubber packing. Note that instead of opening 46, drive shaft 41 may be hollow and supply pipe 61 and electric wires may be routed through this hollow portion. In this case, it is desirable to route supply pipe 61 and electric wires through a hollow portion of drive shaft 41 separate from that of drive shaft 41.

[0038] In this first embodiment, a part of the power transmission device 50 that supplies power to the drone 100 and a part of the fluid supply part 60 that supplies fluid to the drone 100 are provided within the first engagement part 51. Therefore, by engaging the first engagement part 51 with the second engagement part 111 described below, it becomes possible to supply power and fluid, thereby preventing the drone 100 from becoming larger.

[0039] The imaging device 55 is a digital camera that has a lens, an imaging element, an image processing engine, etc., and captures videos and still images. In the first embodiment, the imaging device 55 is provided on a side surface of the main body 30, on the traveling direction side (-X side) of the conveyance device 1. The conveyance device 1 is driven automatically or remotely based on the image captured by the imaging device 55 and the position information determined by the first GNSS 65. When the conveyance device 1 is remotely driven, the image captured by the imaging device 55 and the position information determined by the first GNSS 65 are transmitted to a central control device that is provided remotely from the conveyance device 1. Note that the main body 30 may have a plurality of imaging devices 55, and an imaging device 55 may be provided on each of the left, right, front, and rear directions of the main body 30.

[0040] In addition, instead of the imaging device 55, or in combination with the imaging device 55, a LiDAR (Light Detection and Ranging) that emits electromagnetic waves may be used to detect obstacles and road surface shapes around the conveying device 1, detect the road width, and detect the distance to the destination.

[0041] The first GNSS 65 uses artificial satellites to measure the position of the transportation apparatus 1. The first communication device 66 has a transmitter, a receiver, various circuits, an antenna (not shown), and is a wireless communication unit that accesses a second communication device 106 (described below) provided in the drone 100 and a wide area network such as the Internet. In the first embodiment, the first communication device 66 transmits the position of the table unit 42 to the second communication device 106 based on the position of the transportation apparatus 1 detected by the first GNSS 65.

[0042] The first memory 67 is a non-volatile memory (for example, a flash memory), and stores various data and programs for driving each element of the conveying device 1, and various data and programs for automatically operating the conveying device 1.

[0043] The control device 70 includes a CPU, controls the entire transport device 1, and cooperates with the drone 100. In the first embodiment, the control device 70 cooperates with the UAV control device 120 of the drone 100 to perform landing control of the drone 100 and control of a series of operations for supplying power and fluid to the drone 100. The control device 70 also controls the attitude of the leveling unit 40 based on the detection result of the attitude detection unit 43. When the transport device 1 moves through a narrow space, the control device 70 may drive the actuator 18b to reduce the width of the pair of tracks 13 spaced apart in the Y direction. When crossing an obstacle, the control device 70 may drive the actuator 18b to increase the height of the central frame 16 in the Z direction.

[0044] (Drone) The drone 100 of this first embodiment includes a flying device 101, an imaging device 102, a power receiving device 103, a sensor group 104, a battery 105, a second communication device 106, a second memory 107, legs 109, a fluid device 113, and a UAV control device 120.

[0045] The flight device 101 has a motor (not shown) and multiple propellers, which generate thrust to lift the drone 100 into the air and move it through the air. The number of drones 100 that land on the takeoff and landing area can be set arbitrarily. In this case, the configuration of each drone 100 may be the same, or some of the configuration may be changed. Furthermore, the size of each drone 100 may be the same, or may be different.

[0046] The imaging device 102 is a digital camera that has a lens, an imaging element, an image processing engine, etc., and captures videos and still images. In this embodiment, the imaging device 102 is provided at the bottom of the main body of the drone 100. The imaging device 102 is equipped with a mechanism for changing its attitude so that the orientation of the lens can be changed. This allows the imaging device 102 to position the lens in various positions and capture images from various angles. Note that an omnidirectional camera (360-degree camera) may be used as the imaging device 102, and a three-dimensional scanner (e.g., LiDAR) may be used instead of the imaging device 102.

[0047] The power receiving device 103 has a second engagement portion 111 and a power receiving electrode 112. The second engagement portion 111 has a tapered portion that narrows downward (toward the -Z side) and can engage with a tapered opening on the inside of the first engagement portion 51. The power receiving electrode 112 is provided on the tapered portion on the outside of the second engagement portion 111 and receives power by coming into contact with the power transmitting electrode 52. The contact between the power transmitting electrode 52 and the power receiving electrode 112 occurs above the tip of the second engagement portion 111, so even if liquid leaks from the piping portion 114, the risk of the liquid getting on the power transmitting electrode 52 and the power receiving electrode 112 is reduced.

[0048] The sensor group 104 includes a GNSS, an infrared sensor for avoiding collisions between the drone 100 and other devices (e.g., work device 260), a barometric pressure sensor for measuring altitude, a magnetic sensor for detecting direction, a gyro sensor for detecting the attitude of the drone 100, and an acceleration sensor for detecting acceleration acting on the drone 100.

[0049] The battery 105 is a secondary battery connected to the power receiving device 103, and may be, but is not limited to, a lithium ion secondary battery or a lithium polymer secondary battery. The battery 105 is capable of supplying power to the flight device 101, the imaging device 102, the second communication device 106, the second memory 107, the fluid device 113, and the UAV control device 120.

[0050] The second communication device 106 has a wireless communication unit and accesses a wide area network such as the Internet and communicates with the first communication device 48. In this embodiment, the second communication device 106 transmits image data captured by the imaging device 102 and detection results detected by the sensor group 104 to the first communication device 48, and transmits the position of the transport device 1 (e.g., the position of the table unit 42) from the first communication device 48 to the UAV control device 120.

[0051] The second memory 107 is a non-volatile memory (e.g., flash memory) that stores various data and programs for flying the drone 100, as well as image data captured by the imaging device 102 and detection results detected by the sensor group 104. The second GNSS 108 uses artificial satellites to determine the position of the drone 100.

[0052] The legs 109 extend downward (toward the -Z side) from the drone 100 and come into contact with the landing surface when the drone 100 lands, supporting the drone 100. In the first embodiment, the legs 109 are shaped to engage with grooves in the holding portion 44 when the drone 100 lands on the table portion 42, which is the takeoff and landing portion. By engaging the legs 109 with the holding portion 44, the drone 100 will not fall off the table portion 42 even if the transport device 1 tilts.

[0053] The fluid device 113 receives fluid from the fluid supply unit 60 and supplies the fluid to a target object while the drone 100 is flying. The fluid device 113 includes a piping unit 114, a tank 115, an electromagnetic valve 116, a pump 117, and a nozzle 118.

[0054] A part of the piping part 114 is provided inside the second engagement part 111, and has a tapered part that engages with the joint 62 via the packing 63. The piping part 114 guides the fluid supplied from the fluid supply part 60 to the tank 115.

[0055] The tank 115 stores the fluid supplied from the piping section 114, and is provided with a flow meter (not shown).

[0056] The solenoid valve 116 opens and closes by turning on and off the current to the electromagnet, and controls the supply of fluid to the piping section 114. In the first embodiment, the solenoid valve 116 is normally closed, and opens when the aircraft lands on the table section 42 and supplies fluid to the tank 115. The solenoid valve 116 also closes in response to the output of a flow meter (not shown) provided in the tank 115.

[0057] The pump 117 is a pump that guides the fluid stored in the tank 115 to the nozzle 118. In the first embodiment, the pump 117 is a DC pump.

[0058] The nozzle 118 is a component that supplies fluid toward an object. In the first embodiment, the nozzle 118 is provided on the lower side of the flight device 101. The nozzle 118 supplies fluid by controlling the on / off of the pump 117. The number of nozzles 118 can be set as desired.

[0059] The UAV control device 120 includes a CPU, an attitude control circuit, a flight control circuit, and the like, and controls the entire drone 100. In addition to controlling the landing of the drone 100, the UAV control device 120 determines the timing of charging the takeoff and landing section based on the remaining charge of the battery 105, and determines the timing of supplying fluid to the takeoff and landing section based on the remaining charge of the tank 115. The UAV control device 120 also controls the imaging position, angle of view, frame rate, etc. of the imaging device 102.

[0060] If the imaging device 102 captures an image while the drone 100 is landing on the table portion 42, it is possible to capture an image from approximately the same position as from the driver's seat of a conventional transport device.

[0061] Figure 4 is a diagram showing the drone 100 landing on the takeoff and landing section, Figure 4(a) is a diagram showing the drone 100 diagonally above the table portion 42, Figure 4(b) is a diagram showing the drone 100 above the table portion 42, Figure 4(c) is a diagram showing the tapered portion of the second engagement portion 111 contacting the gasket 63, Figure 4(d) is a diagram showing the power transmitting electrode 52 and the power receiving electrode 112 contacting each other, and Figure 4(e) is a diagram showing the leg portion 109 of the drone 100 being held by the holding portion 44.

[0062] FIG. 5 is a flowchart executed by the control device 70, and the operation of the transport device 1 and the drone 100 of the first embodiment will be described below with reference to FIGS.

[0063] (flowchart) The flowchart in Fig. 5 is executed, for example, when the conveyance device 1 is located on a slope. Note that driving the drive shaft 41 based on the output of the attitude detection unit 43 to keep the table unit 42 constantly horizontal is not desirable from the viewpoint of energy conservation. For this reason, in the flowchart in Fig. 5, the table unit 42 is kept horizontal when the drone 100 takes off or lands, and if the drone 100 lands on the table unit 42 but does not take off, the drive shaft 41 does not drive the table unit 42.

[0064] The control device 70 determines whether the drone 100 will take off or land on the table portion 42 (step S1). Here, the control device 70 of the drone 100 proceeds to step S2 assuming that the drone 100 will land on the table portion 42. The determination of whether the drone 100 will take off or land on the table portion 42 may be made through communication between the transport device 1 and the drone 100, or may be made through an instruction from the control device 70 to the drone 100. Furthermore, if the drone 100 is to land on the table portion 42, it is desirable for the control device 70 to stop the movement of the transport device 1 by the traveling device 10 before issuing a landing instruction in step S4, which will be described later. On the other hand, the control device 70 may move the transport device 1 by the traveling device 10 when the drone 100 takes off from the table portion 42.

[0065] When the drone 100 lands on the table portion 42, the control device 70 determines whether leveling drive is required to make the table portion 42 horizontal (step S2). The control device 70 determines whether leveling drive is required based on the output of the attitude detection unit 43. Here, since the inclination of the transport device 1 is equal to or greater than a predetermined value and the drone 100 cannot safely land on the table portion 42, the control device 70 determines Yes in step S2 and proceeds to step S3.

[0066] The control device 70 drives the three drive shafts 41 using the leveling motor 32 to level the table portion 42 (step S3). Note that the control device 70 does not need to make the table portion 42 completely horizontal, and it is sufficient to control the attitude of the table portion 42 so that the drone 100 can land safely on the table portion 42.

[0067] In some UAVs, the rotors create a downstream airflow, causing the body to tilt during landing, and the landing is easier if the table portion 42 is tilted to match this tilt. In such cases, the control device may drive the three drive shafts 41 to tilt the table portion 42 by approximately 3° to 10° depending on the landing characteristics of the drone 100, making it easier for the drone 100 to land.

[0068] While steps S2 and S3 of this flowchart are being performed, the drone 100 is flying toward the table unit 42 as shown in Fig. 4(a). Specifically, the UAV control device 120 of the drone 100 flies toward the table unit 42 based on the position information of the table unit 42 and the position of the drone 100 measured by the second GNSS 108. Note that the UAV control device 120 controls the position of the lens of the imaging device 102 to face downward in order to capture an image of the table unit 42 using the imaging device 102.

[0069] Next, the UAV control device 120 flies above the table portion 42 so that the first engagement portion 51 and the second engagement portion 111 can engage with each other, as shown in FIG. 4(b).

[0070] After leveling the table portion 42 in step S3, the control device 70 issues a landing instruction to the UAV control device 120 (step S4). The UAV control device 120 moves downward, and as shown in FIG. 4(c), moves the tapered portion of the second engagement portion 111 to the tapered portion inside the first engagement portion 51 so that the tapered portion of the piping portion 114 engages with the packing 63. Note that although the orientation of the lens of the imaging device 55 has moved from the downward side to the horizontal side in FIG. 4(c), the imaging device 55 may also be configured to orient the lens downward and capture an image of the engagement between the first engagement portion 51 and the second engagement portion 111.

[0071] As the UAV control device 120 continues to move downward, the packing 63 elastically deforms, and the power transmitting electrode 52 comes into contact with the power receiving electrode 112, as shown in Figure 4(d). In addition, the weight of the drone 100 acts on the spring 45, so the spring 45 elastically deforms so as to be compressed.

[0072] After the joint 62 engages with the tapered portion of the piping section 114, the weight of the drone 100 acts on the spring 45, and as shown in FIG. 4(e), the power transmission device 50 comes into contact with the upper surface of the table section 42, and the leg section 109 engages with the holder 44. Note that a sensor that detects contact with the power transmission device 50 may be provided on the table section 42, and the control device 70 may determine that step S4 has ended when this sensor detects that the power transmission device 50 has come into contact with the table section 42.

[0073] The control device 70 communicates with the drone 100 and determines whether the UAV control device 120 is requesting power supply to the power receiving device 103 and supply of fluid to the fluid device 113 (step S5). Here, it is assumed that the UAV control device 120 has requested power supply to the power receiving device 103 and supply of fluid to the fluid device 113, and the process proceeds to step S6. When the UAV control device 120 requests supply of fluid to the fluid device 113, it opens the solenoid valve 116 to enable supply of fluid from the fluid supply unit 60.

[0074] The control device 70 causes the power transmission device 50 to transmit power and the fluid supply unit 60 to supply fluid (step S6). The control device 70 turns on a switch (not shown) of the power transmission device 50 to start supplying power to the power receiving device 103, and also drives the pump 34 to start supplying fluid to the fluid device 113 by the fluid supply unit 60.

[0075] The control device 70 determines whether the power transmission by the power transmission device 50 and the supply of fluid by the fluid supply unit 60 have ended (step S7). When the charge amount of the battery 105 reaches a predetermined charge amount, the UAV control device 120 sends a signal indicating the end of charging to the control device 70. Furthermore, when a flow meter (not shown) provided in the tank 115 detects a predetermined flow rate, the UAV control device 120 closes the solenoid valve 116 and sends a signal indicating the end of fluid supply to the control device 70. When the control device 70 receives a signal indicating the end of charging, it turns off a switch (not shown) of the power transmitting device 50 to end the power supply to the power receiving device 103. Furthermore, when the control device 70 receives a signal indicating the end of fluid supply, it stops driving the pump 34.

[0076] In addition, when the control device 70 or the UAV control device 120 issues a flight instruction to the drone 100, the charging termination process or the fluid supply termination process as described above may be performed.

[0077] The control device 70 determines whether it is necessary to maintain the leveling of the table portion 42 (step S8). If the drone 100 is expected to take off or land, or if the travel path of the transport device 1 is steeply inclined, the control device 70 determines Yes in step S8, appropriately drives the drive shaft 41, and maintains the table portion 42 in an appropriate leveling state, and then proceeds to step S10.

[0078] On the other hand, the control device 70 determines No in step S8 and proceeds to step S9 when takeoff or landing of the drone 100 is not expected or when the travel path of the transport device 1 has a gentle slope. The control device 70 may also determine No in step S8 when capturing an image using the imaging device 102 of the drone 100. This is because, when the drone 100 has landed on the table unit 42, the imaging device 102 captures an image from approximately the same position as from the driver's seat of a conventional transport device, and therefore it is preferable to capture an image that takes into account the attitude (tilt) of the transport device 1. The control device 70 stops the driving of the drive shaft 41 by the leveling motor 32 (step S9), and proceeds to step S10.

[0079] The control device 70 determines whether or not to end this flowchart (step S10). The control device 70 determines Yes in step S10 when the transport by the transport device 1 is completed or when the transport device 1 is turned off, and ends this flowchart.

[0080] On the other hand, the control device 70 determines No in step S10 and proceeds to step S1 when takeoff or landing of the drone 100 is expected, or when transportation by the transport device 1 is continuing. Note that even when the drone 100 takes off from the table unit 42, the control device 70 controls the attitude of the table unit 42 based on the detection result of the attitude detection unit 43, thereby realizing a takeoff and landing unit that makes it easy for the drone 100 to take off.

[0081] The drone 100 of the first embodiment can be used for various purposes. For example, it can be used as a spraying drone that sprays pesticides onto farmland from the nozzle 118, or as a cleaning drone that sprays cleaning liquid onto solar panels from the nozzle 118.

[0082] As described above in detail, according to the first embodiment, the control device 70 controls the attitude of the table unit 42 based on the detection result of the attitude detection unit 43, thereby realizing a transport device 1 that allows the drone 100 to easily take off and land. Furthermore, when the drone 100 lands on the table unit 42, it can charge the power receiving device 103 and supply fluid to the fluid device 113 in a stable attitude, thereby preventing problems from occurring when charging the power receiving device 103 or supplying fluid to the fluid device 113.

[0083] Furthermore, before the leg 109 is held by the holder 44, the power transmitting electrode 52 and the power receiving electrode 112 come into contact with each other, and the joint 62 is engaged with the tapered portion of the piping 114. At this time, the power transmitting device 50 is supported by the spring 45 in a deformable manner. Therefore, when the leg 109 is held by the holder 44, damage to the power transmitting electrode 52 and the power receiving electrode 112 and damage to the joint 62 can be reduced.

[0084] (Second embodiment) 6 and 7, the second embodiment will be described below, but the same components as those in the first embodiment will be denoted by the same reference numerals, and their description will be omitted or simplified. In the second embodiment, a takeoff and landing unit for a drone 100 is provided on a hydraulic excavator 200, which is a construction machine, instead of the transport device 1 of the first embodiment. Fig. 6 is a schematic diagram of a hydraulic excavator 200 representing the second embodiment, and Fig. 7 is a block diagram of the main parts of the hydraulic excavator 200 and drone 100 of the second embodiment. Note that Fig. 6 omits illustration of the holding portion 44 and opening 46 of the leveling unit 40, the power transmitting electrode 52 of the power transmitting device 50, and each component of the fluid device 113.

[0085] The configuration of the hydraulic excavator 200 will be described below with reference to Figures 6 and 7. As is clear from Figure 6, the hydraulic excavator 200 of the second embodiment is an autonomous or remotely operated construction machine that does not have a driver's seat. The hydraulic excavator 200 is autonomously driven when traveling at a civil engineering site, and may be transported on a trailer on public roads.

[0086] The hydraulic excavator 200 of the second embodiment has a drive system 210 , a traveling device 220 , a swing device 230 , a main body device 240 , and a working device 260 .

[0087] The drive system 210 is a drive device that drives each element of the hydraulic excavator 200, and has a fuel cell 211, a fuel tank 212, and a storage battery 213 housed in the main body device 240. The fuel cell 211 is a power generation device that generates electricity by causing an electrochemical reaction between hydrogen and oxygen.

[0088] In the second embodiment, the fuel tank 212 stores gaseous hydrogen and is provided with a fuel level gauge (not shown) inside. The fuel tank 212 stores hydrogen compressed to several tens of MPa and supplies the hydrogen to the fuel cell 211 via a hydrogen supply line (not shown).

[0089] The storage battery 213 is a secondary battery that stores the electric power generated by the fuel cell 211. The storage battery 213 can also be used as an auxiliary power source for driving the fuel cell 211 with the stored electric power, and also supplies electric power to the various motors that configure the hydraulic excavator 200, the traveling device 220, the swing device 230, the various cylinders, the leveling motor 32, the pump 34, the power transmission device 50, and the like. As such, in the second embodiment, the storage battery 213 is provided, and therefore the battery 31 of the first embodiment can be omitted in the second embodiment.

[0090] The traveling device 220 is of an endless track type and includes a pair of crawler belts 223 wound around idler wheels 221 and drive wheels 222. The drive wheels are driven by a traveling motor 124 to drive the pair of crawler belts, thereby causing the hydraulic excavator 200 to travel. The traveling motor 124 is driven by power supplied from the storage battery 213, and in this first embodiment, an in-wheel motor is adopted. Note that a hydraulic motor may also be used as the traveling motor 124.

[0091] The turning device 230 is disposed between the traveling device 220 and the main device 240. The turning device 230 includes a bearing (not shown) and a turning motor 231, and turns the main device 240 and the working device 260 around the Z axis.

[0092] The main body device 240 in this first embodiment has a cylindrical shape with a flat upper surface, and the drone 100 can take off and land on this upper surface. Note that, although the main body device 240 in this first embodiment has a cylindrical shape, it is not limited to this and can have any shape.

[0093] The main body device 240 includes therein a fuel cell 211, a fuel tank 212, a storage battery 213, and in addition to the fuel tank 212, the leveling motor 32, the container 33, and the pump 34 of the first embodiment.

[0094] In addition, as shown in the block diagram of Figure 7, the main device 240 is provided with a third GNSS 247 which is a global positioning system, a third communication device 248, a third memory 249, and a heavy equipment control device 250 which controls the entire hydraulic excavator 200.

[0095] The swing section 241 is supported such that a portion connected to one end of the main device 240 and a portion connected to the boom 253 are rotatable around the Z axis indicating the vertical direction. The swing cylinder 242 is a cylinder having one end connected to the main device 240 and the other end connected to the swing section 241, and the cylinder extends and retracts using power supplied from the storage battery 213. The extension and contraction of the swing cylinder 242 causes the working device 260 to rotate around the Z axis in FIG.

[0096] The third GNSS 247 uses an artificial satellite to measure the position of the hydraulic excavator 200. The third GNSS 247 may be provided on the top surface of the main body device 240. The third communication device 248 has a transmitter, a receiver, various circuits, an antenna (not shown), and the like, and is a wireless communication unit that accesses the second communication device 106 or a wide area network such as the Internet. In the second embodiment, the third communication device 248 transmits the position of the table unit 42 to the second communication device 106 based on the position of the hydraulic excavator 200 detected by the third GNSS 247. In addition, the third communication device 248 receives image data captured by the imaging device 102 and detection results detected by the sensor group 104 from the second communication device 106.

[0097] The third memory 249 is a non-volatile memory (for example, a flash memory), and stores various data and programs for driving the hydraulic excavator 200, various data and programs for automatically operating the hydraulic excavator 200, and the like.

[0098] The heavy equipment control device 250 is a control device that includes a CPU and controls the entire hydraulic excavator 200. In the second embodiment, the heavy equipment control device 250 cooperates with the UAV control device 120 to perform landing control of the drone 100 and control of a series of operations for supplying power and fluid to the drone 100. The heavy equipment control device 250 also controls the attitude of the leveling unit 40 based on the detection result of the attitude detection unit 43.

[0099] The work device 260 has a boom 253 , a boom cylinder 254 , an arm 255 , an arm cylinder 256 , a bucket 257 , and a bucket cylinder 258 .

[0100] The boom 253 is a rotating L-shaped part connected to the main body device 240 via a swing part 241 and rotated by a boom cylinder 254 . The arm 255 is connected to the tip of the boom 253 and is rotated by an arm cylinder 256 . The bucket 257 is connected to the tip of the arm 255 and is rotated by a bucket cylinder 258. Instead of the bucket 257, a breaker or the like can be attached to the tip of the arm 255.

[0101] The boom cylinder 254 is a cylinder that is extended and retracted by power supplied from the storage battery 213 to drive the boom 253. The arm cylinder 256 is a cylinder that is extended and retracted by power supplied from the storage battery 213 to drive the arm 255. The bucket cylinder 258 is a cylinder that is extended and retracted by power supplied from the storage battery 213 to drive the bucket 257. In the first embodiment, the swing cylinder 242, the boom cylinder 254, the arm cylinder 256, and the bucket cylinder 258 are driven by electric power from the storage battery 213, but these cylinders may also be driven by hydraulic pressure.

[0102] The drone 100 of the second embodiment can be used for various purposes. For example, the nozzle 118 may supply a liquid such as water to the material excavated by the bucket 257 to adjust the moisture content (moisture content) of the material, or the nozzle 118 may supply a liquid such as water to a construction site to suppress dust generation at the construction site.

[0103] In the hydraulic excavator 200 of the second embodiment configured as described above, the heavy machine control device 250 also controls the attitude of the table unit 42 based on the detection result of the attitude detection unit 43, making it possible to realize a hydraulic excavator 200 that facilitates takeoff and landing of the drone 100. Furthermore, when the drone 100 lands on the table unit 42, it is possible to charge the power receiving device 103 and supply fluid to the fluid device 113 in a stable attitude, thereby preventing problems from occurring when charging the power receiving device 103 or supplying fluid to the fluid device 113.

[0104] In the second embodiment, it is preferable that the heavy equipment control device 250 stops the movement of the hydraulic excavator 200 by the traveling device 220 when the drone 100 lands on the table unit 42. In contrast, the heavy equipment control device 250 may move the transport device 1 by the traveling device 220 when the drone 100 takes off from the table unit 42.

[0105] In the second embodiment, the heavy equipment control device 250 may transmit movement information of the work device 260 (for example, spatial coordinates of movement) to the UAV control device 120 in order to avoid collision between the drone 100 and the work device 260. Furthermore, the UAV control device 120 may use an infrared sensor in the sensor group 104 to avoid collision with the work device 260, or a LiDAR may be used instead of an infrared sensor. Note that, upon landing, the UAV control device 120 preferably approaches the table unit 42 from the other end of the main device 240 where the work device 260 is not provided. Furthermore, after takeoff, the UAV control device 120 preferably flies to the other end of the main device 240 where the work device 260 is not provided, and then flies toward the destination.

[0106] (Third embodiment) The third embodiment will be described below with reference to Fig. 8, but the same components as those in the first and second embodiments are given the same reference numerals and their description will be omitted or simplified. Fig. 8 is a schematic diagram of a hydraulic excavator 200 representing the third embodiment. The third embodiment differs from the second embodiment in that a cleaning device 270 is provided instead of the bucket 257 of the hydraulic excavator 200.

[0107] In the third embodiment, the cleaning device 270 cleans the solar panel 280 in cooperation with the drone 100. The cleaning device 270 has a rotating brush 271 and a blower (not shown). The cleaning device 270 is controlled by the heavy equipment control device 250.

[0108] The rotating brush 271 is a brush for wiping the surface of the solar panel 280 to clean the solar panel 280. The rotating brush 271 is configured to be able to rotate forward and backward by a motor (not shown). Note that the rotating brush 271 may be configured to eject a cleaning liquid or water (pure water) toward the surface of the solar panel 280. The cleaning liquid or water (pure water) may be supplied using a container 33 or a pump 34.

[0109] The blower (not shown) blows compressed gas (e.g., air) onto the surface of the solar panel 280 to blow away the cleaning liquid or water (pure water) discharged from the nozzle 118 of the drone 100 onto the surface of the solar panel 280, or the cleaning liquid or water (pure water) discharged from the rotating brush 271 onto the surface of the solar panel 280. The compressed gas may be supplied using a container 33 and a pump 34. Note that the container 33 and the pump 34 may be provided separately for the liquid and the gas.

[0110] In the third embodiment, in response to the ejection of cleaning liquid or water (pure water) from the nozzle 118 of the drone 100 onto the surface of the solar panel 280, the rotating brush 271 wipes the surface of the solar panel 280, and a blower (not shown) blows away the cleaning liquid or water (pure water), thereby efficiently cleaning the solar panel 280. Note that either the supply of cleaning liquid or water (pure water) by the drone 100 or the wiping by the rotating brush 271 may be omitted.

[0111] The above-described embodiment is merely an example for explaining the present invention, and various modifications can be made without departing from the scope of the present invention. For example, a lifting mechanism may be provided in the second engagement portion 111, and after the leg portion 109 is held by the holding portion 44, the second engagement portion 111 may be lowered by this lifting mechanism to engage the first engagement portion 51 and the second engagement portion 111.

[0112] The transfer device 1 and the hydraulic excavator 200 may be of a type with a driver's seat. The transfer device 1 and the hydraulic excavator 200 may be an internal combustion engine driven by diesel, ammonia, or hydrogen.

[0113] The number of working devices 260 of the hydraulic excavator 200 is not limited to one, and a plurality of working devices 260 may be provided on the main body device 240. Furthermore, the configurations of the first to third embodiments may be combined as appropriate. [Explanation of symbols]

[0114] 1 conveying device 30 main body 32 leveling motor 40 Leveling section 41 Drive shaft 42 Table section 43 posture detection unit 44 holding unit 45 spring 46 Opening 50 Power transmitting device 51 First engaging portion 52 Power transmitting electrode 60 fluid supply unit 70 control device 100 drone 111 second engagement portion 112 power receiving electrode 113 fluid device 120 UAV control device 200 Hydraulic excavator 270 Cleaning device

Claims

1. A cylindrical main unit with a flat top surface, a working device connected to one end of the main body device; a fuel tank provided inside the other end of the main body device and storing fuel for driving the working device; a takeoff and landing section provided on the flat upper surface of the main body device, where the unmanned aerial vehicle takes off and lands; a leveling device provided on the takeoff and landing section, the leveling device being capable of adjusting the amount of tilt relative to a vertical axis; A construction machine equipped with a control device that controls the leveling device before the unmanned aerial vehicle lands on the takeoff and landing section.

2. The construction machine according to claim 1 , wherein the control device controls the leveling device in accordance with an air flow generated by the unmanned aerial vehicle.

3. a first engagement portion that is engageable with the unmanned aerial vehicle and is provided on the takeoff and landing section and has a first taper; 2. A construction machine according to claim 1, wherein the control device initiates engagement between the unmanned aerial vehicle and the first engagement portion before the unmanned aerial vehicle lands on the takeoff and landing portion.

4. 4. A construction machine according to claim 3, wherein an electrode for supplying power to the unmanned aerial vehicle is provided on the first taper.

5. 2. A construction machine according to claim 1, further comprising a communication device that receives image data of the takeoff and landing section captured by the unmanned aerial vehicle while the leveling device is operating.

6. 2. The construction machine according to claim 1, further comprising a swivel device for swiveling the main body.

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