Agricultural flight device, material transport system, and material transport method

Abstract

To provide a flying device for agriculture capable of quickly and accurately supplying materials to a working machine.SOLUTION: The agricultural flying device 5 includes a machine body 50a and a holding device 51 provided on the machine body 50a, the machine body 50a flies in a state where the agricultural material S is held by the holding device 51 and moves above the working machine 1 during traveling from one turn to the next turn, and the holding device 51 releases the agricultural material S by releasing the holding of the agricultural material S when the machine body 50a reaches above the working machine 1.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention provides an agricultural flying device that transports agricultural materials (e.g., seedlings) to a running work machine, The present invention relates to a material transport system and a material transport method. [Background technology]

[0002] The seedling transplanter disclosed in Patent Document 1 has an autonomously moving body frame mounted at the center. The seedling tray transport platform is located at the center coordinate of the seedling tray transport platform by receiving radio waves from a positioning satellite. and a control device that recognizes the position on the diagram, and the control device is configured to The center coordinates of the seedling tray transport platform are sent to the aircraft that transports the seedling trays. The transport aircraft is guided onto the seedling tray transport platform, and the seedling tray is dropped onto the seedling tray transport platform. To make. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-57029 Summary of the Invention [Problem to be solved by the invention]

[0004] In the seedling transplanter of Patent Document 1, seedling trays are delivered from the transport aircraft when the machine is stopped. Since the trays are supplied, seedling trays can be supplied from the transport aircraft while the vehicle is traveling. The seedling transplanter will stop moving until the seedling trays are replenished and the seedlings cannot be transferred. Therefore, the seedling transplanter (working machine) is being transported by a flying vehicle. There is a problem that it takes time to replenish the seedlings.

[0005] In view of the above problems, the present invention provides a method for quickly and accurately supplying materials to a work machine. The present invention aims to provide an agricultural flying device, a material transport system, and a material transport method that can The target. [Means for solving the problem]

[0006] The technical means of the present invention for solving the above technical problems is characterized by the following points: do. An agricultural flying device according to one aspect of the present invention comprises a body and a holding device provided on the body. and a holding device for holding agricultural materials, Fly while holding the drone and move over the working machine while it is moving from one turn to the next. When the vehicle reaches the airspace above the work machine, the holding device holds the agricultural material. The agricultural material is released by releasing the hold.

[0007] A material transport system according to one aspect of the present invention comprises the agricultural flight device and the agricultural and a calculation setting unit that sets a waypoint for positioning the working machine. A planned travel route including a number of parallel straight routes and a turning route connecting the ends of the straight routes. The calculation setting unit is configured to determine whether the vehicle travels along the straight route of the planned travel route. When the via point is calculated on a straight line route portion within a predetermined range up to the previous turning route, , and the waypoint is set on the straight path after the turning path by recalculating the waypoint.

[0008] A method for transporting agricultural materials according to one aspect of the present invention includes: The commercial flight device moves over the working vehicle while it is traveling from one turn to the next, and the When the agricultural material reaches the ground above the farmer, it is released. [Effects of the Invention]

[0009] According to the present invention, materials can be supplied to a work machine quickly and accurately. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a schematic diagram of a material handling system. [Figure 2] FIG. 1 is a block diagram of a material handling system. [Figure 3] FIG. 1 is an overall perspective view of an agricultural flying device. [Figure 4] FIG. 1 is a schematic perspective view of a seedling (seedling raising mat). [Figure 5] FIG. 1 is a schematic perspective view showing an example of a seedling placement location (for example, a bank). [Figure 6] This is a diagram showing the agricultural flying device in a state where it has reached above the seedlings (seedling raising mat) in the seedling placement area. [Figure 7] 10 is a diagram for explaining the positional relationship between the seedling holding device and the seedlings (seedling raising mat) when the agricultural flight device descends at the seedling placement site. [Figure 8] This is a diagram showing the agricultural flying device with the seedling holding device holding seedlings (seedling raising mat). [Figure 9] FIG. 10 is a diagram showing an agricultural flying device taking off upwards while holding seedlings (seedling raising mats). [Figure 10] FIG. [Figure 11] FIG. [Figure 12] FIG. 2 is a plan view of the seedling supply device and the seedling tray. [Figure 13A] FIG. 10 is a perspective view of the seedling supply table from above. [Figure 13B] FIG. 10 is an enlarged perspective view of the left side of the seedling supply table. [Figure 13C] FIG. 10 is a perspective view of the seedling supply table in an inclined position. [Figure 13D] FIG. 10 is a rear view of the seedling tray and a modified seedling supplying device. [Figure 14]FIG. 10 is a diagram for explaining the supply of seedlings to a moving work machine using an agricultural flying device. [Figure 15A] 1 is a diagram showing an outbound flight of an agricultural flight device from a departure point to a waypoint. [Figure 15B] FIG. 10 illustrates a flight state in which the agricultural flight device has arrived at a waypoint. [Figure 15C] This figure shows a flight state in which an agricultural flying device is approaching a moving work machine by following it from behind. [Figure 15D] FIG. 10 shows the agricultural flying device in flight when it has reached the height above the cradle. [Figure 15E] This figure shows that the agricultural flying device dropped seedlings onto the rice transplanter while flying with a relative speed difference of zero. [Figure 15F] This is a diagram showing the return flight of an agricultural flying device returning to the starting point after dropping seedlings. [Figure 16] FIG. 10 is a diagram showing an example in which a turning path among the travel paths of a work machine is set as a prohibited area for seedling supply. [Figure 17] FIG. 10 is a diagram showing an example in which a straight path portion immediately before a turn in the travel path of a work machine is set as a prohibited area for seedling supply. [Figure 18] FIG. 1 is a side view of a work vehicle showing an example of altitude according to stages in the flight path of an agricultural flight device. [Figure 19] FIG. 10 is a diagram illustrating an example of a replenishment progress display image displayed on the mobile terminal. [Figure 20] FIG. 10 illustrates an example of setting additional waypoints for an agricultural flight device. DETAILED DESCRIPTION OF THE INVENTION

[0011] An embodiment of the present invention will be described below with reference to the drawings. Figure 2 is a block diagram of the material handling system.

[0012] As shown in FIGS. 1 and 2, the material handling system SY includes a server 70 and an agricultural flying device. 5, and the agricultural flying device 5 holds agricultural materials S (e.g., seedlings) and flies them. The system transports and supplies seedlings to the working machine 1 while it is moving. The plant is not limited to this and may be, for example, a vegetable seedling, a scion, or other plant.

[0013] The working machine 1 is, for example, a rice transplanter 10. As shown in FIG. 1, a motor 12, a transmission 13, and a seedling planting device 18. The transmission 13 is provided on the vehicle body 11. The rice transplanter 10 is, for example, a four-wheel drive. The power changed in speed by the transmission 13 is transmitted to the left and right front wheels 14F and the left and right rear wheels 14G. Therefore, the vehicle body 11 has left and right front wheels 14F and left and right front wheels 14R. The seedling planting device 18 is supported by the right rear wheel 14R so that it can run. The seedling planting device 18 is mounted on a seedling carrier 41 provided at the rear of the vehicle body 11. The seedlings carried on the seedling carrier 41 are taken out from the seedling carrier 41 and planted in a field or the like.

[0014] As shown in FIG. 2, the rice transplanter 10 includes a control device 30 and a memory unit 31. The storage unit 31 is a storage device such as a non-volatile memory, and stores various control programs, The storage unit 31 stores data, etc., and may be, for example, a hard disk drive (HDD), Examples include SSDs (Solid State Drives).

[0015] The control device 30 is composed of an electric / electronic circuit, a processor, a memory, etc. The processor is, for example, a CPU (Central Processing Unit), a GPU (Graphics Processor), essing Unit), DSP(Digital Signal Processor), FPGA(Field Programma) ble Gate Array), and ASIC (Application Specific Integrated Circuit) The control device 30 controls the rice field by the processor executing the control program. The control device 30 controls the operation of each part of the planting machine 10. For example, the control device 30 controls the motor 12. The control device 30 is installed around the driver's seat 15. Operation when operating the attached operating tools (operating levers, operating switches, operating volumes, etc.) The rice transplanter 10 travels based on signals, detection signals from various sensors mounted on the vehicle body 11, etc. Controls the system and work system.

[0016] As shown in FIG. 2, the rice transplanter 10 includes a position detection device 32 (for example, The positioning device 32A is provided with, for example, a rice transplanter 10 (vehicle body The positioning device 32A is provided in front of the vehicle. A device that detects its own position (latitude, longitude) based on data from the positioning satellite system. The positioning device 32A includes an acceleration sensor for detecting acceleration, a rotational speed sensor for detecting angular velocity, and a rotational speed sensor for detecting angular velocity. The vehicle may have an inertial device such as a gyro sensor, and the acceleration detected by the inertial device, The position may be corrected using angular velocity or other correction signals. However, it is not limited to this.

[0017] The rice transplanter 10 is equipped with a periphery monitoring device 33 that monitors the surroundings. For example, an imaging device 33A is used as the image sensor. The imaging device 33A may be, for example, a portable The imaging device 33A is a visible light camera or the like, and is capable of capturing images of the surroundings of the rice transplanter 10. The imaging device 33A is disposed at the front side of the transplanter 10, but is not limited thereto. is arranged near the driver's seat 15, and is positioned at the line of sight of the driver seated in the driver's seat 15. The image captured by the image capture device 33A may be used for autonomous driving. do.

[0018] The storage unit 31 stores a predetermined planned travel route L1 for the rice transplanter 10 to travel. The controller 30 has a processor that executes an automatic steering control program. The control device 30 determines whether its own position (the position of the vehicle body 11) detected by the positioning device 32A is The traveling speed of the vehicle body 11 is automatically changed so as to match the planned traveling route L1. The steering of the vehicle body 11 (for example, changing the steering direction of the front wheels 14F) is automatically performed. The device 30 controls the vehicle body 11 by the processor executing the automatic driving control program. The position of the vehicle body 11 is calculated based on the position of the vehicle body 11, the image captured by the image capturing device 33A, and the planned travel route L1. It is also possible to perform automatic driving so that the location coincides with the planned driving route L1.

[0019] For example, the rice transplanter 10 (working machine 1) is provided with an automatic steering mechanism 17, If the vehicle is in this mode, the vehicle's own position is set to the planned route L1 (more precisely, the straight route L1 described later). The rice transplanter 10 (operator) runs automatically by the automatic steering mechanism 17 so as to follow the If the vehicle is in automatic driving mode, the vehicle 1 will move its own position along a planned driving route L1 (described later). The control device 30 controls the traveling system so that the vehicle moves along the travel path L11 and the turning path L12. The vehicle runs automatically (autonomously) through the control of the automatic steering mechanism 17.

[0020] The rice transplanter 10 (working machine 1) may be a manually operated one. In this case, an operator sits in the driver's seat 15 and operates the steering wheel 16. In addition, as described above, the rice transplanter 10 (working machine 1) is an automatic traveling (automatic steering) In the case of automatic driving, the rice transplanter 1 0 (working machine 1) is based on the vehicle position detected by the positioning device 32A and the planned travel route L1. It operates autonomously based on this.

[0021] The rice transplanter 10 has a communication device 34. The communication device 34 directly communicates with the server 70. and indirect communication, for example, a communication module that uses a communication standard IEEE802.11 series Wi-Fi (Wireless Fidelity, registered trademark), BLE (Bluetooth (registered trademark) Low Energy), LPWA (Low Power, Wide Area), LPWA Wireless communication can be performed using N (Low-Power Wide-Area Network) and other methods. The communication device 34 performs wireless communication via, for example, a mobile phone communication network or a data communication network. It is possible.

[0022] The storage unit 31 stores information about the rice transplanter 10. The information about the rice transplanter 10 includes: The traveling position (latitude, longitude) of the rice transplanter 10 detected by the positioning device 32A and the traveling position time information indicating the time at the location and travel information of the rice transplanter 10 for each travel position (travel direction The information about the rice transplanter 10 further includes information about the seedling planting equipment, The information includes the operation information of the device 18 and the status information such as the captured image taken by the imaging device 33A. Good too.

[0023] The communication device 34 transmits the information about the rice transplanter 10 stored in the storage unit 31 to the server 70. For example, the communication device 34 periodically transmits information about the rice transplanter 10 (every few seconds). , every few hundred milliseconds) and every time an event occurs, the communication The device 34 performs telematics communication, and therefore, the position of the rice transplanter 10 and the running speed of the rice transplanter 10 are Operation information (travel direction, travel speed, etc.), operation information of the seedling planting device 18, and the image pickup device 33 The captured image taken by A is transmitted to the server 70 in association with status information.

[0024] Next, the agricultural flying device 5 will be described. FIG. 3 is a perspective view of the entire agricultural flying device. The agricultural flying device 5 is, for example, a multicopter 50 as shown in FIGS. The multicopter 50 is configured to hold seedlings and transport them by flight. It is an aerial vehicle (for example, an unmanned aerial vehicle) known as a drone.

[0025] Specifically, the multicopter 50 comprises a body 50a and an arm provided on the body 50a. arm 50b, a rotor 50c provided on the arm 50b, and a rotor 50b provided on the body 50a. The rotor 50c generates lift for flight. The rotor is a rotating device that applies rotational force and the blades (propellers) rotate by the rotor's drive. Lopera) and

[0026] The multicopter 50 has an imaging device 50e. The imaging device 50e includes, for example, , infrared cameras, visible light cameras, etc., and can capture images of the surroundings of the multicopter 50. be.

[0027] The multicopter 50 includes an angular velocity (gyro) sensor that detects the attitude and movement of the aircraft 50a. an acceleration sensor for detecting the speed of the airframe 50a, an acceleration sensor for detecting the attitude and speed of the airframe 50a, Inertial Measurement Unit (IMU) for detecting the speed of a multicopter 5 a barometric pressure sensor to detect the altitude of 0, an ultrasonic sonar (or At least one of an ultrasonic sensor, a magnetic direction sensor, etc. In this embodiment, the multicopter 50 may include, for example, an inertial measurement system (IMS). The device is equipped with a magnetic direction sensor.

[0028] The multicopter 50 has a position detection device 50g that detects its own position. The position detection device 50g receives data from positioning satellites such as GPS and Michibiki (positioning satellite system) based on its own flight position (latitude, longitude, altitude), that is, the multicopter It is a device that detects the flight position (latitude, longitude, altitude) of the aircraft 50 (aircraft 50a). The position of the position detection device 5 includes the flight position during flight and the landing position during landing. 0g is for altimeters, ultrasonic sonar, LiDAR (Light Detection and Ranging), etc. The various sensors are used alone or supplementarily to measure the height of the multicopter 50 (airframe 50a). The degree may be detected.

[0029] The multicopter 50 is provided with a memory unit 50h for storing various data, programs, etc. The storage unit 50h is, for example, a non-volatile storage device, such as a HDD, a S The memory unit 50h periodically stores information about the multicopter 50 (every few seconds). , every few hundred milliseconds) and every time an event occurs. The information includes the flight position (latitude, longitude, altitude) of the multicopter 50 (airframe 50a) and the Time information indicating the time at the flight position and the flight of the multicopter 50 for each flight position The flight direction is detected by a magnetic direction sensor. The flight speed is detected by an inertial measurement unit. The flight direction and flight speed may be calculated based on the detected flight positions. The information about the multicopter 50 includes work information indicating whether or not seedlings are being held (seeding information to be described later). (Work information indicating whether or not the work is being held by the holding device 51), the number of revolutions detected by the rotation speed detection sensor The number of rotations of the rotor blade 50c, the image captured by the imaging device 50e, and other status information may also be included. good.

[0030] The multicopter 50 has a communication device 50i that can communicate with the server 70. The communication device 50i includes a communication module that performs either direct communication or indirect communication with the server 70. For example, the IEEE802.11 series of communication standards, such as Wi-Fi ( Wireless communication can be performed using BLE, LPWA, LPWAN, etc. The communication device 50i may be a wireless communication device, for example, via a mobile phone communication network or a data communication network. Communication can be carried out.

[0031] The communication device 50i transmits information about the multicopter 50 stored in the storage unit 50h. In other words, the communication device 50i transmits information about the multicopter 50 to the server 70. The information is sent to the server 70 periodically (every few seconds or every few hundred milliseconds) and whenever an event occurs. For example, the communication device 50i performs telematics communication. Copter 50 flight position, flight information (flight direction, flight speed, etc.), and the effectiveness of seedling retention Work information indicating absence (work information indicating the separated state or approach state of the holding device 51, which will be described later) and the captured image captured by the imaging device 50e and the detection state of the detection device 56 (to be described later). The status information is sent to the server 70 in association with the status information.

[0032] Regarding the seedlings to be transported by the multicopter 50, please refer to Figures 4 and 5. 4 is a schematic perspective view of a seedling (seedling raising mat).

[0033] The seedlings Se to be transported by the multicopter 50 are rice seedlings, and The seedlings Se are transported (transported) to the rice transplanter 10 in the state of a seedling raising mat M containing the seedlings Se. As shown in FIG. 4, the seedling mat M has a shallow bottom and a rectangular shape in a plan view. Many seedlings Se grown in the soil So placed in the tray T are A mat-like structure that takes on a rectangular shape in plan view when the roots of the seedlings (Se) are spread and the soil (So) is integrated. The seedling mat M is placed on a material loading section 24 (see FIG. 11) of the rice transplanter 10, which will be described later. In order to fit the shape, it has a rectangular shape in plan view, with a long side Ma and a short side Mb. The seedling mat M is made up of a number of seedlings Se, each of which has leaves and stems above the roots in the soil So. The numerous seedlings Se on the seedling mat M are arranged vertically and horizontally in a plan view. Aligned or irregular (vertical direction corresponding to the first direction X and horizontal direction corresponding to the second direction Y) In addition, Figure 4 shows a nursery in which many seedlings Se are arranged in rows and columns. The mat M is shown with the tray T indicated by the two-dot chain line (imaginary line), and is removed from the tray T. A seedling mat M is shown.

[0034] FIG. 5 is a schematic perspective view showing an example of a seedling placement location (for example, a bank). The seedling placement location is where the seedling mat M was placed before transportation, and is located around the field F. The seedlings were placed on the alley (farm road) FR around the field F. Alternatively, it may be a specially installed platform near the field F. For example, Before starting work at 0 (prior to the flight transportation of seedlings Se), the seedling placement location (e.g. For example, on the flat ground of a bank SH or an alley (farm road) FR, or on the flat top surface of a specially constructed platform. In addition, in Figure 5, the seedling placement area (flat area of ​​the ridge SH) is shown. The figure shows multiple seedling mats M arranged on flat ground.

[0035] As shown in FIGS. 1 and 3, the multicopter 50 includes a holding device 51 (seeding device) for holding seedlings. The multicopter 50 has a holding device 51 that holds the seedlings. The seedlings are transported by flying in this state. The holding device 51 is a transporting device 51A. It can also be said that...

[0036] The multicopter 50 has a holding device 51 that holds at least a part of the leaves and stems of the seedlings Se. For example, the holding device 51 holds the seedling Se between a pair of holding members 52 and 53. Then, the pair of clamping members 52 and 53 are brought closer to each other, and the pair of clamping members 52 and 53 Therefore, the seedling mat M is brought into a holding state in which the seedlings Se are held.

[0037] Specifically, the holding device 51 includes a pair of clamping members 52 and 55 that can clamp the leaves or stems of the seedlings. 3, and a movement mechanism 54 that changes the distance between the pair of clamping members 52, 53. For example, the moving mechanism 54 moves the pair of clamping members 52, 53 closer to each other to clamp the leaves or stems of the seedlings. a first mechanism M1 that enables the pair of clamping members 52 and 53 to move apart; The holding device 51 includes a pair of clamping members 52, 53. The detector 56 is provided to detect the presence or absence of seedlings Se between the rows. For example, a photoelectric sensor or a laser sensor may be used. .

[0038] Here, the multicopter 50 moves to the seedling placement location and Holding the seedling mat M, jump up while holding the seedling Se (seedling mat M). The operation up to this point will be described with reference to FIGS.

[0039] The multicopter 50 receives position information indicating the location where the seedlings are placed and detects the location using a position detection device 50g. Based on the flight position (latitude, longitude, altitude) of the drone, the drone determines the seedling placement location shown in Figure 5. That is, the multicopter 50 flies until its own flight position approaches the seedling placement location. The multicopter 50 flies in this manner. The aircraft may fly along a predetermined route.

[0040] Figure 6 shows the agricultural flying device in a state where it has reached above the seedlings (seedling raising mat) in the seedling placement area. As shown in FIG. 6, the multicopter 50 is used to control the seedlings ( The multicopter 50 then reaches above the seedling mat M. Then, the holding device 51 It descends at a position where it overlaps with the seedling Se in a plan view. 0 is a seedling mat based on the image of the seedling mat M captured by the imaging device 50e. M is positioned between the pair of skids 50d, and the holding device 51 is positioned so as to overlap the seedling Se in a plan view. The aircraft 50a descends while controlling its attitude so that it is positioned in the forward direction.

[0041] Figure 7 shows the seedling holding device and the seedlings (seedling raising mat) when the agricultural flying device descends at the seedling placement site. 7 is a diagram for explaining the positional relationship with the multicopter 50. As shown in Fig. 1, the clamping members 52 and 53 are lowered to a position where they overlap the seedling Se in a direction perpendicular to the vertical direction. That is, the clamping members 52, 53 (holding members) are perpendicular to the vertical direction of the seedling Se. The agricultural flying equipment is projected to a position where it overlaps in the first direction X or the second direction Y. The distance between the skids 50d, 50d in the first direction X is The size is set to be larger than the size of the mat M. Therefore, the holding members 52 and 53 are The overlapping position in the first direction X or the second direction Y perpendicular to the up-down direction (the overlapping position in projection) When the agricultural flight device 5 is flown to the location where the seedlings Se (seedling raising mat M) are located, as shown in FIG. The clamping member 5 is disposed between the pair of skids 50d. The agricultural flying device 5 is flown to a position where the 2, 53 overlaps with the seedling Se in a direction perpendicular to the vertical direction. When the clamping members 52 and 53 are moved in the second direction Y, the clamping members 52 and 53 are in the form of plates. are located on both sides of the seedling Se in the first direction X. That is, a pair of seeds in a state of separation The gap between the clamping members 52, 52 corresponds to the seedling Se in the vertical direction, and the holding device 51 moves downward in the third direction Z, so that the seedling Se is sandwiched between the pair of clamping members 52 and 53. In particular, the clamping portions 52a and 53a of the clamping members 52 and 53 are positioned at the Because of the shape of the seedlings, the gaps between adjacent seedlings Se, Se in the first direction X (between rows of seedlings Se) In the first direction X, the clamping members 52 and 53 (clamping portions 52a and 53a) The two images are projected together and overlap.

[0042] Then, when the downward flight shown in FIG. 6 is completed, as described above, the pair of clamping members 52, 5 8, the leaves or stems of the seedlings Se are located between the clamping members 52 and 53. The seedlings Se are held by the seedling holding device. Figure 8 shows an agricultural FIG.

[0043] As shown in FIG. 8, the holding device 51 holds at least a part of the leaves and stems of the seedlings Se. That is, when a seedling Se is present between the pair of holding members 52 and 53, The mechanism M1 moves the pair of clamping members 52, 53 closer to each other, 53 is in a holding state (close state) to hold the seedlings Se on the seedling raising mat M. In the agricultural flying device 5, the detection device 56 detects the seedlings Se (the seedlings Se transmit (When the optical signal from the receiver 56A is blocked, the receiver 56B cannot receive the optical signal.) The pair of clamping members 52, 53 are brought close to each other to clamp the leaves or stems of the seedlings. The clamping member 52 approaches the other clamping member 53 and, together with the other clamping member 53, clamps the seedling S. That is, the holding device 51 (a pair of holding members 52, 53) holds the holding member 52 , 53 is at least one of the leaves and stems of the seedling Se in a direction perpendicular to the up-down direction (in this embodiment In this case, since the seedlings are rice seedlings, the seedlings are pressed against the bundle of seedling leaves (seedling nursery material). The holding device 51 applies a clamping force against the weight of the seedling Se. (Seedling mat M) is securely clamped (held).

[0044] Figure 9 shows an agricultural flying device taking off upwards while holding seedlings (seedling mats). 9, the holding device 51 holds at least the leaves and stems of the seedlings Se. In this embodiment, the seedling Se is held in a state where the tip of the leaf of the seedling Se is held. The seedling device 5 is raised and the seedling Se is lifted up.

[0045] Next, the server 70 shown in Fig. 2 will be described. The server 70 is, for example, a Fixed computers installed in agricultural companies, agricultural machinery manufacturers, agricultural services, etc. This embodiment is a portable computer that can be carried by a manager, worker, etc. In this example, the server 70 is a fixed computer.

[0046] The server 70 is equipped with a communication device 71 that can communicate with the rice transplanter 10 and the multicopter 50. The communication device 71 communicates directly and indirectly with the rice transplanter 10 and the multicopter 50. It is a communication module that performs one of the following communication standards, for example, IEEE80 2.11 series Wi-Fi (registered trademark), BLE, LPWA, LPWAN, etc. The communication device 71 may be connected to a mobile phone network or a data communication network. Wireless communication can be performed via a network or the like.

[0047] The server 70 is equipped with a remote control device 72 that remotely controls the multicopter 50. The remote control device 72 is composed of an electric / electronic circuit, a processor, a memory, etc. Processors include, for example, CPUs, GPUs, DSPs, FPGAs, and ASICs. The server 70 has a processor that executes a remote control program for the multicopter 50. By doing so, it functions as a remote control device 72.

[0048] The remote control device 72 transmits a remote control signal to the multicopter 50 via the communication device 71. The multicopter 50 operates according to the remote control from the remote control device 72. For example, the multicopter 50 may be controlled based on a remote control signal from the remote control device 72. Then, it heads to the seedling storage location, picks up the seedlings at the seedling storage location, transports them by flight, and runs the seedlings. The rice transplanter 10 (vehicle body 11) is equipped with a power supply unit 11a. The receiving table 90 (seedling receiving table) is provided. The receiving table 90 is connected to the positioning device 3 in the rice transplanter 10. The multicopter 50 is located behind the remote control device 72. According to the remote control from the operator, the seedlings can be dropped onto the receiving platform 90 of the traveling rice transplanter 10. be.

[0049] The multicopter 50 is equipped with an imaging device when transporting seedlings and supplying them to the rice transplanter 10. The seedling placement location 50e captures an image of the seedling mat (seedling) at the seedling placement location, and based on the captured image of the seedling mat (seedling), Based on the captured image, the device moves to a position above the seedling mat, and based on the captured image, the device moves to a position above the seedling mat (seedling mat). ) is held. When the multicopter 50 heads towards the rice transplanter 10 at the supply destination, The rice transplanter 10 is tracked based on the captured image of the rice transplanter 10, and the receiving base of the rice transplanter 10 is The seedling mat is dropped onto the receiving tray 90 based on the captured image of the receiving tray 90.

[0050] The server 70 includes a storage unit 73. The storage unit 73 is a non-volatile storage device. The storage unit 73 stores various data (information), for example, an HDD, an SSD, etc. The map data storage unit 73A includes a map data storage unit 73A for storing, for example, For example, agricultural map data is stored as data. This refers to data that associates data related to agriculture with location. These include field map data, machine data, and work data.

[0051] The field map data includes pre-registered field map data and data on the operation of rice transplanters in the field. 0 (work implement 1) and a predetermined planned travel route L1. The map data includes the outline of the field, the area of ​​the field, the location of the entrance and exit to the field, and the surrounding area of ​​the field. The route includes, for example, the planned route. It may also be a traveled route that was taken when the work machine 1 traveled so as to match the road L1.

[0052] The machine data is various data related to agricultural machinery, such as a tractor. Agricultural vehicles, rice transplanters, transplanters, harvesters such as combines, fertilizer applicators, pesticide sprayers, molding machines Control data or operation of machines, lawn mowers, preparation machines, cultivators, etc. in the field, such as operation and travel It's data.

[0053] The work data is data on the work performed in the field by the work machine 1 (agricultural machine). These include the amount of transplanting, fertilization, chemical application, and sowing in the field. In the case of work data of the planter 10 (i.e., data indicating the amount of seedlings transplanted in the field) The transplanting amount of seedlings planted by the seedling planting device 18 in the field is stored as work data. The transplanting amount is the number of rows of planting that is individually set in the rice transplanter 10, for example. The number of rows is 3, 4, 5, 8, 10, etc. When rice planting work is planned to be carried out at 0, the amount of rice to be planted by the seedling planting device 18 is It may be stored as work data.

[0054] The storage unit 31 also stores the work data (transplant amount) at the position ( The storage unit 31 may store the detected position (detected position) in association with the detected position by the positioning device 32A. The position (detected position) is corrected to the corrected position (corrected position) and the work data are associated with it. It may be stored as such.

[0055] Therefore, by performing the work using the rice transplanter 10, the transplanting amount and the position can be correlated. You can obtain agricultural map data (seedling planting map data) that shows the rice planting. The machine 10 converts operational data such as vehicle speed, the amount of operation of the operating tool, and the rotation speed of the prime mover 12 into mechanical data. and store the machine data and the position in the storage unit 31 in association with each other.

[0056] As shown in FIGS. 1 and 2, the material handling system SY is equipped with a mobile terminal 61. The mobile terminal 61 is provided with a display unit 66. The display unit 66 may be a liquid crystal monitor, a liquid crystal display, or the like. It is configured with a liquid crystal panel, etc., and can display various information transmitted from the server 70. do.

[0057] The server 70 includes a display control unit 74. The server 70 includes a processor that controls the display. By executing the control program, the display controller 74 functions as the display controller 74. 4 can control the display of the display unit 66 of the mobile terminal 61 connected to the server 70. For example, the display unit 66 can receive the information transmitted from the server 70 by the display control unit 74. It also displays an agricultural map and a moving rice transplanter 10 using a multicopter 50 (described later). It is also possible to display the status of seedling supply to the

[0058] Here, the rear structure of the rice transplanter 10, that is, the structure of the seedling planting device 18, etc. Fig. 10 is a side view of the rice transplanter. Fig. 11 is a side view of the seedling supplying device and the seedling carrier. Fig. 12 is a plan view of the seedling supply device and the seedling tray. FIG. 13B is an enlarged perspective view of the left side of the seedling supply table. Fig. 13C is a perspective view of the seedling supply table in an inclined position.

[0059] As shown in FIG. 10, the rice transplanter 10 places a seedling mat on the seedling planting device 18 (seedling carrying table 41). The plant is equipped with a seedling supply device 20 that supplies mat seedlings (also called mat seedlings). The rice transplanter 10 cuts out a predetermined number of seedlings from the seedling raising mat M placed on the seedling placing table 41. Both are transplanting machines that plant the cut seedlings in a field (paddy field).

[0060] The direction of arrow AW1 in Figure 10 is forward (front of the aircraft), and the direction of arrow AW2 in Figure 10 is backward. The direction of the arrow AW3 in Figure 10 is the longitudinal direction (the longitudinal direction of the aircraft). In addition, the front side of FIG. 10 will be referred to as the left side, and the back side of FIG. 10 will be referred to as the right side. The horizontal direction, which is perpendicular to the direction of the arrow AW3, is the aircraft width direction (aircraft width direction in Figure 11). (See direction K1)

[0061] As shown in FIG. 10, a seedling planting device 18 is provided at the rear of the vehicle body 11. The planting device 18 is connected to the vehicle body 11 via a link mechanism 19 and a connecting body 28 so as to be able to rise and fall. The seedling planting device 18 is driven by a hydraulic cylinder 21 so as to be able to move up and down freely. can be.

[0062] As shown in FIG. 10, the seedling planting device 18 includes a seedling placing table 41 on which a seedling raising mat M is placed. Then, a predetermined amount of seedlings are cut out from the seedling raising mat M placed on the seedling placing table 41 and placed in the field (paddy field). ) and a float 23 for leveling the field. As shown in FIG. 10, the seedling tray 41 has an inclination that moves forward as it goes upward. It is provided in a shape (inclined upward at the front).

[0063] As shown in FIG. 11, the seedling-carrying table 41 has a plurality of material-carrying tables on which seedling-raising mats M are placed. The plurality of material loading sections 24 are arranged in the width direction K1 of the machine body. The material loading sections 24 are provided in a number corresponding to the number of planting rows. The rice transplanter 10 in this embodiment is an eight-row planting rice transplanter 10 having eight material loading sections 24. Partition guides 25 are provided on both sides of the material loading section 24 in the machine body width direction K1. The material loading section 24 is provided with a seedling mat M whose long side Ma is aligned with the inclination direction of the seedling loading table 41. The seedling mat M is placed with the short side Mb of the seedling mat M aligned with the width direction K1 of the machine body. In each material loading section 24, two seedling raising mats M are placed in the inclined direction of the seedling loading table 41. The material can be placed side by side. The seedling mat M on the material loading section 24 is fed by the vertical feed mechanism 26. Therefore, the material can be fed vertically downward along the material loading section 24.

[0064] As shown in FIG. 10, the seedling tray 41 is connected to the upper guide portion 2 of the connecting body 28. 7A and the lower guide portion 27B, the connecting body 28 is movable in the width direction K1 of the machine body. The seedling tray 41 is supported by a lateral feed mechanism 84 ( 11) so as to be reciprocally movable in the width direction K1 of the machine body.

[0065] The planting mechanisms 22 are arranged at intervals in the width direction K1 of the machine body in a number corresponding to the number of planting rows. In this embodiment, the rice transplanter 10 is for planting eight rows, so the material loading section 24 Eight planting mechanisms 22 are provided corresponding to the number of plants. The planting mechanisms 22 are supported by a connecting body 28. Therefore, the planting mechanism 22 moves relative to the seedling tray 41. When the seedling tray 41 is moved, the seedling tray 41 moves in the machine body width direction K1 relative to the planting mechanism 22. The structure 22 is placed on a seedling loading table 41 (material loading section 24) that moves back and forth in the machine body width direction K1. The seedlings are taken out in a predetermined amount from the bottom of the raised seedling mat M and planted. The mechanism 22 rotates around an axis extending in the machine body width direction K1, and the material is placed on the material loading section 24. A single seedling (predetermined amount) is taken out from the bottom of the raised seedling mat M and planted in the field. Then, while the seedling-carrying table 41 is moving in one direction in the width direction K1 of the machine body, the planting mechanism 22 As a result, the seedlings in a horizontal row at the bottom end of the seedling raising mat M are cut off. When a row of seedlings is cut, the seedling mat M is cut to the extent that corresponds to the row of seedlings that were cut. The seedlings are fed vertically by the vertical feed mechanism 26, and the seedling-carrying tray 41 is moved in the other direction in the width direction K1 of the machine body. (in the opposite direction to the one mentioned above), and the same planting operation as above is performed. The seedling-carrying table 41 is driven to reciprocate in the width direction K1 of the machine body by the width of the seedling-raising mat M. The seedling tray M is fed vertically every time the seedling tray 41 reaches the end of its reciprocating movement.

[0066] As shown in FIGS. 1 and 11, the rice transplanter 10 is a device for transplanting rice seeds dropped from a multicopter 50. The receiving stand 90 for receiving the seedling mat M is provided. Specifically, as shown in Figs. The seedling supply device 20 that supplies the seedling raising mat M to the seedling placing table 41 is a support bracket 91 attached to the seedling supply table 91; 92 and has.

[0067] The seedling supply table 92 may have markers (identification images) at one or more locations. The helicopter 50 detects the positions and positions of the markers included in the captured image captured by the imaging device 50e. Based on the size, the flight position when approaching the cradle 90 and when positioned directly above the cradle 90 are determined. The seedling supply table 92 controls the flying position when the seedlings are mixed with the seedlings. The multicopter 50 may be equipped with a guidance device that emits a guidance signal. The flight position may be controlled by the above.

[0068] The seedling supply table 92 is attached to the seedling loading table 41 via a support bracket 91. The seedling supply table 92 is provided on the seedling placing table 41, so that the seedling supply table 92 (seedling supply device 2 0) moves back and forth in the width direction K1 of the machine body together with the seedling loading table 41. The receiving table 90 is movable in the width direction of the rice transplanter 10 (machine body width direction K1). As shown in FIG. 12, the receiving table 90 is located in the width direction (machine body width direction K1) of the rice transplanter 10. It is possible to move in the width direction (machine body width direction K1) while ensuring that it is positioned on the core line. In other words, even when the receiving table 90 is moved in the width direction K1 of the machine body, the rice transplanter 1 It is ensured that it is located on the center line of the width of 0.

[0069] As shown in FIGS. 10 to 12, the seedling supply table 92 is flown by a multicopter 50. This is the area where the transported seedling raising mat M is placed. The seedling mat M was air-transported by the Ruchicopter 50 and dropped. The seedling supply table 92 transfers the seedling raising mat M placed on it to the seedling placing table 41. In other words, the seedling supply table 92 receives the seedlings dropped by the multicopter 50. The mat M is received and sent to the seedling placement table 41. During flight, the multicopter 50 drops the seedling mat M to feed the seedlings. The seedling mat M is placed on the seedling supply table 92 from the multicopter 50. When dropping the seedling supply tray 92 (seedling supply tray body 96), as shown in Figs. The multicopter 50 is placed in a horizontal position P1. The multicopter 50 may land and place the seedling raising mat M on the seedling supply table 92. When the seedlings are landed on the supply tray 92, the seedling supply tray 92 (seedling supply tray body 96) is in a horizontal position P1. This state is assumed to be as follows.

[0070] As shown in FIG. 12, the seedling supply table 92 has a seedling mat M with its long side Ma extending in the front-rear direction (arrow The seedlings are grown in a state where the short side Mb of the seedling mat M coincides with the width direction K1 of the machine body. The seedling mat M is placed on it.

[0071] The timing to start supplying the seedling mat M by the multicopter 50 (hereinafter referred to as the appropriate The start timing may be, for example, the timing at which the seedlings mounted on the rice transplanter 10 are cut off. The time when the sensor detects that the seedling raising mat M should be supplied to the seedling placing table 41 is The seedling cut sensor is provided on each material loading section 24 of the seedling loading table 41, and The remaining number of seedlings on the seedling raising mat M that is placed on the section 24 and from which the seedlings are cut by the planting mechanism 22 This is a sensor that detects when the remaining amount of materials falls below a certain level. If it is possible to detect the remaining amount of seedlings on the seedling raising mat M placed on the material placing section 24, The sensor is not limited to a contact sensor and may be any other structure. The system is comprised of a camera and an imaging diagnostic device to detect when the amount of blood has fallen below a predetermined level. In this case, the camera is mounted on the material loading section 24. The seedling mat M is photographed, and the image of the seedling mat M photographed by the camera is analyzed by an image diagnostic device. By doing so, the seedling mat M placed (planted) on the material loading section 24 The remaining amount of seedlings can be detected.

[0072] In addition, a simpler method is available to detect when the remaining amount of seedlings on the seedling mat M falls below a predetermined level. As a method, only whether the seedlings on the seedling mat M are present in a specific area of ​​the material loading section 24 is considered. It is also possible to detect seedlings by analyzing the image only to see that there are no seedlings in a specific area. It may be determined that there is a possibility that the remaining amount is below a certain level and requires replenishment.

[0073] The remaining number of seedlings on the seedling raising mat M on the material loading section 24 varies depending on the conditions of the field. The material placement section 24 is different. Therefore, the timing for supplying (replenishing) the seedling mat M is , differs depending on each material loading section 24.

[0074] The timing to start seedling supply by the multicopter 50 is calculated by the server 70. For example, the server 70 may set the time when the The planned travel route L1 of the rice transplanter 10 and the seedling consumption speed on the planned travel route L1 of the rice transplanter 10 (material consumption rate), and the capacity of the seedling mat M of the seedling planting device 18 (initial setting capacity, or Based on the relationship between the amount of seedlings and the amount of seedlings remaining at present, the start timing of seedling supply by multicopter 50 is The timing may be calculated in advance.

[0075] In addition, the server 70 determines seedling supply from the work plan (seedling planting plan) stored in the storage unit 73. The operation plan (seedling planting plan) may acquire the start timing of the operation of the rice transplanter 10. The information includes the planned route L1 and instructions for seedling supply by the multicopter 50. The displayed information is the start timing of seedling supply from the start point of work on the planned travel route L1 (start time time), and the waypoints WP (latitude, longitude, altitude) set on the planned route L1, which will be described later, Includes.

[0076] As shown in FIGS. 12 and 13A, the seedling supply tray 92 includes a seedling supply tray main body 96 and a rail portion. The device has a member 97, a slider 98, an adjustment body 99, and a delivery body 100.

[0077] As shown in FIGS. 12 and 13A, the seedling supply table body 96 is formed of a plate material. The seedling supply table body 96 receives the seedling raising mat M via the multicopter 50 and places it on the seedling supply table body 96. The seedling supply table body 96 has a bottom wall 96a whose plate surface faces up and down, and A pair of left and right side walls 96b, 96c extend upward from the left and right ends of the wall 96a, and a bottom wall The seedling supply table body 96 has a front wall 96d extending upward from the front end of the seedling supply table body 96a. This allows the seedling raising mat M on the seedling supply table body 96 to be The food can be fed rearward from the feeder body 96. The front part of the left side wall 96b and the right side wall A handle 101 that is held by an operator is fixed to the front of 96c.

[0078] As shown in FIG. 12, the width W 1 is a diagram showing a state in which a material loading section 24 is moved from one side of the material loading section 24 in the machine body width direction K1 to the other side of the material loading section 24. The width of the seedling supply block 24 is set to correspond to the width of the seedling supply block 24. One side (left part) of the body 96 (seedling supply table 92) in the machine body width direction K1 is to the left of the seedling loading table 41. The other side (right part) of the seedling supply table body 96 (seedling supply table 92) in the machine body width direction K1. protrudes to the right from the seedling tray 41.

[0079] As shown in FIGS. 12 and 13A, the rail member 97 is attached to the front wall 96 of the seedling supply table body 96. Specifically, the rail member 97 abuts against the rear surface of the front wall 96d. The rail member 97 is formed of a long member that is long in the machine body width direction K1. The rail member 97 is provided from the front side wall 96b to the right side wall 96c. It is fixed to the wall 96d by bolts or the like.

[0080] As shown in Figure 12, a pair of sliders 98 are provided on the left and right sides. The slider 8 is referred to as a first slider 98A, and the right slider 98 is referred to as a second slider 98B. The first slider 98A and the second slider 98B are attached to the rail member 97 in the machine body width direction K1. More specifically, each slider 98 is formed in the shape of a rectangular block. and has a groove 98a (see FIGS. 13A and 13B) extending in the fuselage width direction K1 at the front. The groove 98a is a concave shape that is open to the front. By fitting each slider 98 from the side, each slider 98 is slidably supported by the rail member 97. .

[0081] As shown in FIG. 12, the adjusting body 99 is adapted to adjust the width of the seedling supply tray 92 (seedling supply tray main body 96). The adjusting members 99 are arranged on one side (left side) and the other side (right side) in the direction K1. The left adjusting body 99 is called the first adjusting body 99A, and the right adjusting body 9 9 is also called the second adjusting body 99B.

[0082] The first adjustment body 99A and the second adjustment body 99B are provided so as to be movable in the machine body width direction K1. The seedlings are fed by moving on the seedling supply table body 96 (seedling supply table 92) in the width direction K1 of the machine body. The position of the seedling raising mat M on the supply table main body 96 in the machine width direction K1 is adjusted. The adjusting member 99A is moved in a direction from one side to the other side in the width direction K1 of the machine body. The position of the seedling mat M in the width direction K1 of the machine body is adjusted, and the second adjusting body 99B is 1, the position of the seedling mat M in the width direction K1 of the machine body is changed by moving it in the direction from the other side to the one side. The position adjustment of the seedling raising mat M in the width direction K1 of the machine body by the adjustment body 99 is performed by a plurality of This is a position adjustment for aligning the material with one of the material loading sections 24. In other words, the position adjustment of the seedling raising mat M by the adjusting body 99 is performed by adjusting the position of the seedling raising mat M on the seedling placing table 41. The seedling raising mat M is aligned with the material loading section 24 to which the seedling raising mat M is to be supplied (supplied). This is a position adjustment for this purpose.

[0083] The left and right adjusters 99 are formed of plate material. The first adjustment body 99A has a side wall portion 99Aa and a front wall portion 99Ab. The part 99Aa is a long strip-shaped plate in the front-rear direction (arrow AW3) with the plate surface facing the width direction K1 of the machine body. The side wall portion 99Aa is provided from the front to the rear end of the seedling supply table main body 96. As shown in FIG. 13B, the side wall portion 99Aa has a portion A guide groove 102 is formed from the front end of the side wall portion 99Aa to the vicinity of the rear end. A handle 103 that is held by the operator is fixed to the handle.

[0084] The front wall portion 99Ab extends leftward in the width direction of the aircraft body from the front end of the side wall portion 99a. The portion 99Ab is superposed on the rear surface of the first slider 98A, and Therefore, the first adjustment body 99A is fixed to the first slide by a bolt or the like. As shown in FIG. 12, the first adjusting body 98A is movable in the width direction K1 of the machine body. 99A is moved to the left end of the moving area, and is placed at the left end of the material loading section 24. It is located slightly to the left of the left end of a certain material loading section 24.

[0085] As shown in FIGS. 12 and 13A, the second adjustment body 99B includes a side wall portion 99Ba and a front wall portion The side wall portion 99Ba has a front-rear direction in which the plate surface faces the width direction K1 of the machine body. The side wall portion 99Ba is a long strip-shaped plate extending from the front of the seedling supply table main body 96 (arrow AW3). The side wall portion 99Ba is provided from the rear end to the rear end. The side wall 99Ba is provided at the front with a handle 1 for the operator to grip. 04 is fixed.

[0086] The front wall portion 99Bb extends rightward in the width direction of the aircraft body from the front end of the side wall portion 99Ba. The wall portion 99Bb is overlapped with the rear surface of the second slider 98B and B by a bolt or the like. Therefore, the second adjustment body 99B is As shown in FIG. 12, the second adjustment The body 99B is moved to the right end of the movement area, and the right end of the material loading section 24 is It is located slightly to the right of the right end of the material loading section 24.

[0087] By adjusting the position of the seedling mat M using the adjusting body 99, the receiving base 90 can be adjusted to the width of the rice transplanter 10. The machine moves in the direction (machine width direction K1) and transfers the received seedling mat M to the material loading position to be replenished. Align it with the support portion 24.

[0088] As shown in FIGS. 12 and 13A, the sending body 100 has a front wall 100a and a side wall 100b. The front wall 100a is disposed so that the plate surface faces the front-rear direction (arrow AW3). The front wall 100a is a portion that pushes the seedling raising mat M on the seedling supply table 92. The width of the wall 100a in the machine width direction K1 corresponds to the length of the short side Mb of the seedling mat M. The front wall 100a is provided with a handle 105 that can be held by an operator. do.

[0089] The side wall 100b extends forward from the left end of the front wall 100a. The face faces the width direction K1 of the machine body. The sending body 100 is disposed to the right of the first adjusting body 99A. The side wall 100b of the sending body 100 is located to the right of the side wall portion 99Aa of the first adjusting body 99A. It is stacked on the side.

[0090] As shown in FIG. 13B, the side wall 100b of the sending body 100 is the side wall portion of the first adjusting body 99A. 99Aa by a pair of front and rear pins 106. The front and rear pins 106 are inserted into the guide grooves 102. Therefore, the sending body 100 is movable in the front-rear direction (arrow AW3). The adjustment body 99A is movable in the front-rear direction (arrow AW3) within a range from the front to the rear. The seedling raising mat M, which has been adjusted in the width direction K1 of the machine body, is moved backward by the sending body 100. The seedling raising mat M can be sent out to the material loading section 24 by moving the

[0091] In the seedling supply device 20, the remaining amount of seedlings on the seedling raising mat M on the material loading section 24 is When it is detected that the temperature has fallen below a predetermined level, the multicopter 50 The seedlings are transported and grown on the seedling supply table 92 (seedling supply table body 96) via the multicopter 50. The seedling mat M is placed on the seedling supply table 92. At this time, the seedling supply table 92 is in a horizontal position P1. When the seedling raising mat M is placed on the feeding table main body 96, the adjusting body 99 adjusts the width of the seedling raising mat M. The positional deviation in the direction K1 is adjusted (corrected) and the seedling raising mat M is supplied to the material loading section 24. Specifically, the seedling mat M is positioned to the right. When moving, use the first adjustment body 99A, and when moving the seedling mat M to the left, use This is done with the second adjusting body 99B. When the seedling raising mat M is moved with the second adjusting body 99B, The first adjusting body 99A is moved toward the seedling raising mat M, and the sending body 100 is moved toward the front of the seedling raising mat M. The control device 30 of the rice transplanter 10 is positioned at the adjusting body 99 (first adjusting body 99 A drive mechanism for driving the first adjusting body 99A and the second adjusting body 99B is controlled to drive and control the adjusting body 99. In addition, the user (driver) may adjust the adjustment body 99 (first adjustment body 99A and second adjustment body 99B). The manipulator 99B) may be operated manually.

[0092] Next, the seedling supply table 92 is changed in position from the horizontal position P1 to the inclined position P2 and sent out. By moving the body 100 toward the material loading section 24, the seedling mat M is 4, and the seedling raising mat M is supplied to the material loading section 24.

[0093] In addition, the rice transplanter 10 is configured as shown in FIG. 1, instead of the seedling supply table 92 of the seedling supply device 20 shown in FIG. The seedling supply table 117 of the seedling supply device 20 of the modified example shown in 3D may be adopted. The seedling supplying table 117 of the seedling supplying device 20 of the modified example shown in FIG. 13D is provided with a seedling raising mat. 13D corresponds to the receiving tray 90.

[0094] As shown in FIG. 13D, the seedling supplying device 20 of the modified example is attached to the seedling tray 41. The device has a support 116 for supporting the seedlings, and a seedling supply table 117 supported by the support 116. In the second embodiment, the seedling supply table 117 is attached to the seedling placement table 41 via a support 116. are.

[0095] In the modified example shown in FIG. 13D, the seedling supply table 117 is also provided with a multicopter 50. The seedling raising mat M is dropped by air. 117 is a table for placing the seedling mat M on the seedling supply table 117 on one of the material loading sections 24. In order to supply one to another, the support 116 is supported so as to be movable in the machine body width direction K1. In other words, the seedling supply table 117 is located on the seedling raising mat M among the plurality of material placing sections 24. The width of the machine body is adjusted to align the seedling supply table 117 with the material loading section 24 to which the seedlings are to be supplied. It is movable in the direction K1.

[0096] In the modified example, the seedling supply table 117 moves back and forth in the machine body width direction K1 together with the seedling loading table 41. At the same time, it is movable relative to the seedling-placing tray 41 in the width direction K1 of the machine body.

[0097] In the modified example, the seedling supply table 117 is movable in the width direction K1 of the machine body and is mounted on the material loading section 24. By configuring the seedling supply table 117 to supply the seedling mat M to the seedling supply table 117, the seedling supply table 117 can be made smaller. This allows the overall weight of the seedling supplying device 20 to be reduced.

[0098] As shown in FIG. 13D, the support 116 has a main frame 118. The in-frame 118 extends from one end (left end) of the seedling tray 41 to the other end (right end). The other end (right end) of the main frame 118 is provided with a seedling tray 4. The right end of the main frame 118 is connected to the seedling tray 41. The part that protrudes to the right from the right end of the This is to align it with the support portion 24.

[0099] As shown in Fig. 13D, the seedling supply table 117 has a shoot portion 137. The width W2 of the feeding table 117 in the machine body width direction K1 is This is larger than the width W4. The position of the seedling raising mat M relative to the target placement position when placing it on the seedling supply table 117 The seedling supply table 117 can accommodate the multicopter 50 to place the seedlings. The size may be such that it can be landed on the supply table 117. In this case, the width W2 of the seedling supply table 117 is larger than the width of three of the material loading sections 24. However, the present invention is not limited to the above.

[0100] The shoot section 137 is a material carrying section for carrying the seedling raising mat M extruded by the sending body 136. The width W3 of the chute section 137 in the machine body width direction K1 is The width corresponds to one of the loading sections 24. In other words, the width of the chute section 137 The width W3 in the direction K1 is set to allow passage of the seedling mat M extruded by the sending body 136. This is the width that can be achieved.

[0101] As described above, the multicopter 50 places seedlings on the seedling supply table 117 shown in FIG. 13D. It is possible to drop a rag M.

[0102] Here, the multicopter 50 (agricultural flying device 5) holds a seedling mat M (seedlings S e) to the rice transplanter 10 (working machine 1) while it is running. Figure 14 is a diagram illustrating the supply of seedlings to a moving agricultural machine by an agricultural flying device. This is a diagram.

[0103] As shown in FIG. 14, the rice transplanter 10 detects the vehicle position detected by the positioning device 32A. The vehicle travels along the planned route L1. The planned route L1 consists of multiple parallel straight lines. A forward path L11 and a turning path L12 connecting the ends of the two straight paths L11 on the same side. Includes.

[0104] As shown in FIG. 14, the multicopter 50 flies a global path. The global route is automatically flown by a multicopter (including remote flight and autonomous flight). ) is a route connecting the starting point and the destination point. The route is a route connecting the seedling storage location and the running work machine 1, and is the outbound route (seedling supply route). The outbound route is divided into two parts: the outbound route (the route to return to seedling supply) and the return route (the route to return to seedling supply). From the starting point (e.g., seedling storage location) to the destination point (broadly speaking, the receiving point of the running implement 1) This route connects the platform 90 to the waypoint WP. The coordinates through which the robot 50 must pass, that is, the flight position (latitude, longitude, altitude), are specified. The outbound route is the route from the destination point to the starting point. It is a road.

[0105] In this embodiment, the server 70 generates a global route and stores it in the storage unit 73. For example, The server 70 is provided with a processing unit 77 that performs route planning. Generate a global path. Generating a global path is a global path planning process. The server 70 is sometimes called a processor. By executing the path planning calculation program, the device functions as a processing device 77. The multicopter 50 or the mobile terminal 61 is equipped with the above-mentioned processing device, and the multicopter 5 Alternatively, the global route may be generated by the mobile terminal 61.

[0106] A local path is a flight path that the multicopter 50 automatically follows along a global path. It is a route that is generated sequentially when flying (including remote flight and autonomous flight), and the via point WP The local route (in Figure 14, "seedling") when tracking the rice transplanter 10 from the waypoint This includes "resupply" routes, or local routes that can avoid obstacles. The creation of local path planning is called local path design. The local path may be determined by the multicopter 50 while it is flying. The image is captured by one or more sensing devices (for example, the image capture device 50e) included in the processor 50. The local path is generated sequentially based on the acquired data. It can be defined by one or more waypoints (WP). If there is an obstacle near the target route, a waypoint WP (U) is set to bypass the obstacle. Waypoints) can be set.

[0107] In this embodiment, the processing unit 77 of the server 70 generates the global route and the local route. The server 70 may be configured to have a local processor separate from the processor for the global route. A processing device for the target path may be provided. The multicopter 50 may be equipped with a processing device for local routes. For example, agricultural machinery ( For example, a management device (e.g., a server 70) that manages agricultural work by a farming machine (1) A control device 30 or a multicopter 50 mounted on the work machine 1 generates a path, and the control device 30 or the multicopter 50 controls the local path. A path may be generated.

[0108] In this embodiment, the server 70 remotely controls the multicopter 50. Specifically, The remote control device 72 of the server 70 uses the field map data (running data) stored in the storage unit 73. The rice planting route (including the planned route L1) and the global route are sequentially received by the communication device 71. Based on the information about the aircraft 10 and the information about the multicopter 50, remotely controls the controller 50.

[0109] The information about the rice transplanter 10 includes the traveling position (latitude, longitude) of the rice transplanter 10, the time, and Includes driving information (driving direction, driving speed, etc.) for each driving position. Multicopter 5 The information about the multicopter 50 includes the flight position (latitude, longitude, altitude), time, and and flight information (flight direction, flight speed, etc.) of the multicopter 50 for each flight position. Therefore, the multicopter 50 operates according to the remote control of the server 70. .

[0110] As shown in FIG. 14, the multicopter 50 is equipped with a device for holding agricultural materials S (e.g., seedlings). The work machine 1 is flying while being held at the position 51 and traveling from one turn to the next. When the work machine 1 moves into the sky (moving and flying process to the sky), the work machine 1 moves into the sky. The agricultural material S is released by releasing the hold by 51 (release process). "Driving from one turn to the next" refers to driving other than turning (in other words, the steering angle during turning). (driving within the smallest steering angle range), for example, driving straight ahead. The route includes, for example, completely straight driving and almost straight driving. This includes driving that is completely consistent with L1 and autonomous straight-line driving. The driving route is roughly the same as the planned driving route L1, and the driving route is automatically adjusted to follow the planned driving route L1. This includes driving that involves slight meandering due to dynamic steering.

[0111] For example, the multicopter 50 moves the seedling mat M( The robot carries the seedlings (Se) by flying and carries the seedling mat M while traveling straight ahead. Specifically, the multicopter 50 supplies the rice to the rice transplanter 10. Drop seedling mat M into the area.

[0112] Figure 16 shows a case where the turning route of the work machine is set within the prohibited range for seedling supply. 16 is a diagram illustrating an example of a straight route L11 of the planned travel route L1 shown in FIG. I remember that this is basically the permitted range for seedling supply. The rice transplanter 10 is traveling along the straight path L11, and the seedling mat M (seedlings Se) is added to the rice transplanter 10. When the rice transplanter 10 is traveling along the straight path L11, the orientation of the rice transplanter 10 is approximately Not only does it remain the same (only minor adjustments are made to match the planned travel route L1), but the seedling planting device 18 Since the lifting and lowering operation of the tray 90 supported by the seedling planting device 18 does not occur, the height of the tray 90 does not change. few.

[0113] The multicopter 50 releases the holding device 51 from the holding position while the work machine 1 is turning. For example, the multicopter 50 restricts (prohibits) the movement of the moving mechanism 54. The operation of the second mechanism M2 is prohibited. In other words, the multicopter 50 is prohibited from moving away from the rice transplanter 3 while turning. The seedling raising mat M is not supplied to the storage unit 73. The storage unit 73 stores the planned travel route L1 shown in FIG. I remember that the turning route L12 is a prohibited area for seedling supply. -50 is a seedling mat M( When the rice transplanter 10 is traveling on the turning path L12, the rice transplanter 1 Not only does the orientation of 0 change significantly (at least 180 degrees), but the turning path The seedling planting device 18 is raised just before the start of L12, and the seedling planting is started just after the end of the turning path L12. As the device 18 is lowered, the receiving platform 90 supported by the seedling planting device 18 also rises and falls. From these facts, the difficulty of dropping seedlings from a multicopter 50 to a receiving platform 90 is is higher in the case of the turning path L12 than in the case of the straight path L11.

[0114] Here, the height according to the flight path of the multicopter 50 will be described. 1 is a side view of a work vehicle showing an example of altitude according to stages in the flight path of an agricultural flying device; The receiving base 90 of the rice transplanter 10 is at a height H1 above the ground, and the positioning device 32A is The flight altitude of the multicopter 50 is usually as shown in FIG. Normal flight height H3, flight height H4 at the waypoint WP, and flight when dropping the seedling mat M It has a height of H5.

[0115] As shown in FIG. 18, the normal flight height H3 of the multicopter 50 is the same as the forward flight height H1 shown in FIG. The flight altitude on the route (the route to seedling supply) and the return route (the route back from seedling supply). The normal flight height H3 is higher than the height H2 above ground of the positioning device 32A. The normal flight height H3 of the Turret 50 is set to the range of the seedling placement area and the approach height when approaching the waypoint WP. This is the flight altitude in the section excluding the roach section and the departure section when leaving after dropping seedlings. .

[0116] As shown in FIG. 18, the flight height H4 of the multicopter 50 at the waypoint WP is The height of the device 32A above ground is H2 and the normal flight height is H3. The flight height H4 of the positioning device 32A may be the same as the height H2 above the ground of the positioning device 32A. Copter 50 will approach the waypoint WP during the approach section. As it approaches, it gradually descends from normal flight height H3 to flight height H4. At the start position between the normal flight height H3 and the flight height H4, the , it may descend from normal flight height H3 to flight height H4 directly above waypoint WP.

[0117] As shown in FIG. 18, the flight height H5 when the seedling mat M is dropped is determined by the positioning device 32A. It is lower than the ground height H2. Note that the flight height H5 of the multicopter 50 is lower than the ground height H2 of the cradle 90. By subtracting the ground height H1, the specified distance from the cradle 90 to the multicopter 50 directly above is It can be seen that the height is H6 as shown in Figure 18. If the height is H6, the seedling mat M can be received. Since the drop (fall) distance onto the platform 90 is short, the seedling mat M is destroyed by the impact of the drop. The object can be transferred to the receiving stand 90 without any trouble.

[0118] The multicopter 50 holds the work machine 1 (rice transplanter 10) while flying above the work machine 1 (rice transplanter 10). By releasing the holding by the device 51 (holding release step), the agricultural material S (seedling material) The multicopter 50 releases the work equipment 1 while it is running (releasing step). During flight over the rice transplanter 1 (i.e., without landing on the rice transplanter 10), The mat M is supplied to the rice transplanter 10 traveling straight ahead. By tracking the rice transplanter 10 at a speed faster than the speed of the rice transplanter 10, the rice transplanter 10 can be caught up with the rice transplanter 10 and placed on the base of the rice transplanter 10. Reach above 90 (accelerated flight phase).

[0119] As shown in FIG. 18, the multicopter 50 is mounted on a receiving stand 90 provided on the rice transplanter 10. The flying object is located above and within a predetermined distance (height H6 shown in FIG. 18) from the cradle 90. In the first state, the holding device 51 is released and the agricultural material (seedling raising mat M ) onto the receiving stand 90 (dropping process), the rice transplanter 1 traveling straight on the seedling mat M 0. The first state is when the multicopter 50 is at a predetermined distance (see FIG. 18) and is located within a predetermined distance from the ground (flight height H6 shown in FIG. 18). It may be located within H5 (H5=H1+H6).

[0120] In the first state shown in FIG. 18, the multicopter 50 changes its traveling direction and speed to rice planting. The aircraft 10 flies while maintaining its direction of travel and speed (maintenance flight process). In the first state shown in FIG. 18, the relative speed of the multicopter 50 to the rice transplanter 10 is When the relative velocity is zero or within the specified range from zero to the first relative velocity (parallel flight process) ) seedling mat M is supplied to the rice transplanter 10 traveling straight ahead.

[0121] During the flight of the first state shown in FIG. 18, the multicopter 50 is raised by the holding device 51. By releasing the seedling mat M from its hold, the seedling mat M is dropped onto the receiving tray 90.

[0122] The multicopter 50 moves the seedling mat M toward the rice transplanter 10 traveling straight ahead just before turning. Since the seedling mat M is not released (restriction process), it is not replenished. 0 is the process of releasing the seedling mat M to the rice transplanter 10 while it is traveling straight after turning (the releasing process ) to supply the seedling mat M to the receiving tray 90 of the rice transplanter 10.

[0123] Figure 17 shows the prohibited area for seedling supply in the straight path just before the turning of the work machine. As shown in FIG. 17, the straight path portion L immediately before turning is set to 11a is a straight route L11 of the planned travel route L1 to the turning route L12 of the destination The storage unit 73 stores the linear path portion L shown in FIG. I remember that 11a is the prohibited area for seedling supply. Therefore, Multicopter 50 , the rice transplanter 10 traveling straight just before turning, that is, the rice transplanter traveling on the straight path portion L11a. The seedling mat M is not supplied to the transplanter 10.

[0124] As shown in FIG. 2, the server 70 determines the waypoints WP through which the multicopter 50 should pass. The server 70 includes a calculation setting unit 75 that calculates and sets the planned travel route L1. The processor executes the via point calculation program, and functions as the calculation setting unit 75. The waypoint WP is a coordinate on the planned travel route L1 where the multicopter 50 is to be positioned. The calculation setting unit 75 is a multi-computer as shown in FIG. The route point WP of the rice transplanter 50 is on the straight route L11 of the planned travel route L1 and is also on the route L11 of the rice transplanter 10. Set it backwards.

[0125] More preferably, the calculation setting unit 75 may calculate the distance between the first and second vertices of the straight path L11 as shown in FIG. The waypoint WP is located on the straight line path portion L11a within a predetermined range up to the turning path L12. If it is calculated, recalculate and add via point WP to the straight path L11 after the turning path L12. The straight path L11 after the turning path L12 is set as shown in FIG. As shown in the figure, when the straight path L11 is viewed along the traveling direction of the rice transplanter 10, This refers to the straight path portion L11b following the turning path L12, which is close to the next turning path L12. The calculation setting unit 75 calculates the route point WP on the turning route L1. 2, within the predetermined route on the straight-ahead start side of the straight-ahead route L11. The calculation setting unit 75 sets the via point WP on the predetermined route on the straight path start side of the straight path portion L11b. Set it within.

[0126] The calculation setting unit 75 calculates the planned travel route L1, the position and travel information of the rice transplanter 10 (for example, , direction of travel, speed, etc.), the remaining amount of seedlings (remaining amount of materials) and the seedling consumption speed (materials) of the rice transplanter 10. consumption rate), and the position and flight information of the multicopter 50 (for example, flight direction, flight speed, Based on the above information (such as the distance from the destination) the waypoints WP are calculated and set on the planned travel route L1.

[0127] The multicopter 50 is used for agricultural work while moving and holding agricultural materials S (for example, seedlings). The aircraft flies behind the work machine 1 and passes within the width of the work machine 1, and hits the working machine 1 while it is moving. The multicopter 50 is provided on the work machine 1 and is used to replenish agricultural materials S. Agricultural materials S are supplied to a receiving table 90 located on the planned travel route L1 of the work machine 1. Specifically, the multicopter 50 sends seedlings to the rice transplanter 10 that is traveling via the waypoint WP. As shown in FIG. 14, the waypoint WP is the point where the rice transplanter 10 passes through. This is a position on the planned travel route L1 at which the multicopter 50 can arrive later.

[0128] In this embodiment, the server 70 includes a calculation setting unit 75, but is not limited to this. The rice transplanter 10, the multicopter 50, or the mobile terminal 61 is equipped with a calculation setting unit 75. It may be possible.

[0129] Here, the multicopter 50 transports agricultural materials S (seedling mats M) to the rice transplanter 10. A series of operations will be described with reference to FIGS. 15A to 15F. FIG. 15B is a diagram showing an outward flight of a flying device from a departure point to a waypoint. 15A and 15B show the flight status of the agricultural flying device after it has arrived at the waypoint. FIG. 15D is a diagram showing a flying state in which the device is following and approaching a working machine that is moving. FIG. 15E is a diagram showing the flight state of the agricultural flying device when it has reached the airspace above the cradle. It shows that the agricultural flying device dropped the seedlings while flying with zero relative speed difference to the rice transplanter. Figure 15F shows the return flight of the agricultural flying device returning to the starting point after dropping seedlings. This is a diagram.

[0130] As shown in FIG. 15A, the multicopter 50 starts from the starting point (seedling placement location). While holding the seedling Se (seedling raising mat M), the outward flight from the starting point to the waypoint WP Then, as shown in FIG. 15B, the multicopter 50 When it reaches the way point WP, it turns toward the preceding rice transplanter 10 on the way point WP. The direction is changed (turn) in this way (turn process).

[0131] As shown in FIGS. 15B and 15C, the multicopter 50 uses the positioning device 32 A while the work machine 1 is traveling, the positioning device 32A Flying from the opposite side of the direction of movement while holding agricultural material S (seedling mat M) Then, it approaches the work implement 1 from the waypoint WP (approaching flight process). The copter 50 performs a tail flight (tail flight process).

[0132] For example, in FIG. 15B, the multicopter 50 uses the positioning device 32 of the working machine 1 while it is traveling. A, the work implement 1 is positioned at a distance (for example, a third distance D3) in the horizontal direction. "Keeping distance in the horizontal direction" means that the The distance (third distance D3) between the positioning device 32A of the work implement 1 and the controller 50 is For example, when the vehicle is behind the work implement 1 with respect to the positioning device 32A and the work implement 1 is traveling This includes determining the distance (third distance D3) from the positioning device 32A in the direction.

[0133] 15C, the multicopter 50 rotates at a speed lower than the running speed of the work machine 1. The drone flies in pursuit of the work machine 1 at a faster speed to shorten the distance to the work machine 1. For example, in FIG. 15C, the multicopter 50 is positioned at a second distance from the positioning device 32A. D2, which is closer than the third distance D3 (second distance D2<third distance D3 ).

[0134] In FIG. 15C, the multicopter 50 is traveling along a predetermined planned route L1 and a positioning device. The vehicle position detected by the device 32A is used to calculate the expected travel path from the rear of the rice transplanter 10. The robot flies along the path L1 and approaches the rice transplanter 10 (approaching flight process). The Chicopter 50 travels from the waypoint WP to the rice transplanter 10 so as to match the planned travel route L1. The multicopter 50 follows the rice transplanter 10 along a trailing path. The route traveled by the aircraft 10 along the planned route L1 overlaps with the route traveled by the aircraft 10 along the planned route L1 (overlapping flight).

[0135] In other words, the machine body 50a transports the agricultural materials S to the work machine 1 (rice transplanter 10). In this case, the machine body 50a moves in the air above the place where the work machine 1 has passed, as shown in FIG. 15B. As shown in FIG. 15C, the work machine in motion is seen from above the place where the work machine has arrived. Moving (flying) towards 1.

[0136] Then, the multicopter 50 continues to fly behind the target, and as shown in FIG. 15D, The robot reaches a position where the distance to the work implement 1 is a first distance D1 (arrival flight process). In FIG. 15D, the multicopter 50 is positioned rearward from the positioning device 32A in the work machine 1. A location corresponding to the first distance D1 (for example, a location at a first distance D1 behind the positioning device 32A) The first distance D1 is smaller than the second distance D2. As shown in FIGS. 15A to 15D, the rice transplanter 10 travels on the planned travel route L1. Therefore, the receiving platform 90 is located on the planned travel route L1.

[0137] As shown in FIG. 15E, the multicopter 50 receives the rice transplanter 10 while it is traveling. In the state where the rice transplanter 1 is positioned directly above the platform 90 (first state), the traveling direction and speed are The robot flies while maintaining a direction and speed of 0. For example, in Figure 15E, The multicopter 50 is located at a first distance D1 behind the positioning device 32A of the rice transplanter 10. While flying and maintaining a state of overtaking the receiving stand 90, the seedling mat M is thrown into the rice transplanter 10. That is, the multicopter 50 supplies the seedling mat M to the receiving table 90 of the rice transplanter 10. (Transport)

[0138] Then, as shown in FIG. 15F, the multicopter 50 drops the seedling mat M. Then, the following flight ends, and the rice transplanter 10 leaves and returns to the starting point (seedling placement location). Make the return flight.

[0139] Here, the relationship between the multicopter 50 and the receiving area EA of the positioning device 32A is As shown in FIGS. 15B to 15E and 18, the multicopter 50 is equipped with a positioning device. Outside the receiving area EA of the station 32A, follow the rice transplanter 10 (outside trailing flight) The multicopter 50 is located behind the receiving area EA of the positioning device 32A and detects the rice transplanter 10. It follows the signal and does not enter the receiving area EA.

[0140] As shown in FIG. 18, the receiving area EA of the positioning device 32A is When the rice transplanter 10 is viewed from the outside (for example, when viewed from the front, back, side, etc.), This receiving area EA is an area that spreads upward in an inverted cone shape. This is due to the antenna pattern of the positioning device 32A. The signals (radio waves) are received in the receiving area EA, so there are no obstacles in the receiving area EA. If an obstacle is located in the receiving area EA, the positioning device 32A This may result in radio wave reception errors.

[0141] As shown in FIGS. 15B to 15D, the multicopter 50 moves from the waypoint WP to the rice transplanter 1. 0, for example, in the seedling supply preparation area AR1, the At this time, the multicopter 50 is positioned behind the receiving area EA. and not entering the receiving area EA.

[0142] In the seedling supply available area AR2 shown in FIG. 15E, the multicopter 50 is in the first state. Therefore, the relative speed with respect to the rice transplanter 10 is zero or in a specified range from zero to the first relative speed. The multicopter 50 flies while maintaining the altitude within the range shown in FIG. It is assumed that the seedling mat M is dropped onto the receiving table 90 of the rice transplanter 10 at the dropping position. As shown in FIG. 18, the multicopter 50 enters the reception area EA of the positioning device 32A. Therefore, the multicopter 50 is not located in the receiving area EA, so the measurement This can prevent radio wave reception errors in the positioning device 32A and also allows seedling replenishment to be carried out appropriately. It is possible to do so.

[0143] The seedling supply stop area AR3 is the straight path portion L11a immediately before the turning shown in FIG. In this area, the seedling mat M is dropped onto the receiving tray 90 of the rice transplanter 10. This will be discontinued.

[0144] Here, the overall flow of the remote control of the multicopter 50 by the server 70 will be described in detail. The remote control device 72 issues various remote instructions (for example, For example, the first remote instruction is to go to the waypoint WP. The second remote instruction is to follow the rice transplanter 10 that is traveling from the waypoint WP. The third remote command is to drop seedlings (materials). 4 The remote instruction is an instruction for a return flight back to the seedling placement location.

[0145] The remote control device 72 starts when the server 70 determines that it is time to start the game. When the transplanter 10 detects that the remaining number of seedlings on the seedling raising mat M is less than a predetermined amount, The first remote instruction is transmitted to the multicopter 50. The multicopter 50 receives the first remote instruction. Based on this, the outbound flight from the current position to the waypoint WP (see Figure 14 and Figure 15A) The multicopter 50 arrives at the waypoint WP shown in FIG. 14 and FIG. 15B. Then, an arrival signal indicating arrival at the waypoint WP is transmitted to the server 70.

[0146] The remote control device 72 may be configured to: , the flight position of the multicopter 50 transmitted sequentially from the multicopter 50 is a waypoint If it is determined that the WP matches, a second remote command is sent to the multicopter 50. The multicopter 50, based on the second remote instruction, As shown in Figures 15B to 15D, the following flight is , from the waypoint WP to catch up with the traveling rice transplanter 10 and position directly above the receiving platform 90 The multicopter 50 flies over the rice transplanter 10 in the seedling supply preparation area AR1. The receiving stand 90 is located above the receiving stand 90 and within a predetermined distance (height H6 shown in FIG. 18) from the receiving stand 90. Then, the seedling supply route in the seedling supply possible area AR2 shown in FIG. In the first state, the relative speed of the multicopter 50 with respect to the rice transplanter 10 is zero. Or fly so as to maintain the relative speed within a specified range from zero to the first relative speed. In the first state, the relative speed of the multicopter 50 with respect to the rice transplanter 10 is zero. Or, if the relative speed is within the specified range from zero to the first relative speed, the seedling drop preparation is complete. The server 70 then transmits a ready signal (READY signal) to the server 70 indicating that the server 70 is ready.

[0147] When the communication device 71 receives the ready signal, the remote control device 72 The multicopter 50 then transmits a third remote instruction to the multicopter 50. The multicopter 50 then The seedling mat M (seedling Se) is released from the holding device 51, and the seedlings are dropped onto the receiving tray 90. At the seedling dropping position shown in FIG. 15E, the seedling raising mat M is placed on the receiving platform of the rice transplanter 10. 90. When Multicopter 50 drops seedlings, the seedling mat M A dropping completion signal indicating the completion of dropping of (seedling Se) is transmitted to the server 70.

[0148] When the communication device 71 of the server 70 receives the drop completion signal, the remote control device 72 A fourth remote instruction is transmitted to the multicopter 50. The multicopter 50 receives the fourth remote instruction. Based on the instructions, the return flight from the current position to the seedling placement site (see Figure 14 and Figure 15F) (reference) is performed.

[0149] As shown in FIG. 2, the server 70 determines the scheduled time for supplying seedlings to the rice transplanter 10 (scheduled material supply schedule). The server 70 includes a time calculation unit 76 that calculates the time. By executing the program, the time calculation unit 76 functions as the time calculation unit 76. , the position and travel information of the rice transplanter 10, the waypoint WP, the position and Flight information and the position of the multicopter 50, passing through the waypoint WP and arriving at the rice transplanter 10 Based on the outbound route, the scheduled time for supplying seedlings to the rice transplanter 10 is calculated.

[0150] The display control unit 74 displays the supply progress including the scheduled seedling supply time calculated by the time calculation unit 76. The server 70 transmits the replenishment progress display image to the mobile terminal 71 via the communication device 71. When the portable terminal 61 receives the supply progress display image, the portable terminal 61 transmits the scheduled seedling supply time to the portable terminal 61. A replenishment progress display image including the above is displayed on the display unit 66.

[0151] 19 is a diagram showing an example of a replenishment progress display image displayed on the mobile terminal. 66 displays a replenishment progress display image as shown in FIG. 19. The replenishment progress display image is Identification information of the multicopter 50, the scheduled seedling supply time, and the status of the multicopter 50 The information includes, but is not limited to, the status, seedling supply time, and number of seedling supply times.

[0152] The identification information of the multicopter 50 is, for example, an identification code, but it may also be a name or the like. The status of the Multicopter 50 is the status of the Multicopter 50 seedling supply flight. For example, the seedling placement location, the state before seedling placement, the seedling placement state, the outward flight In progress, waypoint WP reached, following flight in progress, seedlings ready to be dropped, seedlings dropped, return flight in progress, and finished This information is transmitted from the communication device 50i of the multicopter 50 to the server 70. The latest replenishment progress display image is generated by the server 70. The supply progress display image is transmitted from the server 70 to the mobile terminal 61. The first display unit 66 displays the latest replenishment progress display image.

[0153] The display unit 66 shown in FIG. 19 shows that the multicopter 50 "DR01" is The supply has been completed, and the scheduled time of supply and the status (supply of seedlings completed) are displayed. The display unit 66 also displays the actual seedling supply time. The DR01 multicopter 50 was carrying out the second seedling supply, and at that time The scheduled seedling supply time and status ("WP reached" indicating that the route point WP has been reached) The second seedling supply has not yet been completed, so the actual seedling supply time is displayed. The time is not displayed.

[0154] As described above, the user who owns the mobile terminal 61 can view the replenishment progress display on the display unit 66. By looking at the image, the supply progress including the scheduled time of seedling supply to the rice transplanter 10 by the multicopter 50 can be confirmed. In addition, the portable terminal 61 displays a replenishment progress display image. Alternatively or additionally, the display device of the server 70 or the rice transplanter 10 may display the progress of the supply. A progress display image may be displayed.

[0155] By the way, as shown in Figure 20, the multicopter 50 flying on the outbound route and the rice planting vehicle traveling When the aircraft 10 approaches, an additional waypoint WP1 needs to be set for the multicopter 50. FIG. 20 is a diagram showing an example of setting additional waypoints for an agricultural flying device. is.

[0156] As shown in FIG. 20, the calculation setting unit 75 calculates the current flight position of the multicopter 50. The route (outbound route) from the rice planter 10 to the waypoint WP and the travel route on which the rice planter 10 travels are There is a point where the two lines intersect in a plan view (intersection point CP), and at the intersection point CP If it is determined that the multicopter 50 will approach the rice transplanter 10, An additional waypoint WP1 is set at a point located a predetermined distance before the difference point CP. The predetermined distance is, for example, a distance at which the multicopter 50 and the rice transplanter 10 do not come into contact with each other. do.

[0157] Then, when the multicopter 50 flies outward and reaches the additional waypoint WP1, The rice transplanter 10 waits (hovering) at that location until it passes at least the intersection point CP. ) (waiting flight). In addition, the server 70 performs the following after the rice transplanter 10 passes the intersection point CP: Then, the multicopter 50 resumes its outbound flight and reaches its destination (i.e., the original waypoint WP). When it is determined that the time when the rice transplanter 10 reaches the route point WP is earlier than the time when the rice transplanter 10 passes through the route point WP In this case, the rice transplanter 10 continues to operate the multi-copter at the additional waypoint WP1 until it passes through the waypoint WP. Continue waiting (hovering) of Tar 50 (continued waiting flight).

[0158] As shown in FIG. 20, the multicopter 50 waits at the additional waypoint WP1 ( When the hovering occurs, the server 70 sets an additional waypoint for the multicopter 50. It is also possible to calculate that the arrival point will be shifted by the travel distance corresponding to the waiting time at WP1. Therefore, if the tracking speed pattern during the tracking operation of the multicopter 50 is common, The distance to follow the rice transplanter 10 from the origin point WP is When there is a wait time, the wait time is longer than when there is no WP1 setting. It will be long.

[0159] In addition, the server 70 detects that the waiting time at the additional waypoint WP1 of the multicopter 50 is long. If the system has multiple tracking speed patterns that increase in speed as the The multicopter 50 may be made to follow the target with a tracking speed pattern according to the target time. In this case, the distance to follow the rice transplanter 10 from the waypoint WP is Even if there is no waiting, it can be made close to or the same as the case without waiting.

[0160] The agricultural flight device 5, the material transport system SY, and the material transport system SY in the above-described embodiments, etc. The main characteristics and effects of the material transportation method are as follows:

[0161] (Item A1) A machine body 50a and a holding device 51 provided on the machine body 50a The agricultural flying device 5 includes a body 50a that holds agricultural materials S on the holding device 51. The drone flies while holding the drone and moves above the working machine 1 while it is running from one turn to the next. When the machine body 50a reaches the sky above the working machine 1, the holding device 51 An agricultural flying device (5) that releases agricultural material (S) by releasing its hold on the agricultural material (S).

[0162] According to this configuration, the agricultural flight device 5 can perform the driving from one turn of the work machine 1 to the next turn. Agricultural materials S (e.g., seedlings) are supplied while the vehicle is moving (e.g., while traveling straight ahead), so the Supply of agricultural materials S (for example, seedlings) (hereinafter referred to as material supply or material transportation as appropriate) This allows for quick and accurate processing.

[0163] (Item A2) The holding device 51 holds the agricultural equipment while the work machine 1 is turning. An agricultural flying device 5 according to item A1 that limits the release of the holding of material S.

[0164] According to this configuration, the agricultural flight device 5 limits the supply of materials while the work machine 1 is turning ( In other words, when the work implement 1 is traveling other than turning (i.e., traveling straight), Therefore, agricultural materials S are supplied during straight running rather than turning. This allows the work machine 1 to be supplied with materials quickly and accurately.

[0165] (Item A3) The holding device 51, while flying in the air above the work machine 1, By releasing the hold of the agricultural material S, the working machine traveling on the agricultural material S can 1. An agricultural flying device 5 according to item A1 or A2.

[0166] According to this configuration, the agricultural flying device 5 can fly over the working machine 1 and catch agricultural materials. Since S is supplied to the working machine 1 while it is moving, the agricultural flying device 5 is made to take off and land on the working machine 1. The amount of material that is not needed can be supplied to the work machine 1 in a short period of time. The work machine 1 does not require a landing space, and providing a landing space would increase the size of the work machine 1. This can prevent this from happening.

[0167] (Item A4) The holding device 51 is provided on the work machine 1. When the first state is reached, the agricultural drone is positioned within a predetermined distance above the cradle 90 and flies. Items A1 to A3 for releasing the holding of the material S and dropping the agricultural material S onto the receiving table 90 An agricultural flying device 5 described in any one of the above.

[0168] According to this configuration, the agricultural flying device 5 is positioned within a predetermined distance above the cradle 90. When the agricultural material S is in the first flying state, the holding device 51 is released and the agricultural material S is released. Since the agricultural materials S are dropped onto the receiving platform 90, the agricultural materials S are dropped above and within a short distance of the receiving platform 90 of the working machine 1. Therefore, agricultural materials can be dropped onto the receiving platform 90 of the work machine 1. The impact on the agricultural materials S can be reduced, reducing damage to the agricultural materials S caused by dropping them. Therefore, the agricultural flying device 5 can prevent the agricultural materials S from being thrown into the air by the working machine. 1 can be appropriately handed over to the cradle 90.

[0169] (Item A5) In the first state, the holding device 51 holds the machine body 50a and the The relative speed with the work implement 1 is zero or within a specified range value from zero to the first relative speed. In the case where the agricultural flying device 5 described in item A4 is released from the holding of the agricultural material S, .

[0170] With this configuration, the agricultural flying device 5 is positioned within a predetermined distance above the cradle 90. The first state is a state in which the relative speed between the work implement 1 and the work implement 2 is zero or is within a specified range value. When the load is within the range (i.e., close to zero), the load is applied to the agricultural implement S while the implement is traveling straight ahead. 1, agricultural materials S are accurately delivered to the target supply point on the receiving platform 90 of the work machine 1. It is possible.

[0171] (Item A6) In the first state, the aircraft 50a determines the traveling direction and speed as The flying direction and speed of the work machine 1 are kept in line with the direction and speed of the work machine 1. Agricultural flying equipment5.

[0172] With this configuration, the agricultural flying device 5 is positioned within a predetermined distance above the cradle 90. In the first state, the traveling direction and speed of the agricultural flight device 5 are controlled in accordance with the traveling direction of the work machine 1. Since it flies while maintaining the same direction and speed, it can easily catch the seedlings on the work machine 1 that is traveling in a straight line. Replenishment can be carried out stably.

[0173] (Item A7) The airframe 50a flies in pursuit at a speed faster than the work machine 1. and the work machine 1 is described in any one of items A4 to A6. Agricultural flying equipment5.

[0174] With this configuration, the agricultural flight device 5 can efficiently catch up with the work machine 1 and 90.

[0175] (Item A8) The holding device 51 is configured to hold the work machine 1 while the work machine 1 is traveling immediately before turning. The release of the agricultural material S is restricted, and the agricultural implement 1 is prevented from being released from the hold of the agricultural material S while traveling after turning. An agricultural flying device 5 according to any one of items A1 to A7 that releases the holding of agricultural materials S. .

[0176] According to this configuration, the agricultural flight device 5 is capable of Since materials are not supplied to the work implement 1 when the work implement 1 is traveling straight after turning, It is possible to supply materials to the work implement 1 while the work implement 1 is traveling straight ahead for a certain period of time after turning. This allows for reliable and stable supply of materials.

[0177] (Item A9) The agricultural material S is a seedling, and the work machine 1 is a rice transplanter 10. The agricultural flight device 5 described in any one of A1 to A8.

[0178] According to this configuration, the agricultural flight device 5 does not replenish materials while the rice transplanter 10 is turning, Since the rice transplanter 10 is replenished with materials while traveling straight ahead, the rice transplanter 10 can be replenished with materials quickly and accurately. It can be done accurately.

[0179] (Item A10) An agricultural flying device 5 according to any one of items A1 to A9, and the agricultural a calculation setting unit for setting a waypoint for positioning the commercial flying device 5, is a plurality of parallel straight paths L11 and a turning path L11 connecting the ends of the straight paths L11. 12, and the calculation setting unit Within a predetermined range of the straight path L11 of the road L1 to the turning path L12 at the destination When the via point WP is calculated on the straight path portion L11a, the turning point is recalculated. A material handling system S that sets the via point WP on the straight route L11 after the route L12 Y.

[0180] According to this configuration, the agricultural flight device 5 is capable of This avoids the need to supply materials to the work implement 1 while traveling straight after turning. can be suitably carried out.

[0181] (Item A11) The agricultural flying device 5 flying while holding agricultural material S turns Move to the sky above the working machine 1 that is traveling from the rear until the next turn (moving flight process to the sky), When the agricultural material S reaches the sky above the working machine 1, the agricultural material S is released (release step). Law.

[0182] According to this configuration, the agricultural flight device 5 can perform the driving from one turn of the work machine 1 to the next turn. Since materials are supplied while moving (for example, while moving straight), materials can be supplied to the work equipment 1 quickly and accurately. It can be done accurately.

[0183] (Item A12) The agricultural flight device 5, when the work machine 1 is turning, A material handling method as described in item A11, which restricts the release of industrial material S (restriction process).

[0184] According to this configuration, the agricultural flight device 5 limits the supply of materials while the work machine 1 is turning. In other words, when the work implement 1 is traveling other than turning (i.e., traveling straight), the agricultural material S Therefore, the amount of fuel supplied to the work implement 1 is greater when the work implement 1 is traveling straight than when the work implement 1 is turning. Material replenishment can be carried out quickly and accurately.

[0185] (Item A13) The agricultural flying device 5 is flying in the sky above the working machine 1. By releasing the holding device 51 (holding release step), the agricultural material A material handling method according to item A12 or A13, in which S is released to the working machine 1 while it is traveling (release step). Transport method.

[0186] According to this configuration, the agricultural flying device 5 can fly over the working machine 1 and catch agricultural materials. Since S is supplied to the working machine 1 while it is moving, the agricultural flying device 5 is made to take off and land on the working machine 1. The amount of material that is not needed can be supplied to the work machine 1 in a short period of time. The work machine 1 does not require a landing space, and providing a landing space would increase the size of the work machine 1. This can prevent this from happening.

[0187] (Item A14) The agricultural flying device 5 is mounted on a support 90 provided on the work machine 1. When the first state is reached, the agricultural material S is positioned within a predetermined distance and flying. Dropping onto the receiving platform 90 (dropping process) Material transportation described in any one of items A11 to A13 method.

[0188] According to this configuration, the agricultural flying device 5 is positioned within a predetermined distance above the cradle 90. When the agricultural material S is in the first flying state, the holding device 51 is released and the agricultural material S is released. Since the agricultural materials S are dropped onto the receiving platform 90, the agricultural materials S are dropped above and within a short distance of the receiving platform 90 of the working machine 1. Therefore, agricultural materials can be dropped onto the receiving platform 90 of the work machine 1. The impact on the agricultural materials S can be reduced, reducing damage to the agricultural materials S caused by dropping them. Therefore, the agricultural flying device 5 can prevent the agricultural materials S from being thrown into the air by the working machine. 1 can be appropriately handed over to the cradle 90.

[0189] (Item A15) In the first state, the agricultural flight device 5 is When the relative velocity of is zero or within a specified range value from zero to the first relative velocity ( A material transport method according to item A14, in which agricultural material S is released during the parallel flight process.

[0190] With this configuration, the agricultural flying device 5 is positioned within a predetermined distance above the cradle 90. The first state is a state in which the relative speed between the work implement 1 and the work implement 2 is zero or is within a specified range value. When the load is within the range (i.e., close to zero), the load is applied to the agricultural implement S while the implement is traveling straight ahead. 1, agricultural materials S are accurately delivered to the target supply point on the receiving platform 90 of the work machine 1. It is possible.

[0191] (Item A16) In the first state, the agricultural flight device 5 The flight is performed while maintaining the state in which the angle of the flight is aligned with the traveling direction and speed of the work machine 1 (maintenance flight). Material handling method described in item A15.

[0192] With this configuration, the agricultural flying device 5 is positioned within a predetermined distance above the cradle 90. In the first state, the traveling direction and speed of the agricultural flight device 5 are controlled in accordance with the traveling direction of the work machine 1. Since the drone flies while maintaining the same direction and speed, it can fly straight ahead and catch agricultural materials S. The work machine 1 can be stably replenished.

[0193] (Item A17) The agricultural flight device 5 flies in pursuit at a speed faster than the work machine 1. By doing so, the work machine 1 reaches above the receiving stand 90 (accelerated flight process) item A1 A material transport method according to any one of A4 to A16.

[0194] With this configuration, the agricultural flight device 5 can efficiently catch up with the work machine 1 and 90.

[0195] (Item A18) The agricultural flight device 5 is configured to The agricultural material S is not released from the working machine 1 while it is traveling just before turning (limiting step). and releasing the agricultural material S from the working machine 1 while it is traveling after turning (a releasing step). A material transport method according to any one of A11 to A15.

[0196] According to this configuration, the agricultural flight device 5 is capable of Since materials are not supplied to the work implement 1 when the work implement 1 is traveling straight after turning, It is possible to supply materials to the work implement 1 while the work implement 1 is traveling straight ahead for a certain period of time after turning. This allows for reliable and stable supply of materials.

[0197] (Item A19) The server 70 is provided, and the work machine 1 has a plurality of parallel straight paths L11 and a turning path L12 connecting the ends of the straight path L11. The server 70 or the agricultural flying device 5 The route point WP where the target object is located is calculated and set on the straight route L11 of the planned travel route L1. The calculation setting unit 75 is configured to determine the distance between the straight path L11 and the target point L12. The straight line path portion L11a within a predetermined range to the turning path L12 of the travel destination is When WP is calculated, it is recalculated and the straight path L11 after the turning path L12 is calculated. The via point WP is set (via point setting step) by writing in any one of items A11 to A18. The above material transportation method.

[0198] According to this configuration, the agricultural flight device 5 is capable of This avoids the need to supply materials to the work implement 1 while traveling straight after turning. can be suitably carried out.

[0199] (Item A20) The agricultural material S is a seedling, and the work machine 1 is a rice transplanter 10. A material transport method according to any one of items A11 to A19.

[0200] According to this configuration, the agricultural flight device 5 does not replenish materials while the rice transplanter 10 is turning, Since the rice transplanter 10 is replenished with materials while traveling straight ahead, the rice transplanter 10 can be replenished with materials quickly and accurately. It can be done accurately.

[0201] (Item B1) A machine body 50a and a conveying device 51A provided on the machine body 50a. The agricultural flying device 5 includes a flying vehicle 50a, which is equipped with a positioning device 32A. With respect to the work machine 1, the direction of movement of the positioning device 32A in accordance with the travel of the work machine 1 is opposite to that of the work machine 1. The drone approaches the work machine 1 from the side while flying with the agricultural material S held in it, The agricultural flying device 51A supplies the agricultural materials S to the working machine 1. .

[0202] According to this configuration, the agricultural flying device 5 follows the working machine 1 while it is moving and approaches it. Since the work material S (for example, seedlings) is supplied to the work machine 1, the positioning device 32A of the work machine 1 is located above the work machine 1. Therefore, the agricultural flying device 5 can approach the work machine 1 while avoiding the surrounding area. This makes it possible to avoid radio wave reception errors in the positioning device 32A due to wave interference.

[0203] (Item B2) The machine body 50a detects the positioning device 32A of the working machine 1 while it is traveling. and flying after the work machine 1 at a distance in the horizontal direction. Flight equipment 5.

[0204] According to this configuration, the agricultural flight device 5 can detect the position of the working machine 1 while it is traveling. Since the drone flies after the work machine 1 at a distance in the horizontal direction, the positioning device 3 of the work machine 1 2A and keep a horizontal distance from the positioning device 32A of the work machine 1. Therefore, the agricultural flying device 5 does not cause radio wave interference. This can avoid radio wave reception errors of the positioning device 32A caused by the above.

[0205] (Item B3) The airframe 50a follows the work machine 1 and flies behind the work machine 1. Item B: catching up with the position corresponding to the first distance D1 behind the positioning device 32A 1 or B2. An agricultural flying device 5.

[0206] According to this configuration, the agricultural flight device 5 follows the work machine 1 and flies behind the work machine. 1, a position corresponding to the first distance D1 rearward from the positioning device 32A (for example, a work machine (position directly above the cradle 90 at a first distance D1 behind the positioning device 32A in Since the robot catches up with the work implement 1, it approaches the work implement 1 while avoiding the vicinity of the positioning device 32A of the work implement 1. Therefore, the agricultural flight device 5 can prevent radio wave interference from occurring in the positioning device 32. This can avoid radio wave reception errors at A.

[0207] (Item B4) The machine body 50a is configured to calculate a predetermined planned travel route L1 and the positioning device The travel prediction signal is sent from the rear of the working machine 1 that is traveling based on the vehicle position detected by the vehicle position sensor 32A. The robot flies along a fixed route L1 and approaches the work machine 1. 5. Agricultural flying device equipped with

[0208] According to this configuration, the agricultural flying device 5 is positioned behind the working machine 1 to guide the working machine 1 as it travels. Since the aircraft flies along the planned route L1 and approaches the work machine 1, the planned travel route L1 of the work machine 1 can be used as the flight path of the agricultural flight device 5, and the agricultural flight device 5 can be suitably The work machine 1 can be followed and approached on a suitable flight path.

[0209] (Item B5) The following route for following the work machine 1 is determined based on the travel distance of the work machine 1. The agricultural flight device 5 described in item B4 overlaps with the travel path traveled along the planned route L1 .

[0210] According to this configuration, the following route of the agricultural flight device 5 is determined based on the travel path that the work machine 1 has already traveled. That is, the agricultural flight device 5 follows the running path of the work machine 1 so as to match the running path of the work machine 1. Therefore, the agricultural flight device 5 operates by following the movement of the actual working machine 1. Materials can be supplied to the equipment 1.

[0211] (Item B6) An agricultural flying device 5 according to any one of Items B1 to B5, The work machine 1 includes a receiving platform 90 that receives the agricultural materials from the agricultural flight device 5, The positioning device 32A is disposed at a predetermined position on the work machine 1, and the receiving base 90 is In the work machine 1, the positioning device 32A is disposed at a first distance D1 behind the positioning device 32A. Material handling system SY.

[0212] According to this configuration, the agricultural flying device 5 flies to the platform 90 of the work machine 1 and performs agricultural work. The work material S is delivered to the receiving stand 90, but the work machine 1 is positioned in front of the receiving stand 90. Therefore, the agricultural flying device 5 does not reach the device 32A due to radio wave interference. It is possible to avoid radio wave reception errors of the positioning device 32A and to work on agricultural materials S. This allows for proper resupply of aircraft 1.

[0213] (Item B7) The agricultural flight device 5 is located outside the reception area EA of the positioning device 32A. The material handling system SY according to item B6 flies alongside the work machine 1 in pursuit of the work machine 1.

[0214] According to this configuration, the agricultural flight device 5 is located within the reception area EA (an Since the agricultural flying device 5 follows the work machine 1 outside the antenna radiation pattern, It is possible to prevent the agricultural machinery from entering (invading or entering) the receiving area EA of the positioning device 32A. In order to avoid radio wave reception errors of the positioning device 32A due to radio wave interference from the commercial flight device 5, It is possible.

[0215] (Item B8) The work machine 1 uses a predetermined planned travel route L1 and the positioning device 3 The planned travel route L1 is based on the vehicle position detected by the vehicle position sensor 2A. A route including a straight route L11 and a turning route L12 connecting the ends of the straight route L11. The agricultural flight device 5 is a route along which the agricultural route L1 is set. When approaching the work machine 1 during flight towards P, an additional waypoint WP1 is set, and Item B6: Continue the waiting flight at the additional waypoint WP1 until the work machine 1 passes by or a material handling system SY as described in B7.

[0216] According to this configuration, the agricultural flight device 5 detects a waypoint WP (for example, If you approach implement 1 while flying to waypoint WP1, add an additional waypoint WP1. The waiting flight at the additional waypoint WP1 is set and continues until the work machine 1 passes by. Therefore, the positioning is performed while the agricultural flight device 5 is flying toward the waypoint WP on the planned travel route L1. In addition to preventing the agricultural flying device 5 from entering the receiving area EA of the device 32A, This prevents the agricultural flying device 5 from approaching the working machine 1 while it is moving, This can prevent collision with 1.

[0217] (Item B9) The agricultural flight device 5 is configured to If it is determined that the agricultural flight device 5 will reach the waypoint WP before the operation Continue holding flight at said additional waypoint WP1 until aircraft 1 passes said waypoint WP. A material handling system SY as described in the following item B9.

[0218] According to this configuration, before the work machine 1 passes through the waypoint WP, the agricultural flight device 5 In other words, the agricultural flying device 5 can be prevented from reaching the starting point WP. After passing through the way point WP, the machine 1 arrives at the way point WP. This allows the work implement 1 to reliably follow the target.

[0219] (Item B10) The agricultural material S is a seedling, and the work machine 1 is a rice transplanter 10. A material handling system SY according to any one of items B1 to B9.

[0220] According to this configuration, the agricultural flight device 5 is located in the sky above the positioning device 32A of the rice transplanter 10. Therefore, the agricultural flight device 5 can approach the rice transplanter 10 while avoiding the radio waves. It is possible to avoid radio wave reception errors of the positioning device 32A due to interference. This can reduce collisions between the agricultural flight device 5 and the positioning device 32A.

[0221] (Item B11) The agricultural flying device 5 transporting agricultural materials S is equipped with a positioning device 32A. For the working machine 1 that is traveling, the movement of the positioning device 32A accompanying the traveling of the working machine 1 is The drone approaches the work machine 1 from the opposite side of the moving direction while flying with agricultural materials S in hand. The agricultural material S is then transported to the work machine 1 (approaching flight process). Transport method.

[0222] According to this configuration, the agricultural flying device 5 follows the working machine 1 while it is moving and approaches it. Since the work material S is supplied to the work machine 1, the work machine 1 is not located in the vicinity of the positioning device 32A. Therefore, the agricultural flying device 5 does not cause radio wave interference. This can avoid radio wave reception errors of the positioning device 32A caused by the above.

[0223] (Item B12) The agricultural flying device 5 is configured to detect the positioning device 3 of the working machine 1 while the working machine 1 is moving. The work machine 1 follows the work machine 2A at a distance in the horizontal direction (following flight work) Process) Material handling method described in item B12.

[0224] According to this configuration, the agricultural flight device 5 can detect the position of the working machine 1 while it is traveling. Since the drone flies after the work machine 1 at a distance in the horizontal direction, the positioning device 3 of the work machine 1 2A and keep a horizontal distance from the positioning device 32A of the work machine 1. Therefore, the agricultural flying device 5 does not cause radio wave interference. This can avoid radio wave reception errors of the positioning device 32A caused by the above.

[0225] (Item B13) The agricultural flight device 5 follows the working machine 1 and flies behind the working machine 1. The positioning device 32A of the industrial machine 1 is caught up with at a position corresponding to the first distance D1 in the rear. <(Arrival Flight Process)> A material transportation method described in item B11 or B12.

[0226] According to this configuration, the agricultural flight device 5 follows the work machine 1 and flies behind the work machine. 1, a position corresponding to the first distance D1 rearward from the positioning device 32A (for example, a work machine (position directly above the cradle 90 at a first distance D1 behind the positioning device 32A in Since the robot catches up with the work implement 1, it approaches the work implement 1 while avoiding the vicinity of the positioning device 32A of the work implement 1. Therefore, the agricultural flight device 5 can prevent radio wave interference from occurring in the positioning device 32. This can avoid radio wave reception errors at A.

[0227] (Item B14) The work machine 1 uses a predetermined planned travel route L1 and the positioning device 32A detects the vehicle position, and the agricultural flying device 5 The drone flies along the planned travel route L1 from behind the work machine 1 and approaches the work machine 1 (approaching (Flight process) A material transportation method described in any one of items B11 to B13.

[0228] According to this configuration, the agricultural flying device 5 is positioned behind the working machine 1 to guide the working machine 1 as it travels. Since the aircraft flies along the planned route L1 and approaches the work machine 1, the planned travel route L1 of the work machine 1 can be used as the flight path of the agricultural flight device 5, and the agricultural flight device 5 can be suitably The work machine 1 can be followed and approached on a suitable flight path.

[0229] (Item B15) The following path that the agricultural flight device 5 follows the work machine 1 is , the travel route of the work implement 1 along the planned travel route L1 overlaps (overlaps) Flight) Material transport methods described in item B14.

[0230] According to this configuration, the following route of the agricultural flight device 5 is determined based on the travel path that the work machine 1 has already traveled. That is, the agricultural flight device 5 follows the running path of the work machine 1 so as to match the running path of the work machine 1. Therefore, the agricultural flight device 5 operates by following the movement of the actual working machine 1. Materials can be supplied to the equipment 1.

[0231] (Item B16) The work machine 1 has a receiving platform for receiving the seedlings from the agricultural flying device 5. 90, and the positioning device 32A is disposed at a predetermined position of the work machine 1, and the receiving base 90 is a position of the work machine 1 at the rear of the positioning device 32A at the first distance D1 Material handling methods listed in items B14 or B15 located at the location.

[0232] According to this configuration, the agricultural flying device 5 flies to the platform 90 of the work machine 1 and performs agricultural work. The work material S is delivered to the receiving stand 90, but the work machine 1 is positioned in front of the receiving stand 90. Therefore, the agricultural flying device 5 does not reach the device 32A due to radio wave interference. It is possible to avoid radio wave reception errors of the positioning device 32A and to work on agricultural materials S. This allows for proper resupply of aircraft 1.

[0233] (Item B17) The agricultural flight device 5 is within the reception area EA of the positioning device 32A. The material according to item B16, which follows the work machine 1 on the outside (outside following flight) Transportation method.

[0234] According to this configuration, the agricultural flight device 5 is located within the reception area EA (an Since the agricultural flying device 5 follows the work machine 1 outside the antenna radiation pattern, It is possible to prevent the agricultural machinery from entering (invading or entering) the receiving area EA of the positioning device 32A. In order to avoid radio wave reception errors of the positioning device 32A due to radio wave interference from the commercial flight device 5, It is possible.

[0235] (Item B18) The planned driving route L1 is composed of a plurality of parallel straight routes L11 and the straight route L12. and a turning path L12 connecting the ends of the path L11. The work station 5 performs the work while flying toward the waypoint WP set on the planned travel route L1. When approaching aircraft 1, an additional waypoint WP1 is set and the aircraft waits at the additional waypoint WP1. The aircraft flight continues until the work machine 1 passes (waiting flight). A material transport method described in any one of the preceding paragraphs.

[0236] According to this configuration, the agricultural flight device 5 detects a waypoint WP (for example, If you approach implement 1 while flying to waypoint WP1, add an additional waypoint WP1. The waiting flight at the additional waypoint WP1 is set and continues until the work machine 1 passes by. Therefore, the positioning is performed while the agricultural flight device 5 is flying toward the waypoint WP on the planned travel route L1. In addition to preventing the agricultural flying device 5 from entering the receiving area EA of the device 32A, This prevents the agricultural flying device 5 from approaching the working machine 1 while it is moving, This can prevent collision with 1.

[0237] (Item B19) The agricultural flight device 5 is configured to If it is determined that the agricultural flight device 5 will reach the waypoint WP before The work machine 1 continues to wait at the additional waypoint WP1 until it passes the waypoint WP. Continue (standby continued flight) Material handling method described in item B18.

[0238] According to this configuration, before the work machine 1 passes through the waypoint WP, the agricultural flight device 5 In other words, the agricultural flying device 5 can be prevented from reaching the starting point WP. After passing through the way point WP, the machine 1 arrives at the way point WP. This allows the work implement 1 to reliably follow the target.

[0239] (Item B20) The agricultural material S is a seedling, and the work machine 1 is a rice transplanter 10. A material transport method according to any one of items B12 to B21.

[0240] According to this configuration, the agricultural flight device 5 is located in the sky above the positioning device 32A of the rice transplanter 10. Therefore, the agricultural flight device 5 can approach the rice transplanter 10 while avoiding the radio waves. It is possible to avoid radio wave reception errors of the positioning device 32A due to interference. This can reduce collisions between the agricultural flight device 5 and the positioning device 32A.

[0241] (Item C1) A machine body 50a and a conveying device 51A provided on the machine body 50a. The agricultural flying device 5 is configured such that the airframe 50a carries agricultural materials S to the working machine 1. In this case, the machine body 50a reaches the sky above the place where the work machine 1 has passed, and An agricultural flying device 5 moves from the sky above the reached location toward the running work machine 1. .

[0242] According to this configuration, the agricultural flight device 5 reaches the sky above the place where the work machine 1 has passed. Then, by catching up with the working machine 1 that is traveling from above the place where the working machine 1 has reached, the farm Therefore, the work equipment 1 can replenish the work materials S from the sky above the place where the work equipment 1 has passed. The behavior of the agricultural flying device 5 until it catches up with the work machine 1 and transports the materials is simplified. Therefore, the supply of materials to the work machine 1 can be carried out stably.

[0243] (Item C2) The transport device 51A is provided on the work machine 1 and is The agricultural materials S are transported to a receiving platform 90 located on the planned travel route L1. 5. Agricultural flying device equipped with

[0244] According to this configuration, the agricultural flying device 5 can be moved from within the rear width of the working machine 1 to the running direction of the working machine 1. When the fixed path L1 is followed, the agricultural material S is placed on the receiving platform 90 of the work machine 1. It can be easily replenished.

[0245] (Item C3) The receiving table 90 is movable in the width direction of the work machine 1. The agricultural flying device 5 described in

[0246] According to this configuration, the receiving base 90 can be moved in the width direction of the work machine 1, Therefore, the agricultural flying device 5 can be aligned with the planned traveling path. Even if the agricultural flying device 5 is shifted from the road L1 in the width direction of the work machine 1, The agricultural materials S can be replenished onto the receiving platform 90 of the work machine 1 without any modification.

[0247] (Item C4) The receiving stand 90 moves in the width direction of the work machine 1 to receive Item C3: The agricultural material S can be aligned with the material loading section 24 to be replenished. The agricultural flying device 5 described in

[0248] According to this configuration, the receiving platform 90 moves in the width direction of the work machine 1 to receive the agricultural product. The materials S can be aligned with the material loading section 24 to be replenished. The receiving table 90 appropriately supplies the received agricultural materials S to the material loading section 24 to be supplied. It is possible.

[0249] (Item C5) The receiving base 90 is located on the center line of the working machine 1 in the width direction. The agricultural flying device 5 described in item C2 is capable of moving in the width direction while ensuring stability.

[0250] According to this configuration, even when the receiving base 90 is moved in the width direction of the work machine 1, It is located on the center line of the width direction of the work machine 1. The work machine 1 has a center in the width direction. The support 90 travels in accordance with the planned travel route L1 of the work machine 1. Even when the work implement 1 is moved in the width direction, it is positioned on the planned travel path L1 of the work implement 1. Therefore, the agricultural flying device 5 follows the base 90 that moves in the width direction of the work machine 1. Since there is no need for alignment, the flight control of the agricultural flying device 5 is not complicated. In other words, the agricultural flying device 5 can be prevented from moving regardless of the movement state of the cradle 90. The agricultural machine 1 flies along the planned travel route L1 and supplies agricultural materials S to the receiving platform 90 of the work machine 1. This can be done.

[0251] (Item C6) The receiving tray 90 receives the seedlings and moves them in the width direction on the receiving tray 90. Item C, which is provided with an adjustment body 99 for moving the material receiving portion 24 to the position where the material is to be supplied. 5. An agricultural flying device 5 according to claim 5.

[0252] According to this configuration, the adjustment body 99 of the receiving stand 90 adjusts the received agricultural material S to the receiving stand 90. It is moved in the width direction on the platform 90 and aligned with the material loading section 24 to be replenished. Therefore, the receiving table 90 can properly place the received agricultural materials S on the material loading section 24 to be replenished. can be replenished.

[0253] (Item C7) A material transport system SY comprising an agricultural flight device 5 described in any one of items C1 to C6 and a calculation setting unit 75 that sets a via point WP (e.g., a waypoint) on the planned travel path L1 of the work machine 1 and behind the work machine 1.

[0254] According to this configuration, the agricultural flight device 5 is on the planned travel route L1 of the work machine 1 and The vehicle is to catch up with the work implement 1 along the planned travel route L1 from the waypoint WP behind the work implement 1. Since the agricultural flying device 5 flies in this manner, the behavior of the agricultural flying device 5 can be simplified. This allows stable supply of materials from the rear of the work machine 1.

[0255] (Item C8) The planned travel route L1 is a set of a plurality of parallel straight routes L11 and the straight route L12. The route includes a turning route L12 connecting the ends of the route L11, and the calculation setting unit 75 is a straight route of the straight route L11 immediately after the turning route L12. A material handling system SY according to item C7 set within a predetermined route on the starting side.

[0256] According to this configuration, the agricultural flight device 5 can detect the straight path L11 immediately after the work machine 1 turns. The flight to catch up with work machine 1 from waypoint WP set within the specified route on the straight start side. That is, when the vehicle is traveling straight after turning, it catches up with the work implement 1 and starts to provide the work implement 1 with the necessary funds. Since material is supplied, the load on the work implement 1 is increased during straight travel that continues for a certain period after turning. It is possible to replenish materials, and the replenishment of materials can be carried out reliably and stably.

[0257] (Item C9) The calculation setting unit 75 determines whether the turning point of the straight path L11 is the destination of travel. The via point WP is calculated on the straight line path portion L11a within a predetermined range up to the circular path L12. In this case, the route point WP is recalculated and added to the straight route L11 after the turning route L12. The material handling system SY according to item C8, wherein the material handling system SY is configured as follows:

[0258] According to this configuration, the agricultural flight device 5 is capable of This avoids the need to supply materials to the work implement 1 while traveling straight after turning. can be suitably carried out.

[0259] (Item C10) The waypoint WP is the agricultural flight route immediately after the work machine 1 passes through it. Any one of items C7 to C9 which is a position on the planned travel route L1 that the device 5 can reach The material handling system SY described in

[0260] According to this configuration, the waypoint WP is the point where the agricultural flight device 5 passes immediately after the work machine 1 passes. This is the position on the planned travel route L1 that can be reached. When the work implement 1 arrives at the waypoint P, the work implement 1 has already traveled through the waypoint WP. Therefore, the agricultural flight device 5 is notified when the work machine 1 arrives at the waypoint WP where the work machine 1 has already traveled. Since the agricultural flying device 5 flies in such a way that it catches up with the work machine 1 from behind, Therefore, material replenishment can be carried out stably.

[0261] (Item C11) The agricultural flight device 5 is configured to fly in a manner that matches the planned travel route L1. , described in any one of items C7 to C10 for following the work implement 1 from the waypoint WP. Material handling system SY.

[0262] According to this configuration, the agricultural flight device 5 is moved so as to match the planned travel route L1 of the work machine 1. That is, the agricultural flight device 5 follows the work machine 1 from the waypoint WP. The secondary route overlaps with the planned travel route L1 of the work machine 1. For this reason, the agricultural flight device 5 It is possible to supply materials to the work machine 1 by following along the planned travel route L1 of the work machine 1. .

[0263] (Item C12) The work machine 1 adjusts its own position along the planned travel route L1. Material transport systems described in any one of items C7 to C11 that run under automatic steering or automatic driving Stem SY.

[0264] According to this configuration, the work machine 1 is automatically steered or automatically driven along the planned travel route L1. Since the work machine 1 travels by driving, it can operate autonomously even if it deviates to the left or right from the planned travel route L1. Therefore, the agricultural flight device 5 can return to the planned travel route L1 while following the work machine 1. Therefore, the behavior of the agricultural flying device 5 can be reduced. can be simplified.

[0265] (Item C13) The calculation setting unit 75 calculates the planned travel route L1 and the Position and travel information, remaining material amount and material consumption rate of the work machine 1, and the agricultural flight Based on the position of the device 5 and flight information, the waypoint WP is calculated to calculate the planned travel path. A material transport system SY according to any one of items C7 to C12, which is set on a road L1.

[0266] According to this configuration, the waypoint WP can be set appropriately.

[0267] (Item C14) A server 70 is provided, and the server 70 controls the operation of the work machine 1 and the agricultural machine. a communication device 71 capable of communicating with the agricultural flight device 5, the calculation setting unit 75, and the agricultural flight device and a remote control device 72 for remotely controlling the agricultural flying device 5. Any one of items C7 to C13 that operates according to remote control from the remote control device 72 The material handling system SY described.

[0268] According to this configuration, the remote control device 72 of the server 70 remotely controls the agricultural flight device 5. Therefore, the server 70 is the master and the agricultural flight device 5 is the slave. Therefore, it is possible to establish a master-slave relationship with the agricultural flying device 5. This allows for convenient remote supply of materials to the facility.

[0269] (Item C15) The communication device 71 transmits the position and travel information of the work machine 1 and the farm and the position and flight information of the commercial flying device 5, and the remote control device 72 a first remote instruction to the commercial flight device 5 for an outbound flight toward the waypoint WP, A second remote command for a follow-up flight from P to catch up with the work machine 1, and a third remote command for dropping materials. The agricultural flying device 5 can transmit the first The outbound flight is performed from the current position based on the remote instruction, and the outbound flight is performed based on the second remote instruction. and performing the following flight based on the third remote instruction, and performing the dropping of the materials based on the third remote instruction. Material handling system SY as described in item C14.

[0270] According to this configuration, the agricultural flight device 5 receives various remote instructions (e.g., For example, based on the first to third remote instructions, the vehicle moves from the current position to a route along the planned travel route L1. Outbound flight to point WP, follow-up flight from waypoint WP to catch up with work machine 1, and driving To do this, the agricultural flying device 5 is remotely controlled. It can be done practically and safely.

[0271] (Item C16) The server 70 stores the position and travel information of the work machine 1 and the route Point WP, the position and flight information of the agricultural flying device 5, and the position of the agricultural flying device 5 The work machine 1 is determined based on the route from the work machine 1 to the work machine 1 via the waypoint WP. Item C14 or C15 equipped with a time calculation unit 76 that calculates the scheduled time for supplying materials to the machine 1 The material handling system SY described in

[0272] According to this configuration, the agricultural flight device 5 reaches the waypoint WP from its current position and The scheduled time for catching up with work machine 1 from waypoint WP and resupplying the work machine 1 with materials. The server 70 calculates the scheduled time for material supply, and presents the calculated scheduled time for material supply to the user. It is possible.

[0273] (Item C17) The agricultural material S is a seedling, and the work machine 1 is a rice transplanter 10. A material handling system SY according to any one of items C7 to C16.

[0274] According to this configuration, the agricultural flight device 5 stably supplies materials to the rice transplanter 10. It is possible.

[0275] (Item C18) Agricultural flying device 5 flying while holding agricultural material S, The aircraft reaches the airspace above the location where the aircraft 1 passed, and the aircraft begins to operate while traveling from the airspace above the location where the aircraft 1 arrived. a material transporting device that moves toward the work machine 1 and transports the agricultural material S to the work machine 1 while it is traveling; method.

[0276] According to this configuration, the agricultural flight device 5 reaches the sky above the place where the work machine 1 has passed. Then, by catching up with the working machine 1 that is traveling from above the place where the working machine 1 has reached, the farm Therefore, the work equipment 1 can replenish the work materials S from the sky above the place where the work equipment 1 has passed. The behavior of the agricultural flying device 5 until it catches up with the work machine 1 and transports the materials is simplified. Therefore, the supply of materials to the work machine 1 can be carried out stably.

[0277] For example, the above item C1 or C18 indicates that the agricultural flying device 5 holds agricultural materials S. In this state, the drone flies behind the working machine 1 while it is running and within the width of the working machine 1. Alternatively, the agricultural materials S may be supplied to the working machine 1 while it is traveling. According to this, the agricultural material S is held behind the working machine 1 while the working machine is traveling. The drone flies within the width of 1 and supplies agricultural materials S to the working machine 1 while it is running. Agricultural flight from behind the work machine 1 and within the width of the work machine 1 to material supply Therefore, the operation of the device 5 can be simplified. It can be done.

[0278] In the above-described embodiment and modified example, the multicopter 50 is driven automatically. The rice transplanter 10 follows the rice transplanter 10 and catches up with the rice transplanter 10 to supply (transport) agricultural materials S. However, the rice transplanter 10 is being driven remotely or manually, and the rice transplanter It may catch up with the machine 10 and replenish (transport) agricultural materials S.

[0279] In the above-described embodiment and modified example, the multicopter 50 is controlled by the server 70. The rice transplanter 10 or the mobile terminal 61 is remotely controlled to fly. The rice transplanter 10 or the mobile terminal 61 may be one of the components of the server 70. The apparatus may include a remote control device 72, a storage unit 73, a calculation setting unit 75, and a time calculation unit 76. stomach.

[0280] In this embodiment, the multicopter 50 is remotely controlled by the server 70. The multicopter 50 flies autonomously, but it may also fly autonomously. The server 70 includes a storage unit 73, a calculation setting unit 75, and a time calculation unit 76. 6, and a remote control device 72 of the server 70 makes a decision in response to the first to fourth remote instructions. The configuration can be such that the control device possessed by the multicopter 50 determines this.

[0281] The present invention has been described above, and the embodiments disclosed herein are exemplary in all respects. The scope of the present invention should be considered as being within the scope of the above description and not as being limiting. The meaning and scope of the claims are not specified but are indicated by the claims, and are equivalent to the claims. It is intended to include all changes within [Explanation of symbols]

[0282] 1 Work equipment 5 Agricultural flight equipment 10 Rice transplanter 24 Material loading section 32A Positioning device 51 Holding device 70 servers 71 Communication equipment 72 Remote control device 75 Calculation setting section 76 Time calculation section 90 Receiving stand L1 Planned driving route L11 Straight route L12 Turning path S Agricultural materials WP Waypoint WP1 Additional waypoint

Claims

1. An agricultural flying device comprising a fuselage and a holding device provided on the fuselage, The aircraft flies while holding the agricultural materials with the holding device, and after turning, Move over the working machine while it is moving until the next turn, When the vehicle reaches the airspace above the work machine, the holding device holds the agricultural materials. An agricultural flying device that releases agricultural materials by releasing its grip.

2. The holding device restricts the release of the holding of the agricultural material while the work machine is turning.

2. The agricultural flying device of claim 1, wherein the flying device is

3. The holding device holds the agricultural material while the work machine is flying in the air.

3. The method according to claim 2, wherein the agricultural material is released to the working machine while the working machine is traveling by releasing the agricultural material. Agricultural flying equipment.

4. The holding device is configured to hold the machine body within a predetermined distance above a support provided on the work machine. When the first state is reached, the agricultural material is released from its hold and the agricultural material is flown.

4. The agricultural flying device of claim 3, wherein materials are dropped onto the platform.

5. In the first state, the holding device is configured to hold the work machine when the relative speed between the machine body and the work machine is zero. or within a specified range of values ​​from zero to a first relative velocity, 5. The agricultural flying device according to claim 4, wherein the holding of the material is released.

6. In the first state, the machine body changes the traveling direction and speed of the work machine.

6. The agricultural flying device according to claim 5, wherein the flying device flies while maintaining a uniform speed.

7. The airframe flies in pursuit of the work machine at a speed faster than that of the work machine.

7. The agricultural flying device according to claim 4, which reaches above a platform.

8. The holding device is configured to hold the agricultural material while the work machine is traveling immediately before turning. The release is restricted, and the agricultural material is released from the holding of the work machine while traveling after turning. The agricultural flying device according to any one of claims 1 to 5.

9. 6. The method according to claim 1, wherein the agricultural materials are seedlings and the working machine is a rice transplanter.

10. The agricultural flying device according to claim 1 .

10. The agricultural flying device according to any one of claims 1 to 5; a calculation setting unit that sets a waypoint at which the agricultural flight device will be positioned; The work machine has a plurality of parallel straight paths and a turning path connecting the ends of the straight paths. Travel along a planned route including The calculation setting unit is configured to set the turning path of the travel destination in the straight route of the planned travel route. When the waypoint is calculated as a straight line route portion within a predetermined range to the road, the waypoint is recalculated and the A material handling system that sets the via point on the straight path after the turning path.

11. Agricultural flying devices flying while holding agricultural materials must be able to fly from one turn to the next. When it reaches the airspace above the working machine, it Release, material handling method.

12. The agricultural flying device may release the agricultural material if the working machine is turning. The material handling method of claim 11, wherein:

13. The agricultural flying device is supported by a support device while flying above the work machine. The agricultural material is released to the working machine while it is traveling by releasing the holding of the agricultural material. The material handling method described.

14. The agricultural flying device is positioned within a predetermined distance above a platform provided on the work machine. and dropping the agricultural material onto the cradle when the first state of the flying drone is reached. A material transport method as described in

15. In the first state, the agricultural flight device has a relative speed with respect to the work machine of zero. or if the relative velocity is within a specified range value from zero to a first relative velocity, the agricultural material is 15. The material handling method of claim 14, wherein the

16. In the first state, the agricultural flying device controls the traveling direction and speed of the working machine.

16. The material transport system according to claim 15, which flies while maintaining a state in which the direction of travel and the speed are aligned. method.

17. The agricultural flying device follows the work machine by flying at a speed faster than the work machine. The material transport method according to any one of claims 14 to 16, wherein the material reaches above the receiving platform of the machine. 。

18. If the agricultural flying device is traveling just before turning, The agricultural implement is not released from the work machine, and the work machine is running after turning. The material transport method according to any one of claims 11 to 15, wherein the agricultural material is released by

19. Equipped with a server, The work machine has a plurality of parallel straight paths and a turning path connecting the ends of the straight paths. Travel along a planned route including The server or the agricultural flight device may select a waypoint at which to position the agricultural flight device. a calculation setting unit that performs calculations and sets the planned travel route as a straight path, The calculation setting unit is configured to calculate a distance within a predetermined range of the straight path to the turning path as a destination. When the via point is calculated in the straight line route portion, the The material transport method according to claim 18, wherein the via point is set on a straight route.

20. Any one of claims 11 to 15, wherein the agricultural materials are seedlings and the working machine is a rice transplanter.

2. The material transport method according to claim 1.

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