Agricultural flying devices

Abstract

The present invention provides an agricultural aircraft that can maintain stable flight even when the payload weight drops sharply. [Solution] The agricultural flying device 5 comprises an aircraft body 50a, a rotor blade 50c provided on the aircraft body 50a, and a holding device 51 provided on the aircraft body 50a that can be changed between a holding state for holding materials S and a release state for releasing materials S. The rotation speed of the rotor blade 50c decreases when the holding device 51 transitions from the holding state to the release state.

Description

Technical Field

[0001] The present invention relates to an agricultural flying device for transporting materials.

Background Art

[0002] The transport flying body disclosed in Patent Document 1 flies while holding a seedling tray, and drops the seedling tray in a state of approaching above the seedling tray conveyor of a seedling transplanting machine, thereby supplying the seedling tray to the seedling tray conveyor. When approaching above the seedling tray conveyor of the seedling transplanting machine in a state of holding the seedling tray, the seedling tray is dropped, thereby supplying the seedling tray to the seedling tray conveyor. The seedling tray is supplied to the seedling tray conveyor.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the transport flying body of Patent Document 1 described above, when the holding of the seedling tray is released, there is a problem that the aircraft may rise due to a sudden decrease in the loading weight, resulting in unstable flight. When the holding of the seedling tray is released, there is a problem that the aircraft may rise due to a sudden decrease in the loading weight, resulting in unstable flight. There is such a problem.

[0005] Therefore, in view of the above problems, an object of the present invention is to provide an agricultural flying device that can continue stable flight even when the loading weight suddenly decreases. An object of the present invention is to provide an agricultural flying device that can continue stable flight even when the loading weight suddenly decreases.

Means for Solving the Problems

[0006] The technical means of the present invention for solving the above technical problems is characterized by the following points. The following points are characterized. An agricultural flying device according to one aspect of the present invention includes an airframe, a rotary wing provided on the airframe, and a holding mechanism provided on the airframe that can be changed between a holding state for holding a material and a release state for releasing the material. And a holding mechanism provided on the airframe that can be changed between a holding state for holding a material and a release state for releasing the material. A holding device is provided, and the rotation speed of the rotor blade is such that the holding device is in the holding state. Furthermore, it decreases when transitioning to the aforementioned release state. [Effects of the Invention]

[0007] According to the present invention, the agricultural flying device maintains stability even when the payload weight drops rapidly. It can continue flying. [Brief explanation of the drawing]

[0008] [Figure 1] This is a schematic diagram of the material handling system. [Figure 2] This is a block diagram of the material handling system. [Figure 3] This is a side view of a rice transplanter. [Figure 4] This is a diagram illustrating the supply of seedlings to a moving agricultural machine using an agricultural aerial device. [Figure 5] This is a rear view of the seedling supply device and seedling stand. [Figure 6] This is an overall perspective view of an agricultural aircraft. [Figure 7] This diagram shows an agricultural flying device taking off upwards while holding seedlings (seedling mats). [Figure 8] This is a side view of a work vehicle showing an example of altitude levels corresponding to different stages in the flight path of an agricultural aircraft. [Figure 9] This diagram shows the rotor speed and aircraft altitude when dropping materials (seedling mats). [Figure 10] This diagram shows the rotor speed and aircraft altitude when dropping materials (granules). [Figure 11] This figure shows an agricultural flying device equipped with a holding device for holding a container of granular material. [Figure 12] This flowchart shows an example of control setting processing according to the type of material and the number of times it is dropped. [Figure 13] This flowchart shows another example of the control setting process. [Figure 14] It is a diagram showing an example of a memory table indicating the relationship between the material weight and the reduction amount of the rotation speed. [Figure 15] It is a diagram showing an example of a setting screen displayed on a mobile terminal. [Figure 16] It is a diagram showing an example of a setting screen displayed on a mobile terminal. [Figure 17] It is a flowchart showing an example of the rotational speed reduction control process of the rotary wing. [Figure 18] It is a diagram showing the rotational speed of the rotary wing and the altitude of the aircraft during multiple drops of the material (seedling raising mat).

Embodiments for Carrying out the Invention

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a schematic diagram of a material transportation system SY. FIG. 2 is a block diagram of the material transportation system SY.

[0010] As shown in FIGS. 1 and 2, the material transportation system SY includes a server 70 and an agricultural flying device 5, and the agricultural flying device 5 holds an agricultural material S (for example, a seedling mat M such as a seedling raising mat) and transports it by flying, and supplies the material S to the working machine 1 during traveling. It is a system for replenishing.

[0011] The material S is not limited to the seedling mat, and may be, for example, a plant mat for growing plants such as vegetable seedlings and cuttings. Note that the material S (agricultural material) is a granule, liquid agent, or seed put into a container 51A shown in FIG. 11 described later that can be transported by the agricultural flying device 5. For example, the granule includes a preparation obtained by processing an agricultural chemical into a granular form. The liquid agent includes a liquid fertilizer for improving the soil environment and a liquid agricultural chemical for pest control.

[0012] The working machine 1 is, for example, a rice transplanter 10. FIG. 3 is a side view of the rice transplanter 10. FIG. 1​​ As shown in Figure 3, the rice transplanter 10 consists of a body 11, a prime mover 12, a transmission 13, and seedlings. It is equipped with a planting device 18. The prime mover 12 and transmission 13 are mounted on the vehicle body 11. The rice transplanter 10 is, for example, four-wheel drive, and the power transmitted by the transmission 13 is, It is transmitted to the left and right front wheels 14F and the left and right rear wheels 14R. Therefore, the vehicle body 11 is supported so as to be able to move by the left and right front wheels 14F and the left and right rear wheels 14R. The seedling planting device 18 is located at the rear of the vehicle body 11. The seedlings placed on the seedling tray 41 located at the rear of the vehicle body 11 are removed from the seedling tray 41. Take them out and plant them in the field, etc.

[0013] As shown in Figure 2, the rice transplanter 10 includes a control device 30 and a storage unit 31. Memory unit 31 is a storage device such as a non-volatile memory, and stores various control programs and various other information. It stores data, etc. The storage unit 31 is, for example, an HDD (Hard Disk Drive). Examples include SSDs (Solid State Drives).

[0014] The control device 30 consists of electrical and electronic circuits, a processor, memory, etc. A processor is, for example, a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit). essing Unit), DSP (Digital Signal Processor), FPGA (Field Programma) (Bole Gate Array), and ASIC (Application Specific Integrated Circuit) And so on. The control device 30 operates by having the processor execute a control program. The operation of each part of the planting machine 10 is controlled. For example, the control device 30 controls the prime mover 12. The control device 30 is installed around the driver's seat 15. Operation when operating a control device (operating lever, operating switch, operating volume, etc.) The movement of the rice transplanter 10 is determined based on signals, detection signals from various sensors mounted on the vehicle body 11, etc. It controls the system and the work system.

[0015] As shown in Figure 2, the rice transplanter 10 has a position detection device 32 that detects its own position (for example The vehicle is equipped with a positioning device 32A. The positioning device 32A is, for example, the rice transplanter 10 (vehicle body It is located on the front side of 11). The positioning device 32A is a positioning satellite such as GPS and Michibiki. A device that detects its own position (latitude, longitude) based on data (positioning satellite system). The positioning device 32A includes an acceleration sensor to detect acceleration and a sensor to detect angular velocity. It may also 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 by other correction signals, etc. However, it is not always limited.

[0016] The rice transplanter 10 is equipped with a surrounding monitoring device 33 for monitoring the surrounding area. For example, an imaging device 33A is used, but LiDAR (Light Detection) is used. The imaging device 33A may be, for example, a radio wave sonar (and Ranging). It is a light-emitting camera, etc., and is capable of imaging the area around the rice transplanter 10. The imaging device 33A is a rice paddy It is located in front of the planting machine 10, but is not limited to this. For example, the imaging device 33A It is positioned near the driver's seat 15, and the rice transplanter 10 is positioned at the driver's eye level while seated in the driver's seat 15. The surrounding area may also be made capable of imaging. The images captured by the imaging device 33A are used for autonomous operation. ru.

[0017] Figure 4 is a diagram illustrating the supply of seedlings to the working machine 1 while it is in motion using the agricultural flying device 5. The memory unit 31 stores the pre-set travel route for the rice transplanter 10. L1 is stored. The control device 30 is executed by the processor in the automatic steering control program. The control device 30 then determines its own position (the position of the vehicle body 11) as detected by the positioning device 32A. The vehicle's speed is automatically adjusted so that it aligns with the planned route L1. Furthermore, the steering of the vehicle body 11 (for example, changing the steering direction of the front wheels 14F) is performed automatically. The control device 30 controls the vehicle by having the processor execute an automatic driving control program. Based on the position of the body 11, the image captured by the imaging device 33A, and the planned route L1, the vehicle body 1 It is also possible to perform automated driving so that position 1 aligns with the planned driving route L1.

[0018] For example, the rice transplanter 10 (working machine 1) is equipped with, for example, an automatic steering mechanism 17, and the automatic steering mechanism If it's a road, your position will be determined by the planned route L1 (more precisely, the straight route L described later). The machine moves along 11) automatically steered by the automatic steering mechanism 17. Machine 1), in autonomous driving mode, will determine its own position along the planned route L1 (direction described later). Control of the travel system by the control device 30 to follow the forward path L11 and the turning path L12. The vehicle operates autonomously (autonomously) through (including control of the automatic steering mechanism 17).

[0019] The rice transplanter 10 (working device 1) may be manually operated. In this case, the operator sits in the driver's seat 15 and operates the steering wheel 16. The rice transplanter 10 is steered. Also, the rice transplanter 10 (working device 1) is automatically driven as described above. It may also be a vehicle that performs (automatic steering or autonomous driving). In addition, the rice transplanter 10 (working machine 1) is determined by the vehicle position detected by the positioning device 32A and the planned travel distance. The system performs automatic driving based on route L1.

[0020] The rice transplanter 10 has a communication device 34, as shown in Figure 2. The communication device 34 is A communication module that performs either direct or indirect communication with server 70, for example Wi-Fi (Wireless Fidelity) is a communication standard of the IEEE 802.11 series. , registered trademark), BLE (Bluetooth (registered trademark) Low Energy), LPWA (Low Power, Wireless communication is performed using methods such as Wide Area (LPWAN) and LPWAN (Low-Power Wide-Area Network). This is possible. The communication module has a communication chip and / or a communication circuit. The communication device 34 communicates wirelessly, for example, via a mobile phone network or a data communication network. It is possible to do so.

[0021] The memory unit 31 stores information about the rice transplanter 10. The information about the rice transplanter 10 is: The position (latitude, longitude) of the rice transplanter 10 detected by the positioning device 32A, and the position Time information indicating the time at the location, and travel information of the rice transplanter 10 for each travel position (travel direction). This includes, among other things, driving speed. Furthermore, the information regarding the rice transplanter 10 includes, seedling planting equipment. Including the work information of the device 18 and the status information such as the captured image taken by the imaging device 33A That's good too.

[0022] The communication device 34 transmits information about the rice transplanter 10 stored in the memory unit 31 to the server 70. The information is transmitted sequentially. For example, the communication device 34 periodically transmits information about the rice transplanter 10 (every few seconds). It sends to server 70 every few hundred milliseconds and each time an event occurs. Specifically, communication Since the device 34 performs telematics communication, it can communicate the position of the rice transplanter 10 and the movement of the rice transplanter 10. Line information (travel direction, travel speed, etc.), work information of the seedling planting device 18, and imaging device 33 A transmits the captured image and other status information to the server 70, along with the corresponding information.

[0023] Next, we will describe the agricultural flying device 5. Figure 6 shows an overall perspective view of the agricultural flying device 5. This is a diagram. The agricultural flying device 5 is, for example, a multicopter 5, as shown in Figures 1 and 6. It is 0, and is configured to hold the seedling mat M and be transported by flight. Multicop The Tar-50 is an aircraft (such as an unmanned aerial vehicle) also known as a drone.

[0024] Specifically, the multicopter 50 consists of an airframe 50a and an airframe provided on the airframe 50a Arm 50b, rotor blade 50c attached to arm 50b, and one attached to the fuselage 50a It has a pair of skids 50d. The rotor blades 50c generate lift for flight. A device that applies rotational force to a rotor and a blade that rotates due to the drive of the rotor. It includes a rotor blade 50c that detects the rotational speed of the rotor. It includes a sensor. The rotation speed detection sensor detects the rotation speed of the rotor blade 50c. Also, The rotor blade 50c rotates based on the control signal (drive voltage) that rotates the rotor. You may also detect the number.

[0025] The multicopter 50 has an imaging device 50e. The imaging device 50e is, for example, These include infrared cameras, visible light cameras, etc., and are capable of imaging the area around the multicopter 50. be.

[0026] The Multicopter 50 uses an angular velocity (gyro) sensor to detect the attitude and movement of the aircraft 50a. Accelerometer to detect the speed of the aircraft 50a, etc., attitude and speed of the aircraft 50a Inertial Measurement Unit (IMU) to be detected, multicopter 5 Barometric pressure recovery to detect altitude 0, ultrasonic sonar to detect the position of surrounding objects (or Ultrasonic sensors, LiDAR (Light Detector) which uses laser light to measure objects. At least one of the following: ion and Ranging, and a magnetic compass sensor for detecting direction. It may have one or more. In this embodiment, the multicopter 50 may have, for example, an inertial meter It is equipped with measuring devices and a magnetic compass sensor.

[0027] As shown in Figure 2, the multicopter 50 performs various operations of the multicopter 50. The control device 50f controls the above-mentioned sensor (magnetic). (Directional sensor, inertial measuring device, rotation speed detection sensor, etc.), position detection device 55g, communication device The sensor 50i and the memory unit 50h are connected. The control device 50f controls multiple sensors Based on the detected values ​​and instructions from the server 70, etc., the rotor blade 50c, communication device 50i, The memory unit 50h and the holding device 51 are controlled. The control device 50f controls electrical and electronic circuits. It consists of components such as a processor and memory. Examples of processors include the CPU and GPU. These include DSPs, FPGAs, and ASICs. The Multicopter 50 is a processor. By executing the control program, it functions as a control device 50f.

[0028] The multicopter 50 has a position detection device 50g that detects its own position. The position detection device 50g uses data from positioning satellites such as GPS and Michibiki (positioning satellites). Based on the system, it determines its own flight position (latitude, longitude, altitude), i.e., multirotor This is a device that detects the flight position (latitude, longitude, altitude) of aircraft 50 (aircraft 50a). The position includes the flight position during flight and the landing position during landing. 0g detects the flight height (i.e., altitude) of the multicopter 50 (aircraft 50a), but Using various sensors such as altimeters, ultrasonic sonar, and LiDAR, either individually or in conjunction with each other. The altitude of the multicopter 50 (aircraft 50a) may also be detected.

[0029] The multicopter 50 is equipped with a memory unit 50h for storing various data, programs, etc. The memory unit 50h is, for example, a non-volatile storage device, such as an HDD or S This includes SD cards, etc. The memory unit 50h periodically (several seconds) stores information about the multicopter 50. It stores information (every few hundred milliseconds) and each time an event occurs. The report includes the flight position (latitude, longitude, altitude) of the multicopter 50 (aircraft 50a) and the relevant Time information indicating the time at the flight location, and the flight of the 50 multirotors at that flight location. Information (flight direction, flight speed, etc.) and the rotation speed of the rotor blade 50c at the relevant flight position, Includes. The direction of flight is detected by a magnetic compass sensor, and the flight speed is measured by an inertial measuring device. It is detected. The position detection device 50g then detects the flight based on the multiple flight positions it has detected. The direction of travel and flight speed may be calculated. Furthermore, information regarding the multicopter 50 is provided. Work information indicating whether or not the seedling mat M is being held (whether or not it is being held by the holding device 51 described later) (Work information indicating the following), rotation speed of the rotor blade 50c detected by the rotation speed detection sensor, imaging device The camera 50e may also include status information such as captured images.

[0030] The multicopter 50 has a communication device 50i that can communicate with the server 70. The communication device 50i is a communication module that performs either direct or indirect communication with the server 70. For example, Wi-Fi, which is a communication standard of the IEEE 802.11 series. Wireless communication can be performed using registered trademarks, BLE, LPWA, LPWAN, etc. The communication module has a communication chip and / or a communication circuit. Also, the communication device 5 0i can perform wireless communication, for example, via a mobile phone network or data communication network. can.

[0031] The communication device 50i receives information about the multicopter 50 stored in the memory unit 50h. It sends to the server 70. In other words, the communication device 50i sends information about the multicopter 50. The system sends reports to server 70 periodically (every few seconds, every few hundred milliseconds) and each time an event occurs. For example, communication device 50i performs telematics communication. Communication device 50i is multi The flight position of the Copter 50, flight information (flight direction, flight speed, etc.), and seedling mat M Work information indicating whether or not it is being held (indicating the separated or approached state of the holding device 51, as described later) (Work information), the captured image captured by the imaging device 50e, and the detection of the detection device 56 described later. The status information, such as the current state, is associated with the data and sent to the server 70.

[0032] The seedling mat M, which is to be transported by the multicopter 50, is described later in the section on the rice transplanter 10. In order to fit into the material loading section 24 (see Figure 5), it has a rectangular shape in plan view. As shown in Figure 3, it has a long side Ma and a short side Mb. The seedling mat M contains a large number of seedlings Each of the Se plants has grown with its leaves and stem positioned on top of its roots in the soil (So). (Figure) As shown in 4, the seedling placement area is the place where the seedling mat M was placed before transport, for example For example, the ridge SH is located around field F.

[0033] The multicopter 50 has a seedling holding device 51 (seedlings) as shown in Figures 1 and 6. It has a holding device. For example, the holding device 51 is located at the bottom of the aircraft body 50a. The multicopter 50 will fly with the holding device 51 holding the seedlings. Therefore, the seedlings are transported.

[0034] The holding device 51 grips at least a portion of the leaves and stems of the seedling Se. For example, the holding device When a seedling Se is present between the pair of clamping members 52 and 53, the pair of clamping members 5 By bringing 2 and 53 close together, the pair of clamping members 52 and 53 hold the seedlings in the seedling mat M. The device 51 maintains the seedlings Se in the seedling mat M. By separating the pair of clamping members 52 and 53 from the holding position, the material S (seedlings) can be separated. The mat (M) is released, entering a liberated state.

[0035] Specifically, the holding device 51 comprises a pair of clamping members 52, 5 capable of clamping the leaves or stems of seedlings. It includes 3 and a moving mechanism 54 that changes the distance between a pair of clamping members 52 and 53. For example, the moving mechanism 54 brings a pair of clamping members 52 and 53 close together to clamp the leaves or stems of the seedling. A first mechanism M1 makes this possible, and a second mechanism M2 separates the pair of clamping members 52 and 53. The holding device 51 includes a moving mechanism 54, which includes a pair of clamping members 52, 53. It is equipped with a detection device 56 that detects the presence or absence of seedling Se. These are various types of sensors that can detect information; for example, photoelectric sensors and laser sensors may be used.

[0036] Here, the multicopter 50 moves to the seedling placement area and the seedling mat This section describes the actions involved in holding the M and jumping upwards.

[0037] The multicopter 50 uses location information indicating the seedling placement location and a position detection device 50g to detect the location. Based on the aircraft's own flight position (latitude, longitude, altitude), the seedling placement locations are shown in Figure 4. It flies to the seedling mat M shown in Figure 4. The multicopter 50 flies to the seedling mat M at the seedling placement site. It reaches above and descends in flight when the holding device 51 is in a position where it overlaps with the seedling Se in a plan view. .

[0038] The multicopter 50 has clamping members 52 and 53 in a direction perpendicular to the vertical direction with respect to the seedling Se. The aircraft descends until it reaches a position where they overlap. Once the descent is complete, the pair of clamping members 52 and 53 are separated. Since the leaves or stems of the seedling Se are located there, the clamping members 52 and 53 hold the seedling Se.

[0039] The holding device 51 grips at least a portion of the leaves and stems of the seedling Se. That is, a pair When a seedling Se is present between the clamping members 52 and 53, the first mechanism M1 moves the pair of clamping members By bringing 52 and 53 closer together, the pair of clamping members 52 and 53 hold the seedlings Se in the seedling mat M. Set to a holding state (approach state) to maintain the object.

[0040] As shown in Figure 7, the holding device 51 holds at least a portion of the leaves and stems of the seedling Se (this embodiment In this state, the agricultural flying device 5 is raised while holding the tip of the leaf of the seedling Se. Let's make the seedlings float up.

[0041] Next, we will describe the server 70 shown in Figure 2. Server 70 is used, for example, by farmers and commercial operators. Fixed computers and pipes installed in agricultural companies, agricultural machinery manufacturers, agricultural service providers, etc. This is a portable computer that can be carried by managers, workers, etc. So, server 70 is a fixed-type computer.

[0042] 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. A communication module that performs one of the following communication functions, for example, the IEEE 80 communication standard. 2.11 series Wi-Fi (registered trademark), BLE, LPWA, LPWAN, etc. It performs wireless communication. The communication module has a communication chip and / or communication circuit. Furthermore, the communication device 71 communicates wirelessly, for example, via a mobile phone network or a data communication network. Communication is possible.

[0043] The server 70 includes a remote control device 72 for remotely controlling the multicopter 50. The remote control device 72 is composed of electrical and electronic circuits, a processor, memory, etc. Processors include, for example, CPUs, GPUs, DSPs, FPGAs, and ASICs. Yes, Server 70 is where the processor executes the remote control program for the multicopter 50. By doing so, it functions as a remote control device 72.

[0044] The remote control device 72 transmits remote control signals to the multicopter 50 via the communication device 71. Transmit. The multicopter 50 operates according to remote control from the remote control unit 72. For example, the multicopter 50 operates based on remote control signals from the remote control device 72. Then, it heads to the seedling storage area, picks up the seedlings at the storage area and transports them by air, and drives the seedlings. The operation of supplying the implement 1 inside is performed. Also, on the rear side of the rice transplanter 10 (vehicle body 11), As shown in Figures 1 and 3, a support stand 90 (seedling support stand) is provided. The support stand 90 is for rice planting. It is located behind the positioning device 32A in aircraft 10. Multicopter 5 0, in accordance with remote control from the remote control device 72, moves the support base 90 of the moving rice transplanter 10. It is possible to drop seedlings.

[0045] Furthermore, when the multicopter 50 transports seedlings and replenishes them to the rice transplanter 10, the imaging equipment The 50e camera takes an image of the seedling mat (seedlings) in the seedling placement area, and based on the image of the seedling mat (seedlings) Then, the system moves to a position above the seedling mat for supplementary purposes, and based on the captured image, the seedling mat (seedling ) holds. Also, when the multicopter 50 heads towards the rice transplanter 10 to be resupplied, Based on the captured images of the transplanter 10, the system tracks the transplanter 10 and the support base of the transplanter 10. Based on the captured image of the 90, seedling mats are dropped onto the receiving stand 90.

[0046] The server 70 is equipped with a storage unit 73. The storage unit 73 is a non-volatile memory device. For example, HDDs and SSDs. The storage unit 73 records various data (information). It includes a map data storage unit 73A. The map data storage unit 73A is, for example For example, agricultural map data is stored as data. Agricultural map data refers to agricultural data. This refers to data that associates location with related data. These include field map data, machine data, and work data.

[0047] The field map data includes map data containing pre-registered fields and data on the rice transplanter in the field. This is map data that associates the predetermined travel route L1 of machine 0 (work machine 1) with the map data. The map data includes the outline of the field, the area of ​​the field, the location of the field entrance and exit, and the surrounding area of ​​the field. This includes the location of the seedling placement area prepared. The travel route is, for example, the planned travel route. The actual travel path when the work machine 1 travels in a manner that aligns with road L1 may also be used.

[0048] Machine data refers to various types of data related to agricultural machinery, such as tractors. Agricultural vehicles such as rice transplanters, transplanters, combine harvesters and other harvesting machines, fertilizer spreaders, pesticide sprayers, and molding machines. Control data or operation data for field operation, driving, etc. of machinery, lawnmowers, processing machines, tillers, etc. This is data.

[0049] The work data refers to data related to the work performed by implement 1 (agricultural machinery) in the field. These include the amount of transplanting, fertilization, pesticide application, and sowing in the field. For example, rice paddy If the data is from the operation of the planting machine 10 (i.e., data showing the amount of seedlings transplanted in the field): The amount of seedlings transplanted by the seedling planting device 18 in the field is stored as work data. The transplanting amount is the number of rows to be planted, which is individually set for the rice transplanter 10, for example. The number of rows is 3, 4, 5, 8, 10, etc. The memory unit 31 is connected to the rice transplanter 1 If the rice planting work is planned to be carried out at 0, the amount of seedlings to be transplanted by the seedling planting device 18 It can be stored as working data.

[0050] Server 70 includes a display control unit 74. Server 70 is a processor that controls the display By executing the program, the display control unit 74 will function. 4 can control the display on the display unit 66 of the mobile terminal 61 connected to the server 70. It is possible. For example, the display unit 66 receives from the server 70 via the display control unit 74. It displays an agricultural map, and the rice transplanter 10 is shown moving by the multicopter 50, which will be described later. It can display the status of seedling supply.

[0051] Now, let's discuss the rear configuration of the rice transplanter 10, that is, the configuration of the seedling planting device 18, etc. This will be explained using Figures 3 and 5. Figure 5 is a rear view of the seedling supply device 20 and seedling tray 41. be.

[0052] As shown in Figure 3, the rice transplanter 10 places seedling mats on the seedling planting device 18 (seedling tray 41). The rice transplanter 10 is equipped with a seedling supply device 20 that supplies M. A predetermined amount of seedlings is cut from the seedling mat M placed on top, and the cut seedlings are placed in the field ( This is a transplanting machine used to plant rice in paddy fields.

[0053] In Figure 3, arrow AW1 points forward (forward of the aircraft), and arrow AW2 points backward (rearward of the aircraft). (Rear of the body), the direction of arrow AW3 in Figure 3 will be explained as the front-to-back direction (front-to-back direction of the aircraft). Furthermore, we will explain the front side of Figure 3 as the left and the back side of Figure 3 as the right. Also, the front-back direction (arrow) The horizontal direction, which is perpendicular to AW3, is the aircraft width direction (see aircraft width direction K1 in Figure 5). ) will be explained as follows.

[0054] As shown in Figure 3, a seedling planting device 18 is provided at the rear of the vehicle body 11. The attached 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 move up and down. Furthermore, the seedling planting device 18 is driven to move up and down freely by a hydraulic cylinder 21. ru.

[0055] As shown in Figure 3, the seedling planting device 18 has a seedling tray 41 on which the seedling mat M is placed and Then, a predetermined amount of seedlings are cut from the seedling mat M placed on the seedling tray 41 and placed in the field (paddy field). It has a planting mechanism 22 for planting and a float 23 for leveling the field surface. As shown in Figure 3, the seedling tray 41 has a sloping shape that shifts forward as it goes upward. It is installed in a forward-sloping manner.

[0056] As shown in Figure 5, the seedling tray 41 is positioned in the width direction K1 of the machine on which the seedling mat M is placed. It has multiple material loading sections 24 (seedling loading sections) arranged in a row. The width of the machine body of the material loading section 24 Partition guides 25 are provided on both sides of direction K1. Each material placement section 24 has a seedling tray. Align the long side Ma of the seedling mat M with the slope direction of the seedling tray 41, and the short side Mb of the seedling mat M The seedling mat M is placed in a position aligned with the width direction K1 of the aircraft. Each material placement section 24 Two seedling mats M can be placed side by side in the direction of the incline of the seedling tray 41. The seedling mat M on the support section 24 is moved down along the material support section 24 by the vertical feeding mechanism 26. It is said that vertical feeding is possible.

[0057] As shown in Figure 3, the seedling tray 41 has an upper guide section 27 provided on the connecting body 28. A and the lower guide portion 27B support the connecting body 28 so as to be movable in the width direction K1 of the aircraft body. It is held and moved in the width direction K of the machine body by the lateral feeding mechanism 84 (see Figure 5) provided on the connecting body 28. It is driven to move back and forth.

[0058] The planting mechanism 22 is arranged in a number corresponding to the number of planting rows, with spacing between them in the width direction K1 of the machine body. It is provided. In this embodiment, since the rice transplanter 10 is an 8-row planter, the material loading section 24 Eight planting mechanisms 22 are provided to correspond to the number of plants. The planting mechanisms 22 are supported by the connecting body 28. Therefore, the planting mechanism 22 moves relative to the seedling tray 41. Then, the seedling tray 41 moves in the machine width direction K1 relative to the planting mechanism 22. Structure 22 is placed on a seedling tray 41 (material tray 24) that moves back and forth in the width direction K1 of the machine body. Take out a predetermined number of seedlings from the bottom of the seedling mat M and plant them. For details, see Planting The mechanism 22 rotates around an axis extending in the width direction K1 of the aircraft body and is placed on the material loading section 24. Take one seedling (a predetermined amount) from the bottom of the seedling mat M and plant it in the field. Then, while the seedling tray 41 is moving to one side in the width direction K1 of the machine body, the planting mechanism 22 Therefore, a horizontal row of seedlings at the bottom edge of the seedling mat M is cut off. When a row of seedlings is cut, the seedling mat M will be reduced to the size of the row that was cut. The seedlings are fed vertically by the vertical feeding mechanism 26, and the seedling tray 41 is positioned in the other direction of the machine width K1. It moves (in the opposite direction to the one mentioned above), and the same planting operation as above is performed. The seedling tray 41 is driven back and forth in the machine width direction K1, corresponding to the width of the seedling mat M, The M is moved vertically each time the seedling tray 41 is positioned at the end of its reciprocating movement.

[0059] As shown in Figures 1 and 5, the rice transplanter 10 receives seedlings dropped from the multicopter 50. It is equipped with a support stand 90 to receive the mat M. Specifically, as shown in Figures 3 and 5, The seedling supply device 20, which supplies seedling mats M to the tray 41, is attached to the top of the seedling tray 41. The attached support bracket 91 and the seedling supply stand 92 supported by the support bracket 91 It has.

[0060] The seedling supply stand 92 may be equipped with markers (identification images) at one or more locations. The Chicopter 50 determines the position of the marker included in the image captured by the imaging device 50e and Based on size, the flight position when approaching the support base 90, and the position directly above the support base 90 The flight position is controlled when guiding the seedlings. In addition, the seedling supply platform 92 is located at one or more locations. It may be equipped with a guidance device that emits a guidance signal. The multicopter 50 is guided by the guidance signal. The above flight position may be controlled accordingly.

[0061] The seedling supply stand 92 is provided on the seedling stand 41 via a support bracket 91, The supply stand 92 is provided on the seedling tray 41, so the seedling supply stand 92 (seedling supply device 2 0) moves back and forth in the width direction K1 of the machine together with the seedling tray 41. In other words, seedling supply tray 92 ( The support stand 90) is movable in the lateral direction (machine width direction K1) of the rice transplanter 10. (See Figure 5) As shown, the support base 90 is positioned on the center line in the lateral direction (machine width direction K1) of the rice transplanter 10. It is possible to move it in the lateral direction (aircraft width direction K1) while ensuring that it can be placed. Therefore, even if the support stand 90 is moved in the machine width direction K1, the lateral width of the rice transplanter 10 It is ensured that it is located on the center line of the direction.

[0062] As shown in Figures 3 and 5, the seedling supply platform 92 is transported by air using a multicopter 50. This is the area where the seedling mat M is placed. For more details, the seedling supply stand 92 has mulch. Seedling mat M, which was airlifted by a Copter 50, is dropped. The seedlings are placed on top of the seedling mats. The seedling supply stand 92 sends the placed seedling mats M to the seedling support stand 41. In other words, the seedling supply platform 92 is used by the multicopter 50 to drop seedlings. Receive the seedling mat M and send this received seedling mat M to the seedling tray 41. Here, The Luchicopter 50 drops seedling mat M during flight and places seedling mat M on a seedling supply stand. It is placed on 92. Seedling mat M is dropped from multicopter 50 onto seedling supply stand 92. In this case, the seedling supply stand 92 is in a horizontal position P1 as shown in Figures 3 and 5. do.

[0063] As shown in Figure 3, the seedling supply stand 92 has the long side Ma of the seedling mat M in the front-to-back direction (arrow). It matches AW3), and as shown in Figure 5, the short side Mb of the seedling mat M is in the width direction K1 of the machine. Seedling mat M is placed in a matching position.

[0064] The timing to start supplying seedling mats M to rice transplanter 10 using multicopter 50 The start timing (hereinafter sometimes referred to as the start timing) is, for example, mounted on the rice transplanter 10. The seedling shortage sensor detected that seedling mat M should be supplied to seedling tray 41. The time when this occurs may also be considered. Seedling shortage sensors are provided on each material placement section 24 of the seedling tray 41. Then, the seedling mat is placed on the material loading section 24 and the seedlings are cut off by the planting mechanism 22. This sensor detects when the remaining amount of seedlings (materials) of M falls below a predetermined level. The seedling depletion sensor detects the remaining amount of seedlings in the seedling mat M placed on the material loading section 24. If this is possible, it can be configured in any way, not just as a contact sensor. Also, seedling mat To detect when the remaining amount of seedlings in the M plant falls below a certain level, a camera and an image diagnostic device are used. This may be done by a detection device configured as follows. In this case, the camera is located on the material loading section 24. The seedling mat M is photographed, and the image of the seedling mat M captured by the camera is used for image diagnosis. The device analyzes the material placed (planted) on the material placement section 24. The remaining amount of seedlings in seedling mat M can be detected.

[0065] Furthermore, a simpler method is used to detect when the number of seedlings remaining in the seedling mat M falls below a predetermined level. Legally, the only requirement is whether the seedlings on the seedling mat M are located within a specific area of ​​the material placement section 24. It may also be possible to detect seedlings by performing image analysis only on the absence of seedlings within a specific area. It may be reasonable to conclude that the remaining amount is below a certain level, requiring replenishment.

[0066] Furthermore, the amount of seedlings remaining on the seedling mat M on the material loading section 24 will vary depending on the field conditions. The material support section 24 is different. Therefore, the timing for supplying (replenishing) the seedling mat M is This varies depending on the material placement section 24.

[0067] Furthermore, the timing for starting seedling replenishment by the multicopter 50 is calculated by the server 70. This timing may also be used. For example, the server 70 has previously stored in the memory unit 73 Planned travel route L1 of the rice transplanter 10, and seedling consumption rate along the planned travel route L1 of the rice transplanter 10 The rate (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 with the current remaining quantity, the start date for seedling replenishment by the Multicopter 50 will be determined. The timing may be calculated in advance.

[0068] Furthermore, the server 70 supplies seedlings from the work plan (seedling planting plan) stored in the memory unit 73. The start timing may be obtained. The work plan (seedling planting plan) is the travel of the rice transplanter 10. Includes the planned route L1 and instruction information for seedling replenishment by the multicopter 50. The displayed information shows the start timing of seedling replenishment from the start of work on the planned route L1 (start time) This includes the time (time) and the target point (latitude, longitude, altitude) set on the planned route L1.

[0069] As shown in Figure 5, the seedling supply stand 92 has a dispensing body 100. The dispensing body 100 is The seedling nursery machine is freely movable in the forward and backward directions (arrow AW3) and the width direction K1 of the machine has been adjusted. The mat M can be moved to the rear, allowing the seedling mat M to be fed to the material loading section 24. .

[0070] In the seedling supply device 20 described above, the amount of seedlings remaining on the seedling mat M on the material loading section 24 When it is detected that the level has fallen below a predetermined level, the multicopter 50 will turn on the seedling mat M The multicopter 50 is transported, and the seedling mat M is placed on the seedling supply stand 92 via the multicopter 50. At this time, the seedling supply stand 92 should be in a horizontal position P1. Place the seedling mat on the seedling supply stand 92. When M is placed, the adjustment unit adjusts the positional misalignment of the seedling mat M in the width direction K1 (correction). ) and place the seedling mat M at a position corresponding to the material loading section 24 where the seedling mat M should be supplied. Align the positions.

[0071] Next, the seedling supply stand 92 is changed from a horizontal position P1 to an inclined position P2 and then sent out. By moving the body 100 toward the material loading section 24, the seedling mat M moves toward the material loading section 2 The system moves towards 4, and the seedling mat M is supplied to the material loading section 24.

[0072] Here, the multicopter 50 (agricultural flying device 5) holds the seedling mat M (seedling S Regarding the supply of (e) to the moving rice transplanter 10 (working device 1), Figure 4 will be used for explanation. Figure 4 illustrates the supply of seedlings to the working machine 1 while it is in motion by the agricultural flying device 5. This is a diagram.

[0073] Furthermore, as shown in Figure 4, the rice transplanter 10 moves when the vehicle position detected by the positioning device 32A is The vehicle will travel along the planned route L1. The planned route L1 consists of multiple parallel straight lines. The path L11 and the turning path L12 connecting the same-side ends of the two straight paths L11 include.

[0074] As shown in Figure 4, the multicopter 50 flies along a global path. The global route will be automatically flown by the multicopter 50 (including remote flight and autonomous flight). This is the route connecting the starting point and the destination point. As shown in Figure 4, it is a global route. This refers to the route connecting the seedling storage area and the moving work machine 1, and the outbound route (to replenish seedlings) The outbound journey is divided into the outbound journey (route) and the return journey (route for resupplying seedlings). From the starting point (for example, the seedling placement area) to the target point (for example, the support platform 90 of the moving work machine 1) The route connects to a point in the air above. The return route is the route from the target point back to the starting point. ru.

[0075] In this embodiment, the server 70 generates a global route and stores it in the storage unit 73. For example, The server 70 is equipped with a processing unit 77 that performs route planning, and this processing unit 77 is large Generate a global path. Generating a global path is called global path planning. This is sometimes called planning or global routing. Server 70 is a processor It functions as a processing unit 77 by executing a path planning calculation program. The multicopter 50 or the mobile terminal 61 is equipped with the above processing device, and the multicopter 5 A global route may be generated using device 0 or mobile terminal 61.

[0076] The local path is where the multicopter 50 automatically flies along the global path. This is a route that is sequentially generated when the rice transplanter 10 is performing a flight (including remote flight and autonomous flight). A localized route to follow and catch up from behind (shown as "Seedling Replenishment" in Figure 4) ), or including local paths that can avoid obstacles. Generating local paths is This is sometimes called local path planning or local path design. The local path is determined while the multicopter 50 is in flight, and the multicopter 50 is equipped Data acquired by one or more sensing devices (e.g., imaging device 50e) It is generated sequentially based on the following.

[0077] In this embodiment, the processing unit 77 of the server 70 generates global routes and local routes. However, it is not limited to this. Server 70, apart from the processing unit for global routes, local A processing device for the target path may be provided. Also, a control device 30 or mounted on the work machine 1 The multicopter 50 may be equipped with a processing device for local paths. For example, agricultural machinery ( For example, a management device (e.g., server 70) that manages agricultural work using work machine 1) A path is generated, and the control device 30 or multicopter 50 mounted on the work machine 1 performs local operations. You may generate a path.

[0078] In this embodiment, the server 70 remotely controls the multicopter 50. Specifically, The remote control device 72 of the server 70 receives the field map data (running) stored in the storage unit 73. The planned route L1 and the global route, and the rice planting information received sequentially by the communication device 71 Based on the information regarding the machine 10 and the information regarding the multicopter 50, the multico Remotely control the Pter 50.

[0079] Information regarding the rice transplanter 10 includes its location (latitude, longitude), time, and Includes driving information for each driving position (driving direction, driving speed, etc.). Multicopter 5 Information regarding 0 includes the flight position (latitude, longitude, altitude), time, and and flight information for each of the multirotor 50 at the relevant flight location (flight direction, flight speed, etc.) This includes the operation of the multicopter 50 according to the remote control of the server 70. .

[0080] As shown in Figure 4, the multicopter 50, in accordance with the remote control of the server 70, transports materials While the S (for example, seedling mat M) is held by the holding device 51, the aircraft is flying and moving in a straight line. (For example, while traveling along the straight path L11) approaching from behind the work machine 1 and above the support platform 90 Move to point (flight process to replenish seedlings: outbound process). And Multicopter 50 According to the remote control of the server 70, as shown in Figure 3, the airspace above the support base 90 of the work machine 1 When it reaches the point, the holding device 51 releases the material S, and the rice transplanter 1 Material S is dropped onto receiving platform 90 (release process: dropping process). Then, the multicopter Following the remote control of server 70, after releasing material S as shown in Figure 4, Move from the point above the receiving platform 90 to the starting point (for example, the seedling storage area) (when returning from seedling replenishment) Flight process: return leg).

[0081] Here, we will explain the altitude required for the flight path of the multicopter 50. Figure 8 shows: An example of altitudes corresponding to different stages in the flight path of an agricultural flying device 5 (multicopter 50) This is a side view of the work vehicle shown. Note that the support platform 90 of the rice transplanter 10 is at a ground height H1. The positioning device 32A is at a ground height of H2. The flight altitude of the multicopter 50 is, As shown in Figure 8, the normal flight height H3 and the flight height H5 when dropping the seedling mat M. For example, the control device 50f adjusts the height according to the flight path of the multicopter 50. Maintaining altitude at normal flight height H3 and flight height H5 when dropping seedling mat M Performs control.

[0082] As shown in Figure 8, the normal flight altitude H3 of the multicopter 50 is the outbound flight shown in Figure 4 ( This refers to the flight altitude on the return journey (the route to replenish seedlings) and the return journey (the route to replenish seedlings). The row height H3 is higher than the ground height H2 of the positioning device 32A.

[0083] When the multicopter 50 is positioned at a predetermined distance behind the rice transplanter 10, it will move as shown in Figure 8. After descending from the normal flight altitude H3 to flight altitude H5, the machine performed a pursuit flight to catch up with the rice transplanter 10. The multicopter 50 will also be positioned at a predetermined distance behind the rice transplanter 10. The tracking flight involves descending from a normal flight altitude of H3 to a flight altitude of H5 while catching up to the rice transplanter 10. You can go. The multicopter 50 can follow the rice transplanter 10 at a faster speed. Then, it catches up with the rice transplanter 10 and reaches above the support stand 90 of the rice transplanter 10 (accelerated flight). process).

[0084] As shown in Figure 8, the flight height H5 when the seedling mat M is dropped is the same as the ground of the positioning device 32A. The upper height is lower than H2. Note that the flight altitude of the Multicopter 50 is H5, and the ground level is 90. By subtracting the upper height H1, the distance from the support base 90 to the multicopter 50 directly above is shown in Figure 8. It can be seen that the height is H6. If the height is H6, then the seedling mat M will be placed on the support stand 90. Because the dropping distance is short, the seedling mat M will not be destroyed by the impact of dropping. It can be conveniently placed on the support stand 90.

[0085] The multicopter 50, while flying above the implement 1 (rice transplanter 10), By releasing the holding by the device 51 (holding release step), the material S (seedling mat M) is released. The multicopter 50 releases the ) onto the moving implement 1 (releasing process). That is, the multicopter 50 releases the ) onto the implement 1 While flying over the rice transplanter 10 (that is, without landing on the rice transplanter 10), the seedling mat M is supplied to the rice transplanter 10, which is traveling in a straight line.

[0086] As shown in Figure 8, the multicopter 50 is mounted on a support stand 90 provided on the rice transplanter 10. Furthermore, the aircraft flying is positioned within a predetermined height (height H6 shown in Figure 8) from the support base 90. In state 1, the holding device 51 releases the holding and the material S (seedling mat M) is placed on the support. By dropping the seedling mat M onto the 90 (dropping process), the seedling mat M is supplied to the rice transplanter 10 while it is moving in a straight line. The first state is when the multicopter 50 is raised to a predetermined height from the support base 90 (as shown in Figure 8). It is located within height H6). In other words, the first state is, It is located within the height from the ground (flight height H5 (H5 = H1 + H6) shown in Figure 8). This is the state.

[0087] The multicopter 50 is in the first state, positioned at a height H6 from the support base 90 shown in Figure 8. And while maintaining the direction and speed of travel aligned with the direction and speed of travel of the rice transplanter 10 The multicopter 50 then enters the first state as shown in Figure 8. In this case, the relative speed with respect to the rice transplanter 10 is zero or within a specified range from zero to the first relative speed. If the value is within the specified range (parallel flight process), the seedling mat M is placed on the rice transplanter 10 while it is traveling in a straight line. Resupply.

[0088] During flight in the first state shown in Figure 8, the multicopter 50 is used for seedling cultivation by the holding device 51. By releasing the hold on mat M, the seedling mat M is dropped onto the support stand 90.

[0089] Here, we will explain in detail the overall flow of remote control of the multicopter 50 by the server 70. I will explain in detail. The remote control device 72 gives various remote instructions to the multicopter 50 (for example (The first to fourth remote instructions) are sent. For example, the first remote instruction is directed towards the rice transplanter 10. This is an instruction for the outbound flight. The second remote instruction is from a position behind the moving rice transplanter 10 to the field. This is an instruction for follow-up flight to catch up with planting machine 10. The third remote instruction is for seedling dropping (material dropping). This is an instruction. Remote instruction number 4 is an instruction for the return flight back to the seedling planting site.

[0090] The remote control device 72 will activate when the server 70 determines that it is time to start, or when the server 70 determines that it is time to start. If the planting machine 10 detects that the remaining amount of seedlings in the seedling mat M has fallen below a predetermined level, The first remote instruction is transmitted to the multicopter 50. Based on this, the outbound flight (see Figure 4) from the current position toward the rice transplanter 10 is performed. The multicopter 50 arrives at the position behind the rice transplanter 10 shown in Figure 4, and then the rice transplanter An arrival signal is sent to the server 70 indicating arrival at the rear position of 10.

[0091] The remote control device 72 will activate when the communication device 71 of the server 70 receives an arrival signal, or The flight position of the multicopter 50 is transmitted sequentially from the multicopter 50 to the rice transplanter. If it is determined that it matches the rear position of 10, the second remote signal is sent to the multicopter 50. The multicopter 50 transmits a signal. Based on the second remote instruction, the multicopter 50 moves the rice transplanter 1 while it is in motion. The aircraft performs a follow-up flight, catching up to the rice transplanter 10 from a position behind 0. Follow-up flight is performed while driving. From the rear position of the rice transplanter 10, it catches up to the rice transplanter 10 and is positioned directly above the support stand 90. The flight continues until the rice transplanter 10 receives the seedlings along the seedling replenishment route. The first This is the state. Then, in the seedling supply route shown in Figure 4, the multicopter 50 is in the first state. In this state, the relative speed with respect to the rice transplanter 10 is zero or a specified range from zero to the first relative speed. The multicopter 50 flies while maintaining a range value. In this case, the relative speed with the rice transplanter 10 is zero or within a specified range from zero to the first relative speed. If the value is within the specified range, a ready signal (REA) is issued to indicate that preparations for seedling placement are complete. Send the DY signal to server 70.

[0092] When the communication device 71 receives a ready signal, the remote control device 72 will control the multicopter -50 transmits the third remote instruction (material drop instruction). Multicopter 50 transmits the third remote instruction. Based on the instruction, the holding device 51 releases the holding of the seedling mat M (seedlings Se), and The seedlings will be dropped onto platform 90. When the multicopter 50 performs the seedling dropping, the seedling nursery... A drop completion signal indicating the completion of the drop of the seedling M (Seedling Se) is sent to the server 70.

[0093] When the communication device 71 of the server 70 receives a drop completion signal, the remote control device 72 will... The fourth remote instruction is transmitted to the multicopter 50. The multicopter 50 receives the fourth remote instruction. Based on the instructions, perform a return flight (see Figure 4) from the current location back to the seedling placement site. ru.

[0094] The display control unit 74 of the server 70 displays information about the multicopter 50 to the mobile terminal 61. The information regarding the multicopter 50 may be displayed sequentially on the display unit 66. This includes the identification information of the multicopter 50 and the status of the multicopter 50. This is not limited to this.

[0095] The identification information for the multicopter 50 is an identification code for identifying the multicopter 50. It is a do, but it can also be used as a name, etc. The status of the Multicopter 50 is Multico This shows the conditions during the Ptar 50 seedling resupply flight, for example, seedling placement, seedling holding. Forward state, seedling holding state, during outbound flight, reached the rear position of rice transplanter 10, during follow flight, seedling throwing This includes statuses such as "possible to descend," "seedlings dropped," "return flight in progress," and "completion." This information is provided by Multico. The communication device 50i of the transmitter 50 is transmitted sequentially to the server 70, or the server This is determined from the position and status information of the rice transplanter 10 and the multicopter 50 in 70. This is generated by changing the status of the multicopter 50 from server 70 to mobile terminal 61. It is transmitted to the mobile terminal 61. For this reason, the display unit 66 of the mobile terminal 61 shows the multicopter 50. The status will be displayed.

[0096] Now, the control device 50f provides altitude maintenance control according to the flight path of the multicopter 50 and Separately, the rotation speed of the rotor blade 50c is controlled when material S is dropped. Here, material S For controlling the rotation speed of the 50c rotor blades of the Multicopter 50 when dropping (seedling mat M) This will be explained using Figure 9. Figure 9 shows the rotor blades when material S (seedling mat M) is dropped. This diagram shows the rotation speed of aircraft 50c and the altitude of aircraft 50a.

[0097] In this case, as shown in Figure 8, the multicopter 50 has a holding device 51 that holds material S (The seedling mat M) is held in place, and above the support stand 90 of the rice transplanter 10 and at flight height. Assume the first state is when the aircraft is flying at position H5.

[0098] As shown in Figure 9, the rotation speed of the rotor blade 50c is when the holding device 51 is released from the holding state. It decreases when transitioning to the next state. In other words, the rotational speed of the rotor blade 50c decreases. During this time, the holding device 51 transitions to the released state.

[0099] For example, after indicating a release state (that is, holding the release signal indicating a release state) From the reception timing (for example, time t1) when the device 51 receives the signal, the holding device 51 is released. Within the period until the release timing (for example, time t3), the rotation speed of the rotor blade 50c The decrease begins (for example, control starts at time t2), and the release timing (for example, time t) 3) After this, the decrease in the rotation speed of the rotor blade 50c ends (for example, at time t4). This rotation speed reduction control is performed. In other words, the rotation speed reduction control period for the rotor blade 50c T1 is the period from time t2 to time t4.

[0100] The rotational speed of the rotor blade 50c (second rotational speed R2) when the aforementioned decrease ends (time t4). This refers to the rotor blade 50c before the release state is indicated (for example, before the reception timing (time t1)). When the rotation speed (first rotation speed R1) is lower than that, and material S is released, multi This is the rotational speed at which the Copter 50 maintains flight at a flight altitude of H5. Note that the first rotational speed is R. 1 is not limited to the rotation speed of the rotor blade 50c immediately before the reception timing (time t1), but also the reception timing This can also be the rotation speed of the rotor blade 50c at the ignition time (time t1).

[0101] The multicopter 50 rotates its rotor blades 50c at a predetermined interval (every few seconds, every few hundred milliseconds). Since the number of revolutions and the time are associated and stored in the memory unit 50h, the reception timing (time The rotation speed of the rotor blade 50c immediately before t1), and the rotation at the reception timing (time t1). The rotational speed of the 50c wing can be obtained.

[0102] The control device 50f reduces the rotation speed of the rotor blade 50c based on the weight of the released material S. To reduce. For example, the control device 50f controls the rotor blade 5 corresponding to the weight of the released material S. Define the amount of decrease in rotational speed at 0c. For example, the amount of decrease is stored in the memory shown in Figure 14, which will be described later. Defined as the first or second decrease amount indicated by cable TB1. The control device 50f holds When the device 51 transitions from the holding state to the release state, the rotation speed of the rotor blade 50c is reduced. From the rotational speed before starting (first rotational speed R1), the reduction amount (for example, the first reduction amount shown in Figure 14) Alternatively, reduce the rotational speed to the target rotational speed (second rotational speed R2) by the amount of the second reduction.

[0103] The control device 50f outputs a release signal to the holding device 51 to instruct it to be in the release state. The rotation speed of the rotor blade 50c is controlled to decrease based on the timing.

[0104] As shown in Figure 9, at times t1 and t2, the multicopter 50 maintains a flight altitude H5. It holds. The multicopter 50 has the rotation speed of rotor blade 50c from time t2 to time t3. As the altitude decreases, the flight altitude drops slightly to H51 at time t3. However, the multicopter -50 is due to the release (dropping) of the seedling mat M at time t3. The quantity suddenly becomes zero, and immediately after that, the decrease in the rotation speed of the rotor blade 50c stops (that is , the number of rotations required to maintain flight height H5 without holding the seedling mat M (2nd The decrease stops at rotation speed R2, indicating that the aircraft is returning to flight altitude H5. .

[0105] At time t3, the payload (loading weight) has decreased drastically. In other words, the seedling mat The total weight of the multicopter 50 flying while holding the seedling mat M is calculated from LC1. The weight LC2 changes instantly to that of only the multicopter 50 after subtracting the volume.

[0106] Next, when the multicopter 50 drops material S (granules in container 51A) all at once... The rotational speed control of the rotor blade 50c will be explained using Figure 10. Figure 10 shows material S( This figure shows the rotation speed of the rotor blade 50c and the altitude of the aircraft 50a during granular material (dropping). Figure 1 1 is an agricultural flying device 5 having a holding device 51 for holding a container 51A containing granules. This is the diagram shown.

[0107] In this case, the multicopter 50 is a container 5 containing granules, as shown in Figure 11. The holding device 51 holds 1A, and is above the target drop position and at flight height H. Let's assume it's positioned at 5 and hovering.

[0108] The container 51A has an opening / closing device 51C that can open and close an opening 51B provided at the bottom. The opening and closing device 51C has, for example, a pair of door members 51C1 and an opening 51B The door member 51C1 closes the door, and the pair of door members 51C1 are opened downwards to create an opening 5 It can transition to an open state where 1B is opened. This opening 51B is a sufficiently large opening through which the granules in the container 51A can be dropped all at once. That is, the opening 51B has a size that allows a large number of granules to be dropped simultaneously. Note that the opening 51B of the opening / closing device 51C is not limited to a configuration where it is opened by a pair of door members 51C1, and it may be a configuration where it is opened by a shutter member or a bottom plate. It is a sufficiently large opening through which the granules can be dropped all at once. That is, the opening 51B has a size that allows a large number of granules to be dropped simultaneously. Note that the opening 51B of the opening / closing device 51C is not limited to a configuration where it is opened by a pair of door members 51C1, and it may be a configuration where it is opened by a shutter member or a bottom plate.

[0109] The holding device 51 can, for example, output an open signal or a close signal to the opening / closing device 51C to transition the opening / closing device 51C between an open state and a closed state.

[0110] As shown in FIG. 10, when the holding device 51 transitions the pair of door members 51C1 of the container 51A to an open state (i.e., the opening 51B from a closed state to an open state), the rotational speed of the rotary blade 50c decreases. In other words, while the rotational speed of the rotary blade 50c is decreasing, the opening 51B of the container 51A transitions from a closed state to an open state. For example, within the period from the reception timing (e.g., time t1) when the holding device 51 receives a release signal instructing the opening 51B of the container 51A to be in an open state to the release timing (e.g., time t3) when the opening 51B of the container 51A becomes an open state, the decrease in the rotational speed of the rotary blade 50c starts (e.g., control starts at time t2), and after the release timing (e.g., time t 3), the decrease in the rotational speed of the rotary blade 50c ends (e.g., ends at time t4). That is, the decrease control period T1 of the rotational speed of the rotary blade 50c is the period from time t2 to time t4.

[0111] For example, the holding device 51 receives a release signal instructing the opening 51B of the container 51A to be in an open state. During the period from the reception timing (e.g., time t1) to the release timing (e.g., time t3) when the opening 51B of the container 51A becomes an open state, the decrease in the rotational speed of the rotary blade 50c starts (e.g., control starts at time t2), and after the release timing (e.g., time t 3), the decrease in the rotational speed of the rotary blade 50c ends (e.g., ends at time t4). That is, the decrease control period T1 of the rotational speed of the rotary blade 50c is the period from time t2 to time t4. <00>

[0112] The rotational speed of the rotary blade 50c (second rotational speed R2) when the decrease ends (time t4) ​​​​​This is calculated from the rotation speed of the rotor blade 50c (first rotation speed R1) before the reception timing (time t1). The multicop Tar 50 is the rotational speed at which flight is maintained. Note that the first rotational speed R1 is the reception timing. Regardless of the rotation speed of the rotor blade 50c immediately before (time t1), the reception timing (time t1) This can also be used as the rotation speed of the rotor blade at 50c.

[0113] The multicopter 50 associates the rotation speed of the rotor blades 50c with the time at a predetermined period. Since it is stored in memory unit 50h, the rotor blade 50 immediately before the reception timing (time t1) The rotational speed of c and the rotational speed of rotor blade 50c at the reception timing (time t1) can be obtained. It is Noh.

[0114] The control device 50f reduces the rotation speed of the rotor blade 50c based on the weight of the released material S. To reduce. For example, the control device 50f controls the rotor blade 5 corresponding to the weight of the released material S. The amount of decrease in rotational speed at 0c is defined, and when the holding device 51 transitions from the holding state to the release state... Next, the rotational speed of the rotor blade 50c is reduced from the rotational speed before the reduction started (first rotational speed R1) to the reduction. The rotational speed is reduced by a small amount to the target rotational speed (second rotational speed R2).

[0115] The control device 50f outputs a release signal to the holding device 51 to instruct it to be in the open state. Based on the ming, the rotation speed of the rotor blade 50c is controlled to decrease.

[0116] As shown in Figure 10, at times t1 and t2, the multicopter 50 is at a flight altitude H5. It is being maintained. The multicopter 50 shows the rotation of the rotor blades 50c from time t2 to time t3. As the number decreases, the flight altitude drops slightly to H51 at time t3. However, the multicop The hopper 50 drops all the granules in the container 51A at once at time t3, and then all the granules in the container 51A become zero weight at once. Immediately after that, the rotational speed of the rotary blade 50c decreases and stops (that is, the decrease stops at the rotational speed (the second rotational speed R2) for maintaining the flight height H5 in the state where the granules in the container 51A are gone), and thus it returns to the flight height H5 and flies. At time t3, the payload (loaded weight) suddenly decreases significantly. That is, from the total weight LC11 of the multicopter 50 that holds and flies the container 51A filled with granules, it suddenly changes to the weight LC12 of only the multicopter 50 after subtracting the weight of all the granules in the container 51A.

[0117]

[0118] Here, flight control including dropping of the material S (seedling raising mat M or granules in the container 51A) of the multicopter 50 will be described. FIG. 12 is a flowchart showing an example of control setting processing according to the type of the material S and the number of dropping times. As shown in FIG. 12, the server 7 gets the weight and the number of dropping times of the material S (S1 1). For example, the server 7 gets the weight and the number of dropping times of the material S based on the setting information transmitted from the mobile terminal 61.

[0119] As shown in FIG. 12, the server 70 acquires the weight and the number of dropping times of the material S (S1 1). For example, the server 70 acquires the weight and the number of dropping times of the material S based on the setting information transmitted from the mobile terminal 61.

[0120] FIG. 15 is a diagram showing an example of the setting screen G1 displayed on the mobile terminal 61. The mobile terminal 61 displays the setting screen G1 shown in FIG. 15 based on a predetermined touch operation for displaying the setting screen G1. On the setting screen G1 shown in FIG. 15, there are an input field 66a for setting the type of the material S, an input field 66b for setting the type of the material S, and an input for setting the weight of the material S It includes an input field 66c for setting a value and an input field 66d for setting the number of times to drop material S. You can select an option by touching the pull-down button at the right end of each input field 66a to 66d. Multiple items will be displayed, and you can configure the settings by selecting an item from among them. It is possible to directly input numerical values ​​into each input field 66a to 66d using touch operation. Any information can be entered.

[0121] First, let's explain the case where seedling mat M is set as the type of material S. Figure 1 In 5, the input field 66a is set to seedling mat M as the type of material S, and input field 6 In 6b, it is specified that the type of seedling mat M is TY-A1 as the type of material S. It is set. When the type is set to TY-A1, the weight of this type of seedling mat M If the quantity is the first weight (kg), it will be automatically set to input field 66c. In field 6c, the weight (kg) of the seedling mat M may be entered. In input field 66d, The number of times material S is dropped is set to 1.

[0122] Next, regarding the case where the type of material S is set to granular material placed in container 51A: Let's explain using Figure 16.

[0123] Figure 16 shows an example of the settings screen G1 displayed on the mobile device 61. In input field 66a, granular material is set as the type of material S, and in input field 66b, The type of material S is defined as container 51A containing granules, which is designated as TY-B1. It is specified. When type TY-B1 is set, the granules in container 51A of this type If the weight is the second weight (kg), it will be automatically set in input field 66c. The weight (kg) of the granules in container 51A may be entered in field 66c. Input field 66d The number of times material S is dropped is set to 1.

[0124] The mobile terminal 61 receives the settings information set on the settings screen G1 shown in Figure 15 or Figure 16. Send to server 70.

[0125] Server 70 obtains the weight and number of times material S is dropped (S11). Server 70, Based on the acquired configuration information, it is determined whether the type of material S is granular or not (S12 For example, server 70 determines the type of material S included in the configuration information from mobile terminal 61. If it is seedling mat M, it is determined that it is not granular (No in S12). On the other hand, server 70 If the type of material S included in the setting information from the mobile terminal 61 is granular, then it is granular. It is determined that (Yes in S12).

[0126] Figure 14 is a storage table showing the relationship between the type of material S, the material weight, and the decrease in rotational speed. This is a diagram showing an example of TB1. The storage unit 73 of the server 70 is the storage table shown in Figure 14. It is equipped with a TB1. As shown in Figure 14, the storage table TB1 stores the type of material S. The material weight and the decrease in the rotational speed of the 50c rotor blade are stored in a corresponding manner. If the type of material S is seedling mat M, and the weight of that material is the first weight, then the rotor blade The decrease in rotational speed at 50c is the first decrease. Also, the type of material S is granular, and If the material weight of the granular material in container 51A is the second weight, the amount of decrease in the rotation speed of the rotor blade 50c This represents the second decrease.

[0127] Server 70 is not in granular form if the type of material S is not granular (No in S12), that is, material S If the type is seedling mat M, set it to first control setting, and set the first control setting to multicopter -Send to 50 (S13). The first control setting is that the type of material S is seedling mat M. The type of seedling mat M is TY-A1, and the weight of seedling mat M is the first weight (kg) ) and the number of times material S is dropped is 1, and the rotor blades at 50c when dropping seedling mat M This includes the fact that the decrease in rotation speed is the first decrease. When the multicopter 50 is flying at a flight altitude of H5, it holds the seedling mat M. As the situation changed to one where it was no longer present, the Multicopter 50 was positioned at a flight altitude higher than H5. It rises. Therefore, the first reduction is to return from that high position back to the original flight altitude H5. This is defined as the decrease in rotational speed.

[0128] Furthermore, in S13, the server 70 sets at least the first reduction amount of the first control setting. You just need to send that to the multicopter 50.

[0129] The control unit 50f of the multicopter 50 stores the received first control setting in the storage unit 50h. The first control setting is memorized and used to control the reduction of the rotation speed of the rotor blades at 50c when dropping seedling mat M. Use.

[0130] On the other hand, if the type of material S is granular (Yes in S12), Server 70 will perform the second procedure The settings are confirmed, and the second control settings are transmitted to the multicopter 50 (S14). The specified type of material S is granular, and the type of container 51A containing the granular material is TY-A1. Yes, the weight of the granules in this type of container 51A is the second weight (kg), and the amount of material S The number of times is 1, and the decrease in the rotation speed of the rotor blade 50c when dropping the granules is the second decrease. This includes the following: holding a container 51A containing granules, the multicopter 50 When the aircraft is flying at an altitude of H5, the granular material in container 51A is released (held in place) As a result of the change (to a state where it was not in operation), the Multicopter 50 was flying at an altitude higher than H5. It rises to a certain position. Therefore, the second reduction returns it from that higher position back to its original flight altitude H5. This is the amount of reduction in rotational speed.

[0131] Furthermore, in S14, server 70 sets at least the second reduction amount of the second control setting. You just need to send that to the multicopter 50.

[0132] The control unit 50f of the multicopter 50 stores the received second control setting in the storage unit 50h. The second control setting is memorized, and the rotor blade 50c is used when dropping the granules in container 51A all at once. It is used for controlling the reduction in rotational speed.

[0133] The reason for dumping it all at once here is to dump a large amount of granules from container 51A all at once, so the load weight The decrease is steep (for example, a significant portion, such as all or half of the load weight, suddenly drops to zero). ) In contrast, in the case of so-called pesticide spraying, the weight of the pesticide loaded onto the field is the crop yield. Because it decreases gradually over the course of the workday, the change in load weight is very gradual. Therefore, when dropping the granules in container 51A all at once, the rotation speed of the rotor blade 50c A reduction control is implemented.

[0134] Figure 17 is a flowchart showing an example of a rotation speed reduction control process for the rotor blade 50c. As shown in Figure 17, the control unit 50f of the multicopter 50 receives information from the server 70. The presence or absence of the third remote instruction (instruction to drop seedlings) is determined (S21). The control device 50f determines the presence or absence of the third remote instruction (instruction to drop seedlings). 3. If no remote instructions (instructions for seedling distribution) have been received (No in S21), return to S21. Wait until you receive the third remote instruction.

[0135] When the control device 50f receives the third remote instruction (instruction to drop seedlings) (Yes in S21), The holding device 51 outputs a release signal to instruct it to be released, that is, it instructs it to be released. The holding device 51 receives the release signal (S22). The control device 50f controls the holding device 51 The output timing for outputting the release signal is the receiving timing when the holding device 51 receives the release signal. It's almost the same as timing, but there's a tiny delay at the millisecond level. For example The reception timing is assumed to be time t1, as shown in Figure 9.

[0136] As shown in Figure 17, the control device 50f starts controlling the reduction of the rotational speed of the rotor blade 50c. (S23). The start of the decrease in the rotational speed of the rotor blade 50c is at time t1, as shown in Figure 9. This is time t2, which is a very small time after that.

[0137] As shown in Figure 17, the holding device 51 enters a released state based on the release signal (S2 4) For example, the release timing is time t3 as shown in Figure 9. At time t3, Since the seedling mat M is released (dropped) from the holding device 51, the weight of the seedling mat M It instantly becomes zero. In other words, the load weight becomes zero all at once.

[0138] As shown in Figure 17, the control device 50f is based on the release timing (e.g., time t3) After a very short time, the reduction in the rotational speed of the rotor blade 50c is stopped (S24). As shown in Figure 9. The decrease in the rotational speed of the rotor blade 50c ends at time t4.

[0139] <First variation> In the above embodiment, the server 70 calculates the decrease in the rotational speed of the rotor blade 50c as shown in Figure 14. Using the memory table TB1 shown, when material S is seedling mat M, the first decrease is Defined, if material S is granular (or liquid) in container 51A, then the second decrease Defined as a quantity, the first control setting (S13) and the second control setting (S14) are shown in Figure 15. ) is being transmitted to the multicopter 50, but is not limited to this.

[0140] For example, server 70 defines the reduction amount as shown in Figure 13, and this defined reduction amount Control settings including the above may be sent to the multicopter 50. Figure 13 shows the control setting process. Here is another example flowchart.

[0141] As shown in Figure 13, the server 70 is mulching without holding the seedling mat M. The helicopter 50 was flown at a flight altitude of H5, and the rotation speed of the rotor blade 50c at this time was measured. The signal is sent to the B70 and obtained as the second rotation speed R2 (S31).

[0142] Server 70 holds the seedling mat M while the multicopter 50 flies at an altitude The H5 is flown, and the rotation speed of the rotor blade 50c at this time is transmitted to the server 70. The rotational speed is obtained as R1 (S32).

[0143] Server 70 uses the value obtained by subtracting the second rotation speed R2 from the first rotation speed R1 as the first reduction amount. It is stored in memory (S33). Server 70 generates a first control setting including the first reduction amount. Transmit to the Ruccicopter 50 (S34). Thus, Server 70 has previously... The first rotation speed R1 and the second rotation speed R2 were measured (acquired), and the second rotation speed R2 was calculated from the first rotation speed R1 to the second rotation speed R2 Since the value obtained by subtracting this amount is taken as the first reduction, it is possible to make the reduction amount appropriate to the actual conditions in the field. It is possible.

[0144] <Second variation> The holding device 51 in the above-described embodiment is designed to hold one seedling mat M. In contrast, the holding device 51 of the second modified example holds multiple (for example, two) seedling mats. It may be capable of holding M and allowing individual seedling mats M to be dropped into it.

[0145] Figure 18 shows the rotation speed of the rotor blade 50c when material S (seedling mat M) is dropped multiple times. This diagram shows the altitude of aircraft 50a.

[0146] In this case, the multicopter 50 is held by a holding device 51 as shown in Figure 18. It holds two S (seedling mat M) and is above the support stand 90 of the rice transplanter 10 and Assume the first state is that the aircraft is flying at an altitude of H5.

[0147] As shown in Figure 18, the rotation speed of the rotor blade 50c is released when the holding device 51 is released from the holding state. It decreases when transitioning to a different state. In other words, the rotation speed of the rotor blade 50c decreases. During this time, the holding device 51 transitions to the released state.

[0148] For example, the reception timing at which the holding device 51 receives the first release signal indicating the release state Release timing at which the first holding device 51 is released from the time (for example, time t1) Within the period up to (for example, time t3), the decrease in the rotation speed of the rotor blade 50c begins (for example, time Control starts at time t2, and after the release timing (for example, time t3), rotation The decrease in rotational speed of blade 50c ends (for example, at time t4). In other words, the rotational speed of blade 5 The control period T1 for reducing the rotational speed at 0c is the period from time t2 to time t4.

[0149] The rotational speed of the rotor blade 50c (second rotational speed R2) when the aforementioned decrease ends (time t4). This is calculated from the rotation speed of the rotor blade 50c (first rotation speed R1) before the reception timing (time t1). The height is low, and the multicopter 50 maintains flight when the first material S is released. This is the rotational speed that is maintained. Note that the first rotational speed R1 is immediately before the reception timing (time t1). Regardless of the rotation speed of the rotor blade 50c, the rotation speed of the rotor blade 50c at the reception timing (time t1) It can also be expressed as rotational speed.

[0150] The multicopter 50 associates the rotation speed of the rotor blades 50c with the time at a predetermined period. Since it is stored in memory unit 50h, the rotor blade 50 immediately before the reception timing (time t1) The rotational speed of c and the rotational speed of rotor blade 50c at the reception timing (time t1) can be obtained. It is Noh.

[0151] The control device 50f adjusts the rotor blades based on the weight of the first and second materials S that are released. The rotational speed of each of the 50c is reduced. For example, the control device 50f releases one Define the amount of decrease in rotational speed of the rotor blade 50c corresponding to the weight of material S, and hold the first one. When the device 51 transitions from the holding state to the release state, the rotation speed of the rotor blade 50c is reduced. The target rotation speed (second rotation speed) is obtained by reducing the rotation speed (first rotation speed R1) by the aforementioned reduction amount from the rotation speed before starting (first rotation speed R1). Reduce the rotational speed to R2.

[0152] Then, the control device 50f controls the rotor blade 5 corresponding to the weight of the second material S that is released. The amount of decrease in rotational speed at 0c is defined, and the second holding device 51 moves from the holding state to the release state. When performing this operation, the rotational speed of the rotor blade 50c is set to the rotational speed before the start of the reduction (second rotational speed R2) or Then, the rotational speed is reduced by the aforementioned reduction amount to the target rotational speed (third rotational speed R3).

[0153] As shown in Figure 18, at times t1 and t2, the multicopter 50 is at a flight altitude H5. It is being maintained. The multicopter 50 shows the rotation of the rotor blades 50c from time t2 to time t3. As the number decreases, the flight altitude drops slightly to H51 at time t3. However, the multicop Term 50 was released (dropped) by the first seedling mat M at time t3. The weight of the seedling mat M suddenly becomes zero, and immediately after that, the rotation speed of the rotor blade 50c The decrease stops (i.e., the flight height H5 is reached when the first seedling mat M is not held). The decrease stops at the rotational speed required to maintain the altitude (second rotational speed R2), thus the flight altitude It has returned to H5 and is flying again.

[0154] Furthermore, as shown in Figure 18, at times t11 and t12, the multicopter 50 was flying. The height H5 is maintained. Multicopter 50 rotates from time t12 to time t13. As the rotation speed of wing 50c decreases, the flight altitude drops slightly to H51 at time t13. However, the multicopter 50 released (dropped) the second seedling mat M at time t13. This causes the weight of the second seedling mat M to instantly become zero, and immediately after that, The rotation speed of the 50c rotor stopped decreasing (meaning it was no longer holding two seedling mats M). The decrease stops at the rotation speed (third rotation speed R3) required to maintain flight altitude H5 in this state. From there, it returned to flight altitude H5 and is now flying.

[0155] The main characteristic features and effects of the agricultural flying device 5 in the embodiments described above are as follows: The following applies:

[0156] (Item A1) Aircraft body 50a, rotor blade 50c provided on the aircraft 50a, and the aircraft A device provided on body 50a that can be changed between a holding state in which the material S is held and a release state in which the material S is released. The system includes a possible holding device 51, and the rotation speed of the rotor blade 50c is controlled by the holding device 51. The agricultural flying device 5 decreases in size when transitioning from the holding state to the release state.

[0157] According to this configuration, when the holding device 51 transitions from the holding state to the release state, the rotor blade As the rotation speed of 50c decreases, the load weight drops sharply due to the release of material S. This can suppress the ascent of the aircraft 50a. For this reason, the agricultural flying device 5 Furthermore, it can maintain stable flight even when the payload weight drops sharply.

[0158] (Item A2) While the rotation speed of the rotor blade 50c decreases, the holding device 51 Agricultural flying device 5 as described in item A1, which transitions to the released state.

[0159] According to this configuration, while the rotation speed of the rotor blade 50c decreases, the holding device 51 is released. As it transitions to this state, the rapid decrease in payload weight suppresses the ascent of the aircraft 50a. It can be carried out favorably.

[0160] (Item A3) The holding device 51 enters the released state after the released state is indicated. Within the period until the release timing, the rotational speed of the rotor blade 50c begins to decrease, and the solution Item A1 or Agricultural flying device 5 as described in A2.

[0161] According to this configuration, a decrease in the rotational speed of the rotor blade 50c occurs when the holding device 51 receives a release signal. Open within the period from the signal output timing to the release state (release timing) of the holding device 51 Since it starts and ends immediately after the release timing, the rotor blades 50c at the release timing. The rotational speed is decreasing, and the rotor blades are released in sync with the timing when the load weight drops sharply. Since the rotation speed of the 50c rotor is decreasing, the rotation speed of the 50c rotor blade should be reduced at the appropriate time. It is possible.

[0162] (Item A4) The rotational speed of the rotor blade 50c when the reduction is completed is the open state The rotation speed of the rotor blade 50c is lower than the rotation speed before the instruction was given, and the material S is released. The agricultural flying device 5, as described in item A3, is the rotational speed at which flight is maintained.

[0163] With this configuration, after releasing resource S, flight continues as before releasing resource S. It can be continued.

[0164] (Item A5) Reduce the rotation speed of the rotor blade 50c based on the weight of the released material S. An agricultural flying device described in any one of items A1 to A4, which is equipped with a control device 50f that enables the operation. 5.

[0165] According to this configuration, the amount by which the load weight decreases due to the release of material S is reduced by the rotor blade 50 This can reduce the rotation speed of c, and allow the aircraft 50a to rise appropriately due to the release of material S. It can be suppressed.

[0166] (Item A6) The control device 50f controls the rotation corresponding to the weight of the material S to be released. The amount of decrease in the rotational speed of the blade 50c is defined, and the holding device 51 is released from the holding state. When transitioning to the state, the rotational speed of the rotor blade 50c is changed from the rotational speed before the start of the reduction. Agricultural flying device described in item A5, which reduces the target rotation speed by the aforementioned reduction amount. 5.

[0167] According to this configuration, when the load capacity decreases due to the release of material S, the rotor blade 50c The target rotational speed can be changed easily and quickly, and reduction control can be performed appropriately. It is possible.

[0168] (Item A7) The control device 50f instructs the holding device 51 to release. The rotation speed of the rotor blade 50c is controlled to decrease based on the output timing of the release signal. Agricultural flying device 5 as described in item A5.

[0169] According to this configuration, the control device 50f outputs a release signal to the holding device 51. The rotation speed of the rotor blade 50c is controlled to decrease based on timing, so the reduction control is appropriate. It can be done at any time.

[0170] (Item A8) The holding device 51 is located at the bottom of the aircraft body 50a. (Item A1) Agricultural flying device 5 as described in any one of A7.

[0171] According to this configuration, by releasing the retaining device 51 at the bottom of the aircraft body 50a, the materials In the agricultural flying device 5 that drops S, even when the payload weight drops sharply, it remains stable. It can continue flying.

[0172] (Item A9) The material S is the seedling mat M, as indicated in one of items A1 to A8. Agricultural flying device 5.

[0173] According to this configuration, in an agricultural flying device 5 of the type that drops seedling mats M, The moment the seedling mat M was released from its hold, the loaded weight (the weight of the seedling mat M) instantly became zero. Even in such situations, stable flight can be maintained.

[0174] (Item A10) Material S is granules, liquid, or seeds placed in container 51A. The holding device 51 opens the opening 51B of the container 5 An agricultural flying device 5 described in any one of items A1 to A9 for dropping material S within 1A.

[0175] According to this configuration, the opening 51B of the container 51A held by the holding device 51 is opened. This allows for the dropping of granules, liquids, or seeds from the container 51A by agricultural aircraft. In step 5, a short time after opening the opening 51B of container 51A, the contents of container 51A The granular or liquid material is dropped all at once, that is, the loaded weight (the granular or liquid material in container 51A) Even when the aircraft's weight abruptly drops to zero, it can maintain stable flight.

[0176] Furthermore, the rotation speed reduction control of the rotor blade 50c in the above embodiment and modified example is for agricultural aircraft Mobile flight of aircraft 5 (multicopter 50) (flying alongside the moving work machine 1) The aircraft may perform either a state of being stationary or hovering (stationary flight).

[0177] In the embodiments and modifications described above, the multicopter 50 is driven autonomously. Following behind the rice transplanter 10, catching up to the said rice transplanter 10, and supplying (transporting) materials S However, the rice transplanter 10 that is moving by remote operation or manual operation follows behind the said rice transplanter 10 You can catch up and replenish (transport) material S.

[0178] In the embodiments and modified versions described above, the multicopter 50 is remotely controlled by the server 70. Although it is flying under control, it is being remotely controlled by the rice transplanter 10 or the mobile terminal 61. It may fly. The rice transplanter 10 or the portable terminal 61 is one of the components of the server 70. The system may also include a remote control device 72 and a storage unit 73.

[0179] Furthermore, in the embodiments and modified examples described above, the multicopter 50 is controlled by the server 70 It is currently flying under remote control, but may also fly autonomously. The Multicopter 50 is When autonomous flight is performed, the remote control unit 72 and the memory unit 7 are among the components of the server 70. The system includes a mechanism for making decisions in response to the first to fourth remote instructions made by the remote control device 72 of the server 70. The configuration should be such that the control device 50f of the multicopter 50 makes this determination.

[0180] The present invention has been described above, but the embodiments disclosed herein are illustrative in all respects. It should be considered that this is not a limiting statement. The scope of the present invention is as described above. Not explicitly stated but indicated by the claims, meaning and scope equivalent to the claims. It is intended that all changes within the system be included. [Explanation of symbols]

[0181] 1. Work machine 5 Agricultural flight equipment 50a aircraft 50c Rotary Wing 51 Holding device 57 Control device M Seedling Mat S Materials

Claims

1. The aircraft and, The rotor blades provided on the aforementioned aircraft, The aforementioned device is equipped with a mechanism that allows switching between a holding state, where it holds materials, and a release state, where it releases materials. Equipped with a capable holding device, The rotation speed of the rotor blade is determined by the time the holding device transitions from the holding state to the release state. Agricultural flying devices are decreasing in number.

2. The claim is that the holding device will transition to the released state while the rotation speed of the rotor blade decreases. Agricultural flying device as described in item 1.

3. From the time the aforementioned release state is indicated until the release timing at which the holding device enters the aforementioned release state Within that period, the decrease in the rotational speed of the rotor blade begins, and after the release timing... The agricultural flying device according to claim 2, wherein the decrease in the rotational speed of the rotor blades is terminated.

4. The rotational speed of the rotor blade when the aforementioned reduction ends is the number of rotations before indicating the release state. At a rotational speed lower than the rotational speed of the rotor blades and at which flight can be maintained with the materials released. An agricultural flying device according to claim 3.

5. The system includes a control device that reduces the rotation speed of the rotor blades based on the weight of the released material. The agricultural flying device according to any one of claims 1 to 4.

6. The control device determines the amount of reduction in the rotational speed of the rotor blades corresponding to the weight of the released material. Defined, when the holding device transitions from the holding state to the release state, the rotor blade The rotational speed is reduced from the rotational speed before the start of the reduction to a target rotational speed by the amount of the reduction. The agricultural flying device according to claim 5, which reduces

7. The control device outputs a release signal to the holding device to indicate the release state. The agricultural device according to claim 5, which controls the reduction of the rotation speed of the rotor blades based on timing. flight equipment.

8. The holding device is located at the lower part of the machine body, as described in any one of claims 1 to 4. Agricultural flying device.

9. The aforementioned material is a seedling mat, as described in any one of claims 1 to 4. 。

10. The materials are granules, liquids, or seeds in a container. The holding device releases the material inside the container by opening the opening of the container. The agricultural flying device according to any one of claims 1 to 4.

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