Ground transport equipment and support systems

Abstract

To improve the workability of ground transport equipment. [Solution] The ground transporter 1 comprises an aircraft body 11, an input port 18a into which an object is loaded by the agricultural flying device 5, a communication device 34 that communicates with the agricultural flying device 5, and a control device 30 that outputs an instruction to the agricultural flying device 5 via the communication device 34 to coordinate the movement of the agricultural flying device 5 to the input port 18a.

Description

Technical Field

[0001] The present invention relates to a ground transporter that receives an object from an agricultural flying device and transports it, and a support system including the ground transporter.

Background Art

[0002] Patent Document 1 discloses a drone including a photographing unit that photographs a tree to be pruned and its surroundings, a detection unit that detects the presence of an affected object (such as a person or a car) at a position affected by the pruning operation on the tree based on an image of the surroundings of the tree to be pruned, and an operation control unit that restricts the execution of the pruning operation on the tree when the presence of the affected object is detected.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The drone of Patent Document 1 described above is merely configured to restrict the execution of the pruning operation when an affected object (such as a person or a car) exists around the tree to be pruned, and is not configured to harvest an object (such as fruit) from the tree and drop it into the inlet of the ground transporter. Therefore, since the drone of Patent Document 1 described above is not configured to operate in cooperation with the ground transporter, the workability of the ground transporter cannot be improved.

[0005] Therefore, in view of the above problems, an object of the present invention is to provide a ground transporter and a support system that can improve the workability of the ground transporter.

Means for Solving the Problems

[0006] The technical means of the present invention for solving the above technical problems are characterized by the following points. A ground transporter according to one aspect of the present invention comprises an aircraft body, an input port into which an object is loaded by an agricultural flying device, a communication device for communicating with the agricultural flying device, and a control device that outputs an instruction to the agricultural flying device via the communication device to move the agricultural flying device in a coordinated manner to the input port.

[0007] A support system according to one aspect of the present invention comprises the above-mentioned agricultural flying device, wherein the agricultural flying device performs an action on an object in the transport path that is not being transported based on the action instruction. [Effects of the Invention]

[0008] According to the present invention, the workability of ground transport equipment can be improved. [Brief explanation of the drawing]

[0009] [Figure 1] This is a schematic diagram of the support system according to the first embodiment. [Figure 2] This is a block diagram of the support system of the first embodiment. [Figure 3] This is a diagram showing an example of the planned route for a ground transport vehicle. [Figure 4] This diagram shows how agricultural flying equipment is being integrated with the operations of ground transport aircraft. [Figure 5] This is an overall perspective view of an agricultural aircraft. [Figure 6] This is a diagram showing an example of a display unit on a mobile device. [Figure 7A] This flowchart shows the processing flow for ground transport aircraft and agricultural aircraft. [Figure 7B] This figure shows an example of how a multirotor drone can handle coordinated operations with a transport vehicle. [Figure 8A] This figure shows an example of a transport route for a ground transport machine. [Figure 8B] This figure shows an example of countermeasures using agricultural aircraft. [Figure 8C] It is a diagram showing another example of a coping operation by an agricultural flying device. [Figure 8D] It is a diagram showing an example of a removal operation by an agricultural flying device. [Figure 9] It is a diagram showing an example of causing the downwash from an agricultural flying device to act on an object. [Figure 10] It is a schematic diagram of the support system of the second embodiment. [Figure 11] It is a block diagram of the support system of the second embodiment. [Figure 12A] It is a diagram showing that there is an obstacle in the traveling direction of the ground transporter. [Figure 12B] It is a diagram showing an example of a data table. [Figure 12C] It is a flowchart showing the flow of processing for removing an obstacle in the support system. [Figure 13] It is a diagram showing an example of an agricultural flying device sorting an object and delivering it to a ground transporter. [Figure 14] It is a diagram showing an example of an agricultural flying device sorting an object and packing it in boxes. [Figure 15] It is a diagram showing an example of an agricultural flying device sucking in an object with a suction device held by the agricultural flying device. [Figure 16] It is a diagram showing an example of dropping an object into the inlet of a ground transporter by a launching device of an agricultural flying device. [Figure 17] It is a diagram showing an example of dropping an object into the inlet of a ground transporter with a pruning device of an agricultural flying device.

Mode for Carrying Out the Invention

[0010] <First Embodiment> Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a schematic diagram of a support system SY of the first embodiment. FIG. 2 is a block diagram of the support system SY of the first embodiment.

[0011] As shown in Figures 1 and 2, the support system SY comprises a ground transporter 1, an agricultural flying device 5, and a portable terminal 60, and is a system capable of coordinating the movement of the agricultural flying device 5 with the ground transporter 1.

[0012] The ground transporter 1 is, for example, an agricultural transport vehicle 10. The transport vehicle 10 may be either a passenger type with a person on board or a non-passenger type. Here, the transport vehicle 10 is assumed to be a passenger type. As shown in Figure 1, the transport vehicle 10 comprises a body 11 and a running gear 16. The running gear 16 comprises a prime mover 12, a transmission 13, left and right front wheels 14F and left and right rear wheels 14R. The prime mover 12 and the transmission 13 are mounted on the body 11. The transport vehicle 10 is, for example, four-wheel drive, and the power shifted by the transmission 13 is transmitted to the left and right front wheels 14F and left and right rear wheels 14R. For this reason, the body 11 is supported so that it can move on the left and right front wheels 14F and left and right rear wheels 14R.

[0013] As shown in Figure 1, the transport vehicle 10 is equipped with a container 18 into which objects M harvested by the agricultural flying device 5 are placed. The container 18 is located at the rear of the aircraft 11. Objects M include, for example, crops such as fruits and vegetables, and pruned branches. Examples of fruits include apples, pears, peaches, plums, and apricots. Examples of vegetables include Examples include tomatoes, watermelons, and cucumbers. The container 18 is, for example, a loading platform, a housing, or a storage box, and is sized and shaped to accommodate the object M.

[0014] The containment body 18 has an input port 18a into which objects M from the agricultural flying device 5 are placed, and contains the objects M that are placed through the input port 18a. For example, the containment body 18 has an input port 18a on its upper side.

[0015] The input opening 18a may be equipped with a sheet member that is stretched and bends inward toward the inside of the container 18 to receive the object M that is inserted. The sheet member is made of an elastic material such as rubber. This sheet member first receives the inserted object M, absorbs the impact, and then guides it toward the inside of the container 18. Alternatively, if the input opening 18a is configured to guide the object M, such as being funnel-shaped, bowl-shaped, or cylindrical, the sheet member may be provided on its surface. With these configurations, the impact when the object M is inserted into the input opening 18a is absorbed by the elastic material, thus preventing damage to the object M.

[0016] As shown in Figure 2, the transport vehicle 10 is equipped with a control device 30 and a storage unit 31. The storage unit 31 is a storage device such as a non-volatile memory, and stores various control programs, various data, etc. The storage unit 31 is, for example, an HDD (Hard Disk Drive) or an SSD (Solid State Drive). Examples include State Drive.

[0017] The control device 30 consists of electrical and electronic circuits, a processor, memory, etc. The processor is, for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a DSP (Digital Signal Processor), an FPGA (Field Programmable Gate Array), and an ASIC (Application Specific Integrated Circuit). The control device 30 controls the operation of each part of the transport vehicle 10 by having the processor execute a control program. For example, the control device 30 controls the prime mover 12 and the transmission 13, etc. The control device 30 controls the driving system and work system of the transport vehicle 10 based on operation signals when operating the operating devices (operating levers, operating switches, operating volumes, etc.) installed around the driver's seat 15, detection signals from various sensors mounted on the machine body 11, etc.

[0018] As shown in Figure 2, the transport vehicle 10 is equipped with a position detection device 32 (for example, a positioning device 32A) that detects its own position. The positioning device 32A is, for example, located on the front side of the transport vehicle 10 (body 11). The positioning device 32A is a device that detects its own position (latitude, longitude) based on data from positioning satellites such as GPS and Michibiki (positioning satellite system). The positioning device 32A may also have inertial devices such as an acceleration sensor to detect acceleration and a gyro sensor to detect angular velocity, and may correct its position using the acceleration and angular velocity detected by the inertial devices, or it may correct its position using other correction signals, etc., and is not limited to these.

[0019] The transport vehicle 10 is equipped with a surrounding monitoring device 33 for monitoring its surroundings. The surrounding monitoring device 33 may be, for example, an imaging device 33A, but it may also be a LiDAR (Light Detection and Ranging) 33B, ultrasonic sonar, etc. The imaging device 33A is, for example, a visible light camera and is capable of imaging the area around the transport vehicle 10. The LiDAR 33B is capable of sensing the area around the transport vehicle 10. Furthermore, the imaging device 33A and / or the LiDAR 33B detect obstacles OB present around the transport vehicle 10. The imaging device 33A is located at the front of the transport vehicle 10, but is not limited to this location. For example, the imaging device 33A may be located near the driver's seat 15, allowing it to image the area around the transport vehicle 10 from the driver's perspective while seated in the driver's seat 15. The images captured by the imaging device 33A are used for autonomous driving.

[0020] Figure 3 shows an example of the planned route L1 of the ground transporter 1. Figure 4 shows how the agricultural flying device 5 is coordinated with the work of the ground transporter 1. The memory unit 31 is for fruit trees. The system stores a pre-set planned route L1 (see Figures 3 and 4) for the ground transporter 1 (transport vehicle 10) to travel within the orchard. As shown in Figures 3 and 4, the planned route L1 is a route for traveling between rows of fruit trees FT arranged in a straight line and adjacent rows of trees, that is, a route for traveling between rows of trees.

[0021] The control device 30 automatically adjusts the speed of the vehicle 11 and steers the vehicle 11 (for example, by changing the steering direction of the front wheels 14F) so that its own position (position of the vehicle 11) detected by the positioning device 32A aligns with the planned travel route L1. The transport vehicle 10 travels along the planned travel route L1 shown in Figures 3 and 4 at an extremely low speed (for example, 0.5 km / h, 1 km / h, etc.) or by repeatedly moving a short distance and then stopping. In other words, the control device 30, by having the processor execute an automatic driving control program, automatically drives the vehicle so that the position of the vehicle 11 aligns with the planned travel route L1, based on the position of the vehicle 11, the image captured by the imaging device 33A, and the planned travel route L1.

[0022] For example, the transport vehicle 10 (ground transporter 1) is equipped with, for example, an automatic steering mechanism 17. In automatic steering mode, the transport vehicle 10 (ground transporter 1) is automatically steered by the automatic steering mechanism 17 so that its position follows the planned travel route L1 (more precisely, the straight-ahead route L11 described later). In addition, in automatic driving mode, the transport vehicle 10 (ground transporter 1) is automatically driven by the control of the driving system by the control device 30 (including the control of the automatic steering mechanism 17) so that its position follows the planned travel route L1 (the straight-ahead route L11 and the turning route L12 described later).

[0023] The transport vehicle 10 (ground transporter 1) may be operated manually. When operated manually, an operator sits in the driver's seat 15 and steers with the steering wheel. Alternatively, the transport vehicle 10 (ground transporter 1) may be operated automatically (automatic steering or automatic driving) as described above. When operated automatically, the transport vehicle 10 (ground transporter 1) operates automatically based on the vehicle position detected by the positioning device 32A and the planned route L1.

[0024] The memory unit 31 stores information about the transport vehicle 10. The information about the transport vehicle 10 includes the travel position (latitude, longitude) of the transport vehicle 10 detected by the positioning device 32A, time information indicating the time at that travel position, and travel information of the transport vehicle 10 for each travel position (travel direction, travel speed, etc.). The information about the transport vehicle 10 may also include status information of the container 18. The status information of the container 18 may include, for example, the harvest yield of the target object M, the number of harvested objects, the total harvest weight, transport failures (transport errors) of the target object M described later, and images captured by the imaging device 33A.

[0025] The transport vehicle 10 has a communication device 34. The communication device 34 is a communication module that performs either direct or indirect communication with the agricultural aircraft 5 and / or the mobile terminal 60, and can perform wireless communication using, for example, the IEEE 802.11 series communication standards such as Wi-Fi (Wireless Fidelity, registered trademark), BLE (Bluetooth® Low Energy), LPWA (Low Power, Wide Area), and LPWAN (Low-Power Wide-Area Network). The communication device 34 can also perform wireless communication using, for example, a mobile phone network or a data communication network. The communication device 34 transmits information about the transport vehicle 10 to the agricultural aircraft 5 and / or the mobile terminal 60. As shown in Figure 4, the transport vehicle 10 transmits information about the transport vehicle 10 to the multicopter 50.

[0026] Next, the agricultural flying device 5 will be described. Figure 5 is an overall perspective view of the agricultural flying device 5. In Figure 5, the left-right direction of the agricultural flying device 5 is designated as the first direction X, the front-back direction of the agricultural flying device 5 is designated as the second direction Y, and the up-down direction of the agricultural flying device 5 is designated as the third direction Z. The agricultural flying device 5 is, for example, a multicopter 50, as shown in Figures 1 and 5. The Tar-50 is an aircraft (such as an unmanned aerial vehicle) also known as a drone.

[0027] The multicopter 50 has a fuselage 50a, arms 50b attached to the fuselage 50a, a rotor blade device 50c attached to the arms 50b, and a pair of skids 50d attached to the fuselage 50a. The rotor blade device 50c is a device that generates lift for flight. For example, the rotor blade device 50c includes an electric motor and blades (propellers) that rotate by the drive of the electric motor.

[0028] The multicopter 50 has an imaging device 50e. The imaging device 50e is, for example, an infrared camera, a visible light camera, etc., and is capable of imaging the area around the multicopter 50.

[0029] The multicopter 50 may be equipped with at least one of the following: an angular velocity (gyro) sensor for detecting the attitude and movement of the aircraft 50a; an acceleration sensor for detecting the speed of the aircraft 50a; an inertial measurement unit (IMU) for detecting the attitude and speed of the aircraft 50a; a barometric pressure sensor for detecting the altitude of the multicopter 50; an ultrasonic sonar (or ultrasonic sensor) for detecting the position of surrounding objects; and a magnetic compass sensor for detecting direction. In this embodiment, the multicopter 50 is equipped with, for example, an inertial measurement unit and a magnetic compass sensor.

[0030] The multicopter 50 has a position detection device 50g that detects its own position. The position detection device 50g is a device that detects its own flight position (latitude, longitude, altitude), that is, the flight position (latitude, longitude, altitude) of the multicopter 50 (aircraft 50a), based on data from positioning satellites such as GPS and Michibiki (positioning satellite system). Its own position includes the flight position during flight and the landing position during landing. The position detection device 50g may also use various sensors such as an altimeter, ultrasonic sonar, and LiDAR, either alone or in conjunction, to detect the altitude of the multicopter 50 (aircraft 50a).

[0031] The multicopter 50 is equipped with a storage unit 50h that stores various data, programs, etc. The storage unit 50h is, for example, a non-volatile storage device, such as an HDD or SSD. The storage unit 50h stores information about the multicopter 50 periodically (every few seconds, every few hundred milliseconds) and each time an event occurs. The information about the multicopter 50 includes the flight position (latitude, longitude, altitude) of the multicopter 50 (aircraft 50a), time information indicating the time at that flight position, and flight information of the multicopter 50 for each flight position (flight direction, flight speed, etc.). The flight direction is detected by a magnetic direction sensor, and the flight speed is detected by an inertial measuring device. The position detection device 50g may calculate the flight direction and flight speed based on the multiple flight positions it has detected. Furthermore, information regarding the multicopter 50 may include status information described later, work information indicating whether or not the object M is being held (work information indicating whether or not it is being held by the holding device 51 described later), the rotation speed of the rotor blade device 50c detected by the rotation speed detection sensor (i.e., the rotation speed of the propeller), and status information such as captured images taken by the imaging device 50e.

[0032] The multicopter 50 has a communication device 50i. The communication device 50i is a communication module that performs either direct or indirect communication with the transport vehicle 10 and / or the mobile terminal 60, and can perform wireless communication using, for example, the IEEE 802.11 series communication standard Wi-Fi (registered trademark), BLE, LPWA, LPWAN, etc. The communication device 50i can also perform wireless communication using, for example, a mobile phone network or a data communication network. The communication device 50i transmits information about the multicopter 50 to the transport vehicle 10 and / or the mobile terminal 60. As shown in Figure 4, the multicopter 50 transmits information about the multicopter 50 to the transport vehicle 10. When the transport vehicle 10 gives instructions for multiple multicopters 50 to work together, the multiple multicopters 50 Information may be transmitted between them (such as the position information and status information of each of the multiple multicopters 50).

[0033] The multicopter 50 is capable of performing a flight operation to harvest an object M (e.g., fruit) from a fruit tree FT in an orchard (field) and transport it to a transport vehicle 10. More specifically, the multicopter 50 repeatedly performs a series of flight operations according to instructions from the transport vehicle 10, consisting of a first operation of flying toward the fruit tree FT, a second operation of harvesting the object M from the fruit tree FT, a third operation of flying toward the transport vehicle 10 while holding the object M, and a fourth operation of loading the object M into the input port 18a of the transport vehicle 10.

[0034] As shown in Figure 5, the multicopter 50 is equipped with a holding device 51 for harvesting and holding the target object M (fruit). The holding device 51 comprises a housing 51a, a suction pump 51b provided inside the housing 51a for drawing in air, a suction tube 51c connected to the suction pump 51b and supported in a state protruding from the housing 51a, a motor 51d for rotating the suction tube 51c around its central axis, and a bowl-shaped suction cup 51e through which the tip of the suction tube 51c passes, forming an opening on the inside of the suction tube 51c as a suction port.

[0035] The holding device 51 rotates the suction tube 51c (for example, half a turn, one full turn, or two turns) by driving the motor 51d while the suction cup 51e is adsorbing the object M, causing the stem of the object M to twist and break. As a result, the holding device 51 can separate the object M from the fruit tree FT, and since the suction cup 51e continues to hold the object M, the object M can be harvested.

[0036] The multicopter 50 is equipped with a control device 50f that controls various operations of the multicopter 50. The control device 50f is connected to an imaging device 50e, a communication device 50i, a memory unit 50h, a position detection device 50g, and a holding device 51. The control device 50f controls the imaging device 50e, the communication device 50i, the memory unit 50h, and the holding device 51. The control device 50f is composed of electrical and electronic circuits, a processor, memory, etc. The processor is, for example, a CPU, GPU, DSP, FPGA, and ASIC. The multicopter 50 functions as the control device 50f when the processor executes a control program.

[0037] The control device 50f controls the multicopter 50 to perform the aforementioned series of flight operations. Specifically, the control device 50f controls the first operation (flight to the fruit tree FT), the second operation (harvesting the target object M), the third operation (flight to the transport vehicle 10 while holding the target object M), and the fourth operation (loading the target object M into the input port 18a). Therefore, the control device 50f can determine which of the first to fourth operations the multicopter 50 is in. In addition, since one target object M is loaded into the transport vehicle 10 each time the series of flight operations are completed, the control device 50f counts up the number of target objects M harvested each time the series of flight operations are completed and stores it in the memory unit 50h. In other words, the control device 50f tally the number of target objects M harvested.

[0038] The control device 50f transmits status information of the multicopter 50 to the mobile terminal 60 via the communication device 50i. The status information includes whether the multicopter 50 is performing coordinated work, which of the first to fourth operations the multicopter 50 is in, whether the multicopter 50 is in standby mode, whether an error is being detected, and the number of target objects M harvested.

[0039] The mobile terminal 60 can transmit various commands to the transport vehicle 10 and the multicopter 50 in response to user operations. These commands include commands to start automatic operation of the transport vehicle 10 (first command) and commands to end automatic operation (second command), a command to temporarily stop the transport vehicle 10 (third command), and commands to start and end the operation of coordinating the multicopter 50 with the ground transporter 1 (fourth command, fifth command).

[0040] The mobile terminal 60 has a communication device 61. The communication device 61 is a communication module that performs either direct or indirect communication with the transport vehicle 10 and / or the multicopter 50, and can perform wireless communication using, for example, the IEEE 802.11 series communication standard Wi-Fi (registered trademark), BLE, LPWA, LPWAN, etc. The communication device 61 can also perform wireless communication using, for example, a mobile phone network or a data communication network.

[0041] The mobile terminal 60 is equipped with a display unit 66. The display unit 66 is composed of an LCD monitor, an LCD panel, etc. The display unit 66 displays various information related to the transport vehicle 10 and the multicopter 50. Since the display unit 66 has a touch panel, it can be operated by the user via touch.

[0042] Figure 6 shows an example of the display unit 66 of the mobile terminal 60. As shown in Figure 6, the various displays on the display unit 66 include a selection display 66A for selecting commands for the transport vehicle 10 and the multicopter 50, and status displays 67 and 68 for displaying the status of the transport vehicle 10 and the multicopter 50.

[0043] As shown in Figure 6, the mobile terminal 60 displays a selection display 66A on the display unit 66 based on a predetermined operation by the user. The selection display 66A includes displays for a number of buttons 66a to 66e, each corresponding to the first to fifth commands. Button 66a is touched to instruct the start of automatic operation of the transport vehicle 10 (first command). Button 66b is touched to instruct the end of automatic operation of the transport vehicle 10 (second command). Button 66c is touched to instruct a temporary stop of the transport vehicle 10 (third command). Button 66d is touched to instruct the start of coordinated operation of the multicopter 50 (fourth command). Button 66e is touched to instruct the end of coordinated operation of the multicopter 50 (fifth command).

[0044] As shown in Figure 6, the mobile terminal 60 displays a status indicator 67 of the transport vehicle 10 on the display unit 66 based on the status information received from the transport vehicle 10. The status indicator 67 of the transport vehicle 10 includes a display field 67a that indicates whether the vehicle is in automatic operation or temporarily stopped, and a display field 67b that indicates the load weight of the object M. In Figure 6, display field 67a shows that the transport vehicle 10 is temporarily stopped.

[0045] The mobile terminal 60 displays a status indicator 68 of the multicopter 50 on the display unit 66 based on the status information received from the multicopter 50. The status indicator 68 of the multicopter 50 includes a display field 68a that shows whether the multicopter 50 is performing coordinated work or not, a display field 68b that shows whether the multicopter 50 is performing one of the following actions: the first action (flight to the fruit tree FT), the second action (harvesting the target object M), the third action (flight to the transport vehicle 10 while holding the target object M), or the fourth action (putting the target object M into the input port 18a), or whether the multicopter 50 is in standby mode, a display field 68c that shows whether an error is being detected or not, and a display field 68d that shows the number of target objects M to be harvested. In Figure 6, display area 68a shows that the multicopter 50 is performing coordinated work, display area 68b shows that the multicopter 50 is in the second operation state, display area 68c shows that it is functioning normally, and display area 68d shows the number of harvested target objects M.

[0046] Now, when the user touches the button 66d on the display unit 66, the mobile terminal 60 transmits a fourth command to the transport vehicle 10 via the communication device 61. (Transport vehicle 10's communication device 34) It receives the fourth command.

[0047] Figure 7A is a flowchart showing the processing flow of the ground transporter 1 and the agricultural flying device 5. As shown in Figure 7A, the transport vehicle 10 (ground transporter 1) outputs a coordinated movement instruction to the multicopter 50 based on the received fourth command. Specifically, the control device 30 of the transport vehicle 10 outputs an instruction (coordinated movement instruction) to the multicopter 50 via the communication device 34 to move the multicopter 50 in a coordinated manner to the input port 18a based on the received fourth command. Upon receiving this instruction, the multicopter 50 begins coordinated work with the transport vehicle 10 (S11).

[0048] Here, the coordinated operation (S11) between the multicopter 50 and the transport vehicle 10 will be explained in detail using Figure 7B. Figure 7B is a diagram showing an example of the processing of the coordinated operation between the multicopter 50 and the transport vehicle 10. As shown in Figures 4 and 7B, the multicopter 50 repeatedly performs a series of flight operations according to instructions from the transport vehicle 10, consisting of a first operation (S111) of flying toward the fruit trees FT in the orchard, a second operation (S112) of harvesting the target object M (fruit) from the fruit trees FT, a third operation (S113) of flying toward the transport vehicle 10 while holding the target object M, and a fourth operation (S114) of loading the fruit into the input port 18a of the transport vehicle 10.

[0049] First, the transport vehicle 10 transmits a first operation instruction to the multicopter 50. Upon receiving the first operation instruction from the transport vehicle 10, the multicopter 50 identifies the fruit tree FT based on the image captured by the imaging device 50e and performs the first operation of flying toward the identified fruit tree FT (S111). The multicopter 50 terminates the first operation (S111) when the image captured by the imaging device 50e includes the target object M (fruit). The multicopter 50 transmits the completion of the first operation to the transport vehicle 10.

[0050] Next, the transport vehicle 10 transmits a second operation instruction to the multicopter 50. Upon receiving the second operation instruction from the transport vehicle 10, the multicopter 50 performs the second operation (S112). In the second operation (S112), the control device 50f performs image analysis processing on the image captured by the imaging device 50e and selects the target object M (fruit) by pattern matching. For example, the control device 50f selects a target object M (fruit) that satisfies predetermined harvesting conditions from among multiple target objects M (fruits) included in the captured image. Specifically, the control device 50f selects an image from among multiple images of target objects M included in the captured image that matches a model image that satisfies the harvesting conditions, identifies this as the target image, and controls the flight to bring the suction cup 51e closer to the target object M in the target image. For example, if the control device 50f determines, based on the image captured by the imaging device 50e, that the suction cup 51e is in a position where it can be attached to the object M in the target image, then it determines that the suction cup 51e has approached the object M (fruit) in the target image.

[0051] When the suction cup 51e approaches the object M (fruit) in the target image, the control device 50f turns on the suction pump 51b to cause the object M in the target image to be attracted to the suction cup 51e. The control device 50f can determine that the object M in the target image is attracted to the suction cup 51e based on the image captured by the imaging device 50e. Furthermore, when the object M in the target image is attracted to the suction cup 51e, the suction force (or amount of suctioned air) from the suction pump 51b changes. Therefore, the control device 50f may determine that the object M in the target image is attracted to the suction cup 51e based on the change in the suction force (or amount of suctioned air) from the suction pump 51b and the determination based on the captured image.

[0052] When the object M in the target image is attached to the suction cup 51e, the control device 50f drives the motor 51d to rotate the suction tube 51c, thereby separating the object M (fruit) from the fruit tree FT. Since suction by the suction pump 51b is continued, the state in which the object M is attached to the suction cup 51e is maintained.

[0053] The control device 50f can determine, based on the image captured by the imaging device 50e, that the object M has been detached from the fruit tree FT. When the object M is detached from the fruit tree FT, the multicopter 50 terminates the second operation (S112). The multicopter 50 transmits the completion of the second operation to the transport vehicle 10.

[0054] Furthermore, the control device 50f may transmit harvest location information, indicating the harvest position where the object M was separated from the fruit tree FT, and harvest time information, indicating the harvest time, to the transport vehicle 10 via the communication device 50i. The communication device 34 of the transport vehicle 10 receives the harvest location information and the harvest time information. The control device 30 of the transport vehicle 10 may associate the harvest location information and the harvest time information with an orchard map including the fruit tree FT and store it in the storage unit 31 as work performance information.

[0055] Next, the transport vehicle 10 transmits a third operation instruction to the multicopter 50. For example, the control device 30 of the transport vehicle 10 transmits the third operation instruction to the multicopter 50 if there are no objects (people, other multicopters, etc.) around the input port 18a, but does not transmit the third operation instruction if there are objects (people, other multicopters, etc.) around the input port 18a, and transmits the third operation instruction only after the objects have disappeared.

[0056] When the multicopter 50 receives a third action instruction from the transport vehicle 10, it performs a third action (S113) in which it flies toward the transport vehicle 10 while holding the object M. As shown in Figure 4, the transport vehicle 10 and the multicopter 50 periodically transmit their respective position information to each other or when an event occurs. The transport vehicle 10 transmits its own position information (in this case, the position information of the input port 18a) to the multicopter 50. The multicopter 50 also transmits its own position information to the transport vehicle 10. Therefore, in the third action (S113), the multicopter 50 flies toward the transport vehicle 10 and moves so that the suction cup 51e holding the object M (fruit) is in a hovering state above the input port 18a of the transport vehicle 10 within a predetermined height range (i.e., the drop-ready position). When the multicopter 50 is in a hovering state at the drop-ready position, it terminates the third action (S113). The multicopter 50 transmits a signal to the transport vehicle 10 indicating the completion of the third operation.

[0057] In this third operation (S113), the control device 50f controls the flight position of the multicopter 50 based on the image captured by the imaging device 50e and the position information from the position detection device 50g, so as not to come into contact with the transport vehicle 10 and surrounding obstacles OB (people, fruit trees FT, etc.). Furthermore, the multicopter 50 may be equipped with surrounding monitoring devices such as lidar and ultrasonic sonar, and the control device 50f may further control the flight based on the detection results from the surrounding monitoring devices to avoid contact with the transport vehicle 10 and surrounding obstacles OB (people, fruit trees FT, etc.).

[0058] Next, the transport vehicle 10 transmits a fourth operation instruction to the multicopter 50. Upon receiving the fourth operation instruction from the transport vehicle 10, the multicopter 50 performs the fourth operation (S114). Specifically, as shown in Figure 4, the control device 50f performs the fourth operation (S114) by turning off the suction pump 51b and dropping the object M, which was being held by the suction cup 51e, into the input port 18a of the transport vehicle 10 while the multicopter 50 is hovering at a position where it can be dropped, based on the image captured by the imaging device 50e. This prevents the dropped object M from colliding with and damaging other objects M located at the input port 18a, and the dropped object M falls onto the elastic material of the input port 18a, absorbing the impact.

[0059] Furthermore, the control device 50f transmits input information to the transport vehicle 10 via the communication device 50i, indicating that one object M has been input. The communication device 34 of the transport vehicle 10 receives the input information. The control device 30 of the transport vehicle 10 counts up the total number of object M (total inputs) that have been input into the container 18 and stores it in the storage unit 31. The multicopter 50 inputs the object M into the input port 18a of the transport vehicle 10 and transmits the input information to the transport vehicle 10, thereby ending the fourth operation (S114). The multicopter 50 transmits the completion of the fourth operation to the transport vehicle 10.

[0060] The multicopter 50 repeatedly performs a series of flight operations (S111-S114) until it receives a termination instruction from the transport vehicle 10 (or portable terminal 60).

[0061] If the image captured by the imaging device 50e does not include any objects M to be harvested on one side of the fruit tree FT (i.e., the aisle side), the multicopter 50 transmits information that the work on the fruit tree FT is complete to the transport vehicle 10 (or portable terminal 60). The transport vehicle 10 may store the harvesting information for each fruit tree FT separately. In other words, the number of objects M to be harvested for each fruit tree FT is stored. Upon receiving the work completion information, the transport vehicle 10 moves to the location of the next fruit tree FT, as shown in Figure 4. Once the transport vehicle 10 has moved to the location of the next fruit tree FT, it instructs the multicopter 50 to begin a series of flight operations for the next fruit tree FT. The multicopter 50 repeats the series of flight operations (S111~S114) for the next fruit tree FT.

[0062] Incidentally, the container 18 of the transport vehicle 10 is equipped with a transport path 19 that transports the object M that is put into the input port 18a on a downward slope, as shown in Figure 8A. Figure 8A is a diagram showing an example of the transport path 19 of the ground transport machine 1.

[0063] The transport path 19 sorts and transports objects M according to their size. For example, the container 18 has a first container 21, a second container 22, and a third container 23. The first container 21 accommodates objects M within a first size range. The second container 22 accommodates objects M within a second size range, which is larger than the first size range. The third container 23 accommodates objects M within a third size range, which is larger than the second size range. The transport path 19 has a first branch connected to the first container 21, a second branch connected to the second container 22, and a third branch connected to the third container 23, and sorts and transports objects M put into the input port 18a to the first container 21, the second container 22, and the third container 23 according to their size.

[0064] Figure 8B shows an example of a corrective action performed by the agricultural flying device 5. An object M fed from the multicopter 50 into the input port 18a may become stuck in the transport path 19, as shown in Figure 8B (failure to transport object M). The transport path 19 is equipped with an object detection sensor (e.g., a photoelectric sensor, a contact sensor, etc.) that detects the object M stuck in the transport path 19. The object detection sensor is connected to the control device 30. When the control device 30 detects an object M stuck in the transport path 19 using the object detection sensor, it determines that there is a failure to transport object M in the transport path 19.

[0065] Returning to Figure 7A, the control device 30 of the transport vehicle 10 outputs an instruction to the multicopter 50 to address the transport failure based on the transport failure of the object M in the transport path 19.

[0066] Based on the aforementioned action instruction, the multicopter 50 performs an action on the object M in the transport path 19 that is not being transported correctly (S12).

[0067] Figure 8B shows an example of countermeasures performed by the agricultural flying device 5. Based on the aforementioned action instruction, the multicopter 50 performs an action to push the object M in the transport path 19 that is not being transported properly by a downwash (e.g., a downward airflow) from the multicopter 50. The direction of the downwash from the multicopter 50 is the direction D1 shown in Figure 8B.

[0068] The multicopter 50 maintains a hovering flight state for a predetermined period (e.g., 15 seconds) above the object M that is not being transported. The above position is a position where the downwash from the multicopter 50 can act on the object M that is not being transported, for example, a predetermined first height H1 above the object M. The first height H1 is a position on the multicopter 50 where the lower end of the multicopter 50 is in close proximity to the object M that is not being transported (close to within a few centimeters to tens of centimeters). The object M that is not being transported on the transport path 19 may be pushed by the downwash from the multicopter 50 and begin to move along the downward slope of the transport path 19. In other words, the object M that is not being transported may begin to roll in the direction D2 of the downward slope. In this way, the transport failure is resolved and the object M is distributed to the first container 21, the second container 22, and the third container 23. Furthermore, the pushing action caused by the downwash from the multicopter 50 may be terminated not only for a predetermined period (e.g., 15 seconds), but whenever the transport failure is resolved. The control device 50f may determine that the transport failure has been resolved when the object M of the transport failure disappears from the image captured by the imaging device 33A.

[0069] In Figure 8B, the multicopter 50 maintains a hovering flight state positioned at a first height H1 above the object M that is not being transported, thereby applying a downwash from the multicopter 50 to the object M that is not being transported. However, the invention is not limited to this. For example, the multicopter 50 may perform a hovering flight state where it rises from the first height H1 to a higher second height H2, thereby applying a stronger downwash to the object M that is not being transported than the downwash at the first height H1. Alternatively, the multicopter 50 may descend from the second height H2 to the first height H1, and then rise again from the first height H1 to the second height H2, thereby repeatedly applying a downwash over a predetermined number of times.

[0070] In Figure 8B, the direction D1 of the downwash from the multicopter 50 is downward. In contrast, in Figure 8C, the direction D1 of the downwash from the multicopter 50 is made to coincide with or approach the direction D2 of the downward slope of the transport path 19. Figure 8C is a diagram showing another example of the corrective action by the agricultural flying device 5. Since the direction D1 of the downwash from the multicopter 50 coincides with or approaches the direction D2 of the downward slope of the transport path 19, the force acting on the object M that is not being transported can be increased compared to Figure 8B.

[0071] In S12, once the transport failure in the transport path 19 is resolved, the multicopter 50 returns to the process in S11, as shown in Figure 7A.

[0072] Next, if the downward wash action does not improve the poor transport of the object M in the transport path 19 (S13), the multicopter 50 performs an action to remove the object M in the transport path 19 that is experiencing transport problems (S14).

[0073] Figure 8D shows an example of removal operation by the agricultural flying device 5. As shown in Figure 8D, when it is possible for the multicopter 50 to fly the suction cup 51e close to the object M that is not being transported in the transport path 19, it performs a flight to bring the suction cup 51e close to the object M that is not being transported in the transport path 19, and the object M that is not being transported in the transport path 19 is picked up by the suction cup 51e. Once the object M that is not being transported in the transport path 19 is picked up by the suction cup 51e, the multicopter 50 flies away from the transport path 19, thereby removing the object M that is not being transported in the transport path 19. The multicopter 50 then drops the object M that has been picked up by the suction cup 51e into a dedicated collection box provided on the transport vehicle 10 or into a collection location provided elsewhere than the transport vehicle 10.

[0074] If the multicopter 50 is unable to remove the object M that is not being transported on the transport path 19 in S14 (S15), it transmits a notification signal to the transport vehicle 10 or the user's portable terminal 60. The transport vehicle 10 notifies the driver based on the notification signal. The portable terminal 60 also displays a notification based on the notification signal. The driver of the transport vehicle 10 or the user of the portable terminal 60 removes the object M that is not being transported on the transport path 19.

[0075] If the multicopter 50 is able to remove the object M that is not being transported in the transport path 19 in S14, it returns to the process in S11, as shown in Figure 7A.

[0076] Incidentally, the container 18 of the transport vehicle 10 may have a funnel-shaped input port 18a, as shown in Figure 9. Figure 9 shows an example of applying downwash from the agricultural flying device 5 to the object M. As shown in Figure 9, the funnel-shaped input port 18a has a conical shape that tapers from a circular opening that opens upwards. The tapered end of this input port 18a is connected to a downward passage. The object M that is put into the funnel-shaped input port 18a is guided along the inner surface of the conical cylinder toward the downward passage and transported downwards through the downward passage.

[0077] As shown in Figure 9, the multicopter 50 transports the object M and feeds it into the input port 18a, and applies a downwash from the multicopter 50 to the object M in the input port 18a. For example, the downwash flows along the inner surface of the cone-shaped cylinder, for example in a spiral shape, and proceeds downward through the downward passage. The object M fed into the input port 18a is suitably guided into the downward passage by the downwash.

[0078] <Second Embodiment> Figure 10 is a schematic diagram of the support system SY of the second embodiment. Figure 11 is a block diagram of the support system SY of the second embodiment. The support system SY of the second embodiment includes a server 70. In the second embodiment, the server 70 can assist in removing obstacles OB when the transport vehicle 10 cannot move due to obstacles OB, which is different from the first embodiment. In the second embodiment, configurations different from the first embodiment will be described, and the same configurations will not be described here.

[0079] Next, the server 70 shown in Figures 10 and 11 will be described. The server 70 is a fixed computer installed, for example, in a farm, farming company, agricultural machinery manufacturer, or agricultural service provider, or a portable computer that can be carried by an administrator, worker, etc. In this embodiment, the server 70 is a fixed computer.

[0080] The server 70 is equipped with a communication device 71 capable of communicating with the transport vehicle 10 and the multicopter 50. The communication device 71 is a communication module that performs either direct or indirect communication with the transport vehicle 10 and the multicopter 50, and performs wireless communication using, for example, the IEEE 802.11 series communication standard Wi-Fi (registered trademark), BLE, LPWA, LPWAN, etc. The communication device 71 can also perform wireless communication using, for example, a mobile phone communication network or a data communication network.

[0081] Server 70 is equipped with a control unit 72. The control unit 72 consists of electrical and electronic circuits, a processor, memory, etc. The processor is, for example, a CPU, GPU, DSP, FPGA, and ASIC. Server 70 functions as a control unit 72 by having the processor execute a control program.

[0082] The server 70 is equipped with a storage unit 73. The storage unit 73 is a non-volatile storage device, such as an HDD or SSD. The storage unit 73 stores various types of data (information).

[0083] Figure 12A shows an obstacle OB in the direction of travel of the ground transporter 1. As shown in Figure 12A, there are cases where the transport vehicle 10 cannot travel due to the obstacle OB. In Figure 12A, two obstacles OB are located in the direction of travel of the transport vehicle 10. Here, it is assumed that the transport vehicle 10 cannot proceed by bypassing the two obstacles OB. The server 70 can provide assistance in removing the obstacles OB when the transport vehicle 10 cannot travel due to the obstacles OB.

[0084] Figure 12B shows an example of data table TB1. As shown in Figure 12B, the storage unit 73 stores data table TB1, which associates specification information indicating the weight or estimated weight of the obstacle OB with the multicopter 50 corresponding to that specification information. For example, the specification information may include the payload capacity and the dimensions (size) that can be carried. Data table TB1 stores the correspondence between the payload capacity and the multicopter 50. For example, data table TB1 stores that if the payload capacity is within the first range, the first multicopter 50A is suitable, and if the payload capacity is within the second range, which is larger than the first range, the second multicopter 50B is suitable.

[0085] Obstacle OB1, shown in Figure 12A, is included in the payload capacity of both the first multicopter 50A and the second multicopter 50B, so either the first multicopter 50A or the second multicopter 50B can transport obstacle OB1. On the other hand, obstacle OB2, shown in Figure 12A, is not included in the payload capacity of the first multicopter 50A, but is included in the payload capacity of the second multicopter 50B. Therefore, the first multicopter 50A cannot transport obstacle OB2, but the second multicopter 50B can transport obstacle OB2.

[0086] The transport vehicle 10, like the first embodiment, is equipped with a traveling device 16 and a surrounding monitoring device 33 that detects obstacles OB. When the control device 30 of the transport vehicle 10 determines that it is impossible to travel due to the detection of obstacles OB by the surrounding monitoring device 33, it outputs an obstacle removal signal to the multicopter 50 via the communication device 71. The multicopter 50 performs an operation to remove the obstacles OB.

[0087] The control device 30 transmits specification information indicating the weight or estimated weight of the obstacle OB to the server 70 via the communication device 71. The server 70 outputs an obstacle removal signal to the multicopter 50 corresponding to the specification information.

[0088] Figure 12C is a flowchart showing the process of removing an obstacle OB in the support system SY. As shown in Figure 12C, the surrounding monitoring device 33 of the transport vehicle 10 detects an obstacle OB (S21), and the control device 30 of the transport vehicle 10 determines that it is not possible to move because the obstacle OB has been detected by the surrounding monitoring device 33 (S22).

[0089] If the control device 30 determines that it is impossible to travel because an obstacle OB has been detected by the surrounding monitoring device 33 (S22), it outputs an obstacle removal signal to the multicopter 50 via the communication device 71. The multicopter 50 performs an operation to remove the obstacle OB (S23). Here, let's assume that the obstacle OB was obstacle OB2. If the multicopter 50 is unable to perform the operation to remove obstacle OB2, or if it attempts to remove obstacle OB2 but is unable to do so (S24), it sends a notification signal to the transport vehicle 10 indicating that removal is impossible.

[0090] The control device 30 estimates the weight of the obstacle OB2 (S25). The control device 30 transmits specification information indicating the estimated weight of the obstacle OB2 to the server 70 via the communication device 71.

[0091] The server 70 determines the multicopter 50 corresponding to the specification information based on the data table TB1 shown in Figure 12B. For example, the control device 72 of the server 70 determines it to be the first multicopter 50A if the carryable weight specified in the specification information is within the first range, and determines it to be the second multicopter 50B if the carryable weight specified in the specification information is within the second range. In other words, the multicopter 50 capable of carrying the obstacle OB2 is identified. Here, the server 70 identifies the second multicopter 50B. The server 70 then outputs an obstacle removal signal to the second multicopter 50B corresponding to the specification information. The second multicopter 50B carries and removes the obstacle OB2 based on the obstacle removal signal (S26).

[0092] <First variation> In the first embodiment, the containers 18 of the transport vehicle 10 were sorted by the size of the object M, but in the first modified example, the containers 18 of the transport vehicle 10 are sorted by the characteristics of the object M (e.g., sugar content).

[0093] Figure 13 shows an example in which an agricultural flying device 5 sorts objects M and delivers them to a ground transporter 1. The transport vehicle 10 of the first modified example has a container 18 comprising a first container 21, a second container 22, and a third container 23. The first container 21 contains objects M within a first sugar content range. The second container 22 contains objects M within a second sugar content range. The third container 23 contains objects M within a third sugar content range.

[0094] The multicopter 50 of the first modified example is equipped with a sugar content sensor for measuring sugar content. The sugar content sensor of the multicopter 50 measures the sugar content of the object M adsorbed onto the adsorption cup 51e. The multicopter 50 of the first modified example drops the object M (fruit) adsorbed onto the adsorption cup 51e into the first container 21 if the measurement result of the sugar content sensor is within the first sugar content range, into the second container 22 if it is within the second sugar content range, and into the third container 23 if it is within the third sugar content range.

[0095] <Second variation> Figure 14 shows an example of the agricultural flying device 5 sorting and packing the target object M into boxes. In the second modified example, as shown in Figure 14, the agricultural flying device 5 packs the target object M (crops) that has been adsorbed by the suction cup 51e into a container 24 (box) so that it can be shipped as is.

[0096] In the second modified example, the multicopter 50 uses a sensor (e.g., an imaging device 50e) to determine the drop position, aligns the target objects M, and packs them into the container 24. Alternatively, the multicopter 50 in the second modified example may have a mechanism to keep the packing position constant and move the container 24, thereby aligning the target objects M (crops). Furthermore, as in the first modified example, the multicopter 50 may distinguish between containers 24 based on characteristics (e.g., sugar content) and pack the objects accordingly.

[0097] <Third variation> Figure 15 shows an example of an agricultural flying device 5 sucking up an object M with a suction device 40 held by the device. The third modified multicopter 50 may also be equipped with a suction device 40, as shown in Figure 15. The third modified multicopter 50 holds the outer circumference of the suction side of the suction hose 41 that constitutes the suction device 40, and is able to fly within the length range of the suction hose 41 while holding the suction hose 41.

[0098] The third modified multicopter 50 performs harvesting operations based on instructions from the transport vehicle 10 or the portable terminal 60. For example, the third modified multicopter 50 uses sensors (e.g., imaging sensors). The device 50e) determines (identifies) the position of the crop (target object M), and with the suction opening of the suction hose 41 positioned inside or near the opening of the suction side at the position of the crop (target object M), the suction operation is started to harvest the crop (target object M) by sucking it up. The discharge side of the suction hose 41 is located in the containment 18 or container 24 (box) of the transport vehicle 10, and the sucked-up crop (target object M) is packed into the containment 18 or container 24.

[0099] According to this, the travel time from the transport vehicle 10 to the container 18 or container 24 can be reduced. For example, the container 24 filled with crops (object M) can be shipped as is.

[0100] <Fourth variation> Figure 16 shows an example in which the launcher 42 of the agricultural flying device 5 drops the target object M into the input port 18a of the ground transporter 1.

[0101] The fourth modified multicopter 50, as shown in Figure 16, is equipped with a launcher 42 for firing agricultural projectiles (e.g., projectiles made of an elastic material) 42a to break the branches of a fruit tree FT or cut the stem of an object M (fruit). The fourth modified multicopter 50 determines (identifies) the position of the object M using a sensor (e.g., an imaging device 50e), identifies the branch supporting the object M on the fruit tree FT or the stem of the object M as the target location, and fires the agricultural projectile 42a toward the target location. For example, when the agricultural projectile 42a hits the branch (target location), the branch supporting the object M breaks and falls into the container 18 of the transport vehicle 10. Alternatively, when the agricultural projectile 42a hits the stem (target location) of the object M, the stem of the object M is cut off and the object M falls into the container 18 of the transport vehicle 10.

[0102] In this case, the multicopter 50 of the fourth modified example predicts the landing position of the object M (fruit) and moves the position of the transport vehicle 10 so that the container 18 is at the landing position.

[0103] In this example, the launcher 42 fires agricultural projectiles 42a, but it may also fire air instead.

[0104] <Fifth variation> Figure 17 shows an example of dropping an object M into the input port 18a of the ground transporter 1 using the pruning device 43 of the agricultural flying device 5.

[0105] The fifth modified multicopter 50, as shown in Figure 17, is equipped with a pruning device 43 having a scissor section 43a for pruning the branches B of the fruit tree FT. The fifth modified multicopter 50 may determine the pruning position using a sensor (e.g., an imaging device 50e), position the scissor section 43a at the determined pruning position, and cut the branches B with the scissor section 43a. The pruned branches B1 then fall into the container 18 of the transport vehicle 10. At this time, the fifth modified multicopter 50 predicts the landing position of the pruned branches B1 and moves the position of the transport vehicle 10 so that the container 18 is at the landing position.

[0106] The main characteristic features and effects of the ground transporter 1 and support system SY in the embodiments described above are as follows.

[0107] (Item A1) A ground transporter 1 comprising an aircraft body 11, an input port 18a into which an object M is loaded by an agricultural flying device 5, a communication device 34 that communicates with the agricultural flying device 5, and a control device 30 that outputs an instruction to the agricultural flying device 5 via the communication device 34 to coordinate the movement of the agricultural flying device 5 to the input port 18a.

[0108] With this configuration, the agricultural flying device 5 is moved in coordination with the input port 18a of the ground transporter 1, so that the agricultural flying device 5 can be linked to the work of the ground transporter 1. This improves the work efficiency of the ground transporter 1.

[0109] (Item A2) The ground transporter 1 according to Item A1, comprising a transport path 19 that transports the object M introduced into the input port 18a on a downward slope, wherein the control device 30 outputs instructions to the agricultural flying device 5 to deal with the transport failure based on the transport failure of the object M in the transport path 19.

[0110] With this configuration, if there is a transport failure of object M in the transport path 19 of the ground transporter 1 that transports object M, the agricultural flying device 5 can be made to correct the transport failure, and the agricultural flying device 5 can be linked to the state of the ground transporter 1. Therefore, the workability of the ground transporter 1 can be improved.

[0111] (Item A3) A support system SY comprising the ground transporter 1 described in Item A2 and the agricultural flying device 5, wherein the agricultural flying device 5 performs actions on objects M in the transport path 19 that are not being transported based on the action instructions.

[0112] With this configuration, the agricultural flying device 5 can address poor transport of the object M along the transport path 19.

[0113] (Item A4) The agricultural flying device 5 is a support system SY as described in Item A3, which, based on the action instruction, pushes the object M that is not being transported properly in the transport path 19 by a downwash from the agricultural flying device 5.

[0114] With this configuration, the agricultural flying device 5 can push objects M that are not being transported properly in the transport path 19 by the downwash from the agricultural flying device 5, thereby improving the transport problems.

[0115] (Item A5) The agricultural flying device 5 is a support system SY as described in Item A3 or A4, which performs an operation to remove the object M in the transport path 19 if the transport failure of the object M in the transport path 19 is not improved.

[0116] With this configuration, the agricultural flying device 5 can remove objects M that are not being transported properly in the transport path 19, thereby eliminating the transport failure.

[0117] (Item A6) The agricultural flying device 5 is a support system SY described in Item A5 that transmits a notification signal to the ground transporter 1 or the user's mobile terminal 60 if it is unable to remove the object M that is not being transported in the transport path 19.

[0118] With this configuration, the agricultural flying device 5 can notify of any transport failure of the object M along the transport path 19.

[0119] (Item A7) A support system SY comprising a ground transporter 1 as described in Item A1 or A2 and the agricultural flying device 5, wherein the input port 18a is formed in the shape of a funnel, and the agricultural flying device 5 transports an object M and puts it into the input port 18a, and the downwash from the agricultural flying device 5 acts on the object M in the input port 18a.

[0120] With this configuration, the agricultural flying device 5 applies a downwash from the agricultural flying device 5 to the object M that is put into the input port 18a, thereby allowing the object M put into the input port 18a to be supplied to the transport path 19 in a suitable manner.

[0121] (Item A8) The ground transporter 1 described in Item A1 or A2 is a support system SY comprising an input port 18a on the upper side and a storage body 18 capable of accommodating an object M that has been put into the input port 18a.

[0122] With this configuration, the agricultural flying device 5 is moved in coordination with the input port 18a of the containment unit 18, so that the agricultural flying device 5 can be coordinated with the work of the ground transporter 1. This improves the work efficiency of the ground transporter 1.

[0123] (Item A9) The ground transporter 1 described in Item A1 or A2 comprises a traveling device 16 and a surrounding monitoring device 33 for detecting obstacles OB, and the control device 30 determines that it is not possible to travel because the surrounding monitoring device 33 has detected the obstacles OB, and outputs an obstacle removal signal to the agricultural flying device 5 via the communication device 34, and the agricultural flying device 5 is a support system SY that performs an operation to remove the obstacles OB.

[0124] With this configuration, the agricultural flying device 5 removes obstacles OB that are preventing the ground transporter 1 from moving, thereby enabling the ground transporter 1 to move. This improves the work efficiency of the ground transporter 1.

[0125] (Item A10) The support system SY described in Item A9, comprising a server 70, wherein the control device 30 transmits specification information indicating the weight or estimated weight of the obstacle OB to the server 70 via the communication device 34, and the server 70 outputs the obstacle removal signal to the agricultural flying device 5 corresponding to the specification information.

[0126] According to this configuration, an agricultural flying device 5 corresponding to the weight of the obstacle OB is provided, and by removing the obstacle OB with the agricultural flying device 5, the ground transporter 1 becomes able to move. Therefore, the work efficiency of the ground transporter 1 can be improved.

[0127] Although the present invention has been described above, the embodiments disclosed herein should be considered in all respects to be illustrative and not restrictive. The scope of the present invention is indicated by the claims rather than by the foregoing description, and all modifications within the meaning and scope equivalent to the claims are intended to be included. [Explanation of symbols]

[0128] 1. Ground transport machine 5 Agricultural flight equipment 16. Running gear 18 containment units 19 Conveyor path 33 Peripheral monitoring device 34 Communication equipment 60 Mobile devices 70 servers M Object Out of bounds (OB)

Claims

1. The aircraft and, An input port into which the object is dropped by an agricultural flying device, A communication device for communicating with the aforementioned agricultural flying device, A ground transporter comprising a control device that outputs an instruction to the agricultural flying device via the communication device to move the agricultural flying device in coordination with the input port.

2. The system includes a transport path that transports the object placed into the input port in a downward incline, The ground transporter according to claim 1, wherein the control device outputs instructions to the agricultural flying device to address a transport failure based on a transport failure of the object in the transport path.

3. The ground transporter described in claim 2 and the agricultural flying device are provided, The aforementioned agricultural flying device is a support system that performs actions on objects in the transport path that are not being transported properly, based on the aforementioned action instructions.

4. The support system according to claim 3, wherein the agricultural flying device performs an action to push objects that are not being transported properly in the transport path by a downwash from the agricultural flying device, based on the action instruction.

5. The support system according to claim 3 or 4, wherein the agricultural flying device performs an operation to remove objects in the transport path that are not being transported properly if the transport failure of objects in the transport path is not improved.

6. The support system according to claim 5, wherein the agricultural flying device transmits a notification signal to the ground transporter or the user's mobile terminal when it is unable to remove an object that is not being transported properly along the transport path.

7. The ground transporter according to claim 1 or 2 and the agricultural flying device are provided, The aforementioned opening is formed in the shape of a funnel, The aforementioned agricultural flying device is a support system that transports an object and puts it into the input port, and applies a downwash from the agricultural flying device to the object at the input port.

8. The ground transporter according to claim 1 or 2 is a support system comprising an input port provided on the upper side and a container capable of accommodating an object placed into the input port.

9. The ground transporter according to claim 1 or 2 comprises a traveling device and a surrounding monitoring device for detecting obstacles, When the control device determines that the vehicle cannot move due to the detection of the obstacle by the surrounding monitoring device, it outputs an obstacle removal signal to the agricultural aircraft via the communication device. The aforementioned agricultural flying device is a support system that performs the action of removing the aforementioned obstacle.

10. Equipped with a server, The control device transmits specification information indicating the weight or estimated weight of the obstacle to the server via the communication device. The support system according to claim 9, wherein the server outputs the obstacle removal signal to an agricultural flying device corresponding to the specification information.

Images