Agricultural flying devices

Abstract

To provide an agricultural flying device that can perform aerial work appropriately and stably. [Solution] The agricultural flying device 5 comprises a flying body 50e, a plurality of detection devices 55 provided on the flying body 50e, a work device 51 provided on the flying body 50e, and a control device 50f. The control device 50f determines a flight control mode based on the flight work content of the flying body 50e, and determines whether to enable or disable the plurality of detection devices 55 based on the determined flight control mode.

Description

Technical Field

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

Background Art

[0002] In Patent Document 1, when the distance between any one of the plurality of propellers of the unmanned aerial vehicle and the target element (for example, a wall) is within the reference distance, that is, in the approaching flight state, the propeller thrust during approach is lower than the normal propeller thrust when sufficiently far from the reference distance, and the flight of the unmanned aerial vehicle becomes unstable. And Patent Document 1 discloses an unmanned aerial vehicle that adjusts the rotational speed of each propeller according to the reference distance between the target element and the unmanned aerial vehicle. By doing so, stable flight can be performed in the approaching flight state to the target element.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, the unmanned aerial vehicle of Patent Document 1 has a configuration in which the rotational speed of each propeller is adjusted in the approaching flight state to the target element (for example, a wall), that is, a configuration in which the control content of the rotational speed of each propeller is made different depending on the approaching or non-approaching flight state. Therefore, the unmanned aerial vehicle of Patent Document 1 is not configured to be an appropriate flight control mode according to the flight work content (for example, the work content by the work device of the unmanned aerial vehicle during flight). Further, this unmanned aerial vehicle is not configured to enable the detection devices necessary for the flight control mode and disable the unnecessary detection devices among the plurality of detection devices provided in the unmanned aerial vehicle.

[0005] Therefore, in view of the above problems, the present invention aims to provide an agricultural flying device that can perform flying operations appropriately and stably. [Means for solving the problem]

[0006] The technical means of the present invention for solving the above technical problems are characterized by the following points. An agricultural flying device according to one aspect of the present invention comprises a flying body, a plurality of detection devices provided on the flying body, a work device provided on the flying body, and a control device, wherein the control device determines a flight control mode based on the flight work content of the flying body, and determines whether to enable or disable the plurality of detection devices based on the determined flight control mode. [Effects of the Invention]

[0007] According to the present invention, it is possible to provide an agricultural flying device that can perform aerial work appropriately and stably. [Brief explanation of the drawing]

[0008] [Figure 1] This is a schematic diagram of the support system according to the embodiment. [Figure 2] This is a block diagram of the support system of the embodiment. [Figure 3] This is an overall perspective view of the agricultural flying device according to the embodiment. [Figure 4] This is a plan view of an agricultural flying device according to an embodiment. [Figure 5] This is a front view of an agricultural flying device according to an embodiment. [Figure 6A] This is a diagram showing an example of a display unit on a mobile device. [Figure 6B] This is a diagram showing an example of a display unit on a mobile device. [Figure 7] This flowchart shows the process for determining the flight control mode of an agricultural aircraft. [Figure 8] This flowchart shows the process for determining the flight operations of an agricultural aircraft. [Figure 9]It is a flowchart showing a process for determining a flight path of an agricultural flying device. [Figure 10] It is a flowchart showing a process for determining the type of work of a working device. [Figure 11] It is a flowchart showing a process for determining the type of a working device. [Figure 12] It is a diagram showing an example of a data table. [Figure 13] It is a diagram showing an example of a data table. [Figure 14] It is a diagram showing an example of a data table. [Figure 15] It is a diagram showing an example of a data table. [Figure 16] It is a diagram showing an example of a data table.

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 support system SY according to the embodiment. FIG. 2 is a block diagram of the support system SY according to the embodiment.

[0010] As shown in FIGS. 1 and 2, the support system SY includes an agricultural flying device 5, a mobile terminal 60, and a server 70, and is a system for supporting the flight work of the agricultural flying device 5.

[0011] The server 70 is, for example, a fixed computer installed in a farmer, an agricultural management company, an agricultural machinery manufacturer, an agricultural service, etc., or a portable computer that can be carried by a manager, an operator, etc. In this embodiment, it is assumed that the server 70 is a fixed computer.

[0012] As shown in FIG. 2, the server 70 includes a communication device 71 that can communicate with the multicopter 50 and the mobile terminal 60. The communication device 71 is a communication module that performs either direct communication or indirect communication with the multicopter 50 and the mobile terminal 60. For example, it performs wireless communication according to communication standards such as Wi-Fi (Wireless Fidelity, registered trademark) of the IEEE802.11 series, BLE (Bluetooth (registered trademark) Low Energy), LPWA (Low Power, Wide Area), LPWAN (Low-Power Wide-Area Network), etc. Also, the communication device 71 can perform wireless communication, for example, via a mobile phone communication network or a data communication network.

[0013] As shown in FIG. 2, the server 70 includes a control device 72. The control device 72 is composed of an electric / electronic circuit, a processor, a memory, etc. The processor is, for example, a CPU (Central Processing Unit), GPU (Graphics Processing Unit), DSP (Digital Signal Processor), FPGA (Field Programmable Gate Array), and ASIC (Application Specific Integrated Circuit), etc. The server 70 functions as the control device 72 when the processor executes a control program.

[0014] The server 70 includes a storage unit 73. The storage unit 73 is a non-volatile storage device, for example, an HDD (Hard Disk Drive), SSD (Solid State Drive), etc. The storage unit 73 stores various data (information).

[0015] As shown in Figure 6B, which will be described later, the memory unit 73 stores at least one pre-set flight path L (latitude, longitude, altitude) for the multicopter 50. The flight path L is the planned flight path. The flight path L includes a first flight path L1, a second flight path L2, and a third flight path L3. The first flight path L1 is the planned flight path from a predetermined location to a work location (e.g., the outbound flight). The predetermined location may be a storage location such as a barn, a loading location where transported goods are placed, or a refueling location. The work location may be a field or an orchard. The second flight path L2 is a predetermined flight path within the work location (e.g., a field). The third flight path L3 is the planned flight path from the work location to a predetermined location (e.g., the return flight). The memory unit 73 also stores pre-set work sections and tasks indicating the work content in those work sections for each flight path L. Furthermore, the memory unit 73 stores, in advance, that if a non-work section is set for the flight path L, no work will be performed in the non-work section. For example, for the second flight path L2, the work section and the work content specified for that work section are pre-set.

[0016] Next, the agricultural flying device 5 will be described. Figure 3 is an overall perspective view of the agricultural flying device 5 according to the embodiment. Figure 4 is a plan view of the agricultural flying device 5 according to the embodiment. Figure 5 is a front view of the agricultural flying device 5 according to the embodiment. The agricultural flying device 5 is, for example, a multicopter 50, as shown in Figures 1, 3 to 5. The multicopter 50 is an aircraft (for example, an unmanned aircraft) also known as a drone. In Figures 3 to 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.

[0017] As shown in Figures 3 to 5, the multicopter 50 has a flying body 50e. The flying body 50e has a fuselage 50a, a plurality (for example, four) of arms 50b provided on the fuselage 50a, a rotor device 52 provided on each arm 50b, and a pair of skids 50d provided on the fuselage 50a.

[0018] The rotorcraft 52 is a device that generates lift for flight. The rotorcraft 52 includes an electric motor 53 and a propeller 54 (blade) that rotates driven by the electric motor 53. Each of the multiple (four) electric motors 53 is, for example, a DC (direct current) motor and is powered by a battery 50j housed in the aircraft body 50a. That is, each of the multiple electric motors 53 is electrically connected to the battery 50j in the aircraft body 50a by a power line (wire) inserted through the corresponding arm 50b.

[0019] As shown in Figures 3 and 4, the multiple (four) arms 50b are arranged at equal intervals around the side of the aircraft body 50a and are positioned to protrude outward from the side of the aircraft body 50a. For example, the four arms 50b are positioned diagonally forward to the left, diagonally forward to the right, diagonally rear to the left, and diagonally rear to the right from the side of the aircraft body 50a. As shown in Figure 5, the four arms 50b are mounted on the aircraft body 50a in a position that is tilted upward towards the outward end. As shown in Figures 3 to 5, the electric motors 53 of the rotor blade device 52 are fixed to the tip of each of the four arms 50b. As shown in Figure 5, the output shaft 53a of the electric motors 53 protrudes upward.

[0020] As shown in Figure 3, the propeller 54 has a central portion 541 containing the center of rotation and two blades 542 extending from the central portion 541. The two blades 542 extend symmetrically from the central portion 541. The propeller 54 may also have three or more blades arranged at equal intervals around the center of rotation (for example, a three-bladed, four-bladed, etc.).

[0021] As shown in Figure 4, the propeller 54 located diagonally forward to the left of the rotor blade device 52 is sometimes called the left front propeller 54FL. The propeller 54 located diagonally forward to the right of the rotor blade device 52 is sometimes called the right front propeller 54FR. The propeller 54 located diagonally rear to the left of the rotor blade device 52 is sometimes called the left rear propeller 54BL. The propeller 54 located diagonally rear to the right of the rotor blade device 52 is sometimes called the right rear propeller 54BR.

[0022] In this embodiment, the rotorcraft 52 has four (even) propellers 54. Therefore, the electric motor 53 is driven to rotate adjacent propellers 54 in opposite directions in the circumferential direction of a virtual circle VC centered on the center of gravity CG1 of the aircraft 50a shown in Figure 4. As a result, the rotorcraft 52 generates flight thrust (lift) for the aircraft 50a to fly through the rotation of each of the multiple propellers 54.

[0023] As shown in Figure 2, the multicopter 50 has multiple detection devices 55. For example, the aircraft 50e has multiple detection devices 55. The multiple detection devices 55 include an imaging device 55a, an acceleration sensor 55b, an inertial measurement device 55c, a barometric altimeter 55d, a position detection device 55e, a lidar 55f (LiDAR: Light Detection and Ranging), and a detection device 55 provided on the work device 51 described later (for example, at least one of a position detection device 55g and a vibration sensor 55h).

[0024] As shown in Figures 1 and 2, the multicopter 50 has an imaging device 55a. The imaging device 55a is, for example, an infrared camera, a visible light camera, etc., and is capable of imaging the area around the multicopter 50.

[0025] The multicopter 50 has an acceleration sensor 55b for detecting the speed of the aircraft 50a, an inertial measurement unit 55c (IMU) for detecting the attitude and speed of the aircraft 50a, and a barometric altimeter 55d for detecting the altitude of the multicopter 50. The multicopter 50 may also 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 ultrasonic sonar (or ultrasonic sensor) for detecting the position of surrounding objects, and a magnetic compass sensor for detecting direction.

[0026] The multicopter 50 has a position detection device 55e (e.g., a positioning device) that detects its own position. The position detection device 55e 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 55e may also detect the altitude of the multicopter 50 (aircraft 50a) by using various sensors such as a barometric altimeter 55d, ultrasonic sonar, and lidar 55f (LiDAR), either alone or in conjunction with the position detection device 55e.

[0027] The multicopter 50 has a LiDAR 55f that uses laser light to measure objects. The multicopter 50 of this embodiment has two LiDARs 55f. The two LiDARs 55f include a first LiDAR 55f1 that detects the area around the aircraft 50a and a second LiDAR 55f2 that detects the area below the aircraft 50a (i.e., the ground side).

[0028] As shown in Figures 1 and 3, the multicopter 50 is equipped with a work device 51. For example, the aircraft 50e is equipped with a work device 51. Figures 1 and 5 illustrate a suspended type work device 51A. Figure 3 illustrates a non-suspended type work device 51B. The work device 51 can be classified into, for example, the suspended type work device 51A shown in Figures 1 and 5, or the non-suspended type work device 51B shown in Figure 3.

[0029] The suspended type work device 51A shown in Figures 1 and 5 is a work device 51 suspended from a multicopter 50 by a rope HS. The rope HS is, for example, a wire rope, and is also called a suspension wire or suspension thread. Below the multicopter 50, a suspension device 30 is provided, as shown in Figures 1 and 5. The suspension device 30 changes the suspension position of the work device 51A by winding in or unwinding (winding out) the rope HS. The suspension device 30 has a sensor that detects the suspension length of the work device 51A (for example, the length of the rope HS from the suspension device 30 to the work device 51A). Examples of the work device 51A include a grass cutting device that is suspended from the multicopter 50 and towed while in contact with the ground, or a seed planting device that is suspended from the multicopter 50 and floats in the air without touching the ground.

[0030] As shown in Figure 3, the non-suspended type work device 51B is a work device 51 that is fixed to the multicopter 50. Examples of work devices 51B include a seedling holding device that holds seedling mats and drops them into a rice transplanter (see Figure 3), or a spraying device that sprays chemical solutions onto the field.

[0031] Figure 3 shows that the non-suspending type work device 51B is a seedling holding device and has a pair of clamping members 511 and 512 capable of gripping seedlings in a seedling mat. The seedling holding device brings the pair of clamping members 511 and 512 closer together when seedlings are present between them, creating a holding state in which the pair of clamping members 511 and 512 hold the seedlings in the seedling mat. On the other hand, the seedling holding device separates the pair of clamping members 511 and 512 to release the holding of the seedlings in the seedling mat by the pair of clamping members 511 and 512.

[0032] 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 SSD. The memory unit 50h receives and stores, for example, the flight path L (latitude, longitude, altitude), the work section of the flight path L, and the work content in the work section from the server 70, but it may also acquire and store this information from an external storage device such as a mobile terminal 60 or a USB memory.

[0033] The memory 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 55c. The position detection device 55e may calculate the flight direction and flight speed based on multiple detected flight positions. Furthermore, the information relating to the multicopter 50 may include at least one of the following: status information described later; work device information indicating the type of work device 51 equipped on the multicopter 50; work status information indicating the working state of the work device 51; the rotational speed of the rotor blade device 52 (rotational speed of the propeller 54) detected by the rotational speed detection sensor; and status information such as captured images taken by the imaging device 55a.

[0034] The type of work device 51 may be classified as either a suspended type or a non-suspended type, and may also be a grass cutting device, a seeding device, a seedling holding device, or a spraying device.

[0035] The working state of the work device 51 can be, in the case of a suspended type, simply being suspended and not performing tasks such as mowing or sowing, or performing tasks such as mowing or sowing. Furthermore, the working state of the work device 51 can be, in the case of a non-suspended type, not performing tasks such as not holding seedlings or not spraying chemicals, or performing tasks such as holding seedlings or spraying chemicals.

[0036] The work device 51 has a detection device 55 (for example, a position detection device 55g and a vibration sensor 55h). The position detection device 55g detects the position of the work device 51. The vibration sensor 55h detects the vibration of the work device 51. The position detection device 55g and vibration sensor 55h and the control device 50f are connected by a signal cable. Each detection information from 55h is output to the control device 50f of the multicopter 50 via a signal cable. Therefore, the control device 50f acquires each detection information. Alternatively, the position detection device 55g and vibration sensor 55h may transmit each detection information to the control device 50f via wireless communication.

[0037] The multicopter 50 has a communication device 50i that communicates with a mobile terminal 60 and / or a server 70. The communication device 50i is a communication module that performs either direct or indirect communication 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 mobile terminal 60 and / or the server 70.

[0038] The multicopter 50 is equipped with a control device 50f that controls various operations of the multicopter 50. Multiple detection devices 55 (imaging device 55a, acceleration sensor 55b, inertial measurement device 55c, barometric altimeter 55d, position detection device 55e, lidar 55f, position detection device 55g for the work device 51, vibration sensor 55h for the work device 51, etc.), a communication device 50i, a memory unit 50h, and the work device 51 are connected to the control device 50f. The control device 50f controls the multiple detection devices 55, the communication device 50i, the memory unit 50h, and the work 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.

[0039] The multicopter 50 can fly along a flight path L (for example, a first flight path L1, a second flight path L2, and a third flight path L3), and the work device 51 can perform a series of flight operations in which the work device 51 performs the work in the work section of the flight path L (for example, the second flight path L2). For example, the control device 50f controls the multicopter 50 to perform a series of flight operations.

[0040] Specifically, the control device 50f controls the rotation speed of the electric motor 53 (i.e., the rotation speed of the propeller 54) to fly the multicopter 50 so that its own flight position (latitude, longitude, altitude) detected by the position detection device 55e matches the flight path L (latitude, longitude, altitude) stored in the memory unit 50h. The control device 50f also associates its own flight position (latitude, longitude, altitude) detected by the position detection device 55e with the time information at that time and stores this as flight performance information in the memory unit 50h.

[0041] Furthermore, the control device 50f controls the work device 51 to perform the work content in the work section of the flight path L. For example, if the work device 51 is a spraying device, it will perform spraying work in the work section of the flight path L, and will not perform spraying work in any non-work sections. If the work device 51 is a grass cutting device, it will perform grass cutting work with the grass cutting device in the work section of the flight path L, and will not perform grass cutting work in any non-work sections. The control device 50f also associates the work and non-work performed by the work device 51 in the work section and non-work section of the flight path L with the time information at that time, and stores this as work performance information in the storage unit 50h.

[0042] 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 flying along the flight path L, whether the work device 51 is working or not, whether the multicopter 50 is on standby, or whether an error is being detected.

[0043] Next, the portable terminal 60 will be described. As shown in Figures 1 and 2, the portable terminal 60 is a terminal device that can be carried by the user. The portable terminal 60 can transmit various commands to the server 70 and / or the multicopter 50 in response to user operations. These commands include commands for starting and ending flight operations of the multicopter 50 (first command, second command), etc.

[0044] As shown in Figure 2, the mobile terminal 60 has a communication device 61 that communicates with the server 70 and / or the multicopter 50. The communication device 61 is a communication module that performs either direct or indirect communication, and can perform wireless communication using, for example, the IEEE 802.11 series communication standards such as 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.

[0045] As shown in Figures 1 and 2, the mobile terminal 60 is equipped with a display unit 66. The display unit 66 is composed of a liquid crystal monitor, liquid crystal panel, etc. The display unit 66 displays various information related to the multicopter 50. Since the display unit 66 has a touch panel, it can be operated by the user via touch.

[0046] Figure 6A shows an example of the display unit 66 of the mobile terminal 60. As shown in Figure 6A, the various displays on the display unit 66 include a selection display 66A for selecting commands for the multicopter 50, and a status display 67 for displaying the status of the multicopter 50.

[0047] As shown in Figure 6A, 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 66c corresponding to the first command and the second command, respectively. Button 66a is touch-operated to instruct the multicopter 50 to prepare for flight operations (first command). Button 66b is touch-operated to instruct the multicopter 50 to begin flight operations (second command). Button 66c is touch-operated to instruct the multicopter 50 to end flight operations (third command).

[0048] As shown in Figure 6A, the mobile terminal 60 displays the status of the multicopter 50 (indicator 67) and the status of the work device 51 (indicator 68) on the display unit 66 based on the status information received from the multicopter 50. The status of the multicopter 50 (indicator 67) includes a display field 67a that indicates whether the multicopter 50 is in flight or not. In Figure 6A, display field 67a indicates that the multicopter 50 is in flight. The status of the work device 51 (indicator 68) includes display fields 68a to 68d, etc. Display field 68a displays the classification of the work device 51. Display field 68b displays the type of work device 51. Display field 68c indicates whether the work device 51 is working or not. Display field 68d indicates whether the work of the work device 51 is an error or not. In Figure 6A, display area 68a indicates that the work device 51 is of the hanging type, display area 68b indicates that the type of work device 51 is a grass cutting device, display area 68c indicates that the work device 51 is in operation, and display area 68d indicates that there are no errors in the operation of the work device 51.

[0049] When the user touches button 66a on the display unit 66, the mobile terminal 60 transmits a first command to the server 70 via the communication device 61. The communication device 71 of the server 70 receives the first command. Upon receiving the first command, the server 70 identifies the field map MP indicating the field corresponding to the field information instructed by the mobile terminal 60 and the flight path L related to that field, and reads them from the storage unit 73. The server 70 transmits the field map MP and the flight path L to the mobile terminal 60 via the communication device 71.

[0050] Figure 6B shows an example of the display unit 66 of the mobile terminal 60. As shown in Figure 6B, the mobile terminal 60 displays the received field map MP and flight path L on the display unit 66. The flight path L includes a first flight path L1, a second flight path L2, and a third flight path L3. In Figure 6B, the first flight path L1 is a path that flies over the farm road RD. The third flight path L3 is a path that flies over the building B (obstacle) and the farm road RD. The second flight path L2 includes a plurality of predetermined parallel straight flight paths L21 within the work area (e.g., field) and a turning flight path L22 (or a parallel movement path) connecting the ends of adjacent straight flight paths L21. The second flight path L2 is, for example, a single-stroke path, that is, a path that does not trace the same path twice (intersections at points are acceptable), but it may also be a path that is not a single-stroke path. When the OK button in Figure 6B is touched, the mobile terminal 60 determines the flight path L related to the field map MP shown in Figure 6B and transmits it to the server 70 and the multicopter 50.

[0051] If the multicopter 50 does not have a flight path L stored in its memory, the server 70 transmits the flight path L to the multicopter 50 via the communication device 71. The communication device 50i of the multicopter 50 receives the flight path L. The control device 50f of the multicopter 50 stores the received flight path L in the storage unit 50h.

[0052] When the user touches button 66b on the display unit 66 (i.e., gives an instruction to start flight work), the mobile terminal 60 transmits a second command to the server 70 and the multicopter 50 via the communication device 61. Upon receiving the second command, the multicopter 50 begins flight work along the flight path L of the field. The server 70 monitors the flight work performed by the multicopter 50 in the field based on the flight position information and work information transmitted from the multicopter 50.

[0053] The multicopter 50 performs flight operations from the starting point to the ending point of the flight path L in the field. Upon reaching the end point of the flight path L, it completes its flight operations and returns to its designated waiting position.

[0054] Furthermore, when the user touches button 66c on the display unit 66 (i.e., instructs the end of the flight operation), the mobile terminal 60 transmits a third command to the server 70 and the multicopter 50 via the communication device 61. Upon receiving the third command, the multicopter 50 ceases its flight operation along the flight path L in the field and returns to its designated standby position. The server 70 monitors that the multicopter 50 has ceased its flight operation in the field and returned to its standby position.

[0055] The control device 50f then determines the flight control mode based on the flight operations of the aircraft 50e, and determines whether to enable or disable the multiple detection devices 55 based on the determined flight control mode.

[0056] The flight operation details include at least one of the flight path L of the aircraft 50e, the type of operation of the work device 51, and the type of work device 51. The control device 50f determines the flight control mode based on at least one of the flight path L of the aircraft 50e, the type of operation of the work device 51, and the type of work device 51.

[0057] The types of work devices 51 include suspended type and non-suspended type. The control device 50f determines a flight control mode according to the suspended type in the case of the suspended type, and determines whether to enable or disable the multiple detection devices 55 based on the determined flight control mode. In the case of the non-suspended type, it determines a flight control mode according to the non-suspended type, and determines whether to enable or disable the multiple detection devices 55 based on the determined flight control mode.

[0058] If the flight path L of the aircraft 50e is a first flight path L1 that flies along a path connecting a predetermined location and a work location operated by the work device 51, the control device 50f determines a flight control mode corresponding to the first flight path L1.

[0059] The control device 50f determines a flight control mode corresponding to the first operation (e.g., spraying) if the type of operation of the work device 51 is the first operation (e.g., spraying). The control device 50f determines a flight control mode corresponding to the second operation (e.g., sowing) if the type of operation of the work device 51 is the second operation (e.g., sowing).

[0060] The flight control mode is a mode in which at least one of the following control items—the movement speed control of the aircraft 50e, obstacle avoidance control, position control of the aircraft 50e, altitude maintenance control of the aircraft 50e, and stabilization control of the work device 51—is controlled as a priority control item. The control device 50f controls the priority control items included in the determined flight control mode with priority over control items other than the priority control items.

[0061] Here, we will explain the process for determining the flight control mode of the agricultural aircraft 5. Figure 7 is a flowchart showing the process for determining the flight control mode of the agricultural aircraft 5. Here, we will explain the process assuming that the flight path L is determined to be related to the field map MP shown in Figure 6B.

[0062] As shown in Figure 7, the control device 50f of the agricultural aircraft 5 determines whether or not it is a confirmation timing (S1). For example, the agricultural aircraft 5 determines that it is a confirmation timing (Yes in S1) when it receives an instruction to start flight work (when the button 66b shown in Figure 6A is touched), when it reaches the starting position of the second flight path L2, or when it reaches the starting position of the third flight path L3. Here, we will explain that the confirmation timing is when the instruction to start flight work is received. If the agricultural aircraft 5 determines that it is not a confirmation timing (No in S1), it returns to S1.

[0063] The control device 50f identifies the flight operation content (S2). The identification of the flight operation content (S2) is performed by the process shown in Figure 8. Figure 8 is a flowchart showing the process for determining the flight operation content of the agricultural flight device 5.

[0064] As shown in Figure 8, the control device 50f determines the flight path L of the aircraft 50e (S21). The determination of the flight path L (S21) is performed by the process shown in Figure 9. Figure 9 is a flowchart showing the process for determining the flight path L of the agricultural aircraft 5.

[0065] As shown in Figure 9, the control device 50f determines whether or not it is the first flight path L1 (S211). Specifically, the control device 50f identifies the flight path L of the aircraft 50e using the data table TB1 shown in Figure 12. Figure 12 is a diagram showing an example of the data table TB1. The storage unit 50h stores the data table TB1 shown in Figure 12. As shown in Figure 12, the data table TB1 stores the flight work content and the flight control mode in association. The flight work content includes the flight path L of the aircraft 50e, the type of work of the work device 51, and the type of work device 51.

[0066] As shown in Figure 12, the flight path L of the aircraft 50e includes, for example, a first flight path L1, a second flight path L2, and a third flight path L3. As shown in Figure 9, when the aircraft 50e is flying along the first flight path L1, the control device 50f determines that it is the first flight path L1 (Yes in S211) and acquires a priority control item (S212).

[0067] Specifically, the control device 50f acquires priority control items using the data table TB2 shown in Figure 13. Figure 13 is a diagram showing an example of the data table TB2. The storage unit 50h stores the data table TB2 shown in Figure 13. As shown in Figure 13, the data table TB2 stores the flight paths L of the aircraft 50e in association with priority control items. Specifically, the first flight path L1 is associated with the control items for movement speed and altitude maintenance as priority control items. The second flight path L2 is associated with the control items for obstacle avoidance, position control, and the stability of the work device 51 as priority control items. The third flight path L3 is associated with the control items for obstacle avoidance and position control as priority control items.

[0068] Here, as shown in Figure 9, the control device 50f determines that the flight control mode is the first flight path L1 (Yes in S211), and as shown in Figure 13, it acquires the speed and altitude hold as priority control items corresponding to the first flight path L1 (S212).

[0069] On the other hand, if the control device 50f determines that the aircraft is not on the first flight path L1 (No in S211), and the aircraft is flying or has already flown on the second flight path L2, it determines that the aircraft is on the second flight path L2 (Yes in S213) and acquires the priority control item (S214).

[0070] Here, the control device 50f determines that the flight control mode is the second flight path L2 (Yes in S213), and as shown in Figure 13, it acquires obstacle avoidance, position control, and the stability of the work device 51 as priority control items corresponding to the second flight path L2 (S214).

[0071] On the other hand, if the control device 50f determines that it is not on the second flight path L2 (No in S213), and the aircraft 50e is flying on or has already flown on the third flight path L3, it determines that it is on the third flight path L3 (Yes in S215) and acquires the priority control item (S216).

[0072] Here, the control device 50f determines that the flight control mode is the third flight path L3 (Yes in S215), and as shown in Figure 13, it acquires the moving speed and altitude hold as priority control items corresponding to the third flight path L3 (S216).

[0073] On the other hand, if the control device 50f determines that the flight path L is not the third flight path L3 (No in S215), it may determine that the flight path L is not the first flight path L1, the second flight path L2, or the third flight path L3, and therefore may send an error signal (an error signal indicating that the flight path has not been identified) to the mobile terminal 60 and / or the server 70 and not perform the flight operation.

[0074] Returning to Figure 8, after S21, the control device 50f determines the type of work performed by the work device 51 (S22). The determination of the type of work performed by the work device 51 (S22) is carried out by the process shown in Figure 10. Figure 10 is a flowchart of the process for determining the type of work performed by the work device 51.

[0075] As shown in Figure 10, the control device 50f determines whether or not it is a spraying operation (S221). Specifically, the control device 50f uses the data table TB1 shown in Figure 12 to determine whether or not it is a spraying operation. For example, the memory unit 50h stores information indicating the type of work device 51 equipped on the aircraft 50e (e.g., spraying device, seeding device, grass cutting device, etc.). As shown in Figure 12, the types of work for the work device 51 include, for example, spraying operation (spraying device), seeding operation (seeding device), and grass cutting operation (grass cutting device). If the information indicating the type of work device 51 stored in the memory unit 50h is a spraying device, the control device 50f determines that the type of work for the work device 51 is a spraying operation based on the data table TB1 shown in Figure 12 (Yes in S221), determines that the flight control mode is a spraying operation, and acquires priority control items (S222).

[0076] Specifically, the control device 50f acquires priority control items using the data table TB3 shown in Figure 14. Figure 14 is a diagram showing an example of the data table TB3. The storage unit 50h stores the data table TB3 shown in Figure 14. As shown in Figure 14, the data table TB3 stores the work type of the work device 51 in association with the priority control items. Specifically, for spraying work, the control items for avoiding contact with obstacles and maintaining altitude are associated as priority control items. For sowing work, the control items for avoiding contact with obstacles, position control, and stability of the work device 51 are associated as priority control items. For mowing work, the control items for avoiding contact with obstacles and position control are associated as priority control items.

[0077] Here, as shown in Figure 10, the control device 50f determines that it is a spraying operation (Yes in S221), and as shown in Figure 14, it acquires obstacle avoidance and altitude maintenance as priority control items corresponding to the spraying operation (S222).

[0078] On the other hand, if the control device 50f determines that it is not a spraying operation (No in S221), it determines whether or not it is a seeding operation (S223). If the information indicating the type of work device 51, which is pre-stored in the memory unit 50h, is a seeding device, the control device 50f determines that the type of work of the work device 51 is a seeding operation based on the data table TB1 shown in Figure 12 (Yes in S223), determines that the flight control mode is a seeding operation, and acquires priority control items (S224).

[0079] Here, the control device 50f determines that it is a seeding operation (Yes in S223), and as shown in Figure 14, it acquires priority control items corresponding to the seeding operation, such as avoiding contact with obstacles, position control, and stability of the work device 51 (S214).

[0080] On the other hand, if the control device 50f determines that it is not a seeding operation (No in S223), it determines whether or not it is a grass cutting operation (S225). If the information indicating the type of work device 51, which is pre-stored in the memory unit 50h, is a grass cutting device, the control device 50f determines that the type of work of the work device 51 is a grass cutting operation based on the data table TB1 shown in Figure 12 (Yes in S225), determines that the flight control mode is a grass cutting operation, and acquires priority control items (S226).

[0081] Here, the control device 50f determines that it is a grass cutting operation (Yes in S225), and as shown in Figure 14, it acquires obstacle avoidance and position control as priority control items corresponding to the grass cutting operation (S226).

[0082] On the other hand, if the control device 50f determines that it is not a grass cutting operation (No in S225), it may determine that the type of operation is not a spraying device, a seeding device, or a grass cutting device, and therefore send an error signal (an error signal indicating that the type of operation has not been specified) to the mobile terminal 60 and / or the server 70 and not perform the flight operation. Alternatively, if the control device 50f determines that it is not a grass cutting operation (No in S225), it may terminate this process without sending an error signal and not performing the flight operation.

[0083] Returning to Figure 8, after S22, the control device 50f determines the type of work device 51 (S23). The determination of the type of work device 51 (S23) is performed by the process shown in Figure 11. Figure 11 is a flowchart of the process for determining the type of work device 51.

[0084] As shown in Figure 11, the control device 50f determines whether the work device 51 is a suspended type or a non-suspended type (S231). Specifically, the control device 50f determines, The data table TB1 shown in Figure 12 is used to determine whether it is a suspended type or a non-suspended type. For example, the memory unit 50h stores information indicating the type of work device 51 that the aircraft 50e is equipped with (e.g., suspended type, non-suspended type, etc.). As shown in Figure 12, the types of work device 51 include, for example, suspended type and non-suspended type. If the information indicating the type of work device 51 stored in the memory unit 50h is a suspended type, the control device 50f determines that the type of work device 51 is a suspended type based on the data table TB1 shown in Figure 12 (Yes in S231), determines that the flight control mode is a suspended type, and acquires priority control items (S232).

[0085] Specifically, the control device 50f acquires priority control items using the data table TB4 shown in Figure 15. Figure 15 is a diagram showing an example of the data table TB4. The storage unit 50h stores the data table TB4 shown in Figure 15. As shown in Figure 15, the data table TB4 stores the types of work devices 51 in association with priority control items. Specifically, for the suspended type, the control items for detecting the suspension length and maintaining low-speed, low-altitude flight are associated as priority control items. For the non-suspended type, the control item for maintaining high-speed, high-altitude flight is associated as a priority control item.

[0086] Here, as shown in Figure 11, the control device 50f determines that it is a suspended type (Yes in S231), and as shown in Figure 15, it acquires the detection of the suspension length and the maintenance of low-speed, low-altitude flight as priority control items corresponding to the suspended type (S232).

[0087] On the other hand, if the control device 50f determines that it is not a suspended type (No in S231), it determines whether or not it is a non-suspended type (S233). If the information indicating the type of work device 51, which is pre-stored in the memory unit 50h, indicates that it is a non-suspended type, the control device 50f determines that the type of work device 51 is a non-suspended type based on the data table TB1 shown in Figure 12 (Yes in S233), determines that the flight control mode is a non-suspended type, and acquires priority control items (S234).

[0088] Here, the control device 50f determines that it is a non-suspended type (Yes in S233), and as shown in Figure 15, it acquires high-speed high-altitude flight maintenance as the priority control item corresponding to the non-suspended type (S234).

[0089] On the other hand, if the control device 50f determines that it is not a non-suspended type (No in S233), it may determine that the type of work device 51 is neither a suspended type nor a non-suspended type, and therefore send an error signal (an error signal indicating that the suspended type and / or non-suspended type have not been specified) to the mobile terminal 60 and / or the server 70 and not perform the flight operation. Alternatively, if the control device 50f determines that it is neither a suspended type nor a non-suspended type (No in S233), it may terminate this process without sending an error signal and not performing the flight operation.

[0090] Returning to Figure 7, after S2, the control device 50f determines the flight control mode (S3). Specifically, the control device 50f determines the flight control mode based on one of the first flight path L1, second flight path L2, and third flight path L3 determined in the process of identifying the flight path L (S21 in Figure 8), one of the spraying work, sowing work, and grass cutting work determined in the process of determining the type of work of the work device 51 (S22 in Figure 8), and whether it is a suspended type or a non-suspended type determined in the process of determining the type of work device 51 (S23 in Figure 8).

[0091] Here, the control device 50f performs the flight control in the process shown in Figure 8 (S21-S23). Assume the mode is determined to be the second flight path L2, spraying operation, and non-suspended type (S3).

[0092] Returning to Figure 7, after S3, the control device 50f determines whether to enable or disable the multiple detection devices 55 (S4).

[0093] Specifically, the control device 50f uses the data table TB5 shown in Figure 16 to determine which detection device 55 will be activated in accordance with the priority control item. Figure 16 is a diagram showing an example of the data table TB5. The storage unit 50h stores the data table TB5 shown in Figure 16. As shown in Figure 16, the data table TB5 stores the priority control item and the detection device 55 that will be activated in association with each other.

[0094] Specifically, in the data table TB5 shown in Figure 16, the priority control item "movement speed" is associated with enabling the position detection device 55e (RTK (Real-time kinematic)-GPS (latitude, longitude)) and the barometric altimeter 55d. That is, when the priority control item is "movement speed," the control device 50f enables the position detection device 55e (RTK-GPS (latitude, longitude)) and the barometric altimeter 55d. For example, when prioritizing movement speed, since the flight route is guaranteed to be open, control is performed with an emphasis on high-speed movement without considering aircraft 50a sway, route tracking ability, or contact with obstacles.

[0095] In the data table TB5 shown in Figure 16, the priority control item "Avoid contact with obstacles" is associated with enabling the first lidar 55f1 (LiDAR that monitors the area around the aircraft) and the imaging device 55a. That is, when the priority control item is "Avoid contact with obstacles," the control device 50f enables the first lidar 55f1 (RTK-GPS) and the imaging device 55a (camera). For example, if obstacle avoidance is prioritized, the control device will perform control focused on avoiding contact with obstacles while checking the surrounding situation at a flight speed that allows for obstacle avoidance.

[0096] In the data table TB5 shown in Figure 16, the priority control item "Position Control" is associated with enabling the position detection device 55e (RTK-GPS) and the inertial measurement device 55c (IMU). That is, when the priority control item is "Position Control," the control device 50f enables the position detection device 55e (RTK-GPS) and the inertial measurement device 55c (IMU). For example, when prioritizing position control, the control focuses on position control at a flight speed that allows for tracking a predetermined route or target position, without considering the shaking or minor movements of the aircraft 50a.

[0097] In the data table TB5 shown in Figure 16, the priority control item "Altitude Hold" is associated with enabling the barometric altimeter 55d, the position detection device 55e (altitude positioning using RTK-GPS), and the second lidar 55f2 (LiDAR for monitoring the ground). That is, when the priority control item is "Altitude Hold," the control device 50f enables the barometric altimeter 55d, the position detection device 55e (altitude positioning using RTK-GPS), and the second lidar 55f2 (LiDAR for monitoring the ground). For example, when altitude hold is prioritized, the control focuses on maintaining the specified altitude and emphasizes altitude control through thrust control that makes this possible.

[0098] In the data table TB5 shown in Figure 16, the priority control item "stability of the work device" is associated with enabling the inertial measuring device 55c (IMU) and the detection device 55 of the work device 51 (position detection device 55g and vibration sensor 55h). That is, when the priority control item is "stability of the work device", the control device 50f enables the inertial measuring device The device 55c (IMU) and the detection device 55 of the work device 51 (position detection device 55g and vibration sensor 55h) are enabled. The position detection device 55g acquires position information of the work device 51, and the vibration sensor 55h acquires vibration information of the work device 51. For example, if the stability of the work device 51 is to be prioritized, the control system will focus on the stability of the work device 51, using flight speeds that allow for this stability and suppressing rapid acceleration and deceleration.

[0099] In the data table TB5 shown in Figure 16, the priority control item "Maintain low speed and low altitude flight" is associated with enabling the acceleration sensor 55b, the barometric altimeter 55d, the position detection device 55e (altitude positioning using RTK-GPS), and the second lidar 55f2 (LiDAR for monitoring the ground). That is, when the priority control item is "Maintain low speed and low altitude flight," the control device 50f enables the acceleration sensor 55b, the barometric altimeter 55d, the position detection device 55e (altitude positioning using RTK-GPS), and the second lidar 55f2 (LiDAR for monitoring the ground).

[0100] In the data table TB5 shown in Figure 16, the priority control item "Maintain high-speed, high-altitude flight" is associated with enabling the acceleration sensor 55b, the barometric altimeter 55d, the position detection device 55e (altitude positioning using RTK-GPS), and the second lidar 55f2 (LiDAR for monitoring the ground). That is, when the priority control item is "Maintain high-speed, high-altitude flight," the control device 50f enables the acceleration sensor 55b, the barometric altimeter 55d, the position detection device 55e (altitude positioning using RTK-GPS), and the second lidar 55f2 (LiDAR for monitoring the ground).

[0101] As described above, in the process shown in Figure 8 (S21-S23), the control device 50f determines that the flight control mode is the second flight path L2, spraying operation, and non-suspended type (S3). In this case, the control device 50f determines whether to enable or disable the multiple detection devices 55 based on the flight control mode (second flight path L2, spraying operation, and non-suspended type) (S4).

[0102] The priority control items corresponding to the second flight path L2 are, as shown in Figure 13, obstacle avoidance, position control, and stability control of the work device 51. The priority control items corresponding to spraying operations are, as shown in Figure 14, obstacle avoidance and altitude maintenance control. The priority control items corresponding to the non-suspended type are high-speed, high-altitude flight maintenance control, as shown in Figure 15.

[0103] In the "Avoiding Contact with Obstacles" section, the first LiDAR 55f1 (a LiDAR that monitors the area around the aircraft) and the imaging device 55a are enabled. In the "Position Control" section, the position detection device 55e (RTK-GPS) and the inertial measurement device 55c (IMU) are enabled. In the "Stability of the Work Equipment" section, the inertial measurement device 55c (IMU) and the detection device 55 of the work equipment 51 (position detection device 55g and vibration sensor 55h) are enabled. In the "Altitude Maintenance" section, the barometric altimeter 55d, position detection device 55e (altitude positioning using RTK-GPS), and the second LiDAR 55f2 (a LiDAR that monitors the ground) are enabled. In the "Maintaining High-Speed ​​High-Altitude Flight" section, the acceleration sensor 55b, barometric altimeter 55d, position detection device 55e (altitude positioning using RTK-GPS), and the second LiDAR 55f2 (a LiDAR that monitors the ground) are enabled.

[0104] According to these priority control items, the first lidar 55f1, imaging device 55a, position detection device 55e (RTK-GPS), inertial measurement device 55c (IMU), detection device 55 of the work device 51 (position detection device 55g, and vibration sensor 55h), barometric altimeter 55d, position detection device 55e (height positioning with RTK-GPS), second lidar 55f2, and acceleration sensor 55b become active.

[0105] By the way, in the process shown in Figure 8 (S21-S23), suppose the control device 50f determines that the flight control mode is only the first flight path L1 (i.e., there is no work type or type for the work device 51) (S3). In this case, the control device 50f determines whether to enable or disable the multiple detection devices 55 based on the flight control mode (first flight path L1) (S4).

[0106] As shown in Figure 13, the priority control items corresponding to the first flight path L1 are the control items for movement speed and altitude maintenance.

[0107] In the "Movement Speed" section, the position detection device 55e (RTK-GPS (latitude, longitude)) and the barometric altimeter 55d are enabled. In the "Altitude Hold" section, the barometric altimeter 55d, the position detection device 55e (altitude positioning using RTK-GPS), and the second lidar 55f2 (LiDAR for monitoring the ground) are enabled.

[0108] According to these priority control items, the position detection device 55e (RTK-GPS (latitude, longitude)), the barometric altimeter 55d, the position detection device 55e (altitude positioning using RTK-GPS), and the second lidar 55f2 (LiDAR for monitoring the ground) will be enabled.

[0109] Returning to Figure 7, after S4, the control device 50f determines whether the flight operation is complete or not (S5). If the control device 50f determines that the flight operation is not complete (No in S5), it returns to S1. On the other hand, if the control device 50f determines that the flight operation is complete (Yes in S5), it terminates this process.

[0110] In the above embodiment, the suspended work device 51A is suspended by four ropes HS, but it may also be suspended by one or more ropes HS than four.

[0111] In the above embodiment, the support system SY includes a server 70, but it may also be a system that does not include a server 70, and instead includes an agricultural flying device 5 and a mobile terminal 60. In this case, the mobile terminal 60 should be configured to have the functions of the server 70. Alternatively, the support system SY includes a mobile terminal 60, but it may also be a system that does not include a mobile terminal 60, and instead includes an agricultural flying device 5 and a server 70. In this case, the server 70 should be configured to have the functions of the mobile terminal 60.

[0112] The main characteristic features and effects of the agricultural flying device 5 in the embodiments described above are as follows:

[0113] (Item A1) An agricultural flying device 5 comprising an aircraft 50e, a plurality of detection devices 55 provided on the aircraft 50e, a work device 51 provided on the aircraft 50e, and a control device 50f, wherein the control device 50f determines a flight control mode based on the flight work content of the aircraft 50e, and determines whether to enable or disable the plurality of detection devices 55 based on the determined flight control mode.

[0114] This configuration allows for the selection of an appropriate flight control mode according to the flight operation of the aircraft 50e, enabling the detection devices 55 necessary for the flight control mode and disabling unnecessary detection devices 55. For example, since unnecessary detection devices 55 are disabled in the current flight control mode, detection by unnecessary detection devices 55 can be prevented from affecting the flight operation of the aircraft 50e. As a result, the flight operation of the agricultural aircraft 5 can be performed appropriately and stably.

[0115] (Item A2) The agricultural flying device 5 described in Item A1, wherein the flight operation content includes at least one of the flight path L of the flying body 50e, the type of work of the work device 51, and the control device 50f determines the flight control mode based on at least one of the flight path L of the flying body 50e, the type of work of the work device 51, and the type of the work device 51.

[0116] This configuration allows for an appropriate flight control mode depending on the flight path L of the aircraft 50e, the type of work performed by the work device 51, and at least one of the types of the work device 51.

[0117] (Item A3) The types of work devices 51 include suspended type and non-suspended type, and the control device 50f determines a flight control mode according to the suspended type in the case of the suspended type, and determines whether to enable or disable a plurality of detection devices 55 based on the determined flight control mode, and determines a flight control mode according to the non-suspended type in the case of the non-suspended type, and determines whether to enable or disable a plurality of detection devices 55 based on the determined flight control mode, as described in Item A2.

[0118] With this configuration, if the working device 51 is of the suspended type, the detection devices 55 required for the suspended type can be enabled, and the detection devices 55 that are not required can be disabled. Also, if it is of the non-suspended type, the detection devices 55 required for the non-suspended type can be enabled, and the detection devices 55 that are not required can be disabled. Therefore, regardless of whether the working device 51 of the agricultural aircraft 5 is of the suspended type or the non-suspended type, aerial work can be performed appropriately and stably.

[0119] (Item A4) The control device 50f determines a flight control mode corresponding to the first flight path L1 of the flying body 50e, when the flight path L of the flying body 50e is a first flight path L1 that flies along a path connecting a predetermined location and a work location by the work device 51, as described in Item A2 or A3.

[0120] This configuration allows for a flight control mode that corresponds to the first flight path L1. Therefore, flight along the first flight path L1 can be performed appropriately and stably.

[0121] (Item A5) The control device 50f determines a flight control mode corresponding to the first operation when the type of operation of the work device 51 is a first operation (for example, spraying operation), as described in any one of items A2 to A4 for agricultural flying device 5.

[0122] This configuration allows for a flight control mode that corresponds to the first operation (e.g., spraying). As a result, the work device 51 can perform flight operations, including the first operation, appropriately and stably.

[0123] (Item A6) The control device 50f determines a flight control mode corresponding to the second operation when the type of operation of the work device 51 is a second operation (for example, sowing operation), as described in any one of Items A2 to A5 for the agricultural flying device 5.

[0124] This configuration allows for a flight control mode that corresponds to the second operation (e.g., sowing). As a result, the work device 51 can perform flight operations, including the second operation, appropriately and stably.

[0125] (Item A7) The flight control mode prioritizes at least one of the following control items: control of the movement speed of the aircraft 50e, control to avoid contact with obstacles, control of the position of the aircraft 50e, control to maintain the altitude of the aircraft 50e, and control of the stability of the work device 51. The control device 50f controls the priority control item included in the determined flight control mode with priority over control items other than the priority control item, and is an agricultural flying device 5 described in any one of items A1 to A6.

[0126] With this configuration, the control of priority control items included in the determined flight control mode takes precedence over control items other than priority control items, so that the control of priority control items included in the determined flight control mode can be reliably executed. As a result, the flight operations of the agricultural aircraft 5 can be performed appropriately and stably.

[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 the foregoing description, and all modifications within the meaning and scope equivalent to the claims are intended to be included. [Explanation of symbols]

[0128] 5 Agricultural flight equipment 50e flying object 50f control unit 51 Working equipment 55 Detection device L1 First Flight Path

Claims

1. The flying object and, Multiple detection devices installed on the aforementioned aircraft, A work device provided on the aforementioned flying vehicle, A control device is provided, The control device determines a flight control mode based on the flight operation content of the aircraft, and determines whether to enable or disable a plurality of detection devices based on the determined flight control mode.

2. The flight work details include at least one of the flight path of the aircraft, the type of work performed by the work device, and the type of the work device. The agricultural flying device according to claim 1, wherein the control device determines a flight control mode based on at least one of the flight path of the flying object, the type of work performed by the work device, and the type of work device.

3. The types of work devices include suspended type and non-suspended type. The agricultural flying device according to claim 2, wherein the control device determines a flight control mode corresponding to the suspension type in the case of a suspended type, and determines whether to enable or disable a plurality of detection devices based on the determined flight control mode, and determines a flight control mode corresponding to the non-suspended type in the case of a non-suspended type, and determines whether to enable or disable a plurality of detection devices based on the determined flight control mode.

4. The agricultural flying device according to claim 2, wherein the control device determines a flight control mode corresponding to the first flight path when the flight path of the flying object is a first flight path that flies along a path connecting a predetermined location and a work location by the work device.

5. The agricultural flying device according to claim 2, wherein the control device determines a flight control mode corresponding to the first operation when the type of operation of the work device is a first operation.

6. The agricultural flying device according to claim 2, wherein the control device determines a flight control mode corresponding to the second operation when the type of operation of the work device is a second operation.

7. The flight control mode is a mode in which at least one of the following control items—the control of the aircraft's movement speed, the control of avoiding contact with obstacles, the control of the aircraft's position, the control of the aircraft's altitude, and the control of the working device's stability—is controlled as a priority control item. The agricultural flying device according to any one of claims 1 to 6, wherein the control device controls the priority control items included in the determined flight control mode with priority over control items other than the priority control items.

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