Flying device and work support system equipped therewith

Abstract

To provide an aerial device that can tow a work device in a stable position while performing work with the said work device, and a work support system equipped therewith. [Solution] The flying device comprises an airframe, a plurality of rotors attached to the airframe and capable of changing the altitude of the airframe, and a drive device attached to the airframe and capable of changing the relative position of the work device with respect to the airframe by winding and unwinding a string member connected to a mobile work device. The airframe is capable of towing the work device via the string member, and when the tension acting on the string member exceeds a predetermined level, or when towing the work device is terminated, the drive device performs a first process of unwinding the string member, and / or the plurality of rotors perform a second process of moving the airframe toward the work device and slackening the string member.

Description

Technical Field

[0001] The present invention relates to a flying device and a work support system including the same.

Background Art

[0002] The agricultural multicopter disclosed in Patent Document 1 includes a main body, a plurality of arms attached to the main body, rotors attached to the arms and generating lift, and a work device attached to the lower part of the main body and performing work related to agriculture. Further, the liquid spraying device disclosed in Patent Document 2 includes a nozzle for spraying a spraying liquid suspended from a multicopter, a pipe having a first flow path for supplying the spraying liquid held by the multicopter to the nozzle, and a stabilization mechanism for suppressing the oscillation of the nozzle when the spraying liquid is ejected from the nozzle.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the agricultural multicopter of Patent Document 1, agricultural work can be performed by the work device. Further, the liquid spraying device of Patent Document 2 can spray the spraying liquid at a position lower than the multicopter by being suspended from the multicopter.

[0005] However, when a work device is suspended from a multicopter and the multicopter pulls the work device, the flight attitude of the multicopter may be deteriorated due to the travel of the work device.

[0006] The present invention has been made to solve the problems of the prior art, and aims to provide an aerial device and a work support system that enable work to be performed by the work device while towing the work device in a stable posture. [Means for solving the problem]

[0007] An aircraft according to one aspect of the present invention comprises an aircraft body, a plurality of rotors attached to the aircraft body and capable of changing the altitude of the aircraft body, and a drive device attached to the aircraft body and capable of changing the relative position of a work device with respect to the aircraft body by winding and unwinding a string member connected to a mobile work device, wherein the aircraft body can tow the work device via the string member, and when the tension acting on the string member is greater than or equal to a predetermined value, or when towing the work device is terminated, the drive device performs a first process of unwinding the string member, and / or the plurality of rotors perform a second process of moving the aircraft body toward the work device and slackening the string member.

[0008] A work support system according to one aspect of the present invention comprises a work device and a flight device connected to the work device by a string member and capable of towing the work device. [Effects of the Invention]

[0009] According to the above-described flight device and work support system, it is possible to tow the work device in a stable posture while performing work with the said work device. [Brief explanation of the drawing]

[0010] [Figure 1] This is a diagram illustrating the configuration of the work support system. [Figure 2] This diagram shows a flight device connected to a work device. [Figure 3] This is a perspective view of the aircraft. [Figure 4] This is a front view of the flying machine. [Figure 5] This is a side view of the aircraft. [Figure 6]It is a plan view of the flying device. [Figure 7] It is a bottom view of the flying device. [Figure 8] It is a perspective view showing the drive device. [Figure 9] It is a perspective view of the working device. [Figure 10] It is a plan view of the working device. [Figure 11] It is a diagram showing the working path and the flight path. [Figure 12] It is a diagram showing the state in which the drive device executes the first process. [Figure 13] It is a diagram showing the state in which a plurality of rotors execute the second process. [Figure 14] It is a diagram showing the state in which a plurality of rotors execute the third process. [Figure 15] In the work support system, it is a diagram explaining a series of flows in which the first to third processes and the fifth process are executed. [Figure 16] It is a diagram showing the state in which a plurality of drive devices execute the fourth process when the working device is inclined by a predetermined amount or more. [Figure 17] It is a diagram showing the state in which a plurality of drive devices execute the sixth process when the working device is inclined by a predetermined amount or more. [Figure 18] In the work support system, it is a diagram explaining a series of flows in which the fourth and sixth processes are executed.

Mode for Carrying Out the Invention

[0011] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a configuration diagram of the work support system 1. FIG. 2 is a diagram showing the flying device 11 connected to the working device 61. As shown in FIGS. 1 and 2, the work support system 1 includes a flying device 11 and a working device 61 connected to the flying device 11 by a string member 51. Thereby, the flying device 11 can suspend the working device 61 and fly, or can tow the working device 61 and fly.

[0012] For convenience of explanation, in the figures, the direction indicated by arrow D1 is referred to as the front, the direction indicated by arrow D2 is referred to as the rear. Also, the direction indicated by arrow D3 in the figures is referred to as the left, and the direction indicated by arrow D4 is referred to as the right. The direction indicated by arrow D5 in the figures is referred to as the upper, and the direction indicated by arrow D6 is referred to as the lower. Also, the horizontal direction, which is perpendicular to the front-rear direction, is referred to as the width direction.

[0013] The flying device 11 according to the present invention is an unmanned flying device. Specifically, the flying device 11 is a multi-copter called a drone. The flying device 11 may operate by remote control by an operator through wireless or wired communication, or may operate by autonomous control without relying on remote control. In the present embodiment, for convenience of explanation, the flying device 11 that operates by autonomous control will be mainly described, and the detailed description of the flying device 11 that operates by remote control will be omitted as appropriate.

[0014] FIG. 3 is a perspective view of the flying device 11, and FIG. 4 is a front view of the flying device 11. Also, FIG. 5 is a side view of the flying device 11, FIG. 6 is a plan view of the flying device 11, and FIG. 7 is a bottom view of the flying device 11. As shown in FIGS. 3 to 7, the flying device 11 includes a fuselage 12 and a plurality of rotors 15. The fuselage 12 has a main body portion 13 that supports various devices and equipment of the flying device 11. Also, the fuselage 12 has a plurality of arms 14 extending from the main body portion 13. The arms 14 extend in a direction away from the main body portion 13 in a plan view. The plurality of arms 14 extend radially from the main body portion 13 in a plan view. The arms 14 extend horizontally outward from the main body portion 13.

[0015] The plurality of rotors 15 are attached to the fuselage 12 and can change the altitude of the fuselage 12. Specifically, the plurality of rotors 15 are respectively attached to each arm 14. Also, the plurality of rotors 15 generate a lifting force to lift the fuselage 12 and perform attitude control of the fuselage 12. The plurality of rotors 15 are arranged at positions equidistant from the center of the fuselage 12 in a plan view.

[0016] Furthermore, in this embodiment, each rotor 15 performs both lift generation and attitude control, but a plurality of rotors 15 may include a rotor 15 that generates lift and a rotor 15 that performs attitude control separately.

[0017] The rotor 15 has a rotating shaft 16 and blades 17. The rotating shaft 16 is a shaft that rotates by power transmitted from the first power unit 18. The rotating shaft 16 extends in the vertical direction. The blades 17 are attached to the rotating shaft 16, and the rotating shaft 16 rotates... This generates lift.

[0018] The first power unit 18 is a device capable of outputting power. The first power unit 18 also supplies the outputted power to the rotating shaft 16. The first power unit 18 is provided, for example, on each rotor 15. The first power unit 18 has an electric motor 18a that is driven by power supplied from the first battery unit 44. Therefore, the first power unit 18 rotates the rotating shaft 16 with the power output by the driving of the electric motor 18a.

[0019] In the following description, the electric motor 18a of the first power unit 18 will be referred to as the first motor. In this embodiment, the case in which each rotor 15 has a first power unit 18 will be described as an example, but one rotor 15 and other rotors 15 may share one first power unit 18. Furthermore, the first power unit 18 is not limited to an electric motor, but may also be an internal combustion engine such as a gasoline engine provided in the main body 13.

[0020] As shown in Figures 2 to 7, the aircraft 11 is equipped with skids 19. The skids 19 are attached to the underside of the aircraft body 12. The skids 19 have multiple leg members 20 that extend downward from the main body 13. The multiple leg members 20 touch down when the aircraft 11 lands, supporting the aircraft body 12 by floating it above the landing surface (contact surface G) such as the ground. The multiple leg members 20 are spaced apart horizontally. As a result, a space 21 is formed between the multiple leg members 20 below the main body 13. In addition, the multiple leg members 20 are attached to the main body 13 at an angle such that the spacing between them widens as they extend downward.

[0021] As shown in Figures 3 to 7, the flight device 11 is equipped with one or more drive devices 31. The drive device 31 is a device capable of winding up and unwinding a string member 51 connected to the work device 61. The drive device 31 is attached to the aircraft body 12, and the relative position of the work device 61 with respect to the aircraft body 12 can be changed by winding up and unwinding the string member 51. The string member 51 is a wire or wire rope made of metal or resin, etc.

[0022] Figure 8 is a perspective view showing the drive unit 31. As shown in Figure 8, the drive unit 31 includes a rotating part 34 and a drum 33 that is rotated by the rotating part 34. The rotating part 34 includes a motor 34a and a reduction mechanism 34b. The motor 34a of the rotating part 34 outputs power to rotate the drum 33. This motor 34a is an electric motor driven by power supplied, for example, from the first battery unit 44. In the following description, the electric motor 34a of the rotating part 34 will be referred to as the second motor.

[0023] The reduction mechanism 34b is a mechanism that reduces the power output by the second motor 34a. The reduction mechanism 34b also transmits the reduced power to the drum 33, causing the drum 33 to rotate. The reduction mechanism 34b includes, for example, multiple gears, which reduce the power output by the second motor 34a.

[0024] The drum 33 is wound around the string member 51 and rotates to wind or unwind the string member 51. The drum 33 has a rotating shaft attached to its center of rotation. Therefore, the drum 33 can rotate in a first rotational direction for winding the string member 51 and in a second rotational direction opposite to the first rotational direction for unwinding the string member 51, by power transmitted from the rotating part 34.

[0025] Furthermore, the drive unit 31 may have a rotation restricting mechanism. The rotation restricting mechanism is a mechanism that allows rotation in a first rotational direction and can switch between allowing and preventing rotation in a second rotational direction. In other words, the rotation restricting mechanism allows winding of the string member 51 and can switch between allowing and preventing unwinding of the string member 51. The rotation restricting mechanism is a ratchet mechanism that can switch between allowing and preventing rotation in a second rotational direction depending on the supplied power.

[0026] The rotation restricting mechanism comprises a claw member, a biasing member, and a solenoid. The claw member is engageable with a latch gear attached to the drum 33. The biasing member is a biasing spring (spring) that biases the claw member in the direction of engagement with the latch gear. The solenoid is driven by an applied voltage to move the claw member in the opposite direction to the engagement direction, against the biasing spring.

[0027] Therefore, the rotation restricting mechanism allows rotation in the first rotational direction and prevents rotation in the second rotational direction when no voltage is applied to the solenoid and the claw member is engaged with the latch gear by the biasing spring (first state). On the other hand, the rotation restricting mechanism operates when the solenoid is driven and the claw member and When the engagement with the latch gear is released, rotation in the first and second rotation directions is permitted (second state).

[0028] The drive unit 31 is not limited to the example described above, and may, for example, have one or more pulleys 36 around which the string member 51 is wound. Also, if the second motor 34a is a motor with a brake, the drive unit 31 does not need to have the rotation restricting mechanism described above. In such a case, the motor with a brake is, for example, an electromagnetic motor with a brake, and the armature can be attracted to either a clutch plate or a brake plate, allowing and preventing rotation in the first and second rotation directions.

[0029] The drive units 31 are provided on the aircraft body 12 in a number corresponding to the number of string members 51 that connect the flight device 11 and the work device 61. In this embodiment, the drive units 31 are attached to the main body 13. Furthermore, since the flight device 11 in this embodiment is connected to the work device 61 by four string members 51, the flight device 11 is equipped with four drive units 31. In the following description, the drive unit 31L1 attached to the left front of the main body 13 may be referred to as the "first drive unit," and the drive unit 31R1 attached to the right front of the main body 13 may be referred to as the "second drive unit." Also, the drive unit 31L2 attached to the left rear of the main body 13 may be referred to as the "third drive unit," and the drive unit 31R2 attached to the right rear of the main body 13 may be referred to as the "fourth drive unit."

[0030] As shown in Figures 6 and 7, the multiple drive units 31 are arranged such that the string members 51 hanging from each drive unit 31 are at equal intervals. The drive unit 31 in this embodiment is provided with an insertion hole 32a through which the string members 51 that are wound up and unwound by the drive unit 31 are inserted, and the center of the insertion hole 32a is positioned on a virtual circle O1 centered on a predetermined position of the flight device 11. For example, the center of the virtual circle O1 is the center of gravity of the flight device 11 or a position equidistant from the center of each rotor 15. The drive unit 31 is also attached to the space 21 between the multiple leg members 20.

[0031] As described above, the aircraft 12 can fly with the work device 61 suspended via the string member 51, or fly by towing the work device 61 via the string member 51. In the examples shown in Figures 3 to 6, the drive unit 31 is attached to the main body 13, but its mounting position is not limited to the main body 13, and the drive unit 31 may also be attached to the arm 14.

[0032] As shown in Figure 1, the flight device 11 is equipped with a first control device 41 (control device). The flight device 11 is also equipped with a first storage device 42.

[0033] The first control device 41 includes one or more processors. The first control device 41 is a controller of the aircraft 11 and performs various controls on the aircraft 11. The first control device 41 is communicatively connected to each piece of equipment and device mounted on the aircraft 11. For example, the first control device 41 controls the drive, stop, and rotation speed (lift) of each rotor 15.

[0034] The first control device 41 includes one or more memories (first memories), various analog circuits, various digital circuits, etc. One or more first memories store (remember) software programs and various data to be executed by one or more processors. The first control device 41 can read software programs from one or more first memories using one or more processors and execute various processes based on said software programs. The first control device 41 may also execute various processes based on predetermined logic circuits using one or more processors.

[0035] Processors include, for example, CPUs (Central Processing Units), GPUs (Graphics Processing Units), DSPs (Digital Signal Processors), FPGAs (Field Programmable Gate Arrays), and ASICs (Application Specific Integrated Circuits).

[0036] Furthermore, the first control device 41 may perform various processes through the cooperation of multiple physically separated processors, and its configuration is not limited to the configuration described above. In such a case, the multiple processors may be mounted on one or more computers physically separated from the aircraft 11, and these processors may be connected via a network such as a LAN, WAN, and the Internet. They are connected via network.

[0037] Furthermore, the software program may be stored in a first storage device 42 (non-volatile memory such as an HDD or SSD) that is communicably connected to the first control device 41, or in an external server device connected via the network, and then installed into the memory from there.

[0038] The first storage device 42 stores various information and data related to the flight device 11 in a read / write manner. The first storage device 42 includes non-volatile memory, etc. The first storage device 42 is communicatively connected to the first control device 41, and the first control device 41 can acquire various information and data stored in the first storage device 42.

[0039] As shown in Figure 1, the flight device 11 is equipped with a first communication device 43. The first communication device 43 is the communication interface of the flight device 11 and includes a communication circuit. The first communication device 43 communicates with at least the work device 61 wirelessly or via a wired connection and inputs (transmits and receives) various information, data, and signals. The first communication device 43 performs wireless communication using, for example, Bluetooth® Low Energy in the Bluetooth® specification of the IEEE 802.15.1 series of communication standards, or WiFi® in the IEEE 802.11.n series of communication standards.

[0040] As shown in Figure 1, the flight device 11 includes a first battery unit 44 and a first inverter 45. The first battery unit 44 and the first inverter 45 are installed in the aircraft body 12.

[0041] The first battery unit 44 is capable of storing and discharging energy and supplies power to various devices and equipment of the flight device 11. A lithium-ion battery can be an example of the first battery unit 44.

[0042] The first inverter 45 controls the power (current and voltage) supplied to each electric motor (first motor 18a, second motor 34a) mounted on the flight device 11. The first inverter 45 is controlled by the first control device 41, which controls the power supplied to each electric motor 18a, 34a.

[0043] As a result, the first control device 41 controls the first inverter 45 to control the rotational speed of each first motor 18a, thereby changing the lift generated by each rotor 15. Therefore, the multiple rotors 15 can change the altitude of the aircraft 12 and change the attitude of the aircraft 12, allowing the aircraft 12 to fly in a desired direction.

[0044] Furthermore, the first control device 41 controls the winding or unwinding of the string members 51 by each drum 33 by controlling the rotation speed and rotation direction of each second motor 34a by controlling the first inverter 45. When the first control device 41 controls the first inverter 45 to wind or unwind the string members 51 by the drive device 31, it applies voltage to the solenoid part of the rotation regulating mechanism of the drive device 31 and switches to the second state.

[0045] As shown in Figure 1, the flight device 11 is equipped with a displacement detection device 46a that detects the length (displacement length) of the winding and unwinding of the string member 51. The displacement detection device 46a is a rotation sensor that detects the rotation of the drum 33, pulley 36, etc., of the drive device 31. The rotation sensor is an incremental or absolute rotary encoder, etc. The rotation sensor is connected to the first control device 41 via wired or wireless communication and outputs the detection result (rotation of the drum 33, pulley 36, etc.) to the first control device 41. The first control device 41 can calculate the displacement length of the string member 51 per predetermined time based on the detection result output from the rotation sensor and calculation formulas pre-stored in the first storage device 42. Therefore, the first control device 41 can obtain the displacement length of each string member 51 connecting the flight device 11 and the work device 61.

[0046] As shown in Figure 1, the flight device 11 is equipped with a tension detection device 46b that detects the tension acting on the string member 51. In this embodiment, the tension detection device 46b is provided on the drive device 31. The tension detection device 46b is a load sensor (load cell, etc.) that detects the load acting on the member (drum 33, pulley 36, etc.) around which the string member 51 is wound as tension acts on the string member 51. The tension detection device 46b is connected to the first control device 41 by wire or wireless The devices are connected for communication and output the detection results (loads acting on the drum 33, pulley 36, etc.) to the first control device 41. The first control device 41 can calculate the tension acting on the string members 51 based on the detection results output from the tension detection device 46b and calculation formulas pre-stored in the first storage device 42. Therefore, the first control device 41 can obtain the tension acting on each of the string members 51 connecting the flight device 11 and the work device 61.

[0047] In this embodiment, the tension detection device 46b is provided on each drive unit 31, but it is sufficient that it can detect the tension acting on each string member 51, and its mounting position is not limited. An example of a tension detection device 46b attached to the string member 51 is a tension meter.

[0048] As shown in Figure 1, the flight device 11 is equipped with a first inertial measurement unit 46c (IMU). The first inertial measurement unit 46c detects the attitude of the flight device 11 (aircraft 12). The first inertial measurement unit 46c has an acceleration sensor to detect acceleration, a gyro sensor to detect angular velocity, etc. The first inertial measurement unit 46c is connected to the first control device 41 via wired or wireless communication and outputs the detection results (acceleration, angular velocity, etc.) to the first control device 41. The first control device 41 can calculate the attitude (roll angle, pitch angle, yaw angle) and motion (acceleration) of the flight device 11 based on the detection results output from the first inertial measurement unit 46c and calculation formulas etc. that are pre-stored in the first memory device 42.

[0049] As shown in Figure 1, the flight device 11 is equipped with an altitude detection device 46d. The altitude detection device 46d detects the altitude of the flight device 11 (aircraft 12). The altitude detection device 46d is, for example, a barometric pressure sensor. The altitude detection device 46d is connected to the first control device 41 via wired or wireless communication and outputs the detection result (barometric pressure) to the first control device 41. The first control device 41 can calculate the altitude of the flight device 11 based on the detection result output from the altitude detection device 46d and calculation formulas, etc., that are pre-stored in the first storage device 42.

[0050] As shown in Figure 1, the flight device 11 is equipped with a sensing device 46e (first sensing device). The first sensing device 46e is capable of sensing the area around the flight device 11. For example, the first sensing device 46e can sense the horizontal and downward directions of the aircraft body 12.

[0051] The first sensing device 46e includes an optical distance measuring sensor and a signal processing circuit, etc. The optical distance measuring sensor of the first sensing device 46e is, for example, a LiDAR (Light Detection and Ranging) sensor. Detection and Ranging can be used as an example.

[0052] A lidar (laser sensor) emits pulsed measurement light (laser beam) millions of times per second from a light source such as a laser diode. This measurement light is reflected by a rotating mirror and scanned horizontally or vertically, projecting it into a predetermined detection range (sensing range, e.g., 360°). The lidar then receives the reflected light from the object using a photodetector. The signal processing circuit detects the distance to the object based on the time from when the lidar emits the measurement light until the reflected light is received (Time of Flight (ToF) method).

[0053] Examples of optical distance measuring sensors for the first sensing device 46e include, in addition to LiDAR, imaging devices such as CCD cameras equipped with CCD (Charge Coupled Devices) image sensors, CMOS cameras equipped with CMOS (Complementary Metal Oxide Semiconductor) image sensors, and ToF cameras. Furthermore, although the above example illustrates a case where the first sensing device 46e has an optical distance measuring sensor, an ultrasonic distance measuring sensor (for example, an airborne ultrasonic sensor such as sonar) may be used instead of an optical distance measuring sensor.

[0054] As shown in Figure 1, the flight device 11 is equipped with a first position detection device 46f. The first position detection device 46f detects positioning information such as data indicated by latitude and longitude, or data indicated by coordinates (X axis, Y axis). The first position detection device 46f receives satellite signals from the satellite positioning system using a GPS antenna and detects its own position using said satellite signals. The first position detection device 46f can, for example, detect its own position (position of the GPS antenna). Therefore, the first position detection device 46f corrects the detected position and adjusts the position of the flight device 11. A predetermined position can be detected. In this embodiment, the first position detection device 46f can detect the central position of the aircraft body 12 (aircraft position P1). The first position detection device 46f is connected to the first control device 41 via wired or wireless communication and outputs the detection result to the first control device 41. The first control device 41 acquires the aircraft position P1 based on the detection result.

[0055] In this embodiment, the case in which the flight device 11 is equipped with a first position detection device 46f is described as an example. However, if the first control device 41 can estimate the aircraft position P1 based on the sensing results (detected point cloud data) of the first sensing device 46e, the flight device 11 does not need to be equipped with the first position detection device 46f. In such a case, the first control device 41 estimates the aircraft position P1 based on the sensing results (detected point cloud data) of the first sensing device 46e and environmental map information stored in the first storage device 42, etc.

[0056] Next, the work device 61 will be described. The work device 61 is connected to the flying device 11 via a string member 51 and is a device that performs work (for example, agricultural work) in a work area such as a field 100. Different work devices 61 can be connected to the string member 51. Therefore, each work device 61 can be moved by being suspended by the flying device 11 or by being towed by the flying device 11. The work device 61 in this embodiment is a work device 61 that can be driven by being towed by the flying device 11.

[0057] Figure 9 is a perspective view of the work device 61. Figure 10 is a plan view of the work device 61. As shown in Figures 9 and 10, the work device 61 comprises a base body 62 and a work section 63. Furthermore, the work device 61 towed by the flying device 11 is equipped with a traveling device 64 that supports the base body 62 so that it can move. In other words, the base body 62 of the work device 61 equipped with the traveling device 64 is a movable vehicle body. Note that the work device 61 not towed by the flying device 11 may be equipped with a stand for making contact with the ground surface G instead of the traveling device 64.

[0058] The running body 62 (base body) supports various devices and equipment of the work device 61. For example, the running body 62 supports the second power unit 66 of the work device 61. The second power unit 66 is a device capable of outputting power, which supplies power to, for example, the work unit 63 and the running device 64, and drives these destinations.

[0059] Furthermore, as shown in Figure 2, the leading end of the rope member 51 (the side opposite the drive unit 31) is connected to the vehicle body 62. The vehicle body 62 is towed by one or more rope members 51, and in this embodiment, it is connected to multiple rope members 51. Each rope member 51 is connected to a different horizontal position on the work device 61. Specifically, the work device 61 is equipped with coupling devices 65 to which the rope members 51 are connected. The coupling devices 65 are provided on the vehicle body 62 in a number corresponding to the number of rope members 51 connecting the work device 61 and the flight device 11. In this embodiment, since the work device 61 is connected to the flight device 11 by four rope members 51, the work device 61 is equipped with four coupling devices 65.

[0060] A string member 51, which is wound up and unwound by a first drive unit 31L1, is connected to a coupling device 65L1 (first coupling device) attached to the left front of the running body 62. A string member 51, which is wound up and unwound by a second drive unit 31R1, is connected to a coupling device 65R1 (second coupling device) attached to the right front of the running body 62. A string member 51, which is wound up and unwound by a third drive unit 31L2, is connected to a coupling device 65L2 (third coupling device) attached to the left rear of the running body 62. A string member 51, which is wound up and unwound by a fourth drive unit 31R2, is connected to a coupling device 65R2 (fourth coupling device) attached to the right rear of the running body 62.

[0061] As shown in Figures 9 and 10, the multiple coupling devices 65 are arranged such that the string members 51 connected to each coupling device 65 are at equal intervals. In this embodiment, the coupling devices 65 are connected at the center, and the center of each coupling device 65 is positioned on a virtual circle O2 centered on a predetermined position of the work device 61. For example, the center of the virtual circle O2 is the center of gravity of the work device 61. Thus, the vehicle body 62 can move by being suspended from the flying device 11 via the string members 51, or by being towed by the flying device 11 via the string members 51. It is possible.

[0062] Furthermore, the coupling device 65 can be switched between a coupled state in which it is coupled to the string member 51 and a released state in which it releases the coupled state. As shown in Figure 1, the coupling device 65 has a locking member 65a, a biasing member 65b, and a solenoid unit 65c. The locking member 65a can engage with the coupled portion 51a attached to the end of the string member 51. The biasing member 65b is a biasing spring (spring) that biases the locking member 65a in the direction of engagement with the coupled portion 51a. The solenoid unit 65c is driven by an applied voltage to move the locking member 65a in the opposite direction to the engagement direction against the biasing spring 65b.

[0063] Therefore, the coupling device 65 maintains a connected state with the string member 51 when no voltage is applied to the solenoid section 65c and the locking member 65a is engaged with the connected portion 51a by the biasing spring 65b. On the other hand, the coupling device 65 releases the connection with the string member 51 when the solenoid section 65c is driven and the engagement between the locking member 65a and the connected portion 51a is released.

[0064] The structure by which the coupling device 65 switches between the coupled state and the uncoupled state is not limited to the example described above, and publicly known technologies may be adopted as appropriate.

[0065] The work unit 63 is installed on the vehicle body 62 and performs its work. The work unit 63 performs its work in conjunction with the movement of the vehicle body 62. Examples of the work unit 63 include a cutting unit 63A for cutting weeds and pasture grass, a pesticide spraying unit for spraying pesticides, and a seeding work unit for sowing seeds (seeding work). In the examples shown in Figures 9 and 10, the work device 61 is a cutting device 61A equipped with a cutting unit 63A as the work unit 63.

[0066] Furthermore, the work device 61 only needs to be able to perform work in the work area by being suspended from or towed by the flying device 11, and the work unit 63 provided by the work device 61 is not limited to the examples described above. For example, the work unit 63 may be a tilling unit for tilling work, a tilling unit for plowing work, a ridging unit for making ribs, a ditching unit for digging ditches, a harvesting unit for harvesting crops, a spreading unit for spreading pasture grass, a grass gathering unit for collecting pasture grass, a shaping unit for shaping pasture grass, a fertilizer spreading unit for spreading fertilizer, etc.

[0067] As shown in Figure 10, the harvesting device 61A of this embodiment includes a pair of harvesting sections 63A arranged spaced apart in the width direction. Each harvesting section 63A has a cutting blade drive shaft 63a and a cutting blade 63c. The cutting blade drive shaft 63a is a shaft that rotates by power transmitted from the second power unit 66. The cutting blade drive shaft 63a extends in the vertical direction. The cutting blade 63c is attached to the cutting blade drive shaft 63a and rotates around its axis of rotation as the cutting blade drive shaft 63a rotates. Specifically, the cutting blade 63c is detachably attached to a cutting blade holder 63b attached to the lower end of the cutting blade drive shaft 63a via fastening members such as bolts.

[0068] The running gear 64 is a device that supports the running vehicle body 62 so that it can move. The running gear 64 has a plurality of wheels 64a. In the example shown in Figure 9, the plurality of wheels 64a include a pair of front wheels 64a1 and a pair of rear wheels 64a2. The pair of front wheels 64a1 are provided at the front of the running vehicle body 62, spaced apart in the width direction, and support the front of the running vehicle body 62 so that it can move. The pair of rear wheels 64a2 are provided at the rear of the running vehicle body 62, spaced apart in the width direction, and support the rear of the running vehicle body 62 so that it can move. Examples of wheels 64a include wheeled wheels made of tires and crawler-type wheels.

[0069] In the examples shown in Figures 9 and 10, the travel device 64 of the work device 61 (harvesting device 61A) has a total of four wheels 64a, consisting of a pair of front wheels 64a1 and a pair of rear wheels 64a2. However, the number of wheels 64a is not limited to four. The number of wheels 64a of the travel device 64 may be one or more, and may be two or three.

[0070] Furthermore, the running gear 64 may be driven to impart propulsion to the vehicle body 62. Specifically, each wheel 64a of the running gear 64 is driven by power supplied from the second power unit 66 to impart propulsion to the vehicle body 62. In this embodiment, all wheels 64a of the running gear 64 are driven by power supplied from the second power unit 66.

[0071] The second power unit 66 has electric motors 66a and 66b that are driven by power supplied, for example, from the second battery unit 74. In this embodiment, the second power unit 66 has a plurality of electric motors 66a that supply power to each of the wheels 64a of the running gear 64. It includes a third motor. In other words, the second power unit 66 has a plurality of third motors 66a, each corresponding to one of the wheels 64a, and each wheel 64a is driven independently by the corresponding third motor 66a.

[0072] Furthermore, the second power unit 66 includes an electric motor 66b (fourth motor) that drives the work unit 63. The pair of work units 63 are driven by a common fourth motor 66b.

[0073] The output shafts of each electric motor (third motor 66a, fourth motor 66b) of the second power unit 66 are directly or indirectly connected to the input shafts of the power supply destinations, respectively, and the generated power is transmitted to the destinations. The output shafts of the electric motors 66a and 66b are indirectly connected to the input shafts of the power supply destinations, for example, via a reduction gear including multiple gears. Therefore, the second power unit 66 can drive the running gear 64 and the working unit 63.

[0074] In this embodiment, each wheel 64a of the running gear 64 is driven independently by each third motor 66a of the second power unit 66, and each work unit 63 is driven by a common fourth motor 66b. However, one wheel 64a and another wheel 64a may share a single third motor 66a, or the second power unit 66 may have multiple fourth motors 66b corresponding to each work unit 63. Furthermore, the second power unit 66 is not limited to electric motors, but may also be an internal combustion engine such as a gasoline engine.

[0075] As shown in Figure 1, the work device 61 is equipped with a braking device 67 capable of braking the running device 64. The braking device 67 is a disc-type brake mechanism and can be switched between a braking state and a brake release state. The braking device 67 includes a brake disc 67b, a braking member 67a (brake pad), a biasing member 67c, and a solenoid unit 67d. The brake disc 67b is provided in the power transmission path from the second power unit 66 to each wheel 64a and rotates together with the rotating member in the power transmission path. The braking member 67a contacts the brake disc 67b and can brake the brake disc 67b by frictional force. The biasing member 67c is a biasing spring (spring) that biases the braking member 67a toward the brake disc 67b. The solenoid unit 67d is driven by the applied voltage to move the braking member 67a away from the brake disc 67b against the biasing spring 67c.

[0076] Therefore, when no voltage is applied to the solenoid section 67d, the braking device 67 brakes the running gear 64 by frictional force when the braking member 67a comes into contact with the brake disc 67b due to the biasing spring 67c (braking state). On the other hand, when the solenoid section 67d is driven and the braking member 67a separates from the brake disc 67b, the braking device 67 releases the brake on the running gear 64 (brake release state).

[0077] Furthermore, the running gear 64 is not limited to the example described above, and if the third motor 66a of the second power unit 66 is a motor with brakes, it does not need to have the braking device 67. In such a case, the motor with brakes is, for example, an electromagnetic motor with brakes, and braking of the running gear 64 is performed when the armature is attracted to the brake plate.

[0078] As shown in Figure 1, the work device 61 is equipped with a second control device 71 (control device). The work device 61 is also equipped with a second storage device 72.

[0079] The second control device 71 includes one or more processors. The second control device 71 is a controller for the work device 61 and performs various controls related to the work device 61. The second control device 71 is communicatively connected to each piece of equipment and device mounted on the work device 61. For example, the second control device 71 controls the drive, stop, and rotation speed (propulsion) of each wheel 64a. The second control device 71 also controls the drive, stop, and rotation speed of the work unit 63.

[0080] The second control unit 71 includes one or more memories (second memories), various analog circuits, various digital circuits, etc. One or more second memories store (remember) software programs and various data to be executed by one or more processors. The second control unit 71 can read software programs from one or more second memories using one or more processors and execute various processes based on those software programs.

[0081] Furthermore, as described in the first control device 41, the second control device 71 may perform various processes based on predetermined logic circuits using one or more processors. As described in the first control device 41, the device 71 may perform various processes by having multiple physically separated processors cooperate with each other, and its configuration is not limited to the above-described configuration.

[0082] The second storage device 72 stores various information and data related to the work device 61 in a read / write manner. The second storage device 72 includes non-volatile memory, etc. The second storage device 72 is connected to the second control device 71 in a communicative manner, and the second control device 71 can acquire various information and data stored in the second storage device 72.

[0083] As shown in Figure 1, the work device 61 is equipped with a second communication device 73. The second communication device 73 is the communication interface of the work device 61 and includes a communication circuit. The second communication device 73 communicates with at least the flight device 11 (first communication device 43) wirelessly or via wired connection and inputs (transmits and receives) various information, data, and signals. The second communication device 73 performs wireless communication using, for example, Bluetooth® Low Energy in the Bluetooth® specification of the IEEE 802.15.1 series of communication standards, or WiFi® in the IEEE 802.11.n series of communication standards.

[0084] As shown in Figure 1, the work device 61 includes a second battery unit 74 and a second inverter 75. The second battery unit 74 and the second inverter 75 are installed on the vehicle body 62.

[0085] The second battery unit 74 is capable of storing and discharging energy and supplies power to the various devices and equipment of the work apparatus 61. A lithium-ion battery can be an example of the second battery unit 74.

[0086] The second inverter 75 controls the power (current and voltage) supplied to each electric motor (third motor 66a, fourth motor 66b) mounted on the work device 61. The second inverter 75 is controlled by the second control device 71 and controls the power supplied to each electric motor 66a, 66b.

[0087] As a result, the second control device 71 controls the second inverter 75 to control the rotation speed and direction of each third motor 66a, thereby changing the magnitude and direction of the thrust generated by each wheel 64a. Therefore, the multiple wheels 64a provide thrust to the vehicle body 62, allowing the vehicle body 62 to move in the desired direction.

[0088] Furthermore, the second control device 71 controls the operation of each work unit 63 by controlling the second inverter 75 to change the rotation speed and / or rotation direction of the fourth motor 66b.

[0089] As shown in Figure 1, the work device 61 is equipped with a second inertial measurement unit 76a (IMU). The second inertial measurement unit 76a has an acceleration sensor for detecting acceleration, a gyro sensor for detecting angular velocity, etc. The second inertial measurement unit 76a is connected to the second control device 71 via wired or wireless communication and outputs detection results (acceleration, angular velocity, etc.) to the second control device 71. The second control device 71 can calculate the attitude (roll angle θ, pitch angle, yaw angle) and movement (acceleration) of the work device 61 based on the detection results output from the second inertial measurement unit 76a and calculation formulas pre-stored in the second storage device 72.

[0090] The working device 61 may also be equipped with a load detection device 76b for detecting the load acting on the running device 64, instead of or in addition to the second inertial measuring device 76a. In this case, the load detection device 76b is provided on the bearing of each wheel 64a. The load detection device 76b is a load sensor (load cell, etc.) that detects the load acting on each bearing as a load is applied to each wheel 64a. The load detection device 76b is connected to the second control device 71 via wired or wireless communication and outputs the detection result (load acting on the bearing) to the second control device 71. The second control device 71 can calculate the load acting on each bearing based on the detection result output from the load detection device 76b and calculation formulas, etc., pre-stored in the second storage device 72. Therefore, the second control device 71 can obtain the load acting on each of the wheels 64a.

[0091] As shown in Figure 1, the work device 61 is equipped with a sensing device 76c (second sensing device). The second sensing device 76c is capable of sensing the surroundings of the work device 61. The second sensing device 76c can, for example, sense the front and rear of the work device 61. Since the second sensing device 76c has the same configuration as the first sensing device 46e, redundant explanations will be omitted.

[0092] As shown in Figure 1, the work device 61 is equipped with a second position detection device 76d. The second position detection device 76d detects positioning information such as data indicated by latitude and longitude, or data indicated by coordinates (X axis, Y axis). The second position detection device 76d has the same configuration as the first position detection device 46f. The second position detection device 76d can correct its own detected position and detect a predetermined position of the work device 61. In this embodiment, the second position detection device 76d can detect the central position (vehicle body position P2) of the traveling vehicle body 62. The second position detection device 76d is connected to the second control device 71 via wired or wireless communication and outputs the detection result to the second control device 71. The second control device 71 acquires the vehicle body position P2 based on the detection result.

[0093] In this embodiment, the case in which the work device 61 is equipped with a second position detection device 76d is described as an example. However, if the second control device 71 can estimate the vehicle body position P2 based on the sensing results (detected point cloud data) of the second sensing device 76c, the work device 61 does not need to be equipped with a second position detection device 76d. In such a case, the second control device 71 estimates the vehicle body position P2 based on the sensing results (detected point cloud data) of the second sensing device 76c and environmental map information stored in the second storage device 72, etc.

[0094] Figure 11 shows the work path 101 and the flight path 102. In Figure 11, the path 101 (work path) on which the work device 61 moves is shown by a solid line, and the path 102 (flight path) on which the flight device 11 moves is shown by a dashed line. In this embodiment, the first control device 41 acquires the aircraft position P1 and controls the multiple rotors 15 so that the aircraft position P1 moves along the flight path 102, thereby moving the work device 61 along the work path 101.

[0095] The work path 101 is the path that the work device 61 takes when performing work in the work area (field 100). The work path 101 is represented by data such as latitude and longitude, or by coordinates (X axis, Y axis). The work path 101 is predefined by the operator operating a terminal device (a mobile terminal such as a smartphone or PC operated by the operator or manager, a remote device, etc.). The work path 101 includes the work line 101a in which the work device 61 performs its work.

[0096] The work line 101a is the path along which the work device 61 moves and performs work as the flying device 11 moves. The work line 101a is a straight line or a relatively straight line. In this embodiment, the work line 101a is the straight section along which the work device 61 moves in a straight line. The work path 101 includes multiple work lines 101a, and each of these work lines 101a extends in a predetermined direction with a predetermined spacing between them. The predetermined direction is, for example, the direction from one end of the field 100 to the other end, and from the other end to the first end.

[0097] The separation width is calculated based on the working width of the work device 61 and the overlap width in the width direction (the width over which the work execution range overlaps when moving between adjacent work lines 101a). In the example shown in Figure 11, a black circle is placed at the start of each work line 101a and a white circle at the end.

[0098] The flight path 102 is the path along which the flying device 11, connected to the working device 61 by a string member 51, flies over the work area (field 100) and moves the working device 61 along the work path 101. The flight path 102 is data indicated by latitude and longitude, or data indicated by coordinates (X axis, Y axis), etc. In addition to latitude and longitude, the flight path 102 may also be data that includes altitude, or data indicated by coordinates (X axis, Y axis, Z axis), etc.

[0099] The flight path 102 is defined based on a work path 101 that is predefined in the terminal equipment. The flight path 102 may be defined in the terminal equipment, or it may be defined in the first control device 41 that has acquired the work path 101 from the terminal equipment via the first communication device 43. For example, the flight path 102 is defined based on the work path 101, with each work line 101a being guided by the work device 61. It is defined by offsetting it by a predetermined length in the direction of travel. The predetermined length is the horizontal length of the rope member 51 during towing, and is defined in advance. The flight path 102 is stored (held) in the first memory or first storage device 42.

[0100] The flight path 102 includes a movement line 102a that moves the work device 61 along the work line 101a, and a connecting line 102b that moves the work device 61 from one work line 101a to another work line 101a.

[0101] The movement line 102a is a path corresponding to the work line 101a, and is a straight or relatively straight path. In this embodiment, the movement line 102a is a straight section in which the flight device 11 moves in a straight line in order to move the work device 61 in a straight line. The flight path 102 includes a plurality of movement lines 102a, and each of these movement lines 102a extends in a predetermined setting direction with a spacing width between them. In the example shown in Figure 11, a black circle is placed at the starting end of each movement line 102a and a white circle is placed at the ending end.

[0102] The connecting line 102b is a path that connects the end of one movement line 102a to the beginning of another movement line 102a. The connecting line 102b includes either a straight section or a rotating section in which the work device 61 (flying device 11) rotates. The connecting line 102b consisting of the rotating section is a path that moves the work device 61 from one work line 101a to another work line 101a while rotating it. The connecting line 102b consisting of the straight section is a path in which the flying device 11 lifts the work device 61 and moves the work device 61 from one work line 101a to another work line 101a. In the example shown in Figure 11, the connecting line 102b consisting of the rotating section is shown.

[0103] The first control device 41 maintains the direction of travel of the flight device 11 when the aircraft position P1 is located on the flight path 102, and changes the direction of travel so that the aircraft position P1 moves closer to the flight path 102 (so that the position deviation approaches zero) when the aircraft position P1 is deviated from the flight path 102 (when the position deviation between the flight path 102 and the aircraft position P1 is greater than a predetermined value).

[0104] Furthermore, if the first position detection device 46f can detect the aircraft heading of the flight device 11 in addition to, or instead of, the aircraft position P1, for example, by a satellite positioning system, the first control device 41 may change its direction of travel so that the azimuth deviation between the flight path 102 and the aircraft heading approaches zero.

[0105] Furthermore, the first control device 41 may change the altitude of the aircraft 11 (aircraft 12) and the altitude of the work device 61 based on the flight path 102. For example, when the first control device 41 is moving the aircraft 12 based on the flight path 102, it controls the multiple rotors 15 and multiple drive units 31 to change the altitude of the work device 61 and move it to the height at which the work device 61 performs work (operational height). Alternatively, when the first control device 41 is moving the aircraft 12 based on the connection line 102b, it may maintain the work device 61 at the operational height, or it may control the multiple rotors 15 and multiple drive units 31 to change the altitude of the work device 61 and move it to a height at which the work device 61 does not perform work (retraction height).

[0106] The effective height is the height at which the work unit 63 can perform work on the target object. For example, if the work device 61 is a cutting device 61A, the effective height is the height at which the cutting unit 63A can come into contact with the grass or other materials. If the work device 61 is a spraying device, the effective height is the height at which the pesticide sprayed from the nozzle can be properly applied to the target object such as crops. In particular, when the work device 61 is towed by the flight device 11, the effective height is the height at which the work device 61 makes contact with the ground surface G.

[0107] Furthermore, the retraction height is a height suitable for the movement of the work device 61, where the work unit 63 does not perform work on the target object. For example, if the work device 61 is a harvesting device 61A, the retraction height is a height at which the harvesting unit 63A does not come into contact with obstacles in the field 100, including pasture grass, etc. If the work device 61 is a spraying device, the retraction height is a height at which the nozzle does not come into contact with obstacles in the field 100, including target objects such as crops. In particular, when the work device 61 is towed by the flying device 11, the retraction height is a height at which the work device 61 is separated from the ground surface G.

[0108] The working height and retraction height are included in the device information along with the dimensional information of the working device 61 and are stored in the first memory or first storage device 42 in advance. The first control device 41 stores the device information corresponding to the working device 61 currently connected to the string member 51 in the first memory or first storage device 42. It is obtained from there. More specifically, the device information is pre-stored in the second storage device 72.

[0109] The operator selects a work device 61 connected to the string member 51 by operating a terminal device that is directly or indirectly connected to the first communication device 43, and the first control device 41 recognizes the selected work device 61. The first communication device 43 also establishes communication with the second communication device 73, obtains device information from the second storage device 72, and stores (retains) the device information in the first memory or the first storage device 42.

[0110] The method by which the first control device 41 recognizes the work device 61 is not limited to this method. Alternatively, an image code containing identification information of the work device 61 may be affixed to the upper part of the vehicle body 62 of the work device 61, or a transmitter (beacon) that transmits identification information of the work device 61 may be mounted on the work device 61, and the first control device 41 may be configured to recognize the work device 61 based on this identification information.

[0111] The first control device 41 controls the multiple rotors 15 based on the altitude of the flight device 11 detected by the altitude detection device 46d, the displacement length detected by the displacement detection device 46a, and other device information. As a result, the first control device 41 changes the altitude of the aircraft body 12 and the altitude of the work device 61, and moves the work device 61 to the working height or the retraction height.

[0112] The first control device 41 moves the work device 61 from the retracted height to the working height when the work device 61 reaches the work start point. The first control device 41 also moves the work device 61 from the working height to the retracted height when the work end point reaches the work end point. The work start point is the point where the work device 61 begins work, and the work end point is the point where the work device 61 finishes (or interrupts) work.

[0113] Therefore, when the first control device 41 maintains the work device 61 at the working height using the movement line 102a and the connecting line 102b, and then moves the work device 61 from the working height to the evacuation height after a series of flights along the flight path 102 has been completed, the start of the flight path 102 becomes the starting point of the work device 61, and the end of the flight path 102 becomes the ending point of the work device 61. Also, when the first control device 41 moves the work device 61 to the working height using the movement line 102a and then moves the work device 61 to the evacuation height using the connecting line 102b, the start of each movement line 102a becomes the starting point of the work device 61, and the end of each movement line 102a becomes the ending point of the work device 61.

[0114] The second control device 71 may, based on instructions from the first control device 41, drive the work unit 63 while the work device 61 is moving from the start point of work to the next end point of work, and stop the work unit 63 while the work device 61 is moving from the end point of work to the next start point of work.

[0115] In the above description, the first control device 41 controls multiple rotors 15 based on the flight path 102 and moves the aircraft body 12 to move the work device 61 onto the work path 101. However, the first control device 41 may also control multiple rotors 15 based on the work path 101 instead of the flight path 102 and move the aircraft body 12. In such a case, the work device 61 is equipped with a second position detection device 76d, and the first control device 41 acquires the vehicle body position P2 of the work device 61, for example, via the first communication device 43 and the second communication device 73, and controls multiple rotors 15 to move the aircraft body 12 so that the vehicle body position P2 moves along the work path 101.

[0116] The work support system 1, based on conditions such as the tension acting on the string member 51 and the completion of the towing of the work device 61, has the flight device 11 and / or the work device 61 perform predetermined processing, enabling work to be performed by the work device 61 while towing it in a stable posture.

[0117] For example, if the tension acting on the string member 51 is greater than or equal to a predetermined value, the drive device 31 performs a first process of unwinding the string member 51. Specifically, the first control device 41 calculates the tension acting on each string member 51 based on the detection results detected by each tension detection device 46b, and determines whether the tension is greater than or equal to a predetermined first threshold. The first threshold is a predetermined value defined in advance and stored in the first storage device 42. The first threshold stored in the first storage device 42 may be changed as appropriate using terminal equipment that is directly or indirectly connected to the first communication device 43 for communication.

[0118] The first control device 41 controls the string members 51 that each drive device 31 winds up or unwinds. If the tension acting on any of the string members 51 is greater than or equal to a first threshold, the first process involves controlling the drive unit 31 corresponding to the string member 51 on which at least the tension greater than or equal to the first threshold is acting, and unwinding the string member 51. At this time, the first control device 41 refers to the detection result detected by the tension detection device 46b and unwinds the string member 51 so that the tension acting on the string member 51 becomes less than the first threshold. Specifically, the first control device 41 applies a voltage to the solenoid part of the rotation restricting mechanism to switch the rotation restricting mechanism to a second state and rotate the second motor 34a of the drive unit 31 in the second rotation direction.

[0119] Furthermore, if the tension acting on any of the string members 51 is greater than or equal to a first threshold, the first control device 41 may, as a first process, control all the drive devices 31 to unwind all the string members 51. The first control device 41 controls the drive devices 31 to perform the first process, and when the tension of at least each string member 51 falls below the first threshold, it terminates the first process by the drive devices 31.

[0120] As a result, when the drive unit 31 performs the first process, the string member 51 is unwound, ensuring sufficient length of the string member 51 between the drive unit 31 of the flight device 11 and the coupling device 65 of the work device 61, thereby reducing the tension acting on the string member 51 (Figure 12). In the example shown in Figure 12, the state in which the string member 51 transitions from a taut state to a slack state is shown to clearly indicate that the tension acting on the string member 51 has decreased due to the first process, but this is not limited to this example.

[0121] Furthermore, the drive unit 31 may perform the first process when the tension acting on the string member 51 of the flight device 11 is greater than or equal to a predetermined value (first threshold), or in addition, when the towing of the work device 61 is terminated. Specifically, the first control device 41 may cause the drive unit 31 to perform the first process when the aircraft position P1 is at the end of the movement line 102a or the end of the flight path 102, and the work device 61 is at the work termination point, while the work device 61 is being towed based on the flight path 102.

[0122] For example, if the first control device 41 maintains the work device 61 at the working height on the moving line 102a and the connecting line 102b, and then moves the work device 61 from the working height to the evacuation height after a series of flights along the flight path 102 has been completed, the first control device 41 causes the drive unit 31 to perform the first process when the aircraft position P1 reaches the end of the flight path 102. On the other hand, if the first control device 41 moves the work device 61 to the working height on the moving line 102a and then moves the work device 61 to the evacuation height on the connecting line 102b, the first control device 41 causes the drive unit 31 to perform the first process each time the aircraft position P1 reaches the end of each moving line 102a.

[0123] Furthermore, if the tension acting on the string member 51 is greater than or equal to a predetermined value (first threshold), a second process may be performed in which the multiple rotors 15 move the machine body 12 toward the work device 61 and slacken the string member 51. Specifically, if the tension acting on any of the string members 51 that each drive device 31 winds up or unwinds is greater than or equal to the first threshold, the first control device 41 controls the multiple rotors 15 as a second process to move the machine body 12 toward the work device 61.

[0124] At this time, the first control device 41 controls the first motors 18a of the multiple rotors 15 based on the machine position P1 detected by the first position detection device 46f and the vehicle position P2 obtained via the first communication device 43, tilting the machine body 12 toward the work device 61 and moving the machine body 12 above the work device 61.

[0125] In such a case, the first control device 41 may move the aircraft 12 directly above the work device 61, or it may move the aircraft 12 to a position offset from directly above the work device 61. At this time, the first control device 41 moves the aircraft 12 such that, for example, the aircraft position P1 is offset to the direction of travel from the vehicle position P2. Alternatively, the first control device 41 may move the aircraft 12 above the work device 61 without changing the altitude of the aircraft 12, or it may move the aircraft 12 above the work device 61 while lowering the altitude of the aircraft 12. Once the first control device 41 has moved the aircraft 12 above the work device 61, it makes the aircraft 12 hover above the work device 61 and completes the second process by the multiple rotors 15.

[0126] As a result, when the drive unit 31 performs the second process, the distance between the drive unit 31 of the flight device 11 and the coupling device 65 of the work device 61 is shortened, ensuring that the length of the string member 51 is sufficient for that distance, and thus reducing the tension acting on the string member 51 (Figure 13). In the example shown in Figure 13, the state in which the string member 51 transitions from a taut state to a slack state is shown to clearly indicate that the tension acting on the string member 51 has decreased due to the second process, but this is not limited to this. For example, after moving the aircraft body 12 above the work device 61, the first control device 41 may, as the second process, refer to the detection result detected by the tension detection device 46b and control each drive unit 31 to wind up each string member 51 while keeping the tension of each string member 51 below the first threshold.

[0127] In the above description, the first control device 41 moves the machine 12 above the work device 61 based on the machine position P1 detected by the first position detection device 46f and the vehicle position P2 obtained via the first communication device 43. However, the position of the work device 61 (vehicle position P2) may be determined based on the sensing results of the first sensing device 46e, and the machine 12 may be moved above the work device 61 based on the machine position P1 and the vehicle position P2.

[0128] Furthermore, in addition to the first process, the flight device 11 may also perform a second process when the tension acting on the string member 51 is greater than or equal to a predetermined value (first threshold), or when the towing of the work device 61 is terminated.

[0129] For example, if the first control device 41 maintains the work device 61 at the working height on the moving line 102a and the connecting line 102b, and then moves the work device 61 from the working height to the evacuation height after a series of flights along the flight path 102 has been completed, the first control device 41 causes the multiple rotors 15 to perform the second process when the aircraft position P1 reaches the end of the flight path 102. On the other hand, if the first control device 41 moves the work device 61 to the working height on the moving line 102a and then moves the work device 61 to the evacuation height on the connecting line 102b, the first control device 41 causes the multiple rotors 15 to perform the second process each time the aircraft position P1 reaches the end of each moving line 102a.

[0130] Furthermore, if the tension acting on the string member 51 is greater than or equal to a predetermined value (first threshold), or if the towing of the work device 61 is terminated, or in addition to this, if the sensing devices 46e and 76c detect an obstacle in the direction of travel, the multiple rotors 15 may perform the second process. Specifically, the first control device 41 acquires the sensing result detected by the second sensing device 76c via the first communication device 43 and the second communication device 73, and determines whether or not an obstacle is located within a predetermined distance in the direction of travel of the work device 61. If the first control device 41 determines, based on the sensing result, that an obstacle exists in the direction of travel of the work device 61, it causes the multiple rotors 15 to perform the second process. At this time, since the flight device 11 is located at least on the direction of travel side of the work device 61, as the multiple rotors 15 perform the second process, the flight device 11 moves to the opposite side of the obstacle (opposite direction of travel) from the perspective of the work device 61.

[0131] Furthermore, in the example described above, the first control device 41 determined whether or not to have the multiple rotors 15 perform the second process based on the detection result of the second sensing device 76c, but the invention is not limited to this. For example, the first control device 41 may acquire the detection result of the first sensing device 46e and determine whether or not there is an obstacle below the direction of travel of the flight device 11, in other words, in the direction of travel of the work device 61.

[0132] Furthermore, once the first or second process is executed, the braking device 67 may execute a fifth process, which involves braking. Specifically, when the above-mentioned conditions (such as the tension acting on the string members 51 being greater than or equal to a first threshold, the towing of the work device 61 being terminated, or an obstacle being located in the direction of travel of the work device 61) are met, and the first control device 41 causes the first or second process to be executed, the second control device 71 causes the braking device 67 to execute the fifth process. For example, the first control device 41 causes the drive device 31 to execute the first process, and once the tension acting on each string member 51 falls below the first threshold and the sequence of events in the first process is completed, it controls the first communication device 43 to send a first notification signal to the second communication device 73 indicating that the first process has been executed. Furthermore, the first control device 41 causes the multiple rotors 15 to perform the second process, the machine body 12 moves toward the work device 61 (more specifically, above the work device 61), the tension acting on each string member 51 falls below the first threshold, and when the series of steps in the second process is completed, the first communication device 43 is controlled to implement the second process. A second notification signal indicating that the action has been taken is sent to the second communication device 73.

[0133] When the second communication device 73 receives a notification signal (first notification signal or second notification signal), the second control device 71 causes the braking device 67 to perform the fifth process. Specifically, as the fifth process, the second control device 71 causes the braking device 67 to apply brakes by reducing the voltage applied to the solenoid and bringing the braking member 67a into contact with the brake disc 67b (switching from a brake-release state to a brake-applied state). In such a case, the second control device 71, for example, gradually reduces the voltage applied to the solenoid and gradually brings the braking member 67a into contact with the brake disc 67b.

[0134] When the braking device 67 switches to a braking state, it maintains that braking state and terminates the fifth process. The second control device 71 causes the braking device 67 to execute the fifth process, and when the series of steps of the fifth process is completed, it controls the second communication device 73 to send a third notification signal to the first communication device 43 indicating that the fifth process has been executed.

[0135] In the example described above, the second control device 71 instructs the braking device 67 to perform the fifth process after the first or second process has been completed, but the system is not limited to this. At a minimum, the braking device 67 only needs to perform the fifth process after the first or second process has started. For this reason, the first control device 41 only needs to cause the drive device 31 to transmit a first communication signal between the time it starts and finishes the first process, and cause the multiple rotors 15 to transmit a second communication signal between the time they start and finish the second process.

[0136] Furthermore, when the first or second process is executed, the multiple rotors 15 may perform a third process in which they move the aircraft body 12 closer to the work device 61, raise the aircraft body 12, and detach (take off from) the work device 61 from the ground surface G. The first control device 41 controls the drive device 31 to execute the first process, or controls the multiple rotors 15 to execute the second process, and then controls the multiple rotors 15 to execute the third process. In this embodiment, when the first or second process is executed, the braking device 67 executes the fifth process, and when the fifth process by the braking device 67 is executed, the multiple rotors 15 execute the third process.

[0137] Specifically, when the first control device 41 receives a third notification signal via the second communication device 73 and the first communication device 43, it controls the multiple rotors 15 to first move the aircraft body 12 closer to the work device 61. At this time, based on the aircraft body position P1 detected by the first position detection device 46f and the vehicle body position P2 obtained via the first communication device 43, the first control device 41 controls the first motors 18a of the multiple rotors 15 to tilt the aircraft body 12 toward the work device 61 and move the aircraft body 12 directly above the work device 61. More specifically, the first control device 41 moves the aircraft body 12 so that the horizontal positions of the aircraft body position P1 and the vehicle body position P2 coincide. At this time, it is preferable that the center of gravity of the flight device 11 and the center of gravity of the work device 61 coincide in the horizontal direction.

[0138] The first control device 41 may move the aircraft 12 above the work device 61 without changing the altitude of the aircraft 12, or it may move the aircraft 12 above the work device 61 while lowering the altitude of the aircraft 12.

[0139] As a third process, the first control device 41 controls the multiple rotors 15 to bring the aircraft body 12 closer to the work device 61 above it, and then as a third process, raises the aircraft body 12 to lift the work device 61 away from the ground contact surface G. That is, the first control device 41 raises the aircraft body 12 by increasing the lift of each rotor 15 while maintaining the horizontal relative position between the flight device 11 (aircraft body 12) and the work device 61.

[0140] As a result, the flight device 11 lifts the work device 61 via the string members 51, causing the work device 61 to detach from the ground surface G (see Figure 14). Based on the detection result of the altitude detection device 46d and the retraction height, the first control device 41 terminates the third process by the multiple rotors 15 when the work device 61 has moved to the retraction height. At this time, the first control device 41 may also control the drive device 31 to wind up each string member 51 as the third process.

[0141] Furthermore, when the tension acting on each string member 51 exceeds a first threshold, the first control device 41 executes either the first or second process, and then executes the third process, it controls the multiple rotors 15 to move the work device 61 horizontally by a predetermined distance based on the flight path 102, The device is lowered to the operational height. Additionally, when the towing of the work device 61 is finished, the first control device 41 executes either the first or second process, and then the third process, which either resumes the movement of the work device 61 based on the next movement line 102a or ends the series of flights based on the flight path 102.

[0142] Then, if the first control device 41 detects an obstacle in the direction of travel of the work device 61 and executes either the first or second process, and then the third process, it controls the multiple rotors 15 to avoid the obstacle and then lowers the work device 61 to the working height. At this time, the flight device 11 may avoid the obstacle by passing to the side of it, or it may avoid the obstacle by passing through information about the obstacle.

[0143] Furthermore, if the machine body 12 is moving above the work device 61 during the second process, it goes without saying that the multiple rotors 15 will omit the process of moving the machine body 12 closer to the work device 61 during the third process.

[0144] The following describes the sequence of operations in which the first to third processes and the fifth process are performed in the work support system 1. Figure 15 is a diagram illustrating the sequence of operations in which the first to third processes and the fifth process are performed in the work support system 1. Each step in Figure 15 is performed by the first control device 41 according to a software program stored in the first memory or first storage device 42, or by the second control device 71 according to a software program stored in the second memory or second storage device 72. For the sake of explanation, Figure 15 illustrates the cases in which the drive device 31 performs the first process and terminates the towing of the work device 61 when the tension acting on the string member 51 is greater than or equal to a predetermined value (first threshold), and in which the multiple rotors 15 perform the second process when the sensing devices 46e and 76c detect an obstacle in the direction of travel.

[0145] First, the first control device 41 determines whether the tension acting on any of the string members 51 is equal to or greater than a first threshold (S1). Specifically, the first control device 41 calculates the tension acting on each string member 51 based on the detection results detected by each tension detection device 46b, and determines whether the tension is equal to or greater than a predetermined first threshold.

[0146] If the tension acting on at least one string member 51 is greater than or equal to a first threshold (S1: Yes), the first control device 41 controls at least the drive device 31 corresponding to the string member 51 on which the tension greater than or equal to the first threshold is acting, and unwinds the string member 51 (S2, first process). When the drive device 31 performs the first process (S2), the first control device 41 controls the first communication device 43 to transmit a first notification signal to the second communication device 73 (S3).

[0147] If the tension acting on all the string members 51 is less than the first threshold (S1: No), the first control device 41 determines whether or not to terminate the towing of the work device 61 (S4). Specifically, the first control device 41 determines whether or not the work device 61 is located at the work termination point based on the aircraft position P1 detected by the first position detection device 46f and the flight path 102.

[0148] When the first control device 41 determines that the work device 61 has reached the end point of the work and has finished towing the work device 61 (S4: Yes), it controls the multiple rotors 15 to move the machine body 12 toward the work device 61 and slacken the rope member 51 (S5, second process). When the multiple rotors 15 have performed the second process (S5), the first control device 41 controls the first communication device 43 to transmit a second notification signal to the second communication device 73 (S6).

[0149] If the first control device 41 determines that it will not terminate the towing of the work device 61 (S4: No), it determines whether or not an obstacle is present (located) in the direction of travel based on the sensing results of the sensing devices 46e and 76c (first sensing device 46e or second sensing device 76c) (S7). If the first control device 41 determines that an obstacle is located within a predetermined distance in the direction of travel of the work device 61 (S7: Yes), it proceeds to step S5 and causes the multiple rotors 15 to execute the second process. On the other hand, if the first control device 41 determines that there is no obstacle located within a predetermined distance in the direction of travel of the work device 61 (S7: No), it terminates the series of processes.

[0150] The second control device 71 checks whether the second communication device 73 has received the first notification signal or the second notification signal (S8). If the second control device 71 confirms that the second communication device 73 has received the first notification signal or the second notification signal (S8: Yes), it controls the braking device 67 to activate the fifth The process is executed (S9). At this time, as the fifth process, the second control device 71 reduces the voltage applied to the solenoid and switches the braking device 67 from the brake release state to the brake state. Once the second control device 71 has the braking device 67 execute the fifth process, it controls the second communication device 73 to send the third notification signal to the first communication device 43 (S10).

[0151] The first control device 41 checks whether the first communication device 43 has received the third notification signal (S11). If the first control device 41 confirms that the first communication device 43 has received the third notification signal (S11: Yes), it controls the multiple rotors 15 to execute the third process (S12). The first control device 41 controls the multiple rotors 15 to perform the third process by moving the machine body 12 closer to the work device 61 above it, raising the machine body 12, and separating the work device 61 from the ground surface G. Once the multiple rotors 15 have executed the third process, the first control device 41 terminates the series of processes.

[0152] In addition to the processes described above (the first to third processes and the fifth process), the work support system 1 may also have the flight device 11 and / or the work device 61 perform predetermined processes based on the attitude of the work device 61 to maintain a stable attitude. For example, if the attitude of the work device 61 is tilted beyond a predetermined level, the multiple drive devices 31 perform a fourth process in which they wind up the string member 51 that is connected to the lower side in the direction of the inclination.

[0153] Specifically, the first control device 41 acquires the posture of the work device 61 detected by the second inertial measuring device 76a via the first communication device 43 and the second communication device 73, and determines whether the posture of the work device 61 is tilted above a predetermined level based on that posture. More specifically, the first control device 41 acquires the roll angle θ of the work device 61 from the detection results of the second inertial measuring device 76a.

[0154] In this embodiment, the first control device 41 will be described as determining whether the posture of the work device 61 is tilted above a predetermined level based on the roll angle θ. However, in addition to the roll angle θ, or instead, the pitch angle of the work device 61 may be used to determine whether the posture of the work device 61 is tilted above a predetermined level. Furthermore, the roll angle θ will be described as zero when the work device 61 is located on a horizontal ground surface G, a positive value when it is tilted to one side in the width direction (left side), and a negative value when it is tilted to the other side in the width direction (right side). In other words, when the ground surface G is tilted below horizontal, the absolute value of the roll angle θ will be greater than zero.

[0155] The first control device 41 calculates the roll angle θ based on the detection result detected by the second inertial measuring device 76a and determines whether the absolute value of the roll angle θ is greater than or equal to a predetermined second threshold. The second threshold is a predetermined value that is defined in advance and stored in the first storage device 42. The second threshold stored in the first storage device 42 may be changed as appropriate using terminal equipment that is directly or indirectly connected to the first communication device 43 for communication.

[0156] If the absolute value of the roll angle θ is greater than or equal to the second threshold, the first control device 41 performs a fourth process by controlling the drive device 31 corresponding to the string member 51 connected to the lower side of the working device 61 in the inclined direction, and winding up the string member 51. At this time, the first control device 41 refers to the detection result detected by the second inertial measuring device 76a and winds up the string member 51 so that the working device 61 is not raised higher than the horizontal position (the absolute value of the roll angle θ is less than the second threshold). Specifically, the first control device 41 rotates the second motor 34a of the drive device 31 in the first rotation direction. The first control device 41 controls the drive device 31 to execute the fourth process, and when the absolute value of the roll angle θ falls below the second threshold from a state inclined above a predetermined level (a state in which the absolute value of the roll angle θ is greater than or equal to the second threshold), the first control device 41 terminates the fourth process by the drive device 31.

[0157] As a result, if the absolute value of the roll angle θ of the work device 61 is greater than or equal to the second threshold, and one side in the width direction (left side) is located lower than the other side in the width direction (right side), the first control device 41 controls the drive device 31 on one side in the width direction (left side) (first drive device 31L1, third drive device 31L2) to wind up the string member 51. Also, if the absolute value of the roll angle θ of the work device 61 is greater than or equal to the second threshold, and the other side in the width direction (right side) is located lower than the one side in the width direction (left side), the first control device 41 controls the drive device Of the 31, the drive unit 31 on the other side (right side) in the width direction (second drive unit 31R1, fourth drive unit 31R2) is controlled to wind up the string member 51.

[0158] Therefore, when the drive unit 31 performs the fourth process, the string member 51 is wound up, causing the posture of the work device 61 to move from an inclined state to a horizontal state, thereby preventing the work device 61 from tipping over from the ground surface G (Figure 16). In the example shown in Figure 16, in order to clearly indicate that the posture of the work device 61 has moved closer to a horizontal state due to the fourth process, the wheel 64a on one side in the width direction (left side) is shown transitioning from a state where it is in contact with the ground surface G to a state where it is floating, but this is not limited to this example.

[0159] Furthermore, the coupling device 65 performs a sixth process to switch from the coupled state to the released state if the posture of the working device 61 is tilted beyond a predetermined level. The second control device 71 calculates the roll angle θ based on the detection result detected by the second inertial measuring device 76a and determines whether the absolute value of the roll angle θ is greater than or equal to a predetermined third threshold. The third threshold is a predetermined value that is defined in advance and stored in the second storage device 72. The third threshold is also defined as a value greater than the second threshold. The third threshold stored in the second storage device 72 may be changed as appropriate using terminal equipment that is directly or indirectly connected to the second communication device 73 for communication.

[0160] If the absolute value of the roll angle θ is greater than or equal to the third threshold, the second control device 71 performs a sixth process by controlling the coupling device 65 to switch it from a coupled state to a released state. At this time, the second control device 71 applies a voltage to the solenoid portion 65c of the coupling device 65, drives the solenoid portion 65c, and moves the locking member 65a in the opposite direction to the engagement direction against the biasing spring 65b. The second control device 71 switches all coupling devices 65 of the work device 61 to the released state, releasing the engagement between the coupling device 65 and the coupled portion 51a.

[0161] As a result, when the coupling device 65 performs the sixth process, the connection between the flying device 11 and the working device 61 by the string member 51 is released (see Figure 17). Therefore, even if the working device 61 falls over from the ground surface G, it is possible to prevent excessive tension from being transmitted to the flying device 11 via the string member 51 due to the fall. It is also advisable to place net members or wall members on the lower side of the relatively inclined ground surface G (inclined surface) to which the working device 61 is towed, in order to secure the working device 61 in the event that it falls over.

[0162] The following describes the sequence of operations in which the fourth and sixth processes are executed in the work support system 1. Figure 18 is a diagram illustrating the sequence of operations in which the fourth and sixth processes are executed in the work support system 1. Each step in Figure 18 is executed by the first control device 41 according to a software program stored in the first memory or first storage device 42, or by the second control device 71 according to a software program stored in the second memory or second storage device 72.

[0163] First, the first control device 41 determines whether the posture of the work device 61 is tilted above a predetermined threshold (second threshold) (S21). Specifically, the first control device 41 calculates the roll angle θ based on the detection result detected by the second inertial measuring device 76a and determines whether the absolute value of the roll angle θ is above a predetermined second threshold.

[0164] If the first control device 41 determines that the posture of the work device 61 is tilted by more than a second threshold (S21: Yes), it checks the direction of the tilt of the work device 61 (S22). That is, if the first control device 41 has obtained the roll angle θ as the posture of the work device 61, it checks whether the work device 61 is tilted to one side in the width direction (left side) or to the other side in the width direction (right side).

[0165] The first control device 41 controls the drive unit 31 based on the tilt direction of the work device 61 confirmed in step S22, and winds up the string member 51 (S23, fourth process). As a result, the drive unit 31 performs the fourth process. Specifically, if the work device 61 is tilted to the left, the first control device 41 controls the first drive unit 31L1 and the third drive unit 31L2 to wind up the string member 51. On the other hand, if the work device 61 is tilted to the right, the first control device 41 controls the second drive unit 31R1 and the fourth drive unit 31R2 to wind up the string member 51.

[0166] Furthermore, the second control device 71 determines whether the posture of the work device 61 is tilted above a predetermined (third threshold) (S24). Specifically, the second control device 71 calculates the roll angle θ based on the detection result detected by the second inertial measuring device 76a and determines whether the absolute value of the roll angle θ is above a predetermined third threshold.

[0167] If the second control device 71 determines that the posture of the work device 61 is tilted by more than the third threshold (S24: Yes), it controls the coupling device 65 to switch the coupling device 65 to the released state (S25, sixth process). As a result, the coupling device 65 executes the sixth process and switches from the coupled state to the released state. The second control device 71 switches all coupling devices 65 on the work device 61 to the released state, releasing the engagement between the coupling device 65 and the coupled part 51a.

[0168] Furthermore, if the first control device 41 determines that the posture of the work device 61 is below the second threshold (S21: No), and if the second control device 71 determines that the posture of the work device 61 is below the third threshold (S24: No), the work support system 1 terminates the series of processes.

[0169] In the embodiment described above, the first control device 41 determines whether the posture of the work device 61 is tilted above a predetermined threshold based on the detection result of the second inertial measuring device 76a, but this is not limited to this. For example, the second control device 71 may determine whether the posture of the work device 61 is tilted above a predetermined threshold based on the detection result of the second inertial measuring device 76a, and control the second communication device 73 to transmit a first instruction signal to the first communication device 43 to execute the fourth process. In this case, the first instruction signal includes information that identifies the drive device 31 that winds up the string member 51 (the drive device 31 on the tilting direction side), and when the first communication device 43 receives the first instruction signal, the first control device 41 controls each drive device 31 to execute the fourth process.

[0170] Similarly, the first control device 41 may determine, based on the detection result of the second inertial measuring device 76a, whether the posture of the work device 61 is tilted above a predetermined threshold (third threshold), and if the absolute value of the roll angle θ of the work device 61 is above the third threshold, it may control the first communication device 43 to transmit a second instruction signal to the second communication device 73 to execute the sixth process. When the second communication device 73 receives the second instruction signal, the second control device 71 controls each coupling device 65 to execute the sixth process.

[0171] Furthermore, in the embodiment described above, the fourth and sixth processes are executed based on the detection result of the second inertial measuring device 76a. However, the fourth and sixth processes only need to be executed when the posture of the work device 61 is tilted above a predetermined level, and the execution conditions are not limited to the detection result of the second inertial measuring device 76a. For example, the fourth and sixth processes may be executed based on the detection result of the load detection device 76b. For example, the first control device 41 acquires the detection result of the load detection device 76b via the first communication device 43 and the second communication device 73, and if the load on one wheel 64a in the width direction is less than a predetermined fourth threshold, it controls the drive device 31 on the other side in the width direction to execute the fourth process. Also, if the load on the other wheel 64a in the width direction is less than the fourth threshold, the first control device 41 controls the drive device 31 on the one side in the width direction to execute the fourth process.

[0172] Furthermore, the second control device 71 acquires the detection results from the load detection device 76b, and if at least one of the loads acting on each wheel 64a is less than a predetermined fifth threshold, it controls the coupling device 65 to execute the sixth process. The fifth threshold is defined as a value smaller than the fourth threshold.

[0173] Furthermore, the decision of whether or not to perform the fourth and sixth processes may be made based on the posture of the work device 61, or it may be made based on the zero moment point of the work device 61.

[0174] In this embodiment, the description has mainly focused on the case where the flight device 11 operates by autonomous control. However, if the flight device 11 can be operated by remote control, the flight device 11 may perform the first and / or second processes based on remote control by the remote device. The remote device is an input interface that can accept operations from an operator and is a device that transmits information (instructions) regarding the control of the flight device 11 wirelessly or via wire. The first control device 41 receives the information transmitted from the remote device via the first communication device 43 and controls the multiple rotors 15 and The control unit 31 and other components control the position, altitude, speed, direction of movement, and attitude of the flying device 11, as well as the winding or unwinding of the rope members 51 by each drive unit 31 (altitude of the work device 61). When the flying device 11 performs the first and / or second processes based on remote control, the remote control unit receives a termination command to end the towing of the work device 61. When the first control unit 41 receives the termination command transmitted from the remote control unit, it performs the first process by the drive unit 31 or the second process by the multiple rotors 15.

[0175] A preferred embodiment of the present invention provides the flight device 11 and work support system 1 described in the following items. (Item 1) The flying device 11 comprises an aircraft body 12, a plurality of rotors 15 attached to the aircraft body 12 and capable of changing the altitude of the aircraft body 12, and a drive device 31 attached to the aircraft body 12 and capable of changing the relative position of the work device 61 with respect to the aircraft body 12 by winding and unwinding a string member 51 connected to a mobile work device 61, wherein the aircraft body 12 is capable of pulling the work device 61 via the string member 51, and when the tension acting on the string member 51 is above a predetermined level, or when the pulling of the work device 61 is terminated, the drive device 31 performs a first process of unwinding the string member 51, and / or the plurality of rotors 15 perform a second process of moving the aircraft body 12 toward the work device 61 and slackening the string member 51.

[0176] According to the flying device 11 in item 1, the rope member 51 connected to the work device 61 can be moved with slack, thereby preventing the movement of the aircraft body 12 from being restricted by the rope member 51. As a result, the flying device 11 can tow the work device 61 in a stable posture while the work device 61 performs its tasks. (Item 2) The flying device 11 according to item 1, wherein when the first or second process is performed, the plurality of rotors 15 perform a third process in which the aircraft body 12 approaches the work device 61 above, raises the aircraft body 12, and separates the work device 61 from the ground contact surface G.

[0177] According to the flying device 11 in item 2, the rope member 51 is slackened, and the working device 61 is detached from the ground surface G above the working device 61. As a result, the horizontal movement of the working device 61 as the flying device 11 ascends can be suppressed. Therefore, when the flying device 11 lifts the working device 61 upward, it can detach the working device 61 from the ground surface G in a stable posture while maintaining a horizontal position. (Item 3) The aircraft body 12 is provided with a plurality of drive devices 31, and each string member 51 that is wound up or unwound by the plurality of drive devices 31 is connected to a different horizontal position of the work device 61, and when the attitude of the work device 61 is tilted above a predetermined level, the plurality of drive devices 31 perform a fourth process of winding up the string member 51 that is connected to the lower side of the string member 51 in the direction of inclination, as described in item 1 or 2 of the aircraft aircraft 11.

[0178] According to the flight device 11 in item 3, when the work device 61 is tilted relatively, the drive device 31 winds up the string member 51, changing the tilted position of the work device 61 toward a horizontal position. As a result, the work device 61 can be tilted beyond a predetermined level, preventing it from tipping over. (Item 4) A work support system 1 comprising the work device 61 and a flight device 11 according to any one of items 1 to 3, which is connected to the work device 61 by the string member 51 and capable of towing the work device 61.

[0179] According to the work support system 1 related to item 4, it is possible to realize a work support system 1 that produces the unique effects described above. (Item 5) The aforementioned work device 61 comprises a traveling vehicle body 62, a work unit 63 provided on the traveling vehicle body 62 for performing work, and a traveling device 64 that supports the traveling vehicle body 62 so that it can move. The work support system 1 according to item 4, comprising a braking device 67 capable of braking, wherein when the first process or the second process is executed, the braking device 67 executes a fifth process that performs the braking.

[0180] According to the work support system 1 related to item 5, after the flight device 11 performs the first or second process, the working device 61's movement by the traveling device 64 is restricted by the braking device 67. Therefore, when the flight device 11 performs the third process, the horizontal relative position between the flight device 11 and the working device 61 can be appropriately maintained. As a result, the amount of horizontal movement of the flight device 11 is relatively small until the working device 61 is detached from the ground surface G by the third process, allowing the working device 61 to be lifted in a stable posture. (Item 6) The work support system 1 according to item 4 or 5, wherein the work device 61 has a coupling device 65 that can switch between a coupled state in which it is coupled to the string member 51 and a released state in which it releases the coupled state, and the coupling device 65 performs a sixth process of switching from the coupled state to the released state when the posture of the work device 61 is tilted above a predetermined level.

[0181] According to the work support system 1 related to item 6, if the attitude of the work device 61 is tilted relatively significantly, the coupling device 65 switches from the coupled state to the released state. Therefore, even if the attitude of the work device 61 is disrupted, the string member 51 does not pull on the flight device 11, and the flight device 11 can fly stably regardless of the attitude of the work device 61. (Item 7) The work support system 1 according to any one of items 4 to 6, wherein the work device 61 comprises a traveling vehicle body 62, a work unit 63 provided on the traveling vehicle body 62 for performing work, a traveling device 64 that supports the traveling vehicle body 62 so that it can travel, and a sensing device 76c that senses the direction of travel of the traveling vehicle body 62, and when the sensing device 76c detects an obstacle in the direction of travel, the plurality of rotors 15 execute the second process.

[0182] According to the work support system 1 related to item 7, even if an obstacle is located in the direction of travel of the work device 61 and the work device 61's movement is obstructed by the obstacle, the flying device 11 can move with the rope member 51 connected to the work device 61 slackened. Therefore, the flying device 11 can tow the work device 61 in a stable posture, and work can be performed by the work device 61.

[0183] 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]

[0184] 1: Work support system 11: Flight equipment 12: Aircraft 15: Rotor 31: Drive unit 51: String component 61: Work equipment 62: Vehicle body (base body) 63: Work Unit 64: Running gear 65: Connecting device 67: Braking device 76c: Sensing device (second sensing device) G: Ground plane

Claims

1. The aircraft and, Multiple rotors attached to the aircraft, capable of changing the altitude of the aircraft, A drive device that can change the relative position of a work device with respect to the machine body by winding and unwinding a string member attached to the machine body and connected to the work device, Equipped with, The aforementioned machine is capable of towing the work device via the string member, An aircraft that, when the tension acting on the string member exceeds a predetermined level, or when the towing of the work device is terminated, performs a first process in which the drive device unwinds the string member, and / or a plurality of rotors perform a second process in which the aircraft moves toward the work device and slackens the string member.

2. The flying device according to claim 1, wherein, when the first or second process is performed, the plurality of rotors perform a third process in which the aircraft body approaches above the work device, raises the aircraft body, and detaches the work device from the ground.

3. The aforementioned aircraft is equipped with a plurality of the aforementioned drive devices, Each string member, which is wound up or unwound by the multiple drive devices, is connected to a different horizontal position of the work device. The flight device according to claim 1, wherein if the posture of the work device is tilted beyond a predetermined level, the plurality of drive devices perform a fourth process of winding up the string member that is connected to the lower side of each string member in the direction of inclination.

4. The aforementioned work apparatus, A flying device according to any one of claims 1 to 3, which is connected to the work device by the string member and capable of towing the work device, A work support system equipped with the following features.

5. The aforementioned work apparatus is The vehicle body and A work unit provided on the vehicle body for performing work, A traveling device that supports the aforementioned traveling vehicle body so that it can move, A braking device capable of braking the aforementioned running gear, It has, The work support system according to claim 4, wherein when the first or second process is performed, the braking device performs a fifth process that performs the braking.

6. The work device has a coupling device that can switch between a coupled state in which it is connected to the string member and a released state in which it is released. The work support system according to claim 4, wherein the coupling device performs a sixth process of switching from the coupled state to the released state when the posture of the work device is tilted beyond a predetermined level.

7. The aforementioned work apparatus is The vehicle body and A work unit provided on the vehicle body for performing work, A traveling device that supports the aforementioned traveling vehicle body so that it can move, A sensing device that senses the direction of travel of the vehicle body, It has, When the sensing device detects an obstacle in the direction of travel, the multiple rotors The work support system according to claim 4, which performs a second process.

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