Agricultural machinery

Abstract

To facilitate the supply of agricultural materials from flying devices. [Solution] The agricultural machine comprises an aircraft body, a transport device capable of receiving agricultural materials from an aircraft and transporting said agricultural materials, a material holder provided extending in the width direction of the aircraft body and capable of holding the agricultural materials transported by the transport device, and a work unit that performs work using the agricultural materials held by the material holder, wherein the transport device transports the agricultural materials received from the aircraft body in the width direction of the aircraft body.

Description

Technical Field

[0001] The present invention relates to agricultural machinery.

Background Art

[0002] The automatic seedling transplanter disclosed in Patent Document 1 includes a vehicle body frame, a seedling tray carrier provided on the vehicle body frame, a front and rear seedling planting device that takes out seedlings from the seedling tray from the seedling tray carrier and plants them in a furrow, and a transport flying body that transports the seedling tray and approaches above the seedling tray carrier to drop the seedling tray onto the seedling tray carrier.

[0003] The rice transplanter disclosed in Patent Document 2 includes a seedling planting device supported at the rear of the machine body and a transmission mechanism that transmits the power of the power source mounted on the machine body to the seedling planting device. The seedling planting device has a seedling stage that is driven to laterally feed along the left - right direction.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] There is a desire to adopt a configuration in which agricultural materials are dropped from a transport flying body (flying device) as in Patent Document 1 and the agricultural materials are replenished to agricultural machinery, such as in the rice transplanter (agricultural machinery) as in Patent Document 2. However, in the agricultural machinery of Patent Document 1, the seedling tray carrier is fixedly attached to the vehicle body frame. When the seedling stage is driven to laterally feed along the left - right direction as in the agricultural machinery of Patent Document 2, it becomes difficult to align the positions of the flying device and the seedling stage.

[0006] This invention was made to solve the problems of the prior art, and aims to provide agricultural machinery that can easily supply agricultural materials from an aerial device. [Means for solving the problem]

[0007] An agricultural machine according to one aspect of the present invention comprises an aircraft body, a transport device capable of receiving agricultural materials from an aircraft and transporting said agricultural materials, a material holder provided extending in the width direction of the aircraft body and capable of holding the agricultural materials transported by the transport device, and a work unit that performs work using the agricultural materials held by the material holder, wherein the transport device transports the agricultural materials received from the aircraft in the width direction of the aircraft body. [Effects of the Invention]

[0008] According to the above agricultural machinery, agricultural materials can be easily supplied from the aircraft. [Brief explanation of the drawing]

[0009] [Figure 1] This is a block diagram of the work system. [Figure 2] This is a schematic side view showing an example of agricultural machinery. [Figure 3] This is a perspective view showing an example of agricultural materials. [Figure 4] This is a schematic side view of the work apparatus. [Figure 5] This is a schematic plan view of the work apparatus. [Figure 6] This is a schematic front view of the work apparatus. [Figure 7] This is a schematic rear view of the work device. [Figure 8] This is a schematic front view showing how the work device moves in the width direction of the machine. [Figure 9] This is a perspective view showing the aircraft. [Figure 10] This is a schematic plan view of the supply support device. [Figure 11] This is a schematic rear view of the supply support device. [Figure 12] This diagram illustrates an example of a series of steps involved in supplying agricultural materials within a work system. [Figure 13] This is a schematic plan view of a replenishment support device in a modified example. [Modes for carrying out the invention]

[0010] The following describes one embodiment of the present invention with reference to the drawings. Figure 1 shows the work system This is a block diagram of System 1. The work system 1 comprises an agricultural machine 2 and an aerial device 3. The agricultural machine 2 is a machine that performs work using agricultural materials 4. The aerial device 3 is capable of transporting agricultural materials 4, and the agricultural machine 2 can receive agricultural materials 4 from the aerial device 3. As a result, in the work system 1, the agricultural machine 2 is supplied with agricultural materials 4 from the aerial device 3 and can continuously perform work using the supplied agricultural materials 4. First, let's explain the agricultural machine 2.

[0011] In the following explanation, the direction indicated by arrow X1 in the diagram is forward, the direction indicated by arrow X2 is backward, the direction indicated by arrow Y1 is left, the direction indicated by arrow Y2 is right, the direction indicated by arrow Z1 is upward, and the direction indicated by arrow Z2 is downward. Also, the direction perpendicular to the vertical direction is called the horizontal direction, and the horizontal direction perpendicular to the front-back direction is sometimes called the aircraft width direction (left-right direction). <Regarding agricultural machinery 2> Figure 2 is a schematic side view showing an example of agricultural machinery 2. In this embodiment, agricultural machinery 2 will be described using a rice transplanter 2A that plants seedlings 4a (seedling mats 4A) as agricultural materials 4 as an example. Furthermore, in the following description, agricultural machinery 2 will be described using a rice transplanter 2A equipped with a driver's seat 13 and operated by manual operation by an operator seated in the driver's seat 13 as an example.

[0012] As shown in FIG. 2, the agricultural machine 2 includes a traveling body 11. The traveling body 11 is a vehicle body capable of traveling. Further, the agricultural machine 2 includes a working device 21. The working device 21 is a device connected to the traveling body 11. The working device 21 can perform work. In the present embodiment, the working device 21 is arranged behind the traveling body 11.

[0013] The traveling body 11 has a machine body 12. In other words, the agricultural machine 2 includes the machine body 12. The machine body 12 supports various devices and equipment provided in the agricultural machine 2. A driver's seat 13 is provided on the machine body 12. An operating device 14 for operating each device and each piece of equipment provided in the agricultural machine 2 is provided around (for example, in front of) the driver's seat 13. The operating device 14 receives manual operations by an operator. For example, the operating device 14 includes a steering device (such as a steering wheel, a steering column, and a power steering mechanism) for operating the steering of the traveling body 11.

[0014] As shown in FIGS. 1 and 2, the agricultural machine 2 includes a first power device 15. The first power device 15 is a device that generates power. The first power device 15 is mounted on the machine body 12. In the present embodiment, the first power device 15 has a prime mover 16 and a transmission 17.

[0015] The prime mover 16 is a power source that outputs power (rotational driving force). The prime mover 16 is composed of, for example, a diesel engine. As another example, the prime mover 16 may be composed of other internal combustion engines such as a gasoline engine, or an electric motor or the like. The prime mover 16 is supported at the front part of the machine body 12.

[0016] The transmission 17 is a device that shifts the power (rotational driving force) output from the prime mover 16. The transmission 17 can switch the rotational driving force output from the prime mover 16 by shifting. The transmission 17 can switch the traveling direction (forward and reverse) of the traveling body 11.

[0017] Furthermore, the transmission 17 transmits the power generated by the prime mover 16 to the work device 21. Specifically, the transmission 17 drives the output shaft 17a (PTO shaft) with the power generated by the prime mover 16, and transmits the power to the work device 21 via the output shaft 17a.

[0018] The transmission 17 includes an HST (Hydro Static Transmission), multiple gears for transmitting power, a shifter for changing the connection of the gears, and a clutch for switching between transmitting and disconnecting power. The transmission 17 is located at the rear of the machine body 12, behind the prime mover 16.

[0019] As shown in Figure 2, the agricultural machine 2 is equipped with a traveling device 18. The traveling device 18 is a device that provides propulsion to the traveling body 11 (machine body 12). The traveling device 18 supports the machine body 12 so that it can move. The traveling device 18 provides propulsion to the machine body 12 by being driven. The traveling device 18 is driven by power generated by the first power unit 15.

[0020] In this embodiment, the travel device 18 is driven by power transmitted from the transmission 17. This provides thrust to the aircraft 12. Therefore, the travel speed of the running gear 18 is changed by the transmission 17 switching the rotational drive force. Furthermore, the running gear 18 can switch between forward and reverse movement by changing the direction of rotation of the rotational drive force transmitted from the transmission 17.

[0021] The running gear 18 has one or more wheels 19. In this embodiment, the running gear 18 has multiple wheels 19, and these multiple wheels 19 are spaced apart in the longitudinal direction or in the width direction. The running gear 18 has a pair of wheels 19F (front wheels) that support the front side of the running body 11, and a pair of wheels 19R (rear wheels) that support the rear side of the running body 11.

[0022] A pair of front wheels 19F are supported by first drive cases located on both sides of the transmission 17 in the width direction of the machine body, so as to be steerable and rotatable. A pair of rear wheels 19R are supported by a second drive case located below the rear of the machine body 12, so as to be rotatable. Thus, the machine body 12 is supported so as to be able to move by the pair of front wheels 19F and the pair of rear wheels 19R.

[0023] As shown in Figure 2, the agricultural machine 2 is equipped with a coupling device 20. The coupling device 20 is a device that connects the work device 21 to the traveling body 11. The coupling device 20 is located at the rear of the machine body 12. This allows the coupling device 20 to connect the work device 21 to the rear of the machine body 12. The coupling device 20 is composed of, for example, parallel links and is capable of raising and lowering the connected work device 21. The coupling device 20 is operated by a drive actuator 20a, which raises and lowers the connected work device 21. The drive actuator 20a is, for example, a hydraulic actuator (e.g., a hydraulic cylinder) and is driven by hydraulic fluid discharged from a hydraulic pump that is operated by power output from the prime mover 16. Note that the drive actuator 20a is not limited to a hydraulic actuator and may be an electric actuator (e.g., an electric cylinder).

[0024] The work device 21 is a device that performs work using agricultural materials 4. In this embodiment, the work device 21 is connected to the machine body 12 (traveling body 11) via a coupling device 20. Therefore, the work device 21 is driven to move up and down by the drive actuator 20a of the coupling device 20. On the other hand, the relative position of the work device 21 in the machine body width direction to the machine body 12 is fixed.

[0025] The work device 21 has a connecting body 22. The connecting body 22 is connected to the connecting device 20 and is a structure that supports each device and equipment of the work device 21. The work device 21 also has a material holder 31 and a work unit 41. The material holder 31 is a structure that holds agricultural materials 4. The material holder 31 can also receive agricultural materials 4 supplied from an external source (e.g., the flight device 3). Therefore, the material holder 31 can also be called a material receiver that receives agricultural materials 4. The work unit 41 is a device that performs work using the agricultural materials 4 held by the material holder 32.

[0026] The following describes the working device 21 in detail using the rice transplanter 2A as an example. In this embodiment, the agricultural machine 2 is described using the 8-row rice transplanter 2A as an example. The rice transplanter 2A performs planting work using a seedling mat 4A as agricultural material 4. Figure 3 is a perspective view showing an example of agricultural material 4. As shown in Figure 3, the seedling mat 4A is a mat-shaped agricultural material 4 in which seedlings 4a are grown by sowing rice seeds in a seedbed (potting soil, seedling mat, etc.) laid at the bottom of a seedling tray, covering them with soil, and irrigating. Each of the many seedlings 4a in the seedling mat 4A has grown with its leaves and stems positioned on top of its roots in the soil. When placed on a horizontal surface, the seedling mat 4A is formed in a rectangular shape in plan view. Therefore, the seedling mat 4A has a shape with a long side 4b1 and a short side 4b2.

[0027] Figure 4 is a schematic side view of the work device 21, and Figure 5 is a schematic top view of the work device 21. Figure 6 is a schematic front view of the work device 21, and Figure 7 is a schematic rear view of the work device 21. As shown in Figure 6, the connecting body 22 has a first connecting body 22A and a second connecting body 22B. The first connecting body 22A is connected to the rear end of the connecting device 20. The second connecting body 22B also serves as a transmission device that transmits power output from the prime mover 16 to various parts of the work device 21.

[0028] Specifically, the second connecting body 22B includes a first transmission case 23, a connecting frame 24, and a second transmission case 25. The first transmission case 23 is connected to the first connecting body 22A. The first transmission case 23 houses a part of the power transmission system to which power output from the prime mover 16 is transmitted.

[0029] The connecting frame 24 is a member that connects the first transmission case 23 and the second transmission case 25. The connecting frame 24 is a long frame material (square timber) that extends in the width direction of the machine body. The connecting frame 24 is connected to the lower part of the first transmission case 23.

[0030] The second transmission case 25 is connected to the connecting frame 24. The second transmission case 25 houses a part of the power transmission system that transmits power to the work section 41. The number of second transmission cases 25 is provided according to the number of planting rows. In this embodiment, since the agricultural machine 2 is an 8-row rice transplanter 2A, the second connecting body 22B has four second transmission cases 25. The second transmission cases 25 extend rearward from the connecting frame 24.

[0031] As shown in Figures 4 and 6, the second connecting body 22B has one or more guide sections 26. The guide sections 26 support the material holder 31 so that it can move in the machine width direction. Examples of members constituting the guide section 26 include rails and rollers that extend in the machine width direction. In the example shown in Figures 4 and 6, the second connecting body 22B has a first guide section 26A that supports the lower part of the material holder 31. The first guide section 26A is a rail (sliding rail) that extends in the machine width direction. The first guide section 26A is supported by the second transmission case 25. As shown in Figure 7, seedling outlets 27 are formed in the first guide section 26A (sliding rail). The number of seedling outlets 27 is provided according to the number of planting rows. In this embodiment, since the agricultural machine 2 is an 8-row rice transplanter 2A, eight seedling outlets 27 are formed.

[0032] Furthermore, in the examples shown in Figures 4 and 6, the second connecting body 22B has a second guide portion 26B that supports the upper part of the material holder 31. The second guide portion 26B includes one or more rollers 28. In the example shown in Figure 6, the second guide portion 26B has a plurality of rollers 28 and a roller support portion 29 that supports the plurality of rollers 28.

[0033] The roller support section 29 supports multiple rollers 28 spaced apart in the width direction of the machine body. The roller support section 29 extends upward from the connecting frame 24. The roller support section 29 supports multiple rollers 28 above the first transmission case 23. The rollers 28 are mounted on the roller support section 29 so as to be rotatable around a rotation axis that extends in a direction intersecting the width direction of the machine body.

[0034] The material holder 31 is capable of holding agricultural materials 4 on it. The material holder 31 extends in the width direction of the machine body 12. When the agricultural machine 2 is a rice transplanter 2A, the material holder 31 is a seedling tray. As shown in Figure 4, the material holder 31 is provided in a sloping shape that transitions to the rear as it goes from top to bottom (a downward sloping shape).

[0035] The material holder 31 has one or more material holding sections 32. As shown in Figures 5 and 7, the material holder 31 has multiple material holding sections 32. Each material holding section 32 can hold agricultural materials 4. Each material holding section 32 can also receive agricultural materials 4 supplied from an external source (e.g., the flying device 3). Each material holding section 32 can hold agricultural materials 4. Therefore, each material holding section 32 can also be called a material receiving section that receives agricultural materials 4.

[0036] The material holding sections 32 are arranged in a line in the width direction of the machine body. When the agricultural machine 2 is a rice transplanter 2A, the number of material holding sections 32 is provided in proportion to the number of planting rows. In this embodiment, since the agricultural machine 2 is an 8-row rice transplanter 2A, the material holder 31 has 8 material holding sections 32 (seedling holders).

[0037] The material holding section 32 holds agricultural materials 4 in a downward-sloping position. Partition guides 33 are provided on both sides of the material holding section 32 in the machine width direction. In each material holding section 32, the agricultural materials 4 (seedling mats 4A) are placed with their long side 4b1 aligned with the inclination direction of the material holding body 31. In other words, in each material holding section 32, the agricultural materials 4 (seedling mats 4A) are placed with their short side 4b2 aligned with the machine width direction. Multiple agricultural materials 4 can be placed in each material holding section 32 in a line in the inclination direction of the material holding body 31. In this embodiment, two seedling mats 4A can be placed in each material holding section 32 in a line in the inclination direction of the material holding body 31.

[0038] As shown in Figures 5 to 7, a vertical feeding mechanism 34 is provided at the bottom of each material holding section 32. The vertical feeding mechanism 34 is a mechanism that, when driven, vertically feeds the agricultural materials 4 on the material holding section 32 downwards. For example, the vertical feeding mechanism 34 is driven by power from a power transmission system to which power output from the prime mover 16 is transmitted.

[0039] As shown in Figure 6, the longitudinal feed mechanism 34 includes a longitudinal feed shaft 35 and a longitudinal feed rotating body 36. The longitudinal feed shaft 35 is arranged to extend in the machine width direction. In this embodiment, the longitudinal feed shaft 35 extends from the first transmission case 23 to the other side (right) in the machine width direction. The longitudinal feed shaft 35 receives power from the power transmission system in the first transmission case 23 and is rotationally driven around its axis.

[0040] The vertical feed rotating body 36 rotates to vertically feed the agricultural materials 4 on the material holding section 32 downward along the inclination direction of the material holder 31. The vertical feed rotating body 36 has a belt body 36a (vertical feed belt) made of a wide rubber belt and a drive shaft 36b that rotates the belt body 36a. The drive shaft 36b rotates the belt body 36a by receiving power from the vertical feed shaft 35. As a result, the belt body 36a rotates to vertically feed the agricultural materials 4 on the material holding section 32 downward along the inclination direction of the material holder 31.

[0041] The material holder 31 is provided so as to be movable in the width direction of the machine body 12. Figure 8 is a schematic front view showing the working device 21 moving in the width direction of the machine body. As shown in Figures 4, 6 to 8, the material holder 31 has one or more guided portions 37. The guided portions 37 are parts that are supported so as to be movable in the width direction of the machine body relative to the connecting body 22 (guide portion 26). Examples of members constituting the guided portions 37 include rails and rollers that extend in the width direction of the machine body.

[0042] In the examples shown in Figures 4, 6, and 8, the material holder 31 has a first guided portion 37A. The first guided portion 37A is supported by a first guide portion 26A so as to be movable in the width direction of the machine body. The first guided portion 37A is a rail (sliding rail) extending in the width direction of the machine body. The first guided portion 37A is attached to the lower part of the material holder 31. Therefore, the first guided portion 37A is attached between the material holder 31 and the machine body 12 side (the side with the first guide portion 26A).

[0043] In the examples shown in Figures 4, 6, and 8, the material holder 31 has a second guided portion 37B. The second guided portion 37B is supported by the second guide portion 26B so as to be movable in the width direction of the machine body. The second guided portion 37B is a rail (sliding rail) that extends in the width direction of the machine body. The second guided portion 37B is attached to the upper part of the material holder 31. Therefore, the second guided portion 37B is attached between the material holder 31 and the machine body 12 side (the side with the second guide portion 26B).

[0044] Furthermore, as shown in Figures 6 and 8, the material holder 31 is connected to a lateral feed mechanism 38 provided on the work device 21. The lateral feed mechanism 38 is a mechanism that moves the material holder 31 in the machine width direction when driven. In particular, the lateral feed mechanism 38 reciprocates the material holder 31 in the machine width direction. As a result, the material holder 31 is able to reciprocate in the machine width direction. For example, the lateral feed mechanism 38 is driven by power transmitted from a power transmission system that receives power output from the prime mover 16.

[0045] The lateral feed mechanism 38 includes a lateral feed shaft 39 and a moving member 40. The lateral feed shaft 39 is arranged to extend in the machine width direction. In this embodiment, the lateral feed shaft 39 extends from the first transmission case 23 to one side (left) in the machine width direction. The lateral feed shaft 39 receives power from the power transmission system in the first transmission case 23 and is rotationally driven around its axis. A helical groove is formed on the lateral feed shaft 39.

[0046] The moving member 40 is attached to the transverse feed shaft 39 and is moved in the width direction of the machine by the transverse feed shaft 39. Furthermore, the moving member 40 is connected to the material holder 31 and can move the material holder 31 in the width direction of the machine. Specifically, the moving member 40 is attached to a helical groove formed in the transverse feed shaft 39, and as the transverse feed shaft 39 rotates, It moves along the spiral groove in the width direction of the aircraft.

[0047] As described above, the material holder 31 is provided so as to be movable in the width direction relative to the connecting body 22. In other words, the material holder 31 is also provided so as to be movable in the width direction relative to the machine body 12. In the above description, the guide portion 26 and the guided portion 37 were described as examples of a structure (support structure) that supports the material holder 31 so as to be movable in the width direction relative to the connecting body 22, but the support structure is not limited to the guide portion 26 and the guided portion 37 as described above. That is, the support structure of the work device 21 only needs to be a structure that allows the material holder 31 to be moved in the width direction relative to the connecting body 22 (machine body 12), and its configuration is not particularly limited.

[0048] As shown in Figures 4, 5, and 7, the rice transplanter 2A has a planting mechanism as a working unit 41. The working unit 41 is a mechanism that plants seedlings 4a taken from agricultural materials 4 placed on a material holder 31 into the field (paddy field). The number of working units 41 is provided according to the number of planting rows. In this embodiment, since the agricultural machine 2 is an 8-row rice transplanter 2A, the working device 21 has 8 working units 41. The working units 41 are arranged in a row with spacing in the width direction of the machine body.

[0049] The work section 41 is supported by the connecting body 22. Specifically, each work section 41 is attached to both sides of the second transmission case 25 in the machine width direction. Therefore, the work section 41 is fixedly attached to the connecting body 22 in the machine width direction and moves relative to the movement of the material holder 31 in the machine width direction. In other words, the material holder 31 can move in the machine width direction relative to the work section 41. At this time, the work section 41 moves within the range from one end to the other in the machine width direction of the material holder 32. That is, the work section 41 moves in the machine width direction between a pair of partition guides 33 provided at both ends of the material holder 32.

[0050] The work unit 41 takes out a predetermined amount of seedlings 4a from the agricultural material 4 (seedling mat 4A) placed on the material holder 31 (material holder 32) which moves back and forth in the width direction of the machine body, and plants them. The work unit 41 takes out a predetermined amount of seedlings 4a from the lower end of the seedling mat 4A through the seedling removal opening 27 formed in the first guide unit 26A.

[0051] In detail, the working unit 41 rotates around an axis extending in the width direction of the machine body, and takes out one seedling (a predetermined amount) of seedling 4a from the lower end of the seedling mat 4A and pushes it into the field (paddy field surface) to plant it. At this time, the lateral feeding mechanism 38 moves the material holder 31 to one side in the width direction of the machine body. While the material holder 31 is moving to one side in the width direction of the machine body, the working unit 41 cuts off a horizontal row of seedlings 4a from the lower end of the seedling mat 4A. Once the working unit 41 has cut off a horizontal row of seedlings 4a from the lower end of the seedling mat 4A, the vertical feeding mechanism 34 feeds the seedling mat 4A vertically by the amount corresponding to the horizontal row that was cut off. The lateral feeding mechanism 38 then moves the material holder 31 to the other side in the width direction of the machine body, and the working unit 41 performs the same planting operation as described above.

[0052] As described above, the material holder 31 is moved back and forth in the machine width direction relative to the machine body 12 (connecting body 22) by the width of the seedling mat 4A (agricultural material 4). In addition, the seedling mat 4A (agricultural material 4) is moved vertically each time the material holder 31 is positioned at the end of its back-and-forth movement.

[0053] The control system of agricultural machine 2 will be described below, mainly using Figure 1. As shown in Figure 1, agricultural machine 2 is equipped with a first control device 51. Agricultural machine 2 is also equipped with a first storage device 52.

[0054] The first control device 51 includes one or more processors. The first control device 51 is a controller for the agricultural machine 2 and performs various controls on the agricultural machine 2. The first control device 51 is communicated with each device and equipment mounted on the agricultural machine 2 via an in-vehicle network such as CAN, ISOBUS, LIN, or FlexRay. Therefore, the first control device 51 can control each of these devices and equipment. For example, the first control device 51 can control the first power unit 15. Specifically, the first control device 51 controls the rotational speed of the prime mover 16 and controls the lifting and lowering of the work device 21 by controlling the drive actuator 20a.

[0055] The first control device 51 includes one or more memories, various analog circuits, various digital circuits, etc. One or more memories contain software to be executed by one or more processors. It stores (remembers) programs and various data. The first control device 51 can read software programs from one or more memories using one or more processors and execute various processes based on those software programs. The first control device 51 may also execute various processes based on predetermined logic circuits using one or more processors.

[0056] 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).

[0057] The first control device 51 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 are each mounted on one or more computers physically separated from the agricultural machine 2, and these processors are connected to each other via a network such as an in-vehicle network, LAN, WAN, and the Internet.

[0058] Furthermore, the software program may be stored in a first storage device 52 that is communicatively connected to the first control device 51, or in an external server device connected via the network, and then installed into the memory from there.

[0059] The first storage device 52 is a device capable of storing information. The first storage device 52 includes non-volatile memory such as an HDD (Hard Disk Drive) or SSD (Solid State Drive). The first storage device 52 is connected to the first control device 51 in a communication manner, and the first control device 51 stores various information in the first storage device 52 and retrieves information stored in the first storage device 52.

[0060] As shown in Figure 1, the agricultural machine 2 may be equipped with a first communication device 53. The first communication device 53 is the communication interface of the agricultural machine 2 and includes a communication circuit. The first communication device 53 can communicate with other communication devices and inputs (sends and receives) various information, data, and signals. The first communication device 53 can communicate directly or indirectly with, for example, the aircraft 3. The first communication device 53 performs wireless communication using a mobile phone network, a data communication network, Bluetooth® Low Energy in the Bluetooth® specification of the IEEE 802.15.1 series of communication standards, Wi-Fi® in the IEEE 802.11.n series of communication standards, etc.

[0061] As shown in Figure 1, the agricultural machine 2 may be equipped with a first sensing device 54. The first sensing device 54 is a device that senses the environment around the agricultural machine 2. Based on the sensing results of the first sensing device 54, the first control device 51 can detect workers, obstacles, etc., around the agricultural machine 2. The first control device 51 may also estimate the position of the agricultural machine 2 based on the sensing results (detected point cloud data) and environmental map information stored in the first storage device 52, etc.

[0062] The first sensing device 54 includes an optical distance measuring sensor and a signal processing circuit, etc. Examples of the optical distance measuring sensor in the first sensing device 54 include imaging devices such as a LiDAR (Light Detection and Ranging) or CCD (Charge Coupled Devices) image sensor, a CMOS (Complementary Metal Oxide Semiconductor) image sensor, and a ToF (Time-of-Flight) camera. Furthermore, while the above example illustrates the case where the first sensing device 54 has an optical distance measuring sensor, an ultrasonic distance measuring sensor (such as a sonar or other airborne ultrasonic sensor) may be used instead.

[0063] As shown in Figure 1, the agricultural machine 2 may be equipped with a first positioning device 55. The first positioning device 55 is a device that performs positioning (location detection) of the agricultural machine 2. The first positioning device 55 receives satellite signals from a satellite positioning system using a GNSS antenna or GPS antenna and performs positioning of the agricultural machine 2 using said satellite signals. The first positioning device 55 is located on the front side of the traveling body 11. Specifically, the first positioning device 55 is attached to a frame body 12a located at the front of the machine body 12. The first positioning device 55 is located in the center of the machine body 12 in the width direction.

[0064] In this embodiment, the first control device 51 will be described as acquiring the position of the agricultural machine 2 based on the positioning results of the first positioning device 55. Alternatively, the first control device 51 may acquire the position information of the center in the width direction of the traveling body 11 (machine 12) as the position of the agricultural machine 2. However, the first control device 51 may also acquire the position of the agricultural machine 2 based on the sensing results of the first sensing device 54 (estimated position).

[0065] As shown in Figure 1, the agricultural machine 2 is equipped with a state detection device 56 that detects the state of each part of the agricultural machine 2. The state detection device 56 is communicatively connected to the first control device 51, and the first control device 51 can perform various controls and processes based on the detection results of the state detection device 56.

[0066] An example of a state detection device 56 is a material detection device 57. The material detection device 57 is a sensor for detecting whether or not the agricultural materials 4 held in the material holder 31 should be replenished. The material detection device 57 is provided, for example, in the material holding section 32 of the material holder 31. The material detection device 57 also detects the remaining amount of agricultural materials 4 held in the material holding section 32. For example, the material detection device 57 is composed of a contact sensor. Based on the detection result of the material detection device 57, the first control device 51 determines that if the remaining amount of agricultural materials 4 held in the material holding section 32 is below a predetermined level, it should replenish the materials in the material holding section 32.

[0067] The material detection device 57 only needs to be able to detect the remaining amount of agricultural material 4 held in the material holding section 32, and may use a sensor other than a contact sensor. For example, if the first sensing device 54 is capable of sensing the material holding body 31, the first sensing device 54 may also serve as the support detection device. The first control device 51 may determine whether or not to replenish the agricultural material 4 based on whether or not agricultural material 4 is present in a specific area of ​​the material holding section 32.

[0068] With the above configuration, when the first control device 51 determines that the remaining amount of agricultural materials 4 held in the material holder 31 (material holding section 32) has fallen below a predetermined amount, it requests the flight device 3 to replenish the agricultural materials 4 via the first communication device 53. The first control device 51 transmits a request signal to the flight device 3 directly or indirectly from the first communication device 53 to request the flight device 3 to replenish the agricultural materials 4.

[0069] When the first communication device 53 communicates indirectly with the flight device 3, the first communication device 53 performs wireless communication via a server device. For example, the request signal includes location information of the agricultural machine 2. In addition to the location information of the agricultural machine 2, the request signal may also include information that identifies the material holding unit 32 where the remaining amount of agricultural materials 4 is below a predetermined level. <Regarding flying device 3> The flying device 3 is an unmanned, unmanned aircraft capable of transporting agricultural materials 4. The flying device 3 can move independently of the agricultural machinery 2 and can resupply the agricultural machinery 2 with the transported agricultural materials 4. More specifically, the flying device 3 is a multi-rotor aircraft known as a drone. Figure 9 is a front view of the flying device 3.

[0070] As shown in Figure 9, the flying device 3 comprises a main body 61, a plurality of rotors 63, and a holding device 77. The main body 61 supports various devices and equipment of the flying device 3. A plurality of support arms 62 are connected to the main body 61, extending from the main body 61. The support arms 62 extend away from the main body 61 in a plan view. The plurality of support arms 62 extend radially from the main body 61 in a plan view. The support arms 62 extend horizontally outward from the main body 61.

[0071] Multiple rotors 63 are attached to the main body 61. The multiple rotors 63 can change the altitude of the main body 61. Specifically, the multiple rotors 63 can generate thrust by being driven. Therefore, the flight device 3 can move the main body 61 in a predetermined direction or change the altitude of the main body 61 using the multiple rotors 63.

[0072] Specifically, each of the multiple rotors 63 is attached to a support arm 62. Furthermore, the multiple rotors 63 generate lift to levitate the main body 61, thereby controlling the attitude of the main body 61. In a plan view, the multiple rotors 63 are positioned at equidistant locations from the center of the main body 61. It is positioned.

[0073] Furthermore, in this embodiment, each rotor 63 performs both lift generation and attitude control, but a plurality of rotors 63 may include a rotor 63 that generates lift and a rotor 63 that performs attitude control separately.

[0074] The rotor 63 has a rotating shaft 64 and blades 65. The rotating shaft 64 is a shaft that rotates due to power transmitted from the second power unit 66. The rotating shaft 64 extends in the vertical direction. The blades 65 are attached to the rotating shaft 64 and generate lift as the rotating shaft 64 rotates.

[0075] As shown in Figure 1, the flight device 3 is equipped with a second power unit 66. The second power unit 66 is a device capable of outputting power. The second power unit 66 includes one or more rotary motors 67 (electric motors), and generates power (rotational driving force) with these one or more rotary motors 67. These rotary motors 67 generate power to drive (rotate) the rotating shaft 64, and this power is transmitted to the rotating shaft 64. In this embodiment, the second power unit 66 includes a plurality of rotary motors 67 corresponding to each rotating shaft 64, and each of these rotating shafts 64 can be driven independently by its corresponding rotary motor 67.

[0076] As shown in Figure 9, the flight device 3 is equipped with skids 68. The skids 68 are attached to the lower part of the main body 61. The skids 68 have a plurality of leg members 69 that extend downward from the main body 61.

[0077] Multiple leg members 69 are provided on the main body 61. When the aircraft 3 lands, the multiple leg members 69 touch the ground, supporting the main body 61 by lifting it above the landing surface. The multiple leg members 69 are also spaced apart horizontally. The multiple leg members 69 are provided on one horizontal side and the other horizontal side of the main body 61.

[0078] The holding device 77 is a device capable of holding agricultural materials 4. The holding device 77 is located below the main body 61. Therefore, the holding device 77 can hold agricultural materials 4 at the lower part of the main body 61. The holding device 77 is provided between the skids 68 (multiple leg members 69). The flight device 3 transports agricultural materials 4 by flying with the holding device 77 holding the agricultural materials 4. The holding device 77 will be described in detail below, using the case where agricultural materials 4 are seedling mats 4A as an example.

[0079] The holding device 77 grips at least a portion of the agricultural material 4 (seedling mat 4A) and holds the agricultural material 4. The holding device 77 can also be switched between a holding state in which the agricultural material 4 is held and a release state in which the agricultural material 4 is released. The holding device 77 can grip at least a portion of the leaves and stems of the seedling 4a. The holding device 77 has a pair of gripping members 78 and a moving mechanism 79.

[0080] For example, the holding device 77 has multiple pairs of clamping members 78. Each pair of clamping members 78 is, for example, a plate-shaped member, and is arranged so that its plate surface faces left to right. The holding device 77 holds the agricultural material 4 with its long side 4b1 facing front to back. That is, the holding device 77 holds the agricultural material 4 with its short side 4b2 facing left to right.

[0081] The moving mechanism 79 is a mechanism that can move a pair of clamping members 78 in the approaching and separating directions. The moving mechanism 79 brings the pair of clamping members 78 closer together and switches the holding device 77 to the holding state. The moving mechanism 79 also separates the pair of clamping members 78 and switches the holding device 77 to the released state.

[0082] The moving mechanism 79 includes a first mechanism that brings a pair of clamping members 78 closer together to allow clamping of the leaves or stems of the seedling 4a, and a second mechanism that separates the pair of clamping members 78. The first and second mechanisms have a drive actuator 79a. The drive actuator 79a is, for example, an electric motor or an electric cylinder. Alternatively, the first and second mechanisms may have a biasing member such as a spring instead of a drive actuator 79a, and the holding state and / or release state may be maintained by a biasing force from the biasing member.

[0083] As shown in Figure 1, the flight device 3 has a second control device 81. The flight device 3 also has a second storage device 82. The second control device 81 includes one or more processors. This is a processing circuit. The second control device 81 is the controller of the flight device 3 and performs various controls related to the flight device 3. The second control device 81 is connected to each piece of equipment and device mounted on the flight device 3 in a communicative manner. For example, the second control device 81 controls the drive, stop, and rotation speed (lift) of each rotor 63. The second control device also controls the movement mechanism 79 to control the switching between the held state and the released state of the holding device 77.

[0084] The second control unit 81 includes one or more memories, various analog circuits, various digital circuits, etc. One or more memories store (remember) software programs and various data to be executed by one or more processors. The second control unit 81 can read software programs from one or more memories using one or more processors and execute various processes based on said software programs.

[0085] Furthermore, as described in the first control device 51, the second control device 81 may perform various processes based on predetermined logic circuits using one or more processors. Also, as described in the first control device 51, the second control device 81 may perform various processes by having multiple physically separated processors cooperate with each other, and its configuration is not limited to the configuration described above.

[0086] The second storage device 82 stores various types of information and data in a read-write manner. The second storage device 82 includes non-volatile memory such as an HDD or SSD. The second storage device 82 is communicated with the second control device 81, and the second control device 81 can acquire various types of information and data stored in the second storage device 82.

[0087] As shown in Figure 1, the flying device 3 is equipped with a second communication device 83. The second communication device 83 is the communication interface of the flying device 3 and includes a communication circuit. The second communication device 83 can communicate with other communication devices and inputs (sends and receives) various information, data, and signals. The second communication device 83 can communicate directly or indirectly with the agricultural machine 2 (first communication device 53). The second communication device 83 performs wireless communication via a mobile phone network, a data communication network, Bluetooth® Low Energy in the Bluetooth® specification of the IEEE 802.15.1 series of communication standards, Wi-Fi® in the IEEE 802.11.n series of communication standards, etc.

[0088] As shown in Figure 1, the flying device 3 is equipped with a second sensing device 84. The second sensing device 84 is a device that senses the environment around and below the flying device 3. The second sensing device 84 can sense at least the area in front of and below the main body 61. In this embodiment, the second sensing device 84 can sense the area around and below the main body 61. The second control device 81 can detect agricultural machinery 2, workers, obstacles, etc., based on the sensing results of the second sensing device 84. The second control device 81 may also estimate the position of the flying device 3 based on the sensing results (detected point cloud data) and environmental map information stored in the second storage device 82, etc.

[0089] The second sensing device 84 includes an optical distance measuring sensor and a signal processing circuit, etc. Examples of the optical distance measuring sensor in the second sensing device 84 include imaging devices such as lidar, CCD cameras, CMOS cameras, and ToF cameras. While the above example illustrates the case where the second sensing device 84 has an optical distance measuring sensor, an acoustic distance measuring sensor may be used instead.

[0090] As shown in Figure 1, the flight device 3 may be equipped with a second positioning device 85. The second positioning device 85 is a device that performs positioning (position detection) of the flight device 3. The second positioning device 85 receives satellite signals from a satellite positioning system using a GNSS antenna or GPS antenna and performs positioning of the flight device 3 using said satellite signals. In this embodiment, the second control device 81 will be described as acquiring the position of the flight device 3 (positioned position) based on the positioning results of the second positioning device 85 as the position of the flight device 3. Alternatively, the second control device 81 may acquire the position of the flight device 3 (estimated position) based on the sensing results of the second sensing device 84 as the position of the flight device 3.

[0091] As shown in Figure 1, the flight device 3 may be equipped with an attitude detection device 86 and an altitude detection device 87. The attitude detection device 86 is a device that detects the attitude of the flight device 3. 6 is an inertial measurement unit (IMU) that includes, for example, an acceleration sensor and a gyroscope. The attitude detection device 86 detects the tilt information (roll angle, pitch angle, and yaw angle) of the flight device 3. The altitude detection device 87 detects the altitude of the flight device 3. The altitude detection device 87 is, for example, a barometric pressure sensor.

[0092] Furthermore, the flight device 3 is equipped with a material detection device 88. The material detection device 88 is provided on the holding device 77 and detects the presence or absence of agricultural materials 4 (seedlings 4a of the seedling mat 4A) between the pair of clamping members 78. The material detection device 88 is a type of sensor that detects the presence or absence of seedlings 4a, and examples include photoelectric sensors and laser sensors.

[0093] With the above configuration, when the second communication device 83 receives a request signal and / or information based on the request signal from the first communication device 53, the second control device 81 transports the agricultural materials 4 based on the request signal, etc. For example, the flying device 3 heads towards the location where the agricultural materials 4 are stored (material storage area), picks up the agricultural materials 4 placed in the material storage area, and transports them by flight. The material storage area is the place where the agricultural materials 4 (seedling mats 4A) are placed before transport, and an example of this is the ridge surrounding the field.

[0094] Once the flying device 3 has secured the agricultural materials 4 with the holding device 77, it moves from the material storage area to the agricultural machine 2. At this time, the second control device 81 approaches the agricultural machine 2 from above based on the position of the agricultural machine 2 included in the request signal, and the position of the agricultural machine 2 newly received from the agricultural machine 2 after receiving the request signal. When the flying device 3 approaches the agricultural machine 2 from above, it performs an operation to replenish the agricultural materials 4 being transported to the agricultural machine 2 (replenishment operation) based on the sensing results of the second sensing device 84 and the relative distance between itself and the agricultural machine 2.

[0095] For example, during a replenishment operation, the flying device 3 may drop agricultural materials 4 onto the agricultural machine 2 while flying, thereby transferring the agricultural materials 4. Alternatively, during a replenishment operation, the flying device 3 may land on the agricultural machine 2 and transfer the agricultural materials 4 while it is landed. In this case, the agricultural machine 2 may be moving using the running gear 18. Alternatively, the agricultural machine 2 may be stopped with the running gear 18 not operating.

[0096] For the sake of explanation, the following description will focus on the case where a flying device 3, while in flight, drops agricultural materials 4 onto a moving agricultural machine 2, and the agricultural materials 4 are then transferred. <Regarding the supply support device 91> As shown in Figures 1 and 2, the agricultural machine 2 is equipped with a conveying device 95. The conveying device 95 is a device that receives agricultural materials 4 from the flying device 3 and is capable of conveying said agricultural materials 4. Furthermore, the conveying device 95 can convey the agricultural materials 4 received from the flying device 3 in the width direction of the aircraft. In this embodiment, the conveying device 95 is supplied with agricultural materials 4 from the flying device 3 while it is in flight.

[0097] As shown in Figures 1 and 2, the agricultural machine 2 is equipped with a supply mechanism 107. The supply mechanism 107 is a mechanism that supplies the agricultural materials 4 transported by the conveying device 95 to the material holder 31. In this way, the conveying device 95 transports the agricultural materials 4 in the width direction of the machine, and the supply mechanism 107 supplies the agricultural materials 4 to the material holder 31. Therefore, the material holder 31 can hold the agricultural materials 4 transported by the conveying device 95.

[0098] As shown in Figure 1, the conveying device 95 and the supply mechanism 107 are attached to the agricultural machine 2 by a support structure 92. The conveying device 95, the supply mechanism 107, and the support structure 92 constitute at least a part of the replenishment support device 91, which transfers agricultural materials 4 from the flying device 3 to the material holder 31. Figure 10 is a schematic plan view of the replenishment support device 91, and Figure 11 is a schematic rear view of the replenishment support device 91. The replenishment support device 91 will be described below mainly using Figures 4 to 8, 10, and 11, and the conveying device 95 and the supply mechanism 107 will be described in detail.

[0099] As shown in Figure 2, the agricultural machine 2 is equipped with a support structure 92. The support structure 92 is a structure that supports the conveying device 95. In this embodiment, the support structure 92 supports the supply mechanism 107 in addition to the conveying device 95. The support structure 92 is attached to the working device 21. Specifically, the support structure 92 is attached to the material holder 31. As a result, the conveying device 95 is attached to the material holder 31 (working device 21).

[0100] The support structure 92 supports the conveying device 95 above the material holder 31. The conveying device 95 is positioned above the material holder 31. In this embodiment, the conveying device 95 is positioned above the material holder 31 and on the front side of the material holder 31. Alternatively, the conveying device 95 may be positioned above the material holder 31 and on the rear side of the material holder 31.

[0101] As shown in Figures 4 to 8, the support structure 92 is attached to the work device 21 with a fixed relative position to the material holder 31 in the machine width direction. That is, the support structure 92 is attached to the work device 21 on the material holder 31 side of the connecting body 22. Specifically, the support structure 92 is attached to the guided portion 37 side of the connecting body 22. For example, the support structure 92 is directly attached to the material holder 31. However, the support structure 92 does not have to be directly attached to the material holder 31; for example, it may be attached to the guided portion 37.

[0102] As shown in Figures 4-8, 10, and 11, the support structure 92 has a mounting portion 93 and a support frame 94. The mounting portion 93 is the part that is attached to the material holder 31. The mounting portion 93 supports the other parts of the support structure 92. For example, the mounting portion 93 includes a first mounting portion 93A attached to one end (left end) of the material holder 31 in the machine width direction. The first mounting portion 93A extends from the lower end to the upper end at the left end of the material holder 31. The first mounting portion 93A is a plate-shaped member that extends upward from the left end of the material holder 31. The first mounting portion 93A extends upward from the material holder 31.

[0103] Furthermore, the mounting portion 93 includes a second mounting portion 93B attached to the other end (right end) of the material holder 31 in the machine width direction. The second mounting portion 93B extends from the lower end to the upper end at the right end of the material holder 31. The second mounting portion 93B is a plate-shaped member that extends upward from the right end of the material holder 31. The second mounting portion 93B extends upward from the material holder 31.

[0104] The support frame 94 directly or indirectly supports the conveying device 95. In this embodiment, the support frame 94 is composed of a long member and is arranged extending in the width direction of the machine. The support frame 94 is supported by the mounting portion 93. The support frame 94 is supported at both ends by the mounting portion 93 (first mounting portion 93A and second mounting portion 93B).

[0105] In the above description, the support structure 92 was described as being attached to the work device 21 with a fixed relative position to the material holder 31 in the width direction of the machine body. However, the support structure 92 may also be attached to the work device 21 with a fixed relative position to the machine body 12 in the width direction of the machine body. In such a case, the support structure 92 is attached to the work device 21 on the side of the connecting body 22 that is closer to the material holder 31. Specifically, the support structure 92 is attached to the side of the connecting body 22 that is closer to the guided portion 37. For example, the support structure 92 is attached to the connecting body 22.

[0106] As shown in Figures 10 and 11, the conveying device 95 has a support frame 96. The support frame 96 supports other devices and mechanisms of the conveying device 95. The support frame 96 is attached to the upper part of the support structure 92. In particular, the support frame 96 is fixed to the upper part of the support frame 94.

[0107] As shown in Figures 10 and 11, the conveying device 95 includes a drive device 97 and a rotating body 98. The drive device 97 is a device that generates driving force. The drive device 97 generates rotational driving force and drives the rotating body 98 with this rotational driving force. For example, the drive device 97 has a conveying motor 97a as a power source. Examples of conveying motors 97a include electric actuators and hydraulic actuators. The drive device 97 has a transmission shaft that transmits the rotational driving force generated by the conveying motor 97a to the rotating body 98.

[0108] In this embodiment, the drive unit 97 has an electric motor as the transport motor 97a. The transport motor 97a generates rotational driving force by supplied power and is capable of changing the direction of rotation. The transport motor 97a (drive unit 97) is controlled by the first control device 51. The drive unit 97 is attached to the erection frame 96.

[0109] The rotating body 98 rotates due to the driving force generated by the drive unit 97, and conveys the agricultural materials 4 in the width direction of the machine. The rotating body 98 can rotate around an axis that intersects the width direction of the machine. Therefore, the rotating body 98 receives agricultural materials 4 from the flying device 3 and rotates to transport the agricultural materials 4 in the width direction of the aircraft. The rotating body 98 is attached to the erection frame 96.

[0110] Furthermore, as shown in Figures 5, 6-8, 10, and 11, the rotating body 98 is positioned across the material holder 31 from one end to the other in the machine width direction. The left end of the rotating body 98 in the machine width direction is located one side (to the left) further in the machine width direction than the left end of the material holder 31 in the machine width direction. The right end of the rotating body 98 in the machine width direction is located one side (to the right) further in the machine width direction than the right end of the material holder 31 in the machine width direction.

[0111] More specifically, one end (left end) of the rotating body 98 in the machine width direction is located to the left of the partition guide 33 located at the other end (right end) of the material holder 31 in the machine width direction. The other end (right end) of the rotating body 98 in the machine width direction is located to the right of the partition guide 33 located at the other end (right end) of the material holder 31 in the machine width direction.

[0112] As shown in Figures 10 and 11, the rotating body 98 has a drive wheel 99, a driven wheel 100, and an endless belt 101 (conveyor belt). The belt 101 is wrapped around the drive wheel 99 and the driven wheel 100.

[0113] The drive wheel 99 is driven by the transmission of driving force from the drive unit 97. The drive wheel 99 is connected to the transmission shaft of the drive unit 97. The drive wheel 99 is supported by the erection frame 96. In this embodiment, the drive wheel 99 is located on one side (left side) of the machine width direction of the conveying device 95 (erection frame 96).

[0114] The rotation axis 99a (first axis) of the drive wheel 99 is oriented in a direction intersecting the machine width direction. Specifically, the rotation axis 99a of the drive wheel 99 is oriented in a direction intersecting the machine width direction and the vertical direction. In this embodiment, the rotation axis 99a of the drive wheel 99 is oriented in the front-rear direction.

[0115] The driven wheel 100 moves in conjunction with the drive wheel 99. Unlike the drive wheel 99, the driven wheel 100 is not connected to the transmission shaft of the drive unit 97. The driven wheel 100 is rotatably mounted relative to the erection frame 96. In this embodiment, the driven wheel 100 is located on the other side (right side) in the width direction of the conveying device 95 (erection frame 96).

[0116] The rotation axis 100a of the driven wheel 100 is parallel to the rotation axis 99a of the drive wheel 99. The rotation axis 100a (second axis) of the driven wheel 100 is oriented in a direction that intersects the machine width direction. Specifically, the rotation axis 100a of the driven wheel 100 is oriented in a direction that intersects the machine width direction and the vertical direction. In this embodiment, the rotation axis 100a of the driven wheel 100 is oriented in the front-rear direction.

[0117] The belt 101 is a belt-shaped body (conveyor) configured in a loop shape (endless shape). The belt 101 is wrapped around (stretched over) the drive wheel 99 and the driven wheel 100. The belt 101 is made of an elastic material such as rubber. The belt 101 may be arranged overlapping with the material holder 31 (material holding part 32) in the front-rear direction, or it may be arranged slightly apart. In this embodiment, the rear end of the belt 101 overlaps with the front end of the material holder 31 (material holding part 32) in the front-rear direction.

[0118] Agricultural materials 4, which have been handed over from the flying device 3, are placed on the belt 101. The agricultural materials 4 are placed on the belt 101 such that their long side 4b1 coincides with the front-to-back direction and their short side 4b2 coincides with the aircraft width direction. Therefore, the axial length L1 of the belt 101's rotation axis is longer than the length of the long side 4b1 of the agricultural materials 4. As a result, the agricultural materials 4 placed on the belt 101 are positioned inside the range from the front end to the rear end of the belt 101 in a plan view.

[0119] Furthermore, as shown in Figures 5, 6 to 8, the belt 101 is arranged from one end to the other in the machine width direction of the material holder 31. The end of the belt 101 in the machine width direction (left end) is located one side (to the left) of the end of the material holder 31 in the machine width direction. The other end of the belt 101 in the machine width direction (right end) is, It is located to the right of the other end (right end) in the aircraft width direction of the material holder 31.

[0120] More specifically, one end (left end) of the belt 101 in the machine width direction is located to the left of the partition guide 33 located at one end of the material holder 31 in the machine width direction. The other end (right end) of the belt 101 in the machine width direction is located to the right of the partition guide 33 located at the other end (right end) of the material holder 31 in the machine width direction.

[0121] In this embodiment, the rotation axis 99a (first axis) of the drive wheel 99 is located to the left of one end (left end) in the machine width direction of the material holder 31. The rotation axis 100a (second axis) of the driven wheel 100 is located to the right of the other end (right end) in the machine width direction of the material holder 31.

[0122] More specifically, the rotation axis 99a (first axis) of the drive wheel 99 is located to the left of the partition guide 33 located at one end of the material holder 31 in the machine width direction. The rotation axis 100a (second axis) of the driven wheel 100 is located to the right of the partition guide 33 located at the other end of the material holder 31 in the machine width direction.

[0123] Furthermore, if the drive wheel 99 is located on the other side (right) in the machine width direction and the driven wheel 100 is located on one side (left) in the machine width direction, the rotation axis 100a (second axis) of the driven wheel 100 is located to the left of one end (left end) in the machine width direction of the material holder 31. The rotation axis 99a (first axis) of the drive wheel 99 is located to the right of the other end (right end) in the machine width direction of the material holder 31.

[0124] More specifically, the rotation axis 100a (second axis) of the driven wheel 100 is located to the left of the partition guide 33 located at one end of the material holder 31 in the machine width direction. The rotation axis 99a (first axis) of the drive wheel 99 is located to the right of the partition guide 33 located at the other end of the material holder 31 in the machine width direction.

[0125] With the above configuration, the first control device 51 can change the direction of transport of agricultural materials 4 by changing the direction of rotational drive of the drive device 97 (transport motor 97a). For example, when the transport motor 97a is driven to rotate in one direction, the belt 101 rotates counterclockwise when viewed from the rear, and the agricultural materials 4 placed on the upper surface of the belt 101 can be transported to one side (left side) in the width direction of the machine. Also, when the transport motor 97a is driven to rotate in another direction, the belt 101 rotates clockwise when viewed from the rear, and the agricultural materials 4 placed on the upper surface of the belt 101 can be transported to the other side (right side) in the width direction of the machine.

[0126] As shown in Figure 11, the conveying device 95 has a tension adjustment mechanism 102. The tension adjustment mechanism 102 is a mechanism for adjusting the tension of the belt 101. In this embodiment, the tension adjustment mechanism 102 has an adjustment wheel 103 around which the belt 101 is wrapped, and the tension acting on the belt 101 is adjusted by moving the adjustment wheel 103.

[0127] Specifically, the tension adjustment mechanism 102 includes a fixed member 104 and a movable member 105. The fixed member 104 is a bracket fixed to the erection frame 96. Therefore, the relative position of the fixed member 104 with respect to the drive wheel 99 and the driven wheel 100 is fixed. The fixed member 104 movably supports the movable member 105.

[0128] The movable member 105 is a member that rotatably supports the adjustment wheel 103. The movable member 105 is movable relative to the fixed member 104. The movable member 105 is movable relative to the fixed member 104 in a predetermined adjustment direction. Specifically, the movable member 105 is movable relative to the fixed member 104 in a direction R1 (first direction) away from the rotation center of the belt 101 and in a direction R2 (second direction) approaching the rotation center of the belt 101.

[0129] The movable member 105 is movable in a direction intersecting the imaginary line VL connecting the rotation axis 99a (first axis) of the drive wheel 99 and the rotation axis 100a (second axis) of the driven wheel 100. Therefore, in the example shown in Figure 11, the movable member 105 is movable vertically relative to the fixed member 104. For example, guides such as elongated holes or ribs extending in the adjustment direction are formed in either the fixed member 104 or the movable member 105, and the fixed member 104 can move in the adjustment direction along these guides.

[0130] The adjustment wheel 103 is rotatably mounted on the movable member 105. In this embodiment, the adjustment wheel 103 is positioned between the drive wheel 99 and the driven wheel 100. The rotation axis 103a of the adjustment wheel 103 is parallel to the rotation axes 100a of the drive wheel 99 and the driven wheel 100. The rotation axis 103a (third axis) of the adjustment wheel 103 is oriented in a direction intersecting the machine width direction. Specifically, the rotation axis 103a of the adjustment wheel 103 is oriented in a direction intersecting the machine width direction and the vertical direction. In this embodiment, the rotation axis 103a of the adjustment wheel 103 is oriented in the front-rear direction.

[0131] As shown in Figures 1 and 11, the tension adjustment mechanism 102 has a movable actuator 106. The movable actuator 106 moves the movable member 105 relative to the fixed member 104. The movable actuator 106 can be an electric actuator, a hydraulic actuator, or the like, and in this embodiment, it is an electric cylinder. One end of the movable actuator 106 is connected to the fixed member 104, and the other end of the movable actuator 106 is connected to the movable member 105.

[0132] Therefore, when the movable actuator 106 extends, the movable member 105 can be moved in the first direction R1, and when the movable actuator 106 retracts, the movable member 105 can be moved in the second direction R2. The tension adjustment mechanism 102 (movable actuator 106) is controlled by the first control device 51.

[0133] With the above configuration, when the adjustment wheel 103 is moved in the first direction R1, the rotational axis 103a (third axis) of the adjustment wheel 103 moves from the imaginary line VL side to the belt 101 side. This increases the tension of the belt 101 (the belt 101 becomes taut). Also, when the adjustment wheel 103 is moved in the second direction R2, the rotational axis 103a (third axis) of the adjustment wheel 103 moves from the belt 101 side to the imaginary line VL side. This decreases the tension of the belt 101 (the belt 101 becomes loose).

[0134] In addition, although the tension adjustment mechanism 102 described above adjusts the tension of the belt 101 by moving the adjustment wheel 103, the tension of the belt 101 may also be adjusted by moving the drive wheel 99 and / or the driven wheel 100.

[0135] The supply mechanism 107 supplies agricultural materials 4 placed on the conveying device 95 to the material holder 31. For example, the supply mechanism 107 pushes the agricultural materials 4, which are placed on the rotating body 98 (belt 101), off the rotating body 98, thereby sending the agricultural materials 4 to the material holder 31 located below the rotating body 98. The supply mechanism 107 may also supply agricultural materials 4 to the material holder 31 located below the conveying device 95 by swinging the conveying device 95 toward the material holder 31. For the sake of explanation, the supply mechanism 107 will be described below using a mechanism that pushes agricultural materials 4 off the conveying device 95 (rotating body 98) as an example.

[0136] As shown in Figures 10 and 11, the supply mechanism 107 is supported by the support structure 92. The supply mechanism 107 is located on the opposite side of the material holder 31 from the perspective of the conveying device 95. That is, in this embodiment, the supply mechanism 107 is located in front of the conveying device 95. However, if the conveying device 95 is located behind the material holder 31, the supply mechanism 107 may be located in front of the conveying device 95.

[0137] The supply mechanism 107 has a delivery section 108. The delivery section 108 is the part that pushes the agricultural materials 4 on the belt 101 off the belt 101 by moving in a direction that intersects the width direction of the machine body. In this embodiment, the delivery section 108 pushes the agricultural materials 4 on the belt 101 by moving in the front-rear direction.

[0138] The delivery unit 108 is positioned on the upper side of the belt 101 (on the upper surface or slightly above the belt 101). The delivery unit 108 is formed to a length that allows it to push the agricultural materials 4 on the belt 101 backward. In this embodiment, the delivery unit 108 is formed to the length from one end to the other in the width direction of the machine body of the material holder 31. The delivery unit 108 is movable in the front-rear direction on the upper side of the belt 101. For this reason, in the example shown in Figures 10 and 11, As the protruding part 108 moves backward, the agricultural materials 4 on the belt 101 can be pushed towards the material holder 31 (material holder part 32).

[0139] As shown in Figures 1 and 10, the supply mechanism 107 has a delivery actuator 109. The delivery actuator 109 moves the delivery unit 108 in a direction intersecting the width direction of the machine body. The delivery actuator 109 can be an electric actuator, a hydraulic actuator, or the like, and in this embodiment, it is an electric cylinder. One end of the delivery actuator 109 is connected to the main body of the supply mechanism 107, and the other end of the delivery actuator 109 is connected to the delivery unit 108. Therefore, when the delivery actuator 109 extends, the delivery unit 108 can be moved backward, and when the delivery actuator 109 retracts, the delivery unit 108 can be moved forward. The supply mechanism 107 (delivery actuator 109) is controlled by the first control device 51.

[0140] With the above configuration, the first control device 51 controls the delivery actuator 109 to move the delivery unit 108, thereby pushing the agricultural materials 4 transported by the conveying mechanism toward the material holding unit 32.

[0141] The supply mechanism 107 described above is merely an example and is not limited thereto. The supply mechanism 107 may have a delivery unit 108 and a delivery actuator 109 corresponding to each material holding unit 32. In such a case, the multiple delivery units 108 and delivery actuators 109 are arranged side by side in the width direction of the machine body, and the first control device 51 can control each delivery unit 108 independently.

[0142] Next, the control of the replenishment support device 91 will be explained. When the transport device 95 receives agricultural materials 4 from the flight device 3, the first control device 51 controls the transport device 95 to move the agricultural materials 4 to one of the multiple material holding units 32. The first control device 51 controls the transport device 95 to transport the agricultural materials 4 in the width direction of the aircraft, thereby moving the position of the agricultural materials 4 to a replenishment position (supply position) corresponding to a predetermined material holding unit 32.

[0143] As shown in Figure 1, the agricultural machine 2 is equipped with a position detection device 110. This device detects the position in the width direction of the machine body of the agricultural material 4 received by the conveying device 95. The position detection device 110 detects the position in the width direction of the machine body of the agricultural material 4 placed on the rotating body 98 (belt 101). The position detection device 110 is communicatively connected to the first control device 51 and can output the detection result to the first control device 51. Based on the detection result output from the position detection device 110, the first control device 51 obtains the position in the width direction of the machine body of the agricultural material 4 placed on the rotating body 98 (belt 101).

[0144] The position detection device 110 is provided, for example, on the conveying device 95. The position detection device 110 can detect the position of agricultural materials 4 by detecting the presence or absence of agricultural materials 4 at each replenishment position corresponding to each material holding unit 32. The position detection device 110 is a type of sensor that detects the presence or absence of seedlings 4a, and examples include photoelectric sensors and laser sensors. Based on this, the first control device 51 acquires the position of the agricultural materials 4 placed on the belt 101 based on the detection result of the position detection device 110, and controls the conveying device 95 based on the position of the agricultural materials 4. The control device controls the conveying device 95 based on the position of the agricultural materials 4 and moves the agricultural materials 4 to the replenishment position corresponding to the material holding unit 32 where the remaining amount is below a predetermined level.

[0145] For example, if the position of the agricultural material 4 detected by the position detection device 110 is located on one side in the width direction of the machine at the replenishment location, the first control device 51 controls the conveying device 95 based on the position of the agricultural material 4 and rotates the belt 101 counterclockwise. As a result, the conveying device 95 conveys the agricultural material 4 placed on the upper surface of the belt 101 to one side (the left side) in the width direction of the machine, and can transport the agricultural material 4 to the replenishment location.

[0146] On the other hand, if the position of the agricultural material 4 detected by the position detection device 110 is located on the other side in the width direction of the machine body from the replenishment position, the first control device 51 controls the conveying device 95 based on the position of the agricultural material 4 and rotates the belt 101 clockwise. As a result, the conveying device 95 conveys the agricultural material 4 placed on the upper surface of the belt 101 to the other side (right side) in the width direction of the machine body, and can transport the agricultural material 4 to the replenishment position.

[0147] Figures 10 and 11 show the case where agricultural materials 4 are located at a predetermined supply location. As shown in Figures 10 and 11, the replenishment position is the position where the center of the agricultural material 4 in the machine width direction coincides with the center of the predetermined material holding section 32 in the machine width direction. Specifically, the replenishment position is the position where the center of the agricultural material 4 in the machine width direction coincides with the center of the partition guides 33 of the predetermined material holding section 32 in the machine width direction (left-right direction).

[0148] The replenishment positions corresponding to each material holding section 32 are pre-stored in the first storage device 52. Therefore, the first control device 51 can transport the agricultural materials 4 to the replenishment position corresponding to the material holding section 32 where the remaining amount of agricultural materials 4 is below a predetermined level by controlling the transport device 95 based on the detection result of the position detection device 110 and the replenishment position. When the agricultural materials 4 are located at the replenishment position corresponding to one material holding section 32, the center of the agricultural materials 4 in the machine width direction coincides with the center of the predetermined material holding section 32 in the machine width direction. Therefore, the agricultural materials 4 can be supplied (replenished) to the material holding section 32 by sending out the agricultural materials 4 placed on the rotating body 98 (belt 101) by the supply mechanism 107.

[0149] Furthermore, the first control device 51 may control the tension adjustment mechanism 102 when agricultural materials 4 are placed on the belt 101. In other words, the tension adjustment mechanism 102 adjusts the tension of the belt 101 when agricultural materials 4 are placed on the belt 101. The first control device 51 also changes the tension of the belt 101 when agricultural materials 4 are supplied from the flight device 3 and when agricultural materials 4 are transported by the transport device 95.

[0150] For example, the first control device 51 lowers the tension of the belt 101 when the agricultural materials 4 are supplied from the flying device 3 compared to when the agricultural materials 4 are supplied by the conveying device 95. In other words, the first control device 51 increases the tension of the belt 101 when the agricultural materials 4 are supplied by the conveying device 95 compared to when the agricultural materials 4 are supplied from the flying device 3.

[0151] Therefore, when agricultural materials 4 are supplied from the flight device 3, the first control device 51 controls the tension adjustment mechanism 102 to decrease the tension of the belt 101. For example, the tension adjustment mechanism 102 moves the adjustment wheel 103 to a predetermined first position. On the other hand, when agricultural materials 4 are transported by the transport device 95, the first control device 51 controls the tension adjustment mechanism 102 to increase the tension of the belt 101. The tension adjustment mechanism 102 moves the adjustment wheel 103 to a predetermined second position. The second position is further from the center of rotation of the belt 101 than the first position. In other words, the first position is closer to the center of rotation of the belt 101 (virtual line VL) than the second position. The first and second positions are pre-stored in the first storage device 52, and the first control device 51 controls the moving actuator 106 based on the first and second positions.

[0152] The first and second positions may be changed as appropriate by a predetermined input interface or the like that can communicate with the first control device 51.

[0153] In this embodiment, the first control device 51 receives signals from the flight device 3 via the first communication device 53 indicating the start and end of the supply of agricultural materials 4, and controls the tension adjustment mechanism 102.

[0154] As described above, the tension adjustment mechanism 102 can reduce the tension of the belt 101 when agricultural materials 4 are supplied to the belt 101 from the flying device 3. Furthermore, the tension adjustment mechanism 102 can increase the tension of the belt 101 when agricultural materials 4 are placed on the belt 101 and the belt 101 is transporting the agricultural materials 4.

[0155] Figure 12 illustrates an example of a series of steps for supplying agricultural materials 4 in the work system 1. Each step in Figure 12 is executed by the first control device 51 according to a software program stored in memory or the first storage device 52, or by the second control device 81 according to a software program stored in memory or the second storage device 82. The first control device 51 determines whether the remaining amount of agricultural materials 4 held in the material holder 31 (material holding section 32) has fallen below a predetermined level (S1). If the first control device 51 determines that the remaining amount of agricultural materials 4 held in any of the material holding sections 32 has fallen below a predetermined level (S1: Yes), it requests the aircraft 3 to replenish the agricultural materials 4 via the first communication device 53 (S2). The first communication device 53 transmits a request signal to the aircraft 3 directly or indirectly.

[0156] When the second communication device 83 receives a request signal and / or information based on the request signal from the first communication device 53, the flying device 3 transports the agricultural materials 4 based on the request signal, etc. (S3). The flying device 3 heads towards the location where the agricultural materials 4 are stored (material storage area), picks up the agricultural materials 4 that are placed in the material storage area, and transports them by flight. Based on the position of the agricultural machine 2 included in the request signal, and the position of the agricultural machine 2 newly received from the agricultural machine 2 after receiving the request signal, the flying device 3 approaches the agricultural machine 2 from above. At this time, the second control device 81 notifies the agricultural machine 2 that it has approached it. The second communication device 83 transmits, for example, a notification signal to the first communication device 53 notifying it of its approach to the agricultural machine 2 from above.

[0157] When the first control device 51 recognizes the approach of the flying device 3 (S4: Yes), it controls the tension adjustment mechanism 102 to reduce the tension of the belt 101 (S5). Specifically, the first control device 51 obtains the first position stored in the first memory device 52 and moves the adjustment wheel 103 to the first position by controlling the moving actuator 106. Once the adjustment wheel 103 is moved to the first position, the first control device 51 instructs the flying device 3 to supply the agricultural materials 4. The first communication device 53 transmits, for example, a start signal to the second communication device 83 indicating the start of dropping the agricultural materials 4.

[0158] When the second control device 81 recognizes that the tension of the belt 101 has decreased (S6: Yes), it aligns the flight device 3 with the conveying device 95 (S7). Specifically, when the second control device 81 receives a start signal and recognizes that the tension of the belt 101 has decreased, it aligns with the conveying device 95 based on the sensing results of the second sensing device 84 and the relative distance between itself and the agricultural machine 2.

[0159] The second control device 81 aligns the flight device 3 and the transport device 95 (S7), then controls the holding device 77 to drop the agricultural materials 4 (S8). As a result, the agricultural materials 4 dropped from the holding device 77 are placed on the rotating body 98 (belt 101). Therefore, the transport device 95 is supplied with agricultural materials 4 from the flight device 3 while it is in flight.

[0160] When the second control device 81 drops the agricultural materials 4 (S8), it controls the multiple rotors 63 to depart from above the agricultural machine 2 (S9). At this time, the second control device 81 notifies the agricultural machine 2 that it has supplied the agricultural materials 4 to the transport device 95 and / or that it is departing from above the agricultural machine 2 (transport device 95). The second communication device 83 transmits a departure signal to the first communication device 53, for example, indicating the completion of the supply of agricultural materials 4 and the takeoff from above the agricultural machine 2 (transport device 95).

[0161] When the first control device 51 recognizes that agricultural materials 4 have been supplied from the flight device 3 (S10: Yes), it controls the tension adjustment mechanism 102 to increase the tension of the belt 101 (S11). When the first control device 51 receives a release signal and recognizes that agricultural materials 4 have been supplied to the conveying device 95, it increases the tension of the belt 101. Specifically, the first control device 51 acquires the second position stored in the first memory device 52 and moves the adjustment wheel 103 from the first position to the second position by controlling the moving actuator 106.

[0162] Furthermore, when the first control device 51 increases the tension of the belt 101 (S11), it controls the conveying device 95 to transport the agricultural materials 4 to a replenishment position corresponding to the material holding unit 32 where the remaining amount of agricultural materials 4 has fallen below a predetermined level (S12).

[0163] When the first control device 51 transports the agricultural materials 4 to the supply position (S12), it controls the supply mechanism 107 to transfer the agricultural materials 4 received by the transport device 95 to the material holding unit 32 (S13). As the first control device 51 controls the supply mechanism 107, the agricultural materials 4 placed on the rotating body 98 (belt 101) are transferred from the rotating body 98 (belt 101) to the material holding unit 32 (material holder 31).

[0164] The sequence of steps for supplying agricultural materials 4, as described using Figure 12, is merely an example and is not limited thereto. For example, in the example shown in Figure 12, the first control device 51 controlled the tension adjustment mechanism 102 to reduce the tension of the belt 101 after recognizing the approach of the flying device 3. However, the tension of the belt 101 may be reduced before the flying device 3 approaches the agricultural machine 2, for example, between S2 and S4. <Regarding variations of the rotating body 98> In the embodiment described above, the rotating body 98 of the conveying device 95 has one belt 101, and the delivery unit 108 of the supply mechanism 107 pushes the agricultural materials 4 on the belt 101 to supply the agricultural materials 4 to the material holder 31 located below the belt 101. However, the configuration of the conveying device 95 (rotating body 98) is not limited to the example described above. For example, the conveying device 95 may have a pair of belts 101, and the delivery unit 108 of the supply mechanism 107 may drop the agricultural materials 4 on the pair of belts 101 from between the pair of belts 101 to supply the agricultural materials 4 to the material holder 31 located below the pair of belts 101.

[0165] Figure 13 is a schematic plan view of the supply assistance device 91 in the first modified example. As shown in Figure 13, the rotating body 98 has a pair of belts 101. The pair of belts 101 are belt-shaped bodies (conveyors) configured in a loop shape (endless shape). The pair of belts 101 are wrapped around (stretched over) the drive wheel 99 and the driven wheel 100, respectively. The pair of belts 101 are also wrapped around the adjustment wheel 103, respectively. The pair of belts 101 are spaced apart in the axial direction of the rotation axis. In this embodiment, the pair of belts 101 are spaced apart in the front-rear direction.

[0166] The pair of belts 101 work together to carry agricultural materials 4 that have been handed over from the flying device 3. The agricultural materials 4 are placed on the pair of belts 101 such that their long sides 4b1 coincide in the front-to-back direction and their short sides 4b2 coincide in the aircraft width direction. For this reason, the length L2 of one end (front end) of belt 101A on one side (front side) of the pair of belts 101 (rear side) is longer than the length of the long side 4b1 of the agricultural materials 4. As a result, the agricultural materials 4 placed on the belts 101 are positioned inward from the front end of the front belt 101 to the rear end of the rear belt 101 in a plan view.

[0167] Furthermore, as shown in Figure 13, the axial separation distance D1 between the rotational axes of the pair of belts 101 is slightly shorter than the length of the long side 4b1 of the agricultural material 4. Therefore, by moving the delivery section 108 of the supply mechanism 107, the agricultural material 4 can be pushed out from the top of either belt 101 of the pair of belts 101, causing the agricultural material 4 to fall between the pair of belts 101.

[0168] The belts 101 may be made of different materials. For example, the belt 101 on the side of the feed unit 108 may be made of a material with a higher coefficient of friction than the belt 101 on the opposite side of the feed unit 108. In the example shown in Figure 13, the front belt 101A of the pair of belts 101 is made of a material with a higher coefficient of friction than the rear belt 101B.

[0169] This allows the agricultural materials 4 to be smoothly dropped from the belt 101 on the opposite side of the delivery unit 108 when the agricultural materials 4 are pushed out from the belt 101 on the delivery unit 108 side. (Regarding other variations) In the embodiments described above, the case in which agricultural material 4 is a seedling mat 4A and agricultural machinery 2 is a rice transplanter 2A was explained as an example. However, agricultural material 4 is not limited to seedling mat 4A, and agricultural machinery 2 is not limited to rice transplanter 2A. For example, agricultural material 4 may be a plant mat (a mat on which plants such as vegetable seedlings and scions have been grown). Agricultural material 4 may also be a fluid solid (granular material, etc.). Examples of granular agricultural material 4 include granular preparations and seeds. Granular preparations include preparations in which pesticides and fertilizers have been processed into granules. When agricultural material 4 is a solid such as granular material, the flying device 3 transports the agricultural material 4 in a container or the like. Other examples of agricultural machinery 2 include vegetable transplanters, fertilizer spreaders, seeders, pesticide spreaders, and sprayers that perform work with any of these agricultural materials 4.

[0170] In the embodiment described above, the case in which the agricultural machine 2 is operated by manual operation by an operator seated in the driver's seat 13 was explained. However, the agricultural machine 2 may also be operated by remote operation control, in which an operator at a remote location manually operates a remote control device. Furthermore, the agricultural machine 2 may also be operated by automatic operation control, in which it autonomously drives and steers without manual operation by an operator, or by automatic steering control, in which it autonomously steers without manual operation by an operator. Note that when the agricultural machine 2 is operated by automatic operation control, remote operation control, etc., it does not need to be equipped with a driver's seat 13, an operating device 14, etc.

[0171] In the embodiment described above, the case in which the work device 21 is positioned behind the traveling body 11 (machine body 12) was explained, but the position of the work device 21 is not limited to behind the traveling body 11 (machine body 12). For example, the work device 21 may be positioned in front of the traveling body 11 (machine body 12), to the left of the traveling body 11 (machine body 12), or to the right of the traveling body 11 (machine body 12).

[0172] In the above-described embodiment, the case was explained in which the flying device 3 replenishes (transports) agricultural materials 4 in response to a request (request signal) from the agricultural machine 2. However, a work plan (planting plan) may be defined in advance in a server device or the like, and the replenishment (transportation) of agricultural materials 4 may be performed based on that work plan. Alternatively, an operator may request the flying device 3 to replenish (transport) agricultural materials 4 by operating a predetermined input interface, and the trigger for starting the replenishment operation is not particularly limited.

[0173] In the embodiments described above, the case in which the rotating body 98 of the conveying device 95 has one driven wheel 100 was explained as an example, but the rotating body 98 may have multiple driven wheels 100. In such a case, the drive wheel 99 may be arranged between the multiple driven wheels 100. Furthermore, the rotating body 98 may have a rolling wheel arranged between the drive wheel 99 and the driven wheel 100, and the configuration of the rotating body 98 is not particularly limited.

[0174] In the embodiments described above, the example of a conveying device 95 being composed of a belt conveyor was explained, but the configuration of the conveying device 95 may be appropriately changed depending on the agricultural material 4 being conveyed. For example, if the agricultural material 4 is a solid that does not have fluidity, such as seedling mat 4A, the conveying device 95 may be composed of a roller conveyor instead of a belt conveyor. If the agricultural material 4 is a solid that has fluidity (granular material, etc.), the conveying device 95 may be composed of a screw conveyor.

[0175] A preferred embodiment of the present invention provides the agricultural machinery 2 described in the following items. (Item 1) The agricultural machine 2 comprises an aircraft body 12, a transport device 95 capable of receiving agricultural materials 4 from a flying device 3 and transporting said agricultural materials 4, a material holder 31 extending in the width direction of the aircraft body 12 and capable of holding the agricultural materials 4 transported by the transport device 95, and a work unit 41 that performs work using the agricultural materials 4 held by the material holder 31, wherein the transport device 95 transports the agricultural materials 4 received from the flying device 3 in the width direction of the aircraft body.

[0176] According to the agricultural machinery 2 related to item 1, agricultural materials 4 received from the flying device 3 can be transported to an appropriate position in the width direction of the aircraft. (Item 2) The conveying device 95 is the agricultural machine 2 described in item 1, which is positioned above the material holder 31.

[0177] According to the agricultural machinery 2 described in item 2, the conveying device 95 can easily transfer the agricultural materials 4 received from the flying device 3 to the material holder 31. (Item 3) The material holder 31 has a plurality of material holding sections 32 arranged in the width direction of the aircraft body, each capable of holding the agricultural materials 4 transported by the transport device 95, and the transport device 95 moves the agricultural materials 4 received from the flying device 3 to one of the plurality of material holding sections 32, as described in item 1.

[0178] According to the agricultural machinery 2 related to item 3, the conveying device 95 can easily transport the agricultural materials 4 to the material holding section 32 that requires the agricultural materials 4. (Item 4) The transport device 95 is an agricultural machine 2 according to any one of items 1 to 3, which is supplied with agricultural materials 4 from the flying device 3 while in flight.

[0179] According to the agricultural machinery 2 described in item 4, the flying device 3 delivers agricultural materials 4 to the receiving unit without landing on the agricultural machinery 2, so that the agricultural machinery 2 can quickly receive the agricultural materials 4 from the flying device 3. (Item 5) The agricultural machine 2 according to any one of items 1 to 4, wherein the conveying device 95 comprises a drive device 97 that generates a driving force, and a rotating body 98 that rotates by the driving force generated by the drive device 97 and conveys the agricultural materials 4 in the width direction of the machine body.

[0180] According to the agricultural machinery 2 related to item 5, the drive unit 97 drives the rotating body 98, and the rotating body 98 transports the agricultural materials 4, so the agricultural materials 4 can be transported without the operator manually driving the rotating body 98. (Item 6) The rotating body 98 is arranged from one end to the other in the width direction of the material holder 31, in the agricultural machine 2 as described in item 5.

[0181] According to the agricultural machinery 2 related to item 6, the rotating body 98 (conveying device 95) can convey agricultural materials 4 to all material holders 31 arranged in the width direction of the machine body. (Item 7) The agricultural machine 2 according to item 5 or 6, wherein the rotating body 98 has a drive wheel 99 to which driving force is transmitted from the drive device 97, a driven wheel 100 that moves with the drive wheel 99, and an endless belt 101 wrapped around the drive wheel 99 and the driven wheel 100.

[0182] According to the agricultural machinery 2 related to item 7, since the belt 101 receives agricultural materials 4, when the belt 101 receives the agricultural materials 4 between the drive wheel 99 and the driven wheel 100, the impact of the falling agricultural materials 4 can be mitigated. (Item 8) The agricultural machine 2 according to item 7, wherein the conveying device 95 has a tension adjustment mechanism 102 for adjusting the tension of the belt 101.

[0183] According to the agricultural machinery 2 related to item 8, the impact of the falling agricultural materials 4 can be appropriately mitigated by adjusting the tension of the belt 101 with the tension adjustment mechanism 102. (Item 9) The tension adjustment mechanism 102 adjusts the tension of the belt 101 when the agricultural material 4 is placed on the belt 101, as described in item 8 of the agricultural machine 2.

[0184] According to the agricultural machinery 2 related to item 9, the impact of falling agricultural materials 4 can be appropriately mitigated. (Item 10) The agricultural machine 2 according to item 9, wherein the tension adjustment mechanism 102 reduces the tension of the belt 101 when the agricultural material 4 is supplied to the belt 101 from the flying device 3, and increases the tension of the belt 101 when the agricultural material 4 is placed on the belt 101 and the belt 101 is transporting the agricultural material 4.

[0185] According to the agricultural machinery 2 related to item 10, the impact of falling agricultural materials 4 can be reliably mitigated. (Item 11) The agricultural machine 2 according to any one of items 1 to 10, further comprising a supply mechanism 107 that supplies the agricultural materials 4 transported by the transport device 95 to the material holder 31.

[0186] According to the agricultural machinery 2 related to item 11, the agricultural materials 4 transported by the conveying device 95 can be smoothly supplied to the material holder 31.

[0187] 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]

[0188] 2: Agricultural machinery 3: Flight equipment 4: Agricultural materials 12: Aircraft 31: Material holder 32: Material holding section 41: Work Unit 95: Conveying equipment 97: Drive unit 98: Solids of revolution 99: Drive wheels 100: Driven wheel 101: Belt 102: Tension adjustment mechanism 107: Supply institutions

Claims

1. The aircraft and, A transport device capable of receiving agricultural materials from an aircraft and transporting said agricultural materials, A material holder is provided extending in the width direction of the machine body and capable of holding the agricultural materials conveyed by the conveying device, A work unit that performs work using the agricultural materials held by the material holder, Equipped with, The transport device is an agricultural machine that transports the agricultural materials received from the flying device in the width direction of the aircraft.

2. The agricultural machine according to claim 1, wherein the conveying device is positioned above the material holder.

3. The material holder has a plurality of material holding sections arranged in the width direction of the machine body, each capable of holding the agricultural materials conveyed by the conveying device. The agricultural machine according to claim 1, wherein the transport device moves the agricultural materials received from the flying device to one of the plurality of material holding units.

4. The agricultural machine according to claim 1, wherein the transport device is supplied with agricultural materials from the flying device while in flight.

5. The aforementioned transport device is A drive device that generates driving force, A rotating body that rotates due to the driving force generated by the aforementioned drive device and conveys the agricultural materials in the width direction of the machine body, The agricultural machinery according to claim 4, having the following features.

6. The agricultural machine according to claim 5, wherein the rotating body is arranged from one end to the other end in the width direction of the material holder.

7. The rotating body is The drive force is transmitted from the aforementioned drive device to the drive wheel, The aforementioned drive wheel and the driven wheel, An endless belt wrapped around the drive wheel and the driven wheel, The agricultural machine according to claim 5, having the following features.

8. The agricultural machine according to claim 7, wherein the conveying device has a tension adjustment mechanism for adjusting the tension of the belt.

9. The agricultural machine according to claim 8, wherein the tension adjustment mechanism adjusts the tension of the belt when the agricultural material is placed on the belt.

10. The tension adjustment mechanism is, When the agricultural materials are supplied from the flying device to the belt, the tension of the belt is reduced. The agricultural machine according to claim 9, wherein the agricultural material is placed on the belt and the tension of the belt is increased when the belt is transporting the agricultural material.

11. The agricultural machine according to any one of claims 1 to 10, further comprising a supply mechanism for supplying the agricultural materials conveyed by the conveying device to the material holder.

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