Work System

Abstract

There is a demand for higher efficiency in work systems that utilize work vehicles such as rice transplanters. More specifically, there is a demand for higher efficiency in the process of supplying work materials, such as seedling mats with multiple seedlings planted on them, to the work vehicles. [Solution] A work system for introducing an aircraft into a work vehicle, wherein the work vehicle has a rail member for sliding the aircraft and a megaphone-shaped member for guiding the aircraft to the rail member, the megaphone-shaped member has a wide opening for receiving the aircraft and a narrow opening connected to the starting end of the rail member, the aircraft has a locking part that is locked to the rail member and can move along the rail member, the aircraft enters the megaphone-shaped member from a flying state and slides along the rail member as the locking part locks to the rail member.

Description

Technical Field

[0001] The present invention relates to a work system in which work vehicles such as rice transplanters are used. Background Art

[0002] There is known a rice transplanter comprising: a seedling planting device located at the rear of the machine body and provided with a seedling loading platform; and a seedling conveying device located in front of the seedling loading platform and configured to convey seedling mats to the seedling loading platform, wherein the seedling conveying device has an ascending section, a top section and a descending section, the ascending section is located at a front part of the seedling conveying device and provided in a state of being inclined upward toward the rear, the top section is provided in a state of extending rearward from a rear end of the ascending section, the descending section extends rearward from a rear end of the top section and is provided in a state of being inclined downward toward the rear, and the rice transplanter comprises a supply detection device configured to detect that a seedling mat is supplied to the ascending section, and the seedling conveying device conveys the seedling mat to the seedling loading platform when the supply detection device detects that a seedling mat is supplied to the ascending section (see, for example, Patent Document 1). Prior Art Literature Patent Literature

[0003] Patent Document 1 Japanese Unexamined Patent Publication No. 2021-46 Summary of Invention Problem to be Solved by Invention

[0004] However, the inventor of the present invention has noticed that higher work efficiency is required for work systems that use work vehicles such as rice transplanters.

[0005] More specifically, the inventor of the present invention has noticed that higher efficiency is required for the work of supplying work materials such as seedling mats with a plurality of seedlings planted thereon to a work vehicle.

[0006] The present invention aims to provide a work system that can improve the efficiency of supplying work materials to work vehicles, taking into consideration the conventional problems described above. [Means for solving the problem]

[0007] The first aspect of the present invention is a work system for introducing an aircraft into a work vehicle, wherein the work vehicle has a rail member for sliding the aircraft and a megaphone-shaped member for guiding the aircraft to the rail member, the megaphone-shaped member has a wide opening for receiving the aircraft and a narrow opening connected to the starting end of the rail member, the aircraft has a locking portion that is locked to the rail member and movable along the rail member, the aircraft enters the megaphone-shaped member from a flying state and slides along the rail member as the locking portion locks to the rail member.

[0008] The second aspect of the present invention is a work system according to the first aspect of the present invention, characterized in that the rail member is provided with a slit through which a part of the flying object passes, and the locking portion is supported above the slit.

[0009] The third aspect of the present invention is a work system according to the first or second aspect of the present invention, characterized in that the locking portion is a slider.

[0010] The fourth aspect of the present invention is a work system according to any one of the first to third aspects of the present invention, characterized in that the megaphone-shaped member has a shape in which the opening area continuously decreases along the direction of entry of the aircraft. [Effects of the Invention]

[0011] This invention makes it possible to improve the efficiency of supplying work materials to work vehicles. [Brief explanation of the drawing]

[0012] [Figure 1]Diagram illustrating the work system of an embodiment of the present invention (Part 1) [Figure 2] Diagram illustrating the work system of an embodiment of the present invention (part two) [Figure 3] Diagram illustrating the work system of an embodiment of the present invention (part three) [Figure 4] Diagram illustrating the work system of an embodiment of the present invention (Part 4) [Figure 5] (a) Explanatory diagram of the work system according to the embodiment of the present invention (part 5), (b) Explanatory diagram of the work system according to the embodiment of the present invention (part 6), (c) Explanatory diagram of the work system according to the embodiment of the present invention (part 7) [Figure 6] Diagram illustrating the work system of an embodiment of the present invention (part 8) [Figure 7] Diagram illustrating the work system according to an embodiment of the present invention (Part 9) [Figure 8] (a) Explanatory diagram of the work system according to the embodiment of the present invention (No. 10), (b) Explanatory diagram of the work system according to the embodiment of the present invention (No. 11) [Figure 9] Diagram illustrating the work system of an embodiment of the present invention (Part 12) [Figure 10] (a) Explanatory diagram of the work system according to the embodiment of the present invention (part 13), (b) Explanatory diagram of the work system according to the embodiment of the present invention (part 14), (c) Explanatory diagram of the work system according to the embodiment of the present invention (part 15) [Figure 11] (a) Explanatory diagram of the work system according to the embodiment of the present invention (part 16), (b) Explanatory diagram of the work system according to the embodiment of the present invention (part 17) [Figure 12] (a) Explanatory diagram of the work system according to the embodiment of the present invention (No. 18), (b) Explanatory diagram of the work system according to the embodiment of the present invention (No. 19) [Figure 13] Diagram (20th) illustrating the work system according to an embodiment of the present invention. [Figure 14](a) An explanatory diagram of the working system according to an embodiment of the present invention (No. 21), (b) An explanatory diagram of the working system according to an embodiment of the present invention (No. 22) [Figure 15] An explanatory diagram of the working system according to an embodiment of the present invention (No. 23) [Figure 16] An explanatory diagram of the working system according to an embodiment of the present invention (No. 24) [Figure 17] (a) An explanatory diagram of the working system according to an embodiment of the present invention (No. 25), (b) An explanatory diagram of the working system according to an embodiment of the present invention (No. 26) [Figure 18] (a) An explanatory diagram of the working system according to an embodiment of the present invention (No. 27), (b) An explanatory diagram of the working system according to an embodiment of the present invention (No. 28), (c) An explanatory diagram of the working system according to an embodiment of the present invention (No. 29) [Figure 19] An explanatory diagram of the working system according to an embodiment of the present invention (No. 30) [Figure 20] An explanatory diagram of the working system according to an embodiment of the present invention (No. 31) [Figure 21] (a) An explanatory diagram of the working system according to an embodiment of the present invention (No. 32), (b) An explanatory diagram of the working system according to an embodiment of the present invention (No. 33) [Figure 22] An explanatory diagram of the working system according to an embodiment of the present invention (No. 34) [Figure 23] An explanatory diagram of the working system according to an embodiment of the present invention (No. 35) [Figure 24] An explanatory diagram of the working system according to an embodiment of the present invention (No. 36) [Figure 25] An explanatory diagram of the working system according to an embodiment of the present invention (No. 37) DESCRIPTION OF EMBODIMENTS

[0013] Embodiments of the present invention will be described in detail below with reference to the drawings.

[0014] The same applies below, however, some components may not be shown in the drawings, or they may be shown in perspective or in an abbreviated form.

[0015] While describing the operation of the work system according to the embodiment of the present invention, a method for controlling the operation of the work system related to the present invention, which is implemented by a controller or the like, will also be described.

[0016] The work system of the embodiment of the present invention is a work system that supplies a seedling mat 30, on which multiple seedlings are planted, from a multi-rotor helicopter 20 to a rice transplanter 10, and is a specific example of the work system of the present invention. The rice transplanter 10 is a specific example of the work vehicle of the present invention, and the multi-rotor helicopter 20 is a specific example of the aircraft of the present invention. The seedling mat 30 is a specific example of the work material of the present invention.

[0017] (1) First, the configuration and operation of the work system of the embodiment of the present invention will be described in detail, mainly with reference to Figure 1.

[0018] Here, Figure 1 is an explanatory diagram (part one) of the work system according to an embodiment of the present invention.

[0019] The rice transplanter 10 includes a rail member 11 for sliding the multi-rotor helicopter 20, a megaphone-shaped member 12 for guiding the multi-rotor helicopter 20 to the rail member 11, a megaphone slit 12a provided on the lower surface of the megaphone, a seedling mat transfer member 13 for transferring the seedling mat 30 from the sliding multi-rotor helicopter 20 to the rice transplanter 10, and a seedling mat carrying member 14 for placing the transferred seedling mat 30 on it. The multi-rotor helicopter 20 includes a slider 21 that is slidably locked to the rail member 11, a shaft-shaped member 22 to which the slider 21 is attached at the upper end of the shaft, and a holder 23 attached to the shaft-shaped member 22 for holding the seedling mat 30. The starting end of the rail member 11 is connected to the small-diameter megaphone opening of the megaphone-shaped member 12. The seedling mat 30, held by the holder 23 of the taxiing multi-rotor helicopter 20, is lowered onto the seedling mat loading member 14 by contacting the seedling mat transfer member 13.

[0020] A multi-rotor helicopter 20, acting as a drone unit with a holder 23 also called a transport seedling tray, can pass through a drone guidance rail mechanism 101, which has rail members 11 and is assembled to the running section of a rice transplanter 10, and a seedling separation and supply mechanism 102, which has seedling mat transfer members 13 and the like, without stopping its flight. Automatic supply of seedling mats 30 as agricultural materials by drone is important in agricultural machinery automation. The work system of the embodiment of the present invention provides automatic supply of seedling mats 30 by a multi-rotor helicopter 20. Since the multi-rotor helicopter 20 is moved along the rail members 11, work efficiency is improved by enabling smooth passage without stopping the flight of the multi-rotor helicopter 20. In addition, automation of the supply of seedling mats 30 to a seedling mat mounting platform, also called a seedling tank, is also realized, which aligns seedling mats 30 that have shifted from their predetermined positions due to vibration or the like.

[0021] As shown in Figures 2 and 3, which are explanatory diagrams (parts two and three) of the work system according to the embodiment of the present invention, the rail support frame 103 of the drone guidance rail mechanism 101 is positioned above the fertilizer spreading device and is supported from the left and right directions by the vehicle body main frame 104. Such a layout of the drone guidance rail mechanism 101 provides high reliability. The drone guidance rail mechanism 101, positioned above the fertilizer spreading device, is arranged in a gate shape, for example, in a side view of the vehicle body, and is firmly supported from the left and right directions by the vehicle body main frame 104 in a so-called double-support configuration. In order to ensure that the multi-rotor helicopter 20 is reliably guided to the megaphone-shaped member 12 which serves as a drone guidance gate, the drone guidance rail mechanism 101 is positioned in the central part of the vehicle body near the vehicle's center of gravity, where the amount of change in the aircraft position due to vehicle body sway in the longitudinal direction of the vehicle body is relatively small. This support by the vehicle's main frame 104 not only provides high rigidity but also ensures a sufficient pass-through flight area for the multi-rotor helicopter 20 due to the gantry-type arrangement described above, so there is virtually no risk of the multi-rotor helicopter 20 coming into contact with the rice transplanter 10.

[0022] As shown in Figure 4, which is an explanatory diagram (fourth) of the work system according to an embodiment of the present invention, the megaphone-shaped member 12 of the drone guidance rail mechanism 101 functions as an entry gate for the multi-rotor helicopter 20. The megaphone-shaped member 12 is positioned near the location of the auxiliary seedling frame mounting unit of the rice transplanter 10 when viewed from the front of the vehicle. Since the work system according to the embodiment of the present invention uses a multi-rotor helicopter 20 to supply seedlings, an auxiliary seedling frame mounting unit is unnecessary and is not provided. With a flight direction that is rearward in the front-rear direction of the vehicle, the multi-rotor helicopter 20 can fly horizontally from the front to the rear of the vehicle and smoothly enter the megaphone-shaped member 12 without being obstructed by obstacles.

[0023] As shown in Figures 5(a) to 5(c), which are explanatory diagrams (five to seven) of the work system according to an embodiment of the present invention, the width of the rail slit 11a is smaller than the diameter of the spherical slider 21. The slider 21, located above the flight mechanism of the multi-rotor helicopter 20, slides on the upper surface of the rail slit 11a, which is narrower than the slider 21, and transports the seedling mat 30 toward the seedling mat loading member 14 to a predetermined seedling mat lowering position. Since the rail slit 11a is narrower than the slider 21, the slider 21 is locked to the rail member 11 without falling out of the rail slit 11a, ensuring the reliable transport of the seedling mat 30.

[0024] A modified form of the slider 21 is also conceivable in which the slider is not a spherical body but a sliding roller body that can slide with a smaller sliding load.

[0025] The holder 23 is attached to the lower end of the shaft-shaped member 22. The flight mechanism of the multi-rotor helicopter 20 is positioned between the upper and lower ends of the shaft. A rail slit 11a is provided in the rail member 11 for the shaft-shaped member 22 to pass through, with the slit length direction being the flight direction of the multi-rotor helicopter 20.

[0026] A modified configuration is also conceivable in which the holder 23 is attached between the upper and lower ends of the shaft, and the flight mechanism of the multi-rotor helicopter 20 is positioned at the lower end of the shaft-shaped member 22. Another modified configuration is also conceivable in which the upper and lower portions of the shaft-shaped member 22 are not provided coaxially.

[0027] As shown in Figure 6, which is an explanatory diagram (number eight) of the work system of an embodiment of the present invention, the shape of the megaphone-shaped member 12 is a roughly megaphone shape that widens toward the front of the vehicle body. The slider 21 passes through the megaphone-shaped member 12 which is positioned on the front side of the rail member 11. The megaphone-shaped member 12, acting as an entry gate, has a roughly megaphone shape that narrows toward the rear and guides the slider 21 to the starting end of the rail member 11. Adverse effects such as the shaking of the rice transplanter 10 due to strong winds and errors in GPS control are reduced by the megaphone-shaped member 12 without the need for external power supply, and the slider 21 is guided to the rail member 11.

[0028] As shown in Figure 7, which is an explanatory diagram (nine) of the working system of an embodiment of the present invention, the shape of the megaphone-shaped member 12 is such that it radiates outward at least downward from the center of the megaphone. Since the rail member 11 and the megaphone-shaped member 12 are attached to the rice transplanter 10, they often tilt in accordance with the tilt of the rice transplanter 10's body. Even when such tilting of the rail member 11 and the megaphone-shaped member 12 occurs, the guide rod portion of the shaft-shaped member 22, which is the upper part compared to the flight mechanism of the multi-rotor helicopter 20, is reliably guided by the megaphone slit 12a which radiates outward downward. As a result, guide rod interference from the rice transplanter 10 side hardly occurs, and the multi-rotor helicopter 20 can smoothly approach the rail member 11.

[0029] The holder 23 has a roughly cylindrical shape with no bottom, and its length is in the direction of flight. A holder slit 23a, whose length is in the direction of flight, is provided on the lower surface of the holder 23. The seedling mat 30 is housed inside the holder 23. The seedling mat transfer member 13 has a rod-shaped upright portion 13a. The seedling mat 30 housed inside the holder of the taxiing multi-rotor helicopter 20 is lowered onto the seedling mat carrying member 14 by contacting the upper end of the rod-shaped upright portion 13a that enters the holder through the holder slit 23a.

[0030] As shown in Figures 8(a) and 8(b), which are explanatory diagrams (10th and 11th) of the work system according to the embodiment of the present invention, a rotational separation configuration is adopted in which the holder 23 as a transport seedling tray and the multi-rotor helicopter 20 as a drone unit can rotate independently in the vertical direction. By implementing a rotational mechanism that uses a bearing member or a carabiner member that can rotate 360 ​​degrees in the horizontal plane to connect the holder 23 to the flight mechanism of the multi-rotor helicopter 20, even if the holder 23 is rotated unintentionally due to contact with an obstacle, for example, adverse effects such as shocks associated with the rotation of the holder 23 are less likely to occur, and the flight of the multi-rotor helicopter 20 can be continued stably.

[0031] As shown in Figure 9, which is an explanatory diagram (12) of the working system of an embodiment of the present invention, the rice transplanter-side cam 105 provided on the side of the rice transplanter 10 and the multi-rotor helicopter-side cam 106 provided on the side of the multi-rotor helicopter 20 restrict the orientation of the holder 23. The multi-rotor helicopter-side cam 106, which is attached to the holder rod portion of the shaft-shaped member 22, which is the lower part compared to the flight mechanism of the multi-rotor helicopter 20, is rotatable around the shaft axis together with the holder 23, which is supported to be suspended. For example, when the rice transplanter-side cam 105, which is rotatably attached to the side of the rice transplanter 10, contacts the multi-rotor helicopter-side cam 106 while being biased by a spring or the like, the multi-rotor helicopter-side cam 106 is restricted and rotated so that the longitudinal direction of the holder 23, which is the insertion direction of the seedling mat 30, coincides with the flight direction, which is the approach direction of the multi-rotor helicopter 20.

[0032] As shown in Figures 10(a) to 10(c), which are explanatory diagrams (13 to 15) of the work system according to an embodiment of the present invention, the rod-shaped upright portion 13a of the seedling mat transfer member 13, also called the seedling extrusion rod, can pass through the holder slit 23a, which is provided as a notch in the holder 23, without getting caught. The holder slit 23a is a notch provided on the lower bottom surface of the holder 23, with the slit length direction being the direction of entry for the multi-rotor helicopter 20. The rod-shaped upright portion 13a, provided on the separation and supply mechanism 102 so as to be inclined almost vertically downward, removes the seedling mat 30 from the holder 23 to the seedling mat loading member 14, while the multi-rotor helicopter 20 can pass through the rice transplanter 10 without stopping its flight.

[0033] Another possible modification is in which the rod-shaped upright portion 13a is attached to the seedling resistance rod of a so-called seedling tank, which is provided for each seedling planting row.

[0034] As shown in Figures 11(a) and 11(b), which are explanatory diagrams (sixteenth and seventeenth) of the work system according to the embodiment of the present invention, the seedling mat transfer member 13 is a member for transferring the seedling mat 30 from the multi-rotor helicopter 20, which is gliding along it, to the rice transplanter 10, so one rod-shaped upright portion 13a is sufficient. The rod-shaped upright portion 13a is firmly fixed by welding or the like in the seedling replenishment rail mechanism 107, which moves the seedling mat mounting member 14 in the left-right direction of the vehicle body.

[0035] The seedling mat support member 14 is movable in the left-right direction of the rice transplanter 10. The seedling mat transfer member 13 is attached to the seedling mat support member 14.

[0036] As shown in Figures 12(a) and 12(b), which are explanatory diagrams (18 and 19) of the work system according to the embodiment of the present invention, the seedling replenishment rail mechanism 107 is assembled in a compact layout position that utilizes available space. The seedling replenishment rail mechanism 107 is a lateral-feed type rail mechanism for sliding the seedling mat mounting member 14 in the left-right direction of the vehicle body. The seedling mat mounting member 14 is attached to the front side of the vehicle body of the seedling mat mounting base upper support frame so as to be positioned above the seedling mat mounting base which serves as a seedling tank, and can carry seedling mats 30 lowered from the multi-rotor helicopter 20 and move laterally. The seedling replenishment rail mechanism 107 is assembled as a mechanism to replace a so-called extended seedling tank.

[0037] As shown in Figure 13, which is an explanatory diagram (20th) of the working system of an embodiment of the present invention, the seedling mat support member 14 is moved by the rotation of a ball screw 110 using a sliding plate 109. Not only the seedling mat support member 14 on which the seedling mats 30 separated from the holder 23 are temporarily placed, but also the sliding plate 109 for sliding the seedling mat support member 14 in the left-right direction of the vehicle body, the ball screw 110 for reciprocating the sliding plate 109 in a lateral movement like the lead cam mechanism of a rice transplanter, and the motor 108 for rotating the ball screw 110 are provided on the seedling replenishment rail mechanism 107.

[0038] As shown in Figures 14(a) and 14(b), which are explanatory diagrams (21 and 22) of the work system according to the embodiment of the present invention, the contact switch 111 is provided in the seedling replenishment rail mechanism 107. The contact switch 111, such as the seedling reduction switch of the seedling tank, is provided on the upper part of the seedling replenishment rail mechanism 107 so as to correspond to each seedling planting row, and the seedling mat holder member 14 can be stopped at a position corresponding to the seedling planting row for which seedling replenishment is required.

[0039] As shown in Figure 15, which is an explanatory diagram (23rd) of the work system of an embodiment of the present invention, a modified form is also conceivable in which a pickup sensor 112, such as a rear wheel rotation sensor, is provided together with a contact switch 111, thereby realizing a method for stopping the seedling mat holder 14 in the seedling replenishment row. One contact switch 111 is sufficient, and the motor 108 is rotated until the contact switch 111 is pressed in the standard position. The pickup sensor 112 is provided as a proximity sensor that recognizes a protrusion on the screw shaft of the ball screw 110, and the seedling planting row number is calculated based on the sensor count from the standard position, so that the seedling mat holder 14 can be stopped in the correct position.

[0040] As shown in Figure 16, which is an explanatory diagram (24th) of the work system of an embodiment of the present invention, a contact switch 111 is also provided for transferring seedling mats from the multi-rotor helicopter 20 to the rice transplanter 10, and a method for stopping the seedling mat loading member 14 at a standard position is realized. The contact switch 111 for this purpose is provided on the extension of the rail member 11 which serves as a drone guidance rail, and when the contact switch 111 is pressed, the motor 108 is controlled to stop the lateral movement of the seedling mat loading member 14 at the seedling mat transfer position. Considering the purpose of the modified embodiment described above, the number of parts is reduced by sharing the contact switch 111.

[0041] A fixing plate 15 is erected on the body of the rice transplanter 10 on one of the left or right sides of the vehicle body. A movable plate 16 is erected on the seedling mat support member 14 on the other of the left or right sides of the vehicle body. The seedling mat support member 14 moves to one side with the lowered seedling mat 30 on it, and the seedling mat 30 is sandwiched between the fixing plate 15 and the movable plate 16, thereby correcting the orientation of the seedling mat 30.

[0042] As shown in Figures 17(a) and 17(b), which are explanatory diagrams (25 and 26) of the work system of the embodiment of the present invention, a fixed plate 15 is provided as a seedling mat alignment guide, along with a movable plate 16 which can also assist in the supply of seedling mats from the multi-rotor helicopter 20. When seedling mats 30 delivered from the multi-rotor helicopter 20 are placed diagonally on the seedling mat loading member 14 due to vehicle vibration or the like, and then inserted directly into the seedling tank, seedling mat blockage or seedling mat detachment may occur due to the seedling mats 30 becoming clogged. Even if the seedling mats 30 are placed diagonally and the seedling mat loading member 14 is moved laterally, the long side portion of the seedling mats 30 comes into contact with the fixed plate 15 provided on the side of the seedling tank, forcing the seedling mats 30 to align.

[0043] The seedling mat transfer component 13 is attached to the movable plate 16.

[0044] As shown in Figure 18(a), which is an explanatory diagram (27th) of the work system according to an embodiment of the present invention, the normality of seedling mat supply can be comprehensively determined by utilizing the contact switch 111. For example, by turning the contact switch 111, which is provided on the fixing plate 15, on or off, it is possible to determine not only whether the seedling mats are aligned, but also whether the seedling mats have been handed over from the multi-rotor helicopter 20 in a normal manner.

[0045] If it is determined that the seedling mat supply is not functioning correctly, control is performed to resume lateral movement of the seedling mat support member 14.

[0046] If the aforementioned contact switch 111, which is used to comprehensively determine the normality of seedling mat supply, fails to operate, the operator is notified by an alert output from a lamp such as a center marker provided on the rice transplanter 10.

[0047] The rod-shaped upright portion 13a is erected so as to be inclined in the direction opposite to the flight direction of the multi-rotor helicopter 20 in the direction of flight.

[0048] Even though the seedling mat 30 can be prone to collapsing, it can firmly contact the upper end of the rod-shaped upright portion 13a, which is inclined in the opposite direction to the flight direction of the multi-rotor helicopter 20, at the appropriate contact point, and be reliably lowered onto the seedling mat mounting member 14.

[0049] As shown in Figures 18(b) and 18(c), which are explanatory diagrams (28 and 29) of the work system according to the embodiment of the present invention, the movable plate 16 as a seedling mat alignment guide can assist not only in the supply of seedling mats from the multi-rotor helicopter 20 but also in the replenishment of seedling mats into the seedling tank. For such seedling mat replenishment, the movable plate 16 is designed to have a plate shape that extends along the seedling tank.

[0050] By using the seedling reduction switch described above, the seedling mat support member 14 can be stopped at a position corresponding to a seedling planting row where the number of seedlings has decreased and seedling replenishment is required.

[0051] As shown in Figures 19 and 20, which are explanatory diagrams (thirty and thirty-one) of the working system of an embodiment of the present invention, a seedling mat supply cam 113, a seedling mat supply motor 114, and a seedling mat supply slit 116 are provided attached to the seedling mat supply cam rod 115, corresponding to each seedling planting row. After the seedling mat support member 14 is stopped for seedling supply by turning on a contact switch 111 or the like, the seedling mat supply cam rod 115 is rotated by the seedling mat supply motor 114, and seedling mats are supplied by the rotation of the seedling mat supply cam 113 inserted through the seedling mat supply slit 116 provided on the bottom of the seedling tank.

[0052] As shown in Figure 21(a), which is an explanatory diagram (32) of the work system according to an embodiment of the present invention, a modified form in which the roller mechanism is provided at the bottom of the box of the holder 23 is also conceivable. Such a roller mechanism contributes to improving the sliding performance with respect to the seedling mat support member 14.

[0053] As shown in Figure 21(b), which is an explanatory diagram (33) of the working system of an embodiment of the present invention, a modified form in which the groove-shaped portion 117 is formed in the seedling mat mounting member 14 is also conceivable. By applying a groove-pressing force that narrows the roller width of the roller mechanism described above, the occurrence of roller derailment is suppressed.

[0054] (2) Next, the configuration and operation of the work system of the embodiment of the present invention will be described in more detail, mainly with reference to Figures 22 to 25.

[0055] Herein, Figures 22 to 25 are explanatory diagrams (34 to 37) of the work system according to an embodiment of the present invention.

[0056] Multiple protrusions 23b, whose length direction is aligned with the length direction of the cylinder, are provided on the lower surface of the holder inside the holder. The cross-sectional shape of the multiple protrusions 23b perpendicular to the length direction of the protrusions is approximately wave-shaped.

[0057] The shape of the cross-section of the multiple protrusions 23b perpendicular to the length direction of the protrusions is selected so that the seedling mat 30 is not only firmly held in the holder 23 when necessary, but also so that the seedling mat 30 can easily slide off the holder 23 when necessary.

[0058] The upper end of the rod-shaped upright portion 13a is roughly T-shaped. A guide plate 24, which is inclined downwards, is attached to the front end of the holder's lower surface, relative to the direction of flight. When the upper end of the rod-shaped upright portion 13a comes into contact with the guide plate 24, it is pushed upwards.

[0059] Since the upper end of the rod-shaped upright portion 13a, which is shifted downward in the vertical direction, is pushed up by the guide plate 24, even the seedling mat 30, which can sometimes collapse, can firmly contact the upper end of the rod-shaped upright portion 13a at the appropriate contact point and be reliably lowered onto the seedling mat support member 14.

[0060] (3) Next, the configuration and operation of the work system of the embodiment of the present invention will be described in more detail.

[0061] Let's explain the conditions for seedling replenishment timing. As a condition for seedling replenishment timing of the multi-rotor helicopter 20, a control system that allows seedling replenishment only when the rice transplanter 10 is stopped can be considered. For example, seedling replenishment is allowed only when the HST state is neutral. Furthermore, a control system that forcibly stops the rice transplanter 10 at the seedling replenishment timing can be considered.

[0062] The conditions for seedling replenishment will be explained (prevention of contact with the multi-rotor helicopter 20). When seedling replenishment is carried out by the multi-rotor helicopter 20, a control system that raises the seedling planting section of the rice transplanter 10 can be considered. And, as a condition that allows the multi-rotor helicopter 20 to approach the rice transplanter 10, the condition that the seedling planting section is raised can be considered.

[0063] The conditions for seedling replenishment are described below (the first condition for replenishment). The rice transplanter 10 is equipped with a means (such as a tilt sensor) for detecting the lateral angle of the vehicle body, and a control system is conceivable in which a seedling replenishment tolerance threshold is set to allow seedling replenishment only when the lateral angle is below a predetermined value. If these conditions are not met, a signal is output to prohibit the multi-rotor helicopter 20 from approaching the rice transplanter 10.

[0064] The conditions for seedling replenishment are described below (the second condition for replenishment). A means for determining the remaining amount of seedlings is provided, and when the remaining amount of seedlings is small, the multi-rotor helicopter 20 is put on standby to supply seedlings. At the same time, the left and right inclination is checked using the means for detecting the angle in the left and right directions as described above, and when it is confirmed that the amount has fallen below the acceptable threshold for seedling replenishment, the body of the rice transplanter 10 is stopped (the planting unit is also turned off), and the seedling planting section is raised.

[0065] The conditions for seedling replenishment will now be explained (the third condition for replenishment). The rice transplanter 10 is equipped with a means for detecting the front-to-rear angle of the vehicle body, and control can be considered that determines whether or not to allow seedling replenishment in a similar manner to the case where the left-to-right angle is detected as described above.

[0066] The conditions for seedling replenishment are described below (the fourth condition for replenishment). In addition to means for detecting the left-right angle of the body of the rice transplanter 10, a separate means for detecting the inclination angle of the seedling planting section is provided, and control is considered that corrects the inclination angle of the seedling planting section in accordance with the inclination angle of the traveling section during seedling replenishment.

[0067] The use of straight-line assist control will be explained. Based on so-called A-point and B-point registration information for straight-line assist, a control system can be conceived in which the straight-line assist path is referenced as the approach flight path for seedling supply by the multi-rotor helicopter 20.

[0068] Furthermore, the program of the invention related to the present invention is a program that causes a computer to execute all or part of the steps (or processes, operations, and actions, etc.) of the work system operation control method of the invention related to the present invention described above, and is a program that operates in cooperation with the computer.

[0069] Furthermore, the recording medium of the invention related to the present invention is a recording medium that records a program for causing a computer to execute all or part of the steps (or processes, operations, and actions, etc.) of the work system operation control method of the invention related to the present invention described above, and is a computer-readable recording medium in which the read program is used in cooperation with the computer.

[0070] Furthermore, the "some steps (or processes, actions, and functions, etc.)" mentioned above refers to one or more of those steps.

[0071] Furthermore, the "actions of the steps (or processes, movements, and actions, etc.)" mentioned above refer to all or part of the actions of the steps mentioned above.

[0072] Furthermore, one form of use of the program of the invention related to the present invention may be that it is transmitted through a transmission medium such as the internet, light, radio waves, or sound waves, read by a computer, and operates in cooperation with the computer.

[0073] Furthermore, recording media include ROM (Read Only Memory), among others.

[0074] Furthermore, a computer is not limited to pure hardware such as a CPU (Central Processing Unit), but may also include firmware, an OS (Operating System), and even peripheral devices.

[0075] As mentioned above, the configuration of the present invention may be implemented in software or in hardware. [Industrial applicability]

[0076] The work system in this invention can improve the efficiency of supplying work materials to work vehicles and is useful for use in work systems that utilize work vehicles such as rice transplanters. [Explanation of Symbols]

[0077] 10 Rice transplanter 11 Rail members 11a Rail Slit 12 Megaphone-shaped member 12a Megaphone Slit 13. Seedling mat handover components 13a Rod-shaped standing part 14 Seedling mat support component 15 Fixing plate 16 Mobile Plate 20 Multi-rotor helicopters 21 Slider 22 Shaft-shaped member 23 holders 23a Holder slit 23b Convex strip 24 Information board 30 seedling mats 101 Drone guidance rail mechanism 102 Seedling Separation and Supply Mechanism 103 Rail support frame 104 Main frame of the vehicle 105 Rice transplanter side cam tool 106 Multi-rotor helicopter side cam tool 107 Seedling replenishment rail mechanism 108 Motor 109 Sliding plate 110 Ball Screw 111 Contact switch 112 Pickup Sensor 113 Seedling mat supply cam 114 Seedling Mat Supply Motor 115 Seedling mat supply cam rod 116 Seedling mat supply slits 117 Groove shape part

Claims

1. A work system for introducing an aircraft into a work vehicle, The aforementioned work vehicle is A rail member for gliding the aforementioned aircraft, A megaphone-shaped member for guiding the aircraft to the rail member, It has, The megaphone-shaped member is The wide opening that receives the aforementioned flying object, A narrow opening connected to the starting end of the rail member, It has, The aforementioned flying object It is equipped with a locking portion that is engaged with the rail member and movable along the rail member, The aforementioned flying object enters the megaphone-shaped member from its flight state. The locking portion locks into the rail member, It slides along the rail member. A work system characterized by the following:

2. The rail member includes, A slit is provided through which a part of the aforementioned flying object passes. The locking portion is supported above the slit. The work system according to feature 1.

3. The locking part is a slider. The work system according to claim 1 or 2.

4. The megaphone-shaped member is The shape has an opening area that continuously decreases along the direction of approach of the aircraft. The work system according to any one of the features 1 to 3.

Images