Work Support System

Abstract

This work assisting system assists with work carried out by a work vehicle E, and comprises a flying body G that has: a flying apparatus H which is capable of flying and capable of carrying a work-related object pertaining to work carried out by the work vehicle E; and a delivery part K which is coupled to the flying apparatus H, wherein the delivery part K is configured to carry out delivery of the work-related object between the flying body G and the work vehicle E.

Description

[Technical Field]

[0001] The present invention relates to a work support system that supports work performed by a work vehicle. [Background technology]

[0002] A known example of a work vehicle is described in Patent Document 1. This work vehicle (referred to as a "riding care machine" in Patent Document 1) is capable of spraying pesticides using a work device (referred to as a "pesticide spraying device" in Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-6006 Summary of the Invention [Problem to be solved by the invention]

[0004] When a work vehicle that sprays materials (e.g., chemicals), such as the work vehicle described in Patent Document 1, works over a relatively wide area, it often becomes necessary to replenish the materials during the work. The materials are replenished, for example, by moving the work vehicle to a replenishment location and then being replenished at that location. This causes delays in the work. As a result, work efficiency tends to decrease.

[0005] Furthermore, when a work vehicle, such as one that harvests grains, operates over a relatively wide area, it is often necessary to unload the harvested crop during the work. The harvested crop is unloaded, for example, by moving the work vehicle to a harvested crop unloading location and then unloading the harvested crop at the unloading location. This causes delays in the work, and as a result, work efficiency tends to decrease.

[0006] Furthermore, when a work vehicle is working over a relatively large area, it may be necessary to replace parts during the work. For example, the work vehicle is moved to a maintenance workshop and the replacement is carried out there. This causes delays in the work, which tends to reduce work efficiency.

[0007] In this way, when a work vehicle is working over a relatively wide area, the delivery of work-related items by the work vehicle tends to cause delays in the work, which tends to reduce work efficiency.

[0008] In this specification, materials (Agricultural materials) , harvested products, and parts are all specific examples of "work-related items." Also, chemicals, fertilizers, seedlings, seedling mats, seeds, and fuel are all examples of "materials." (Agricultural materials) " is a concrete example of

[0009] In this specification, replenishment, discharge, recovery, attachment, and removal are all specific examples of "transfer."

[0010] An object of the present invention is to provide a work support system that can easily prevent a decrease in work efficiency due to the handover of work-related items. [Means for solving the problem]

[0011] The present invention is characterized by: Agriculture A work support system that supports work by a work vehicle, the system being capable of flying and Agriculture Regarding work using work vehicles agricultural materials and a delivery unit connected to the flight device. a flight control unit that controls the flight of the aircraft; Equipped with The flight control unit is capable of maintenance control to control the flight of the aircraft so that a positional relationship between the agricultural work vehicle and the aircraft is maintained while the agricultural work vehicle is running and performing work, The delivery unit includes: During the execution of the maintenance control The flying vehicle from The aforementioned Agriculture Work vehicle fart The aforementioned agricultural materials of Resupply now possible The reason is that it is composed.

[0012] According to this configuration, the flying object agricultural materials While transporting Agriculture Approaching the work vehicle agricultural materials This allows for the transfer of Agriculture The work vehicle is continuing to work or for delivery Agriculture When the work vehicle is stopped in the field, the flying object agricultural materials It is easy to hand over the goods. Furthermore, with this configuration, the aircraft can deliver agricultural materials while maintaining the relative positions of the agricultural work vehicle and the aircraft, which makes it easier to stably deliver agricultural materials while the agricultural work vehicle is working while traveling. the result, agricultural materials This helps prevent a decline in work efficiency due to handover.

[0013] That is, according to this configuration, agricultural materials This makes it possible to realize a work support system that can easily prevent a decrease in work efficiency due to the handover of work.

[0014]

[0015]

[0016] Furthermore, in the present invention ,before The flight control unit Agriculture Work vehicle While working on the vehicle , the flying object is Agriculture The flight of the flying object can be controlled so that the flying object lands on the work vehicle, and the delivery unit Agriculture After landing on the work vehicle, agricultural materials of Resupply It is preferable that the above-mentioned configuration be capable of executing the above.

[0017] According to this configuration, the flying object Agriculture Landing on a work vehicle agricultural materials This allows for the transfer of Agriculture While the work vehicle is moving and working, agricultural materials This makes it easier for the transfer to be carried out stably.

[0018] Furthermore, in the present invention, Agriculture The work vehicle is agricultural materials The storage section has an opening facing upward, and the transfer section transfers the liquid from above the opening to the opening. agricultural materialsBy dropping the agricultural materials It is preferable that the supplying means is configured to supply the

[0019] According to this configuration, even if the structure of the transfer section is relatively simple, agricultural materials This makes it easier to keep manufacturing costs of the transfer section down.

[0020] Furthermore, in the present invention, Agriculture The work vehicle is agricultural materials The transfer section has a tubular member, and the tubular member is configured to transfer the agricultural materials The delivery section is configured to allow the aircraft to pass through the tubular member. from the storage section to The aforementioned Replenish agricultural supplies It is preferable that the device is configured as follows.

[0021] According to this configuration, the tubular member agricultural materials This allows agricultural materials This makes it easier for the goods to be delivered securely.

[0022] Furthermore, in the present invention, the delivery section is driven by an actuator and agricultural materials or the above agricultural materials a support member for supporting the agricultural materials The holding member has a gripping portion capable of gripping the housing member that houses the Replenish agricultural supplies It is preferable that the device is configured as follows.

[0023] According to this configuration, the transfer section can be used for various types of agricultural materials This makes it easy to configure various types of agricultural materials This makes it easier to realize a work support system that can handle the transfer of work.

[0024]

[0025]

[0026]

[0027]

[0028]

[0029] Furthermore, in the present invention, agricultural materials of Resupply before the above is carried out agricultural materials a weight value acquiring unit that acquires a weight value that indicates the weight of the object, and when the weight value is greater than a predetermined threshold value, the transferring unit agricultural materials of which the amount is equal to or less than the threshold value. agricultural materials of Resupply It is preferable that the device is configured to be able to perform the above.

[0030] According to this configuration, by appropriately determining the threshold value, agricultural materials This prevents the load on the transfer unit or the aircraft from exceeding the maximum load specified in the specifications due to the weight of the aircraft.

[0031] Furthermore, in the present invention, a plurality of the flying bodies and the agricultural materials Before the delivery of the agricultural materials a weight value acquisition unit that acquires a weight value that indicates the weight of the agricultural materials It is preferable that the system further comprises an aircraft determination unit that determines the aircraft to which the aircraft will be handed over.

[0032] According to this configuration, agricultural materials The appropriate aircraft will be selected depending on the weight of the agricultural materials This makes it easy to realize a work support system that transfers the work.

[0033] Furthermore, in the present invention, the delivery unit is detachably connected to the flight device, and the flight device is configured so that the delivery unit connected to the flight device can be replaced with a different type of delivery unit. The different types of transfer units include a liquid tank that discharges the agricultural materials downward through a tubular member, a transport box that drops the agricultural materials downward by opening an opening / closing part at the bottom, and a gripping unit that is driven by an actuator and can grip the agricultural materials, a support member that supports the agricultural materials, or a storage member that stores the agricultural materials. It is preferable to have

[0034] According to this configuration, by replacing the transfer unit with a different type of transfer unit, a different type of agricultural materials This allows for the transfer of various types of agricultural materials This makes it easier to realize a work support system that can handle the transfer of work.

[0035] Furthermore, in the present invention, a plurality of the flying bodies are provided, and each of the flying bodies has a different type of the delivery unit, The different types of transfer units include a liquid tank that discharges the agricultural material downward through a tubular member, a transport box that drops the agricultural material downward by opening an opening / closing part at the bottom, and a gripping unit that is driven by an actuator and can grip the agricultural material, a support member that supports the agricultural material, or a storage member that stores the agricultural material, an acquisition unit that acquires the content of the requested support; and selecting the support from among the plurality of flying bodies based on the acquisition result by the acquisition unit. agricultural materials It is preferable that the system further comprises a determination unit that determines the flying object to which the handover is to be performed.

[0036] According to this configuration, each flying object is of a different type. agricultural materials This makes it easy to configure various types of agricultural materials This makes it easier to realize a work support system that can handle the transfer of work. [Brief explanation of the drawings]

[0037] [Figure 1] 1 is an overall view of a work support system. [Figure 2] FIG. 1 illustrates the supply of medicines and fuel. [Figure 3] FIG. 1 is a block diagram showing a configuration of a work support system. [Figure 4] FIG. 10 illustrates battery replacement. [Figure 5] FIG. 10 illustrates battery replacement. [Figure 6] FIG. 10 is a diagram showing the supply of seedling mats. [Figure 7] FIG. 1 is a block diagram showing a configuration of a work support system. DETAILED DESCRIPTION OF THE INVENTION

[0038] [Overall configuration of the work support system] As shown in FIG. 1, the work support system A in this embodiment includes a management computer 1, a plurality of work vehicles E, and a plurality of flying objects G.

[0039] However, the present invention is not limited to this, and the work support system A does not have to include multiple work vehicles E.

[0040] In this embodiment, each of the work vehicles E performs work in a farm field. However, the present invention is not limited to this. The work vehicle E may also be a vehicle that performs work in a location other than a farm field.

[0041] The work support system A is configured to utilize multiple flying objects G to support work by each work vehicle E. In other words, the work support system A is a system that supports work by the work vehicles E. The work support system A also includes multiple flying objects G.

[0042] In this embodiment, the multiple work vehicles E include a rice transplanter 2, a tractor 3, and a brush cutter 4. The multiple flying objects G include a first flying object 5, a second flying object 6, and a third flying object 7. Each flying object G is a multicopter. However, the present invention is not limited to this, and the flying object G does not have to be a multicopter as long as it is capable of flight.

[0043] 1 and 2, each flying object G has a flying device H having the same configuration. Also, each flying object G has a different type of transfer unit K.

[0044] The flying device H is configured to be able to fly, for example, by being equipped with multiple propellers, etc. The flying device H is also configured to be able to transport work-related objects. The work-related objects are objects related to the work performed by the work vehicle E.

[0045] The transfer unit K is configured to transfer work-related items between the flying vehicle G and the work vehicle E. The transfer unit K is connected to the bottom of the flying device H.

[0046] That is, the work support system A includes an aircraft G having a flying device H that is capable of flying and transporting work-related items related to work performed by the work vehicle E, and a transfer unit K connected to the flying device H.

[0047] [Replenishing chemicals into the hopper] As shown in Figure 2, the tractor 3, which is the work vehicle E, is equipped with a traveling device 31 and a fuel tank 32 (corresponding to the "storage section" according to the present invention). The traveling device 31 is specifically a wheel. The fuel tank 32 stores fuel (corresponding to the "work-related object" according to the present invention).

[0048] That is, the tractor 3 has a fuel tank 32 for storing fuel.

[0049] The tractor 3 also includes a hopper 33 (corresponding to the "storage unit" of the present invention). The hopper 33 stores chemicals ("work-related materials" of the present invention). (Agricultural materials) ") is stored.

[0050] That is, the tractor 3 has a hopper 33 for storing the agent.

[0051] The tractor 3 is equipped with a fuel-powered engine (not shown). The power output from this engine drives the traveling device 31 and sprays the fungicide downward from the hopper 33. As a result, the tractor 3 sprays the fungicide from the hopper 33 while traveling on the traveling device 31 in, for example, a farm field.

[0052] The hopper 33 has an upward opening 33a.

[0053] As shown in FIG. 2, the first flying vehicle 5 has a dropping part 51 which is a delivery part K. The dropping part 51 is connected to the flying device H via a wire. The dropping part 51 is configured in a box shape and is capable of containing a medicine.

[0054] By flying the flying device H with medicine contained in the dropping part 51, the flying device H can transport the medicine.

[0055] An opening / closing unit 52 is provided at the lower end of the dropping unit 51. The opening / closing unit 52 is configured to be openable and closable, for example, by an electric motor or the like. As shown in FIG. 2, when the dropping unit 51 is positioned above the opening 33a, the medicine contained in the dropping unit 51 is dropped into the opening 33a by opening the opening / closing unit 52. This causes the medicine to be replenished in the hopper 33.

[0056] That is, the transfer section K of the first flying object 5 is configured to supply the medicine from the first flying object 5 to the hopper 33 by dropping the medicine from above the opening 33a into the opening 33a.

[0057] As shown in Fig. 3, the tractor 3 is equipped with a first communication unit 35. Each work vehicle E other than the tractor 3 is also equipped with a first communication unit 35. Furthermore, each flying object G is equipped with a second communication unit 91. The management computer 1 is equipped with a third communication unit 11 (corresponding to the "acquisition unit" according to the present invention).

[0058] The first communication unit 35, the second communication unit 91, and the third communication unit 11 are configured to be able to communicate with each other, for example, via an internet line, short-range wireless communication, etc. As a result, as shown in Fig. 1, each work vehicle E, each flying object G, and the management computer 1 are connected to each other so that they can communicate with each other.

[0059] As shown in Figure 3, the tractor 3 is equipped with a work vehicle position acquisition unit 36 ​​and a support request generation unit 37. The work vehicle position acquisition unit 36 ​​includes a satellite positioning device that receives GPS signals from artificial satellites used in the GPS (Global Positioning System). The work vehicle position acquisition unit 36 ​​calculates the position coordinates of the tractor 3 over time based on the received GPS signals. In this way, the work vehicle position acquisition unit 36 ​​acquires the position information of the tractor 3.

[0060] However, the present invention is not limited to this. The work vehicle position acquisition unit 36 ​​does not have to use GPS. For example, the work vehicle position acquisition unit 36 ​​may use GNSS (GLONASS, Galileo, Michibiki, BeiDou, etc.) other than GPS.

[0061] The support request generation unit 37 generates a support request based on the status of the tractor 3 related to work-related objects. The support request is a signal indicating the content of support requested for the work of the work vehicle E. For example, the support request generation unit 37 generates a support request for drug replenishment based on the remaining amount of drug stored in the hopper 33. More specifically, the support request generation unit 37 may generate a support request for drug replenishment when the amount of drug stored in the hopper 33 becomes low.

[0062] The tractor 3 also includes a work information generation unit 38. The work information generation unit 38 generates work information. Work information is information related to work-related items. The work information may be, for example, information indicating the remaining amount of pesticide stored in the hopper 33, information indicating the remaining amount of fuel stored in the fuel tank 32, or information indicating the amount of pesticide or fuel required to complete the work. The information indicating the remaining amount of pesticide stored in the hopper 33 may be, for example, the distance traveled by the tractor 3. If the amount of pesticide sprayed by the tractor 3 per unit travel distance is known, the remaining amount of pesticide stored in the hopper 33 can be calculated based on the distance traveled by the tractor 3.

[0063] Each work vehicle E other than the tractor 3 also includes a work vehicle position acquisition unit 36, a support request generation unit 37, and a work information generation unit 38.

[0064] Each flying object G is also equipped with an flying object position acquisition unit 92, a flight control unit 93, and a delivery control unit 94.

[0065] The flying object position acquisition unit 92 has the same configuration as the work vehicle position acquisition unit 36. As a result, the flying object position acquisition unit 92 acquires the position information of the flying object G.

[0066] The flight control unit 93 controls the flight of the flying object G by controlling the flight device H based on the position information acquired by the flying object position acquisition unit 92. In other words, the work support system A is equipped with a flight control unit 93 that controls the flight of the flying object G.

[0067] The delivery control unit 94 controls the delivery unit K. For example, the delivery control unit 94 of the first flying object 5 controls the opening and closing of the opening / closing unit 52.

[0068] 3, the first communication unit 35 of the tractor 3 sends the support request generated by the support request generation unit 37 to the third communication unit 11. As a result, the third communication unit 11 acquires the content of the support requested for the work of the work vehicle E.

[0069] That is, the work support system A includes a third communication unit 11 that acquires the content of the requested support.

[0070] 3, the management computer 1 also includes a determination unit 12. Based on the support request acquired by the third communication unit 11, the determination unit 12 determines, from among the multiple flying objects G, an flying object G to which the work-related item is to be handed over.

[0071] That is, the work support system A includes a determination unit 12 that determines, based on the results obtained by the third communication unit 11, an air vehicle G from among a plurality of air vehicles G to which a work-related item will be handed over.

[0072] The third communication unit 11 sends an assistance command to the second communication unit 91 of the air vehicle G determined by the determination unit 12. The second communication unit 91 of the air vehicle G that received the assistance command acquires the position information and work information of the target work vehicle, which is the work vehicle E that sent the assistance request to the management computer 1, from the first communication unit 35 of the target work vehicle. Note that this position information is information acquired by the work vehicle position acquisition unit 36 ​​of the target work vehicle. Furthermore, this work information is information generated by the work information generation unit 38 of the target work vehicle. Then, the air vehicle G that received the assistance command transfers work-related items to and from the target work vehicle based on the position information of the air vehicle G and the position information and work information of the target work vehicle.

[0073] For example, when the tractor 3 transmits a request for assistance in replenishing pesticides to the management computer 1, the determination unit 12 determines the first air vehicle 5 as the air vehicle G that will replenish the pesticides. Upon receiving the assistance command, the first air vehicle 5 flies toward the tractor 3 under the control of the flight control unit 93 based on the position information of the first air vehicle 5 and the position information of the tractor 3. The first air vehicle 5 then replenishes the pesticides in the hopper 33 under the control of the delivery control unit 94 based on the work information of the tractor 3. In this case, for example, the work information may be information indicating the remaining amount of pesticide stored in the hopper 33, and the dropping unit 51 of the first air vehicle 5 may replenish the pesticides based on the remaining amount up to the maximum storage amount specified in the hopper 33 specifications.

[0074] In this way, the flying object G has the second communication unit 91 that acquires work information, which is information related to work-related objects. Furthermore, the flying object G delivers and receives work-related objects using the delivery unit K based on the work information.

[0075] [Maintenance control] Each flying object G is configured to be able to execute the handover of work-related objects while the work vehicle E is traveling and performing work. In order to realize the handover of work-related objects while the work vehicle E is traveling and performing work, the flight control unit 93 shown in FIG. 3 is configured to execute maintenance control based on the position information of the work vehicle E and the position information of the flying object G while the work vehicle E is performing work. Maintenance control refers to controlling the flight of the flying object G so that the positional relationship between the work vehicle E and the flying object G is maintained.

[0076] That is, the flight control unit 93 is capable of maintenance control that controls the flight of the aircraft G so that the positional relationship between the work vehicle E and the aircraft G is maintained while the work vehicle E is working. The transfer unit K is configured to be able to transfer work-related items while maintenance control is being performed.

[0077] For example, the flight control unit 93 of the first flying vehicle 5 shown in Figure 2 is configured to be able to execute maintenance control based on the position information of the tractor 3 and the position information of the first flying vehicle 5 while the tractor 3 is working. The dropping unit 51 is configured to be able to drop the pesticide while the maintenance control is being executed. This allows the first flying vehicle 5 to replenish the pesticide to the hopper 33 while the tractor 3 is traveling and spraying the pesticide.

[0078] [Execution decision-making section] 3, each flying object G is equipped with an execution decision unit 95. The execution decision unit 95 decides the execution location or execution timing of the transfer of work-related items between the flying object G and the work vehicle E based on the work information acquired by the second communication unit 91.

[0079] That is, the work support system A is equipped with an execution decision unit 95 that decides the execution location or execution timing of the transfer of work-related items between the flying object G and the work vehicle E based on the work information.

[0080] The execution decision unit 95 may, for example, decide at which point in the field the work-related object is to be handed over.

[0081] The flight control unit 93 controls the flight of the flying object G in accordance with the contents of the decision made by the execution decision unit 95. The delivery control unit 94 controls the delivery unit K in accordance with the contents of the decision made by the execution decision unit 95.

[0082] The control mode of the execution decision unit 95 can be switched among a plurality of modes. More specifically, the control mode of the execution decision unit 95 can be switched among a first mode, a second mode, a third mode, a fourth mode, a fifth mode, and a sixth mode. Depending on the control mode, the priority in determining the execution location or execution timing of the transfer of the work-related object differs.

[0083] When the execution decision unit 95 is in the first mode, the execution decision unit 95 determines the execution position or execution timing so as to minimize delays in the work of the work vehicle E due to the delivery of work-related objects. In this case, for example, the execution position or execution timing is determined so that the vehicle speed of the work vehicle E does not decrease due to the delivery of work-related objects.

[0084] When the execution decision unit 95 is in the second mode, the execution decision unit 95 determines the execution location or execution timing when materials are transferred from the aircraft G to the work vehicle E so that the materials do not run out on the work vehicle E. In this case, for example, the execution location or execution timing is determined so that the materials are quickly replenished when the remaining amount of materials on the work vehicle E falls below 50 percent of the maximum amount specified.

[0085] When the execution decision unit 95 is in the third mode, the execution decision unit 95 determines the execution position or execution timing so as to ensure the stability of the transfer of the work-related object. In this case, for example, the execution position or execution timing is determined so that the transfer takes place when the work vehicle E is traveling in an area of ​​the field with few bumps and dips.

[0086] When the execution decision unit 95 is in the fourth mode, the execution decision unit 95 decides the execution position or execution timing so that the work-related object is handed over while the work vehicle E is moving straight ahead.

[0087] When the execution decision unit 95 is in the fifth mode, the execution decision unit 95 decides the execution position or execution timing so that the work-related object is handed over while the work vehicle E is traveling at a low speed.

[0088] When the execution decision unit 95 is in the sixth mode, the execution decision unit 95 determines the execution timing to be the timing when the distance between the edge of the field where the air vehicle G is waiting and the work vehicle E becomes equal to or shorter than a predetermined distance. At this time, if preparations for the transfer of work-related objects have been completed on the air vehicle G side, the execution decision unit 95 calculates the predetermined distance based on the time required for the air vehicle G to reach the position of the work vehicle E after starting flight. If the preparations have not been completed, the execution decision unit 95 calculates the predetermined distance based on the total time required for the preparations and the time required for the air vehicle G to reach the position of the work vehicle E after starting flight. Note that the "execution timing" here may be the timing when preparations for the transfer of work-related objects are started on the air vehicle G side before the air vehicle G takes off, the timing when the air vehicle G takes off, or the moment when the work-related objects are actually moved between the air vehicle G and the work vehicle E. Furthermore, the "preparation" here may be, for example, the task of loading work-related objects scheduled to be supplied to the work vehicle E onto the air vehicle G.

[0089] That is, the execution decision unit 95 can determine the execution location or execution timing so as to minimize delays in the work of the work vehicle E due to the delivery of work-related objects. Furthermore, when materials that are work-related objects are delivered from the air vehicle G to the work vehicle E, the execution decision unit 95 can determine the execution location or execution timing so that the materials do not run out at the work vehicle E. Furthermore, the execution decision unit 95 can determine the execution location or execution timing so that the stability of the delivery of work-related objects is ensured. Furthermore, the execution decision unit 95 can determine the execution location or execution timing so that the delivery of work-related objects occurs while the work vehicle E is traveling straight. Furthermore, the execution decision unit 95 can determine the execution location or execution timing so that the delivery of work-related objects occurs while the work vehicle E is traveling at a low speed. Furthermore, the execution decision unit 95 can determine the execution timing to be the timing when the distance between the edge of the field where the air vehicle G is waiting and the work vehicle E is equal to or less than a predetermined distance.

[0090] Furthermore, for the information exchanged between the work vehicle E and the flying object G, a priority is set for each type of information, and the priority may be configured to change depending on the control mode of the execution decision unit 95.

[0091] 3, the management computer 1 includes a mode switching unit 13. The mode switching unit 13 generates a mode switching command based on, for example, an operational input by a user. The generated mode switching command is sent from the third communication unit 11 to the second communication unit 91. The flying object G switches the control mode of the execution decision unit 95 in accordance with the received mode switching command.

[0092] [Refueling the fuel tank] As shown in Figure 2, the second flying body 6 has a refueling unit 61, which is a transfer unit K. The refueling unit 61 can store fuel such as gasoline. When the flying device H flies with fuel stored in the refueling unit 61, the flying device H can transport fuel.

[0093] The fuel supply unit 61 has a tubular member 63 and an on-off valve 64. The tubular member 63 is configured to allow fuel to pass through the inside of the tubular member 63.

[0094] That is, the refueling unit 61 has a tubular member 63. The tubular member 63 may or may not be flexible. When a flexible tubular member 63 is provided, fuel can be transferred while the second aircraft 6 and the fuel tank 32 are connected via the tubular member 63. Even if the positional relationship between the second aircraft 6 and the fuel tank 32 changes slightly during fuel transfer, the tubular member 63 deforms, making it easier to maintain the connection between the second aircraft 6 and the fuel tank 32. This makes it easier to reliably transfer fuel even if the positional relationship between the second aircraft 6 and the fuel tank 32 changes slightly during fuel transfer.

[0095] The tubular member 63 is configured to be insertable into a refill hole 32a provided on the top surface of the fuel tank 32. The on-off valve 64 is configured to be openable and closable, for example, by an electric motor. When the on-off valve 64 is in an open state, the fuel contained in the fuel refill unit 61 is discharged downward through the tubular member 63. When the on-off valve 64 is in a closed state, the fuel contained in the fuel refill unit 61 is not discharged. The on-off valve 64 is controlled by the delivery control unit 94 shown in FIG. 3.

[0096] As shown in FIG. 2, when the tubular member 63 is inserted into the supply hole 32a and the on-off valve 64 is opened, the fuel stored in the fuel supply section 61 is supplied to the fuel tank 32 via the tubular member 63.

[0097] That is, the refueling unit 61 is configured to transfer fuel between the second flying body 6 and the fuel tank 32 via the tubular member 63.

[0098] Furthermore, the tubular member 63 and the plurality of opening and closing mechanisms 65 constitute a connection mechanism 66. As shown in FIG.

[0099] That is, the work support system A includes a connection mechanism 66 that connects the tractor 3 and the fuel supply unit 61.

[0100] The multiple opening and closing mechanisms 65 are provided at the lower end of the tubular member 63. Each opening and closing mechanism 65 may be plate-shaped or rod-shaped. Each opening and closing mechanism 65 is configured to be able to swing up and down as shown in Figure 2, for example, by an electric motor or the like.

[0101] When each opening / closing mechanism 65 is in a horizontal position, the upward movement of the tubular member 63 inserted into the fuel supply hole 32a is restricted. At this time, the connection mechanism 66 is in a locked state. The locked state means that the tractor 3 (work vehicle E) and the fuel supply unit 61 (delivery unit K) remain connected to each other.

[0102] When each opening / closing mechanism 65 is in a vertical position, the tubular member 63 inserted in the fuel supply hole 32a is allowed to move upward. At this time, the connection mechanism 66 is in an unlocked state. The unlocked state means that the connection between the tractor 3 (work vehicle E) and the fuel supply unit 61 (delivery unit K) can be released.

[0103] 3, each flying object G is equipped with a lock control unit 96. The lock control unit 96 controls the up and down swing of the multiple opening and closing mechanisms 65. This allows the lock control unit 96 to switch the state of the connection mechanism 66 between a locked state and an unlocked state.

[0104] 2 is configured to be able to change its state between a locked state in which the tractor 3 (work vehicle E) and the fuel supply unit 61 (transfer unit K) are maintained connected, and an unlocked state in which the connection between the tractor 3 (work vehicle E) and the fuel supply unit 61 (transfer unit K) can be released. The work support system A also includes a lock control unit 96 that changes the state between the locked state and the unlocked state.

[0105] The transfer unit K is detachably connected to the flight device H. The flight device H is configured so that the transfer unit K connected to the flight device H can be replaced with a different type of transfer unit K. For example, after removing the dropping unit 51 from the flight device H of the first flight body 5, the refueling unit 61 can be connected to the flight device H.

[0106] [Landing on a work vehicle] In order to realize the handover of work-related items while the work vehicle E is working while traveling, the flight control unit 93 shown in Figure 3 is configured to be able to execute vehicle landing control based on position information of the work vehicle E and position information of the air vehicle G while the work vehicle E is working. Vehicle landing control is to control the flight of the air vehicle G so that the air vehicle G lands on the work vehicle E.

[0107] That is, the flight control unit 93 can control the flight of the aircraft G so that the aircraft G lands on the work vehicle E while the work vehicle E is working. The handover unit K is configured to be able to execute the handover of work-related items after the aircraft G lands on the work vehicle E.

[0108] For example, legs 62 are provided below the refueling unit 61 of the second flying vehicle 6 shown in Fig. 2. The second flying vehicle 6 can land on the tractor 3 by bringing the lower surfaces of the legs 62 into contact with a flat part of the tractor 3 (for example, the top surface of the hood or the top surface of the roof).

[0109] The flight control unit 93 of the second aircraft 6 is configured to be able to control the flight of the second aircraft 6 so that the second aircraft 6 lands on the tractor 3 while the tractor 3 is working, based on position information about the tractor 3 and position information about the second aircraft 6. At this time, the flight control unit 93 controls the flight of the second aircraft 6 so that the tubular member 63 is inserted into the refueling hole 32a. The refueling unit 61 is configured to be able to discharge fuel downward after the second aircraft 6 lands on the tractor 3. This allows the second aircraft 6 to refuel the fuel tank 32 while the tractor 3 is traveling and spraying pesticides.

[0110] After the second flying vehicle 6 lands on the tractor 3, the connection mechanism 66 is controlled to be in a locked state until refueling of the fuel tank 32 is completed. Once refueling of the fuel tank 32 is completed, the connection mechanism 66 is changed from the locked state to the unlocked state.

[0111] [Battery replacement and seedling mat replenishment] As shown in Figure 4, the electric brush cutter 4, which is the work vehicle E, is equipped with a battery attachment section 41. A battery (corresponding to the "work-related item" according to the present invention) is attached to the battery attachment section 41. The brush cutter 4 can perform brush cutting work while traveling using power supplied from the battery attached to the battery attachment section 41.

[0112] That is, the brush cutter 4 is configured to use the battery when it is attached. In Figure 4, a first battery 81 (corresponding to the "work-related object" according to the present invention) is attached to the battery attachment part 41.

[0113] 4, the transfer section K of the third aircraft 7 has multiple grippers 71. More specifically, the transfer section K of the third aircraft 7 is composed of two grippers 71. Each gripper 71 is a robot arm driven by an actuator (not shown). The actuator may be, for example, an electric motor or a hydraulic motor.

[0114] As shown in FIG. 4, the gripping unit 71 can grip a first battery 81 and a second battery 82 (corresponding to the "work-related object" according to the present invention). The first battery 81 and the second battery 82 are both batteries. The flying device H can carry the battery by flying with the gripping unit 71 gripping the battery. The transfer unit K of the third flying body 7 is configured to transfer the battery using the two gripping units 71.

[0115] For example, as shown in Figures 4 and 5, the third flying object 7 flies toward the brush cutter 4 while holding the second battery 82 with one of the gripping parts 71. Then, the third flying object 7 holds and removes the first battery 81 attached to the battery attachment part 41 with the other gripping part 71. Furthermore, the third flying object 7 attaches the second battery 82 to the battery attachment part 41 with one of the gripping parts 71. After that, the third flying object 7 flies away from the brush cutter 4 while holding the first battery 81 with the other gripping part 71.

[0116] That is, the transfer section K of the third flying vehicle 7 is configured to transfer the first battery 81 and the second battery 82 by removing the first battery 81, which is the battery attached to the brush cutter 4, and attaching another battery, the second battery 82, to the brush cutter 4.

[0117] With this configuration, the third flying vehicle 7 can replace the battery of the brush cutter 4. For example, if the charge rate of the first battery 81 is relatively low and the charge rate of the second battery 82 is relatively high, replacing the first battery 81 with the second battery 82 can extend the amount of time that the brush cutter 4 can continue to work.

[0118] However, the present invention is not limited to this. For example, the work vehicle E may have a storage unit for storing fuel, and the transfer unit K may be configured to replenish fuel by removing the storage unit from the work vehicle E and attaching another storage unit (preferably a storage unit full of fuel) to the work vehicle E, similar to the battery replacement described above. In this case, too, the amount of time the work vehicle E can continue working can be extended.

[0119] Also, for example, the work vehicle E that harvests crops may have a storage unit for storing the harvested product, and the transfer unit K may be configured to collect the harvested product by removing the storage unit from the work vehicle E and attaching another storage unit (preferably an empty storage unit) to the work vehicle E, similar to the battery replacement described above. In this case, too, the amount of time that the work vehicle E can continue working can be extended.

[0120] In other words, if the work vehicle E has a storage section for storing work-related items, the transfer section K may be configured to transfer work-related items by removing the storage section from the work vehicle E and attaching another storage section to the work vehicle E.

[0121] In addition, some or all of the harvested product stored in the storage section may be transferred to the aircraft G side via the transfer section K. In such an embodiment, it is preferable that an empty storage section be provided on the aircraft G side. For example, a discharge outlet may be provided in the storage section of the work vehicle E, a supply inlet may be provided in the storage section on the aircraft G side, and the discharge outlet and the supply inlet may be connected by the transfer section K. In this case, if the aircraft G flies so that the position of the supply inlet is lower than the position of the discharge inlet, the harvested product can be collected using gravity. In this case, a load detection sensor that detects the load of the collected harvested product may be provided on the aircraft G side. By using this load detection sensor, the collection of the harvested product can be controlled so that the load of the collected harvested product is below the upper limit load that the aircraft G can fly.

[0122] As shown in FIG. 6, the rice transplanter 2, which is a work vehicle E, is equipped with a seedling tray 21. The third flying vehicle 7 can grasp a support member 85 that supports one or more seedling mats 84 (corresponding to the "work-related object" of the present invention) with two gripping parts 71. The flying device H flies with the gripping parts 71 grasping the support member 85, so that the flying device H can transport one or more seedling mats 84. The support member 85 may be, for example, a scooping board or a seedling raising box. The transfer section K of the third flying vehicle 7 is configured to replenish seedling mats 84 with the two gripping parts 71.

[0123] In the example shown in Figure 6, a support member 85 supporting multiple seedling mats 84 is placed on the levee. The third aircraft 7 grips the support member 85 with its two gripping parts 71. Next, the third aircraft 7, while holding the support member 85 with its two gripping parts 71, flies toward the seedling loading table 21 of the rice transplanter 2. The third aircraft 7 then tilts the support member 85 to slide the multiple seedling mats 84, thereby supplying the multiple seedling mats 84 to the seedling loading table 21.

[0124] In this case, it is preferable that the number of rows of the seedling mat 84 that can be placed on the seedling placing table 21 and the number of rows of the seedling mat 84 supported by the support member 85 are the same.

[0125] However, the present invention is not limited to this. For example, the gripping portion 71 may be capable of directly gripping one or more seedling mats 84.

[0126] The transfer unit K may also be capable of supplying one seedling mat 84 to the seedling placing table 21. This allows seedling mats 84 to be locally supplied to a portion of the seedling placing table 21 where there are relatively few seedling mats 84, when the rice transplanter 2 is configured to be able to change the number of planting rows.

[0127] Furthermore, gripping portion 71 may be capable of gripping objects other than those exemplified as gripping targets in the above description. For example, gripping portion 71 may be capable of gripping wall materials or pipes for construction, or may be capable of gripping a container that contains work-related items such as fertilizer.

[0128] That is, the transfer section K of the third flying body 7 has a gripping section 71 that is driven by an actuator and can grasp a work-related object or a support member 85 that supports the work-related object or a storage member that stores the work-related object, and is configured to transfer the work-related object using the gripping section 71.

[0129] The third flying vehicle 7 is configured to be able to transfer work-related items such as batteries and seedling mats 84 while the work vehicle E, such as the grass cutter 4 or rice transplanter 2, is traveling and performing work. At this time, the flight control unit 93 of the third flying vehicle 7 executes the maintenance control described above. However, the present invention is not limited to this, and the flight control unit 93 of the third flying vehicle 7 may execute the vehicle landing control described above instead of executing the maintenance control.

[0130] The work support system A in this embodiment also includes a weight value acquisition unit (not shown) that acquires a weight value indicating the weight of the work-related object before the work-related object is handed over. The weight value acquisition unit may be provided in the work vehicle E or in the flying object G. The weight value acquisition unit may be a load sensor such as a load cell.

[0131] The transfer unit K may be configured to transfer work-related objects in an amount equal to or less than a predetermined threshold value when the weight value is greater than the predetermined threshold value. The threshold value may be, but is not limited to, a value equivalent to a maximum load specified in the specifications of the transfer unit K or the aircraft G.

[0132] For example, in the example shown in Figure 6, the weight value acquisition unit provided in the flying object G may acquire the weight of the support member 85 supporting the multiple seedling mats 84. In this case, the weight acquired by the weight value acquisition unit is the total weight of the multiple seedling mats 84 and the support member 85, which corresponds to the above-mentioned "weight value."

[0133] At this time, if the weight acquired by the weight value acquisition unit is greater than a predetermined threshold, the third flying vehicle 7 controls the two gripping units 71 to supply seedling mats 84 in an amount equal to or less than the threshold to the seedling placing table 21. At this time, for example, the third flying vehicle 7 stops transporting the support member 85 supporting the plurality of seedling mats 84 to the seedling placing table 21, and directly grips seedling mats 84 in an amount equal to or less than the threshold (for example, one seedling mat 84) with the gripping units 71, flies toward the seedling placing table 21, and supplies the seedling mats 84 to the seedling placing table 21.

[0134] The work support system A in this embodiment also includes an air vehicle determination unit (not shown) that determines an air vehicle G to which a work-related item will be handed over from among a plurality of air vehicles G based on the weight value acquired by the weight value acquisition unit. The air vehicle determination unit may be provided in the management computer 1, the work vehicle E, or the air vehicle G. The air vehicle determination unit may be a physical device such as a microcomputer, or may be a functional unit in software. The air vehicle determination unit may be configured to send an assistance command to the second communication unit 91 of the air vehicle G determined by the air vehicle determination unit.

[0135] For example, in the example shown in Figure 6, when the weight value acquisition unit provided in the third flying body 7 acquires the weight of the support member 85 supporting multiple seedling mats 84, the flying body determination unit determines whether the weight is greater than a predetermined threshold. Although not limited to this, the threshold may be a value corresponding to the maximum load specified in the specifications of the third flying body 7 or the transfer unit K of the third flying body 7. If the weight is equal to or less than the threshold, the flying body determination unit determines the third flying body 7 as the flying body G that will supply seedling mats 84 to the seedling tray 21.

[0136] Furthermore, if the weight is greater than the threshold value, the flying object determination unit determines an flying object G different from the third flying object 7 (preferably an flying object G with a larger payload than the third flying object 7) as the flying object G that will supply seedling mats 84 to the seedling placing tray 21. In this case, the flying object determination unit commands the third flying object 7 to stop supplying seedling mats 84.

[0137] Furthermore, if the weight value acquisition unit is provided in the work vehicle E, a configuration can be realized in which the air vehicle determination unit determines that only the air vehicle G that can withstand the weight of the work-related object corresponding to the weight value acquired by the weight value acquisition unit will head to support the work vehicle E. In this case, it is possible to prevent a situation in which the handover of the work-related object is canceled due to the weight of the work-related object.

[0138] [Prevention part] 4, a recess 83 is formed in the outer wall of the first battery 81. Although not shown, a recess 83 is also formed in the outer wall of the second battery 82.

[0139] Furthermore, a retaining portion 42 is provided in the battery mounting portion 41 at a location facing the recess 83. The retaining portion 42 is configured to be movable in the horizontal direction as shown by the arrow in FIG. 4 by, for example, an electric motor or the like.

[0140] When the first battery 81 or the second battery 82 is attached to the battery attachment part 41 and the retaining part 42 protrudes, the retaining part 42 fits into the recess 83. At this time, the first battery 81 or the second battery 82 attached to the battery attachment part 41 cannot be removed from the battery attachment part 41. In other words, at this time, the brush cutter 4 is in a state in which it is not possible to remove the first battery 81 or the second battery 82. Hereinafter, this state in which it is not possible to transfer work-related objects will be referred to as the "first state."

[0141] When the first battery 81 or the second battery 82 is attached to the battery attachment part 41 and the retaining part 42 is retracted, the retaining part 42 does not enter the recess 83. At this time, the first battery 81 or the second battery 82 attached to the battery attachment part 41 can be removed from the battery attachment part 41. In other words, at this time, the brush cutter 4 is in a state where the first battery 81 or the second battery 82 can be removed. Hereinafter, this state where the transfer of work-related items can be performed is referred to as the "second state."

[0142] In this way, the brush cutter 4 is configured to be able to change its state between a first state in which the transfer of the work-related object, the battery, is not possible, and a second state in which the transfer of the work-related object, the battery, is possible. However, the present invention is not limited to this, and both the brush cutter 4 and the transfer unit K, or only the transfer unit K, may be configured to be able to change its state between the first state and the second state.

[0143] That is, at least one of the work vehicle E and the transfer section K is configured to be able to change its state between a first state in which the transfer of work-related items cannot be performed, and a second state in which the transfer of work-related items can be performed.

[0144] As shown in Fig. 7, the brush cutter 4 is provided with a retaining control unit 39. The retaining control unit 39 controls the extension and retraction of the retaining unit 42. In this way, the retaining control unit 39 changes the state between the first state and the second state.

[0145] That is, the work support system A includes a fall-off prevention control unit 39 that changes the state between the first state and the second state.

[0146] As shown in FIG. 7, each flying object G is also equipped with a release command unit 97. The release command unit 97 generates a release command to command a state change from the first state to the second state. The generated release command is sent from the second communication unit 91 to the first communication unit 35 of the brush cutter 4. When the first communication unit 35 of the brush cutter 4 receives the release command, the retaining control unit 39 of the brush cutter 4 controls the retaining unit 42 to the retracted state. This causes a state change from the first state to the second state.

[0147] For example, as shown in Figures 4 and 5, when the third flying object 7 replaces the battery of the brush cutter 4, as shown in Figure 7, the position information of the brush cutter 4 acquired by the work vehicle position acquisition unit 36 ​​and the work information of the brush cutter 4 generated by the work information generation unit 38 are sent from the first communication unit 35 to the second communication unit 91.

[0148] Then, the third flying object 7 flies toward the brush mower 4 under the control of the flight control unit 93 based on the position information of the third flying object 7 and the position information of the brush mower 4. The above-mentioned release command is sent to the brush mower 4 before the third flying object 7 reaches the position of the brush mower 4. As a result, the anti-detachment control unit 39 changes the state from the first state to the second state while the third flying object 7 is flying toward the brush mower 4 to hand over the battery. In other words, the anti-detachment control unit 39 changes the state from the first state to the second state before the third flying object 7 reaches the position of the brush mower 4.

[0149] Thereafter, when the third aircraft 7 reaches the position of the brush cutter 4, the third aircraft 7 replaces the battery under the control of the delivery control unit 94 based on the work information of the brush cutter 4. In this case, the delivery control unit 94 controls the two gripping units 71. In this case, for example, the work information may be information indicating the type of battery that is compatible with the brush cutter 4, and the third aircraft 7 may be configured to transport an appropriate battery to the brush cutter 4 based on this information.

[0150] Furthermore, each element (each element provided in the management computer 1, work vehicle E, and aircraft G) such as the first communication unit 35 and work vehicle position acquisition unit 36 ​​shown in Figures 3 and 7 may be a physical device such as a microcomputer, or may be a functional unit in software.

[0151] 3 does not show the release command unit 97 provided in each flying object G. In FIG. 7, the execution decision unit 95 and lock control unit 96 provided in each flying object G are not shown.

[0152] According to the configuration described above, the flying object G can approach the work vehicle E while carrying work-related objects and hand over the work-related objects. This makes it easy for the flying object G to hand over the work-related objects while the work vehicle E continues working. As a result, it is easy to suppress a decrease in work efficiency due to the handover of work-related objects.

[0153] That is, according to the configuration described above, it is possible to realize a work support system A that can easily prevent a decrease in work efficiency due to the handover of work-related items.

[0154] Other Embodiments (1) The hopper 33 may be provided with a lid that covers the opening 33a, and the lid may be configured to be changeable between a closed state and an open state. In this case, the closed state corresponds to the above-mentioned "first state," and the open state corresponds to the above-mentioned "second state."

[0155] (2) The transfer section K may be configured to remove and install parts related to the work of the work vehicle E. This allows for part replacement and maintenance of the work vehicle E. In this case, the parts correspond to the "work-related items" according to the present invention. Furthermore, both removal and installation correspond to the "transfer" according to the present invention.

[0156] (3) The flight control unit 93 may be configured so as not to be able to perform maintenance control.

[0157] (4) The flight control unit 93 may be configured so as not to be able to execute vehicle landing control.

[0158] (5) The work support system A may be equipped with only one flying object G. Even if the work support system A is equipped with only one flying object G, by replacing the transfer unit K with a different type of transfer unit K, it is possible to transfer different types of work-related objects. This makes it easy to realize a work support system A that can transfer various types of work-related objects.

[0159] (6) Some or all of the elements included in the management computer 1 may be included in the aircraft G or the work vehicle E. In other words, the work support system A does not need to include the management computer 1.

[0160] (7) The flying object G may be configured to place work-related items at a specified location using the delivery unit K. In this case, placement corresponds to "delivery" according to the present invention. With this configuration, when the work vehicle E passes through or near the location during work, work-related items can be easily supplied to the work vehicle E.

[0161] (8) The flying object G may be configured to collect work-related items placed at a predetermined location using the delivery unit K. In this case, collection corresponds to the "delivery" according to the present invention.

[0162] (9) The transfer section K may collect medicine from the work vehicle E. In this case, the collection corresponds to the "transfer" according to the present invention. After collecting the medicine, the transfer section K may replenish another type of medicine. In this case, the replenishment corresponds to the "transfer" according to the present invention.

[0163] (10) The flying object G may have a detection unit (for example, a camera) that detects the remaining amount of materials (for example, seedling mats 84) on the work vehicle E, thereby acquiring information indicating the remaining amount of materials.

[0164] (11) The work support system A may be configured to support work by a work vehicle E of a type other than that exemplified in the above embodiment. For example, the work support system A may support work by a work vehicle E such as a combine harvester or a construction vehicle.

[0165] The configurations disclosed in the above-described embodiments (including other embodiments, the same applies hereinafter) can be applied in combination with the configurations disclosed in other embodiments, unless a contradiction arises. Furthermore, the embodiments disclosed in this specification are merely examples, and the present invention is not limited to these, and can be modified as appropriate within the scope of the purpose of the present invention. [Industrial Applicability]

[0166] The present invention can be used in a work support system that supports work performed by a work vehicle. [Explanation of symbols]

[0167] 11: Third communication unit (acquisition unit) 12: Decision section 32: Fuel tank (storage section) 33: Hopper (storage section) 33a: Opening 63: Tubular member 71: Grip part 81: First battery (work-related items) 82: Second battery (work-related items) 84: Seedling mat (work-related items) 85: Support member 93: Flight control unit A: Work support system E: Work vehicle G: Flying object H: Flight equipment K: Delivery section

Claims

1. A work support system that supports work by an agricultural work vehicle, A flying body having a flying device capable of flying and transporting agricultural materials related to work by the agricultural work vehicle, and a delivery unit connected to the flying device; a flight control unit that controls the flight of the aircraft, The flight control unit is capable of maintenance control to control the flight of the aircraft so that a positional relationship between the agricultural work vehicle and the aircraft is maintained while the agricultural work vehicle is running and performing work, The transfer unit is a work support system configured to be able to supply the agricultural materials from the aircraft to the agricultural work vehicle while the maintenance control is being performed.

2. The flight control unit is capable of controlling the flight of the aircraft so that the aircraft lands on the agricultural work vehicle while the agricultural work vehicle is running and performing work; The work support system according to claim 1 , wherein the delivery unit is configured to be able to supply the agricultural materials after the aircraft lands on the agricultural work vehicle.

3. The agricultural work vehicle has a storage section that stores the agricultural materials, The storage section has an opening facing upward, The work support system according to claim 1 or 2, wherein the transfer unit is configured to replenish the agricultural materials from the aircraft to the storage unit by dropping the agricultural materials from above the opening into the opening.

4. The agricultural work vehicle has a storage section that stores the agricultural materials, the delivery section has a tubular member, The tubular member is configured to allow the agricultural material to pass through the tubular member, The work support system according to claim 1 or 2, wherein the transfer unit is configured to supply the agricultural materials from the aircraft to the storage unit via the tubular member.

5. 3. The work support system according to claim 1, wherein the transfer unit has a gripping unit that is driven by an actuator and can grip the agricultural material, a support member that supports the agricultural material, or a storage member that stores the agricultural material, and is configured to replenish the agricultural material using the gripping unit.

6. a weight value acquiring unit that acquires a weight value that indicates the weight of the agricultural material before the agricultural material is replenished; 6. The work support system according to claim 1, wherein the transfer unit is configured to, when the weight value is greater than a predetermined threshold, replenish the agricultural materials in an amount equal to or less than the threshold of the agricultural materials before the transfer.

7. A plurality of the flying vehicles; a weight value acquiring unit that acquires a weight value indicating the weight of the agricultural material before the agricultural material is delivered; A work support system as described in any one of claims 1 to 6, comprising an aircraft determination unit that determines the aircraft that will transfer the agricultural materials from among the plurality of aircraft based on the weight value.

8. The delivery unit is detachably connected to the flight device, The flight device is configured so that the transfer unit connected to the flight device can be replaced with a different type of transfer unit, The work support system according to any one of claims 1 to 7, wherein the different types of transfer units include a liquid tank that discharges the agricultural material downward through a tubular member, a transport box that drops the agricultural material downward by opening an opening / closing part at the bottom, and a gripping unit that is driven by an actuator and can grip the agricultural material, a support member that supports the agricultural material, or a storage member that stores the agricultural material.

9. A plurality of the flying vehicles are provided, Each of the flying objects has a different type of delivery unit, The different types of transfer units include a liquid tank that discharges the agricultural material downward through a tubular member, a transport box that drops the agricultural material downward by opening an opening / closing part at the bottom, and a gripping unit that is driven by an actuator and can grip the agricultural material, a support member that supports the agricultural material, or a storage member that stores the agricultural material, an acquisition unit that acquires the content of the requested support; A work support system as described in any one of claims 1 to 8, further comprising: a determination unit that determines the aircraft that will transfer the agricultural materials from among the plurality of aircraft based on the results acquired by the acquisition unit.

Images