Work support system

Abstract

This work assistance 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, the flying body G has an information acquisition unit that acquires work information relating to the work-related object, and the flying body G carries out delivery of the work-related object on the basis of the work information via the delivery part K.

Description

Technical Field

[0001] The present invention relates to a work support system for supporting work by a work vehicle.

Background Art

[0002] As a work vehicle, for example, the one described in Patent Document 1 is already known. This work vehicle (referred to as "riding management machine" in Patent Document 1) can perform a chemical spraying operation by a work device (referred to as "chemical spraying device" in Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When a work vehicle that sprays materials (such as chemicals), like the work vehicle described in Patent Document 1, performs work over a relatively wide area, it often becomes necessary to replenish the materials during the work. The replenishment of materials is, for example, carried out at the replenishment location after moving the work vehicle to the replenishment location. As a result, the work is delayed. Consequently, the work efficiency tends to decrease.

[0005] Also, for example, when a work vehicle that harvests grains or the like performs work over a relatively wide area, it often becomes necessary to discharge the harvested products during the work. The discharge of the harvested products is, for example, carried out at the discharge location after moving the work vehicle to the discharge location. As a result, the work is delayed. Consequently, the work efficiency tends to decrease.

[0006] Furthermore, when a work vehicle operates over a relatively wide area, it may be necessary to replace parts during the operation. This replacement may involve moving the work vehicle to a maintenance workshop, where it is then carried out. This can cause delays in the work, resulting in decreased work efficiency.

[0007] Thus, when a work vehicle operates over a relatively wide area, delays tend to occur due to the transfer of work-related materials between the vehicle and the work site. As a result, work efficiency tends to decrease.

[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 specific examples of "materials (agricultural materials)."

[0009] Furthermore, in this specification, replenishment, discharge, recovery, installation, and removal are all specific examples of "transfer."

[0010] The objective of the present invention is to provide a work support system that can easily suppress the decrease in work efficiency caused by the exchange of work-related items. [Means for solving the problem]

[0011] The features of the present invention are a work support system for assisting work performed by a tractor having a hopper for spreading agricultural materials, comprising: an aircraft capable of flight and transporting the agricultural materials; and a transfer unit connected to the aircraft. And a flight control unit that controls the flight of the aircraft, The aircraft is equipped with a transfer unit configured to transfer agricultural materials between the aircraft and the tractor, the aircraft has an information acquisition unit that acquires work information which is information indicating the remaining amount of agricultural materials stored in the hopper, and the aircraft replenishes the agricultural materials to the hopper via the transfer unit based on the work information. The flight control unit is capable of maintaining control of the flight of the aircraft so as to maintain the relative position between the tractor and the aircraft during the tractor's operation, and the transfer unit is configured to transfer the agricultural materials while the maintenance control is being performed. It is the matter.

[0012] This configuration allows the aircraft to approach the tractor while transporting agricultural materials and transfer them to it. This makes it easier for the aircraft to transfer agricultural materials while the tractor is continuing to work or while the tractor is temporarily stopped in the field for the transfer. As a result, it is easier to suppress the decrease in work efficiency caused by the transfer of agricultural materials.

[0013] Furthermore, with this configuration, the aircraft delivers agricultural materials based on work information. For example, if the work information indicates the remaining amount of materials, the aircraft can replenish the hopper with the appropriate amount of materials. As a result, it is easier to minimize the number of times materials are replenished and the amount of materials replenished. This makes it easier to suppress the decrease in work efficiency caused by the delivery of agricultural materials.

[0014] In other words, this configuration makes it possible to realize a work support system that can easily suppress the decrease in work efficiency caused by the exchange of agricultural materials.

[0015]

[0016] Furthermore, This configuration allows the aircraft to transfer agricultural materials while maintaining the relative position of the tractor. This makes it easier to reliably transfer agricultural materials while the tractor is in motion and performing its work.

[0017] Furthermore, the present invention The features of this system are: a work support system that assists work performed by a tractor equipped with a hopper for spreading agricultural materials, comprising an aircraft having a flying device capable of transporting the agricultural materials, and a transfer unit connected to the flying device, Flight control unit that controls the flight of the aforementioned aircraft and, Prepare, The transfer unit is configured to transfer the agricultural materials between the aircraft and the tractor, the aircraft has an information acquisition unit that acquires work information which is information indicating the remaining amount of the agricultural materials stored in the hopper, and the aircraft replenishes the agricultural materials to the hopper via the transfer unit based on the work information. The flight control unit is capable of controlling the flight of the aircraft so that it lands on the tractor while the tractor is operating, and the transfer unit is configured to transfer the agricultural materials after the aircraft has landed on the tractor. It is about .

[0018] This configuration allows the aircraft to approach the tractor while transporting agricultural materials and transfer them. This facilitates the transfer of materials while the tractor is continuing its work or temporarily stopped in the field for the transfer. As a result, it helps to minimize the decrease in work efficiency caused by the transfer of agricultural materials. Furthermore, this configuration allows the aircraft to transfer materials based on work information. For example, if the work information indicates the remaining amount of material, the aircraft can replenish the hopper with the appropriate amount. This minimizes the frequency and amount of material replenishment, thus reducing the decrease in work efficiency caused by the transfer of agricultural materials.According to this configuration, the aircraft can transfer agricultural materials while landed on the tractor. As a result, it is easy to stably transfer agricultural materials while the tractor is operating while driving. In other words, this configuration makes it possible to realize a work support system that can easily suppress the decrease in work efficiency caused by the exchange of agricultural materials.

[0019] Furthermore, in the present invention, at least one of the tractor and the transfer unit is configured to be capable of changing its state between a first state in which transfer of the agricultural materials is not executable and a second state in which transfer of the agricultural materials is executable, and it is preferable to include a state control unit that performs a state change between the first state and the second state.

[0020] According to this configuration, in the first state, it is easy for the tractor or the transfer unit to stably hold and store the agricultural materials. Also, if the state is changed from the first state to the second state, the transfer of the agricultural materials can be executed.

[0021] Therefore, according to this configuration, it is possible to realize a work support system that can execute the transfer of agricultural materials between the aircraft and the tractor, while it is easy for the tractor or the transfer unit to stably hold and store the agricultural materials.

[0022] Furthermore, in the present invention, it is preferable that the state control unit performs a state change from the first state to the second state while the aircraft is flying toward the tractor to transfer the agricultural materials.

[0023] According to this configuration, compared with the case where the state change from the first state to the second state is performed after the aircraft reaches the position of the tractor, the waiting time from when the aircraft reaches the position of the tractor until the transfer of the agricultural materials is executed is less likely to occur. As a result, the process from when the aircraft flies toward the tractor until the transfer of the agricultural materials is completed is likely to proceed smoothly.

[0024] Furthermore, in the present invention, it is preferable to include a connection mechanism that connects the tractor and the delivery unit, and the connection mechanism is configured to be able to change its state between a locked state in which the connected state of the tractor and the delivery unit is maintained and an unlocked state in which the connection between the tractor and the delivery unit can be released, and to include a lock control unit that changes the state between the locked state and the unlocked state.

[0025] According to this configuration, by setting the connection mechanism to the locked state during the execution of the delivery of agricultural materials, it is possible to avoid a situation where the connection between the tractor and the delivery unit is released during the delivery of agricultural materials.

[0026] Furthermore, in the present invention, it is preferable to include an execution determination unit that determines the execution position or execution timing of the delivery of the agricultural materials between the aircraft and the tractor based on the work information.

[0027] According to this configuration, compared to a configuration in which the delivery of agricultural materials is executed regardless of the work information, the execution position or execution timing of the delivery of agricultural materials is more likely to be at an appropriate position or timing.

[0028] Furthermore, in the present invention, it is preferable that the execution determination unit can determine the execution position or execution timing so that the delay in the work of the tractor due to the delivery of the agricultural materials is reduced.

[0029] According to this configuration, the delay in the work of the tractor due to the delivery of agricultural materials is likely to be reduced. As a result, it is easy to suppress a decrease in work efficiency due to the delivery of agricultural materials.

[0030] Furthermore, in the present invention, it is preferable that the execution determination unit can determine the execution position or execution timing so that the material, which is the agricultural material, does not run out in the hopper when the material is delivered from the aircraft to the hopper.

[0031] With this configuration, the hopper is less likely to run out of materials. As a result, the tractor can continue working more easily.

[0032] Furthermore, in the present invention, it is preferable that the execution determination unit is capable of determining the execution position or the execution timing so as to ensure the stability of the delivery of the agricultural materials.

[0033] This configuration makes it easier to ensure the stability of the delivery of agricultural materials. As a result, it is easier to avoid situations where the delivery of agricultural materials fails, necessitating the re-delivery of materials.

[0034] Furthermore, in the present invention, it is preferable that the execution determination unit can determine the execution position or the execution timing so that the transfer of agricultural materials takes place while the tractor is moving in a straight line.

[0035] With this configuration, the aircraft can easily maintain its relative position to the tractor during the transfer of agricultural materials. This makes it easier to stably transfer agricultural materials while the tractor is moving and working.

[0036] Furthermore, in the present invention, it is preferable that the execution determination unit can determine the execution position or the execution timing so that the transfer of agricultural materials takes place while the tractor is traveling at a low speed.

[0037] With this configuration, the aircraft can easily maintain its relative position to the tractor during the transfer of agricultural materials. This makes it easier to stably transfer agricultural materials while the tractor is moving and working.

[0038] Furthermore, the present invention The features of this system are: a work support system that assists work performed by a tractor having a hopper for spreading agricultural materials, comprising an aircraft having a flying device capable of transporting the agricultural materials and a transfer unit connected to the flying device, wherein the transfer unit is configured to transfer the agricultural materials between the aircraft and the tractor, the aircraft having an information acquisition unit that acquires work information which is information indicating the remaining amount of the agricultural materials stored in the hopper, the aircraft having an execution determination unit that determines the execution position or execution timing of the transfer of agricultural materials between the aircraft and the tractor based on the work information, and the aircraft having an execution determination unit that determines the execution position or execution timing of the transfer of agricultural materials between the aircraft and the tractor based on the work information.The execution decision unit is configured to calculate the distance between the field edge where the aircraft is waiting and the tractor based on the position information of the aircraft and the position information of the tractor, and the execution decision unit can determine the execution timing when the distance becomes less than or equal to a predetermined distance. It is about .

[0039] This configuration allows the aircraft to approach the tractor while transporting agricultural materials and transfer them. This facilitates the transfer of materials while the tractor is continuing its work or temporarily stopped in the field for the transfer. As a result, it helps to minimize the decrease in work efficiency caused by the transfer of agricultural materials. Furthermore, this configuration allows the aircraft to transfer materials based on work information. For example, if the work information indicates the remaining amount of material, the aircraft can replenish the hopper with the appropriate amount. This minimizes the frequency and amount of material replenishment, thus reducing the decrease in work efficiency caused by the transfer of agricultural materials. When a tractor working in a field approaches the edge of the field, its speed tends to decrease due to turning and other maneuvers. Therefore, this configuration makes it easier to transfer agricultural materials when the tractor's speed is reduced. As a result, the transfer of agricultural materials can be carried out stably while the tractor is moving and working. Moreover, with this configuration, the flight distance of the aircraft tends to be relatively short. As a result, the energy consumption of the aircraft (e.g., battery power consumption) tends to be reduced. In other words, this configuration makes it possible to realize a work support system that can easily suppress the decrease in work efficiency caused by the exchange of agricultural materials.

[0040] Furthermore, it is preferable that the hopper has an upward-facing opening, and the transfer unit is configured to supply the agricultural materials from the aircraft to the hopper by dropping the agricultural materials into the opening from above.

[0041]

[0042] [Brief explanation of the drawing]

[0043] [Figure 1] This is an overall diagram of the work support system. [Figure 2] This diagram shows the supply of medicines and fuel. [Figure 3] This is a block diagram showing the configuration of the work support system. [Figure 4] This is a diagram showing how to replace the battery. [Figure 5] This is a diagram showing how to replace the battery. [Figure 6] This diagram shows the supply of seedling mats. [Figure 7]This is a block diagram showing the configuration of the work support system. [Modes for carrying out the invention]

[0044] [Overall configuration of the work support system] As shown in Figure 1, the work support system A in this embodiment comprises a management computer 1, a plurality of work vehicles E, and a plurality of flying objects G.

[0045] However, the present invention is not limited thereto, and the work support system A does not necessarily have to include multiple work vehicles E.

[0046] In this embodiment, each work vehicle E performs work in a field. However, the present invention is not limited to this. Work vehicle E may be a vehicle that performs work in a location other than a field.

[0047] Work support system A is configured to support work performed by each work vehicle E by utilizing multiple aircraft G. In other words, work support system A is a system that supports work performed by work vehicles E. Furthermore, work support system A is equipped with multiple aircraft G.

[0048] In this embodiment, the multiple work vehicles E include a rice transplanter 2, a tractor 3, and a lawnmower 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 multirotor. However, the present invention is not limited thereto, and the flying objects G do not have to be multirotors as long as they are capable of flight.

[0049] As shown in Figures 1 and 2, each flying object G has a flying device H with the same configuration as the others. In addition, each flying object G has a different type of transfer section K.

[0050] The flying device H is configured to be flyable, for example, by having multiple propellers. Furthermore, the flying device H is configured to transport work-related materials. These work-related materials are those related to work performed by the work vehicle E.

[0051] The transfer unit K is configured to transfer work-related items between the aircraft G and the work vehicle E. The transfer unit K is connected to the lower part of the aircraft H.

[0052] In other words, the work support system A includes an aircraft G having a flying device H that is capable of flying and transporting work-related materials for work performed by a work vehicle E, and a transfer unit K connected to the flying device H.

[0053] [Replenishing the hopper with chemicals] As shown in Figure 2, the tractor 3, which is the work vehicle E, is equipped with a running gear 31 and a fuel tank 32. Specifically, the running gear 31 is wheels. Fuel (corresponding to the "work-related items" according to the present invention) is stored in the fuel tank 32.

[0054] In other words, the tractor 3 has a fuel tank 32 for storing fuel.

[0055] Furthermore, the tractor 3 is equipped with a hopper 33. The hopper 33 stores chemicals (corresponding to the "work-related materials (agricultural materials)" according to the present invention).

[0056] In other words, the tractor 3 has a hopper 33 for storing the chemicals.

[0057] The tractor 3 is equipped with a fuel-driven engine (not shown). The power output from this engine drives the travel device 31 and simultaneously sprays chemicals downward from the hopper 33. As a result, the tractor 3 sprays chemicals from the hopper 33 while moving in a field, for example, using the travel device 31.

[0058] The hopper 33 has an upward-facing opening 33a.

[0059] As shown in Figure 2, the first flying body 5 has a release section 51 which is a handover section K. The release section 51 is connected to the flying device H via a wire. The release section 51 is box-shaped and capable of containing a drug.

[0060] With the drug contained in the drop section 51, the flying device H can transport the drug by flying with the flying device H in flight.

[0061] An opening / closing section 52 is provided at the lower end of the dispensing section 51. The opening / closing section 52 is configured to be openable and closable by, for example, an electric motor. As shown in Figure 2, when the dispensing section 51 is positioned above the opening 33a, opening the opening / closing section 52 causes the chemical contained in the dispensing section 51 to be dispensed into the opening 33a. This replenishes the hopper 33 with chemical.

[0062] In other words, the transfer section K of the first flying unit 5 is configured to replenish the hopper 33 from the first flying unit 5 by dropping the replenishment agent into the opening 33a from above the opening 33a.

[0063] As shown in Figure 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 aircraft G is equipped with a second communication unit 91 (corresponding to the "information acquisition unit" according to the present invention). The management computer 1 is equipped with a third communication unit 11.

[0064] The first communication unit 35, the second communication unit 91, and the third communication unit 11 are configured to communicate with each other, for example, via an internet connection or short-range wireless communication. As a result, as shown in Figure 1, each work vehicle E, each aircraft G, and the management computer 1 are connected to each other in a way that allows them to communicate with one another.

[0065] 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). Based on the received GPS signals, the work vehicle position acquisition unit 36 ​​calculates the position coordinates of the tractor 3 over time. In this way, the work vehicle position acquisition unit 36 ​​acquires the position information of the tractor 3.

[0066] However, the present invention is not limited thereto. The work vehicle position acquisition unit 36 ​​does not have to use GPS. For example, the work vehicle position acquisition unit 36 ​​may use a GNSS other than GPS (GLONASS, Galileo, Michibiki, BeiDou, etc.).

[0067] The support request generation unit 37 generates a support request based on the status of the tractor 3 with respect to work-related objects. A support request is a signal indicating the content of the support required for the work of the work vehicle E. For example, the support request generation unit 37 generates a support request for chemical replenishment based on the remaining amount of chemical stored in the hopper 33. More specifically, the support request generation unit 37 may generate a support request for chemical replenishment when the amount of chemical stored in the hopper 33 becomes low.

[0068] Furthermore, the tractor 3 is equipped with a work information generation unit 38. The work information generation unit 38 generates work information. Work information is information related to work-related items. For example, the work information may be information indicating the remaining amount of chemicals stored in the hopper 33, information indicating the remaining amount of fuel stored in the fuel tank 32, or information indicating the amount of chemicals and fuel required until the work is completed. Also, the information indicating the remaining amount of chemicals stored in the hopper 33 may be, for example, the distance traveled by the tractor 3. If the amount of chemicals that the tractor 3 sprays per unit distance traveled is known, the remaining amount of chemicals stored in the hopper 33 can be calculated based on the distance traveled by the tractor 3.

[0069] In addition, each work vehicle E other than tractor 3 is also equipped with a work vehicle position acquisition unit 36, a support request generation unit 37, and a work information generation unit 38.

[0070] Furthermore, each aircraft G is equipped with an aircraft position acquisition unit 92, a flight control unit 93, and a handover control unit 94.

[0071] The aircraft position acquisition unit 92 has the same configuration as the work vehicle position acquisition unit 36. As a result, the aircraft position acquisition unit 92 acquires the position information of the aircraft G.

[0072] The flight control unit 93 controls the flight of the aircraft G by controlling the flight device H based on the position information acquired by the aircraft position acquisition unit 92. In other words, the work support system A includes a flight control unit 93 that controls the flight of the aircraft G.

[0073] The transfer control unit 94 controls the transfer unit K. For example, the transfer control unit 94 of the first flying body 5 controls the opening and closing of the opening / closing unit 52.

[0074] As shown in Figure 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 obtains the details of the support requested for the work of the work vehicle E.

[0075] In other words, the work support system A includes a third communication unit 11 that acquires the details of the requested support.

[0076] Furthermore, as shown in Figure 3, the management computer 1 is equipped with a decision unit 12. Based on the support request acquired by the third communication unit 11, the decision unit 12 selects from among multiple aircraft G to be the aircraft G that will receive the work-related items.

[0077] In other words, the work support system A includes a determination unit 12 that, based on the results obtained by the third communication unit 11, determines which aircraft G will receive the work-related items from among a plurality of aircraft G.

[0078] The third communication unit 11 sends a support command to the second communication unit 91 of the aircraft G, which has been determined by the decision unit 12. Upon receiving the support command, the second communication unit 91 of the aircraft G obtains the location information and work information of the target work vehicle, which is the work vehicle E that sent the support request to the management computer 1, from the first communication unit 35 of the target work vehicle. The location information is obtained by the work vehicle location acquisition unit 36 ​​of the target work vehicle. The work information is generated by the work information generation unit 38 of the target work vehicle. The aircraft G, having received the support command, then exchanges work-related items with the target work vehicle based on the location information of the aircraft G and the location information and work information of the target work vehicle.

[0079] For example, if tractor 3 sends a request for assistance in supplying chemicals to management computer 1, the decision unit 12 determines that the first aircraft 5 will be the aircraft G that will supply the chemicals. Upon receiving the assistance command, the first aircraft 5 flies toward tractor 3 under the control of the flight control unit 93, based on the position information of the first aircraft 5 and the position information of tractor 3. Then, based on the work information of tractor 3, the first aircraft 5 supplies chemicals to hopper 33 under the control of the transfer control unit 94. In this case, for example, the work information may be information indicating the remaining amount of chemicals stored in hopper 33, and the drop section 51 of the first aircraft 5 may supply chemicals up to the maximum storage capacity specified by the hopper 33 based on that remaining amount.

[0080] Thus, the aircraft G has a second communication unit 91 that acquires work information, which is information related to work-related objects. Furthermore, the aircraft G transfers work-related objects using a transfer unit K based on the work information.

[0081] [Maintenance and control] Each aircraft G is configured to be able to transfer work-related objects while the work vehicle E is in motion and performing work. In order to enable the transfer of work-related objects while the work vehicle E is in motion and performing work, the flight control unit 93 shown in Figure 3 is configured to perform maintenance control based on the position information of the work vehicle E and the position information of the aircraft G while the work vehicle E is performing work. Maintenance control means controlling the flight of the aircraft G so that the positional relationship between the work vehicle E and the aircraft G is maintained.

[0082] In other words, the flight control unit 93 is capable of maintenance control, which 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 performing its work. The handover unit K is configured to be able to hand over work-related objects while the maintenance control is being executed.

[0083] For example, the flight control unit 93 of the first aircraft 5 shown in Figure 2 is configured to perform maintenance control based on the position information of the tractor 3 and the position information of the first aircraft 5 while the tractor 3 is working. The drop unit 51 is configured to drop the chemical while the maintenance control is being performed. As a result, the first aircraft 5 can replenish the chemical in the hopper 33 while the tractor 3 is driving and spraying the chemical.

[0084] [Decision-making Department] As shown in Figure 3, each aircraft G is equipped with an execution decision unit 95. Based on the work information acquired by the second communication unit 91, the execution decision unit 95 determines the execution location or execution timing for the transfer of work-related items between the aircraft G and the work vehicle E.

[0085] In other words, the work support system A includes an execution determination unit 95 that determines the execution location or execution timing for the transfer of work-related objects between the aircraft G and the work vehicle E based on work information.

[0086] The execution decision unit 95 may, for example, decide at which point in the field the handover of work-related materials will be carried out.

[0087] The flight control unit 93 controls the flight of the aircraft G according to the decision made by the execution decision unit 95. The handover control unit 94 controls the handover unit K according to the decision made by the execution decision unit 95.

[0088] The control mode of the execution decision unit 95 can be switched between multiple modes. More specifically, the control mode of the execution decision unit 95 can be switched between the first mode, second mode, third mode, fourth mode, fifth mode, and sixth mode. Depending on the control mode, different factors are prioritized in determining the execution location or execution timing of the handover of work-related objects.

[0089] When the execution decision unit 95 is in the first mode, the execution decision unit 95 determines the execution position or execution timing in such a way that delays in the work of the work vehicle E due to the transfer of work-related objects are minimized. In this case, for example, the execution position or execution timing is determined so that the speed of the work vehicle E does not decrease due to the transfer of work-related objects.

[0090] When the execution decision unit 95 is in the second mode, the execution decision unit 95 determines the execution position or execution timing so that the materials do not run out in the work vehicle E when the materials are transferred from the aircraft G to the work vehicle E. In this case, for example, the execution position or execution timing is determined so that materials are promptly replenished when the remaining amount of materials in the work vehicle E falls below 50 percent of the maximum amount specified in the specifications.

[0091] 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 handover of work-related objects. In this case, for example, the execution position or execution timing is determined so that the handover takes place when the work vehicle E is traveling in an area of ​​the field with few irregularities.

[0092] When the execution decision unit 95 is in the fourth mode, the execution decision unit 95 determines the execution position or execution timing so that the handover of work-related objects takes place while the work vehicle E is moving straight.

[0093] When the execution decision unit 95 is in fifth mode, the execution decision unit 95 determines the execution position or execution timing so that the handover of work-related objects takes place while the work vehicle E is traveling at a low speed.

[0094] When the execution decision unit 95 is in the sixth mode, the execution decision unit 95 determines the execution timing when the distance between the field edge where the aircraft G is waiting and the work vehicle E becomes less than or equal to a predetermined distance. At this time, if the aircraft G has completed preparations for the transfer of work-related materials, the execution decision unit 95 calculates the predetermined distance based on the time required from when the aircraft G starts flying until it reaches the position of the work vehicle E. If the preparations are not completed, the execution decision unit 95 calculates the predetermined distance based on the total time required for the preparations and the time required from when the aircraft G starts flying until it reaches the position of the work vehicle E. Note that the "execution timing" here may be the timing when the aircraft G starts preparations for the transfer of work-related materials before the aircraft G takes off, the timing when the aircraft G takes off, or the moment when the work-related materials actually move between the aircraft G and the work vehicle E. Also, "preparations" here may be, for example, the work of loading work-related materials that are scheduled to be supplied to the work vehicle E onto the aircraft G.

[0095] In other words, the execution decision unit 95 can determine the execution position or execution timing in such a way that delays in the work of the work vehicle E due to the transfer of work-related materials are minimized. Furthermore, the execution decision unit 95 can determine the execution position or execution timing in such a way that materials, which are work-related materials, do not run out in the work vehicle E when they are transferred from the aircraft G to the work vehicle E. Furthermore, the execution decision unit 95 can determine the execution position or execution timing in such a way that stability in the transfer of work-related materials is ensured. Furthermore, the execution decision unit 95 can determine the execution position or execution timing in such a way that the transfer of work-related materials takes place while the work vehicle E is moving in a straight line. Furthermore, the execution decision unit 95 can determine the execution position or execution timing in such a way that the transfer of work-related materials takes place while the work vehicle E is traveling at a low speed. Furthermore, the execution decision unit 95 can determine the execution timing at a time when the distance between the edge of the field where the aircraft G is waiting and the work vehicle E is less than or equal to a predetermined distance.

[0096] Furthermore, regarding the information exchanged between the work vehicle E and the aircraft G, a priority order may be set for each type of information, and this priority order may be configured to change according to the control mode of the execution decision unit 95.

[0097] As shown in Figure 3, the management computer 1 is equipped with a mode switching unit 13. The mode switching unit 13 generates a mode switching command based on, for example, user input. The generated mode switching command is sent from the third communication unit 11 to the second communication unit 91. The aircraft G switches the control mode of the execution decision unit 95 according to the received mode switching command.

[0098] [Refueling the fuel tank] As shown in Figure 2, the second aircraft 6 has a fuel supply unit 61, which is a transfer unit K. The fuel supply unit 61 is capable of storing fuel such as gasoline. By flying the aircraft H with fuel stored in the fuel supply unit 61, the aircraft H can transport fuel.

[0099] The fuel supply unit 61 has a tubular member 63 and an on / off valve 64. The tubular member 63 is configured so that fuel can pass through it.

[0100] In other words, the fuel supply unit 61 has a tubular member 63. The tubular member 63 may or may not be flexible. If 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. Furthermore, even if the relative positions of the second aircraft 6 and the fuel tank 32 change slightly during the fuel transfer, the tubular member 63 deforms, making it easier to maintain the connection between the second aircraft 6 and the fuel tank 32. As a result, even if the relative positions of the second aircraft 6 and the fuel tank 32 change slightly during the fuel transfer, the fuel transfer is more likely to be carried out reliably.

[0101] The tubular member 63 is configured to be insertable into the refueling hole 32a provided on the upper surface of the fuel tank 32. The on-off valve 64 is configured to be openable and closable by, for example, an electric motor. When the on-off valve 64 is open, the fuel contained in the fuel refueling section 61 is discharged downward through the tubular member 63. When the on-off valve 64 is closed, the fuel contained in the fuel refueling section 61 is not discharged. The on-off valve 64 is controlled by the transfer control unit 94 shown in Figure 3.

[0102] As shown in Figure 2, with the tubular member 63 inserted into the refueling hole 32a, opening the on / off valve 64 allows the fuel stored in the fuel supply unit 61 to be supplied to the fuel tank 32 via the tubular member 63.

[0103] In other words, the fuel supply unit 61 is configured to transfer fuel between the second aircraft 6 and the fuel tank 32 via a tubular member 63.

[0104] Furthermore, the connection mechanism 66 is composed of a tubular member 63 and a plurality of opening and closing mechanisms 65. As shown in Figure 2, the connection mechanism 66 connects the fuel tank 32 and the fuel supply unit 61.

[0105] In other words, the work support system A includes a connecting mechanism 66 that connects the tractor 3 and the fuel supply unit 61.

[0106] Multiple opening / closing mechanisms 65 are provided at the lower end of the tubular member 63. Each opening / closing mechanism 65 may be plate-shaped or rod-shaped. Each opening / closing mechanism 65 is configured to swing up and down as shown in Figure 2, for example, by an electric motor.

[0107] When each opening / closing mechanism 65 is in a horizontal position, upward movement of the tubular member 63 inserted into the refueling hole 32a is restricted. At this time, the connecting mechanism 66 is in a locked state. The locked state means that the tractor 3 (work vehicle E) and the fuel supply unit 61 (transfer unit K) remain connected.

[0108] When each opening / closing mechanism 65 is in a vertical position, upward movement of the tubular member 63 inserted into the refueling hole 32a is permitted. At this time, the connecting 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 (transfer unit K) can be released.

[0109] As shown in Figure 3, each aircraft G is equipped with a lock control unit 96. The lock control unit 96 controls the vertical oscillation of 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.

[0110] As described above, the connection mechanism 66 shown in Figure 2 is configured to switch between a locked state, in which the tractor 3 (work vehicle E) and the fuel supply unit 61 (transfer unit K) remain 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. Furthermore, the work support system A includes a lock control unit 96 that performs the state change between the locked state and the unlocked state.

[0111] Furthermore, the transfer unit K is connected to the flight device H in a detachable state. 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 drop unit 51 from the flight device H of the first aircraft 5, the fuel supply unit 61 can be connected to the flight device H.

[0112] [Landing onto the work vehicle] In order to enable the transfer of work-related objects while the work vehicle E is in motion and performing work, the flight control unit 93 shown in Figure 3 is configured to perform vehicle landing control based on the position information of the work vehicle E and the position information of the aircraft G while the work vehicle E is performing work. Vehicle landing control is the control of the flight of the aircraft G so that it lands on the work vehicle E.

[0113] In other words, the flight control unit 93 can control the flight of the aircraft G so that it lands on the work vehicle E while the work vehicle E is performing its duties. The transfer unit K is configured to transfer work-related items after the aircraft G has landed on the work vehicle E.

[0114] For example, the second aircraft 6 shown in Figure 2 is provided with a landing gear 62 at the bottom of its fuel supply section 61. The second aircraft 6 can land on the tractor 3 by bringing the lower surface of the landing gear 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).

[0115] The flight control unit 93 of the second aircraft 6 is configured to control the flight of the second aircraft 6 so that it lands on the tractor 3 while the tractor 3 is operating, based on the position information of the tractor 3 and the position information of 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 fuel refueling unit 61 is configured to discharge fuel downward after the second aircraft 6 has landed on the tractor 3. As a result, the second aircraft 6 can refuel the fuel tank 32 while the tractor 3 is running and spraying pesticides.

[0116] Furthermore, after the second aircraft 6 lands on the tractor 3, the connection mechanism 66 is controlled to a locked state until refueling of the fuel tank 32 is completed. Once refueling of the fuel tank 32 is complete, the connection mechanism 66 changes from the locked state to the unlocked state.

[0117] [Battery replacement and seedling mat replenishment] As shown in Figure 4, the electric lawnmower 4, which is the work vehicle E, is equipped with a battery mounting section 41. A battery (corresponding to the "work-related item" according to the present invention) is mounted in the battery mounting section 41. The lawnmower 4 can perform lawnmowing work while driving, powered by electricity supplied from the battery mounted in the battery mounting section 41.

[0118] In other words, the brush cutter 4 is configured to use the battery with the battery installed. In Figure 4, the first battery 81 (corresponding to the "work-related item" according to the present invention), which is the battery, is installed in the battery mounting section 41.

[0119] Furthermore, as shown in Figure 4, the transfer section K of the third flying body 7 has a plurality of gripping sections 71. More specifically, the transfer section K of the third flying body 7 is composed of two gripping sections 71. Each gripping section 71 is a robotic arm driven by an actuator (not shown). The actuator may be, for example, an electric motor or a hydraulic motor.

[0120] As shown in Figure 4, the gripping section 71 is capable of gripping the first battery 81 and the second battery 82 (corresponding to the "work-related object" according to the present invention). Both the first battery 81 and the second battery 82 are batteries. The aircraft H can transport the batteries by flying with the gripping section 71 gripping them. The transfer section K of the third aircraft 7 is configured to transfer the batteries using the two gripping sections 71.

[0121] For example, as shown in Figures 4 and 5, the third aircraft 7 flies toward the lawnmower 4 with one gripping section 71 gripping the second battery 82. Then, the third aircraft 7 grips and removes the first battery 81 which is installed in the battery mounting section 41 with the other gripping section 71. Furthermore, the third aircraft 7 installs the second battery 82 into the battery mounting section 41 with the other gripping section 71. After that, the third aircraft 7 flies away from the lawnmower 4 with the other gripping section 71 gripping the first battery 81.

[0122] In other words, the transfer section K of the third flying unit 7 is configured to transfer the first battery 81 and the second battery 82 by removing the first battery 81, which is attached to the lawnmower 4, and attaching another battery, the second battery 82, to the lawnmower 4.

[0123] This configuration allows the third aircraft 7 to replace the battery of the lawnmower 4. For example, if the charge level of the first battery 81 is relatively low and the charge level of the second battery 82 is relatively high, replacing the first battery 81 with the second battery 82 can extend the time that the lawnmower 4 can continue working.

[0124] However, the present invention is not limited thereto. For example, the work vehicle E may have a fuel storage unit, and the transfer unit K may be configured to replenish fuel by removing the fuel storage unit from the work vehicle E and attaching another fuel storage unit (preferably a fuel storage unit that is full) to the work vehicle E, similar to the battery replacement described above. In this case as well, the time during which the work vehicle E can continue working can be extended.

[0125] Furthermore, for example, the harvesting vehicle E may have a storage unit for storing the harvested crops, and the transfer unit K may be configured to retrieve the harvested crops by removing the storage unit from the vehicle E and attaching another storage unit (preferably an empty storage unit) to the vehicle E, similar to the battery replacement described above. In this case as well, the amount of time the vehicle E can continue working can be extended.

[0126] In other words, if the work vehicle E has a storage unit for storing work-related materials, the transfer unit K may be configured to transfer work-related materials by removing the storage unit from the work vehicle E and attaching another storage unit to the work vehicle E.

[0127] Furthermore, some or all of the harvested material stored in the storage unit may be transferred to the aircraft G side via the transfer unit K. In such an embodiment, it is preferable that there is an empty storage unit on the aircraft G side. For example, the storage unit of the work vehicle E may have an outlet, and the storage unit on the aircraft G side may have a supply port, with the outlet and supply port connected by the transfer unit K. In this case, if the aircraft G flies so that the position of the supply port is lower than the position of the outlet, the harvested material can be recovered using gravity. In this case, the aircraft G side may also be equipped with a load detection sensor that detects the load of the recovered harvested material. By using this load detection sensor, the recovery of the harvested material can be controlled so that the load of the recovered harvested material is less than or equal to the upper limit load on which the aircraft G can fly.

[0128] Furthermore, as shown in Figure 6, the rice transplanter 2, which is the work vehicle E, is equipped with a seedling tray 21. The third flying body 7 is capable of gripping a support member 85 that supports one or more seedling mats 84 (corresponding to the "work-related object" according to the present invention) with its two gripping parts 71. As the flying device H flies with the gripping parts 71 gripping the support member 85, the flying device H can transport one or more seedling mats 84. The support member 85 may be, for example, a scooping plate or a seedling tray. The transfer section K of the third flying body 7 is configured to replenish the seedling mats 84 with its two gripping parts 71.

[0129] In the example shown in Figure 6, a support member 85 that supports multiple seedling mats 84 is placed on the ridge. The third flying body 7 grips the support member 85 with its two gripping parts 71. Next, the third flying body 7, while gripping the support member 85 with its two gripping parts 71, flies toward the seedling tray 21 of the rice transplanter 2. Then, the third flying body 7 tilts the support member 85 and slides the multiple seedling mats 84, thereby supplying the multiple seedling mats 84 to the seedling tray 21.

[0130] In this case, it is preferable that the number of rows of seedling mats 84 that can be placed on the seedling tray 21 matches the number of rows of seedling mats 84 supported by the support member 85.

[0131] However, the present invention is not limited thereto. For example, the gripping portion 71 may be capable of directly gripping one or more seedling mats 84.

[0132] Furthermore, the transfer unit K may be capable of supplying one seedling mat 84 to the seedling tray 21. This allows for the localized supply of seedling mats 84 to areas of the seedling tray 21 where there are relatively few seedling mats 84, when the rice transplanter 2 is configured to change the number of planting rows.

[0133] Furthermore, the gripping portion 71 may be capable of gripping objects other than those exemplified as objects to be gripped in the above description. For example, the gripping portion 71 may be capable of gripping construction wall materials or pipes, or it may be capable of gripping storage members that contain work-related materials such as fertilizer.

[0134] Specifically, the transfer section K of the third aircraft 7 is driven by an actuator and has a gripping section 71 capable of gripping work-related objects, a support member 85 that supports work-related objects, or a storage member that houses work-related objects, and is configured to transfer work-related objects using the gripping section 71.

[0135] Furthermore, the third aircraft 7 is configured to be able to transfer work-related items such as batteries and seedling mats 84 while a work vehicle E, such as a lawnmower 4 or a rice transplanter 2, is in motion and performing work. At this time, the flight control unit 93 of the third aircraft 7 performs the maintenance control described above. However, the present invention is not limited to this, and the flight control unit 93 of the third aircraft 7 may perform the vehicle landing control described above instead of performing the maintenance control.

[0136] Furthermore, the work support system A in this embodiment includes a weight value acquisition unit (not shown) that acquires a weight value, which is a value indicating the weight of the work-related objects, before the objects are handed over. The weight value acquisition unit may be installed on the work vehicle E or on the aircraft G. The weight value acquisition unit may be a load sensor such as a load cell.

[0137] The transfer unit K may be configured to transfer work-related items up to or equal to a predetermined threshold amount from the work-related items before the transfer, if the weight value is greater than a predetermined threshold. Although not particularly limited, the threshold may be a value corresponding to the maximum load specified in the specifications of the transfer unit K or the aircraft G.

[0138] For example, in the example shown in Figure 6, the weight of the support members 85 supporting the multiple seedling mats 84 may be obtained by the weight value acquisition unit provided on the flying body G. In this case, the weight obtained by the weight value acquisition unit is the total weight of the multiple seedling mats 84 and the support members 85, and corresponds to the "weight value" mentioned above.

[0139] At this time, if the weight obtained by the weight acquisition unit is greater than a predetermined threshold, the third aircraft 7 controls the two gripping units 71 to replenish the seedling mat 84 to the seedling stand 21 with an amount equal to or less than the amount corresponding to the threshold. At this time, for example, the third aircraft 7 stops transporting the support members 85 that support the multiple seedling mats 84 to the seedling stand 21, and directly grips an amount equal to or less than the amount corresponding to the threshold (for example, one seedling mat 84) with the gripping unit 71, flies toward the seedling stand 21, and replenishes the seedling mat 84 to the seedling stand 21.

[0140] Furthermore, the work support system A in this embodiment includes an aircraft determination unit (not shown) that determines which aircraft G to receive work-related objects from among a plurality of aircraft G based on the weight value acquired by the weight value acquisition unit. The aircraft determination unit may be provided in the management computer 1, the work vehicle E, or the aircraft G. The aircraft determination unit may be a physical device such as a microcomputer, or a functional unit in software. The aircraft determination unit may be configured to send support commands to the second communication unit 91 of the aircraft G determined by the aircraft determination unit.

[0141] For example, in the example shown in Figure 6, when the weight acquisition unit on the third aircraft 7 acquires the weight of the support members 85 supporting the multiple seedling mats 84, the aircraft determination unit determines whether the weight is greater than a predetermined threshold. The threshold is not particularly limited, but it may be a value corresponding to the maximum load specified in the specifications of the third aircraft 7 or the transfer unit K of the third aircraft 7. If the weight is less than or equal to the threshold, the aircraft determination unit determines the third aircraft 7 to be the aircraft G that supplies seedling mats 84 to the seedling stand 21.

[0142] Furthermore, if the weight is greater than the threshold, the aircraft determination unit determines a different aircraft G (preferably an aircraft G with a larger payload than the third aircraft 7) to be the aircraft G that will supply the seedling mats 84 to the seedling platform 21. In this case, the aircraft determination unit commands the third aircraft 7 to stop supplying the seedling mats 84.

[0143] Furthermore, if the weight value acquisition unit is installed on the work vehicle E, a configuration can be realized in which the aircraft determination unit determines that only aircraft G capable of withstanding the weight of the work-related objects corresponding to the weight value acquired by the weight value acquisition unit will proceed to support the work vehicle E. In this case, it is possible to prevent situations in which the handover of work-related objects is canceled due to the weight of the objects.

[0144] [Retaining part] As shown in Figure 4, a recess 83 is formed in the outer wall of the first battery 81. Although not shown in the figure, a recess 83 is also formed in the outer wall of the second battery 82.

[0145] Furthermore, in the battery mounting section 41, a retaining portion 42 is provided at a location opposite the recess 83. The retaining portion 42 is configured to move in and out horizontally, as shown by the arrow in Figure 4, for example, by an electric motor.

[0146] When the first battery 81 or the second battery 82 is mounted in the battery mounting section 41, and the retaining portion 42 is protruding, the retaining portion 42 is recessed into the recess 83. At this time, the first battery 81 or the second battery 82 mounted in the battery mounting section 41 cannot be removed from the battery mounting section 41. In other words, at this time, the brush cutter 4 is in a state where it is impossible to remove the first battery 81 or the second battery 82. Hereinafter, this state in which the transfer of work-related items is impossible will be referred to as the "first state".

[0147] When the first battery 81 or the second battery 82 is mounted in the battery mounting section 41 and the retaining part 42 is retracted, the retaining part 42 is not engaged with the recess 83. At this time, the first battery 81 or the second battery 82 mounted in the battery mounting section 41 is removable from the battery mounting section 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 in which the transfer of work-related items can be performed will be referred to as the "second state".

[0148] Thus, the brush cutter 4 is configured to be able to change between a first state in which the transfer of the battery, which is a work-related item, is not possible, and a second state in which the transfer of the battery, which is a work-related item, is possible. However, the present invention is not limited thereto, 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 between the first state and the second state.

[0149] In other words, at least one of the work vehicle E and the transfer unit K is configured to change between a first state in which the transfer of work-related objects is impossible, and a second state in which the transfer of work-related objects is possible.

[0150] As shown in Figure 7, the grass trimmer 4 is equipped with a retaining control unit 39 (corresponding to the "state control unit" according to the present invention). The retaining control unit 39 controls the extension and retraction of the retaining part 42. As a result, the retaining control unit 39 changes state between a first state and a second state.

[0151] In other words, the work support system A includes a retention control unit 39 that performs a state change between the first state and the second state.

[0152] Furthermore, as shown in Figure 7, each aircraft G is equipped with a release command unit 97. The release command unit 97 generates a release command that instructs 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 lawnmower 4. When the first communication unit 35 of the lawnmower 4 receives the release command, the anti-detachment control unit 39 of the lawnmower 4 controls the anti-detachment unit 42 to a retracted state. This causes a state change from the first state to the second state.

[0153] For example, as shown in Figures 4 and 5, when the third flying vehicle 7 replaces the battery of the lawnmower 4, as shown in Figure 7, the position information of the lawnmower 4 acquired by the work vehicle position acquisition unit 36 ​​and the work information of the lawnmower 4 generated by the work information generation unit 38 are sent from the first communication unit 35 to the second communication unit 91.

[0154] Then, the third aircraft 7 flies toward the lawnmower 4 under the control of the flight control unit 93, based on the position information of the third aircraft 7 and the position information of the lawnmower 4. The aforementioned release command is sent to the lawnmower 4 before the third aircraft 7 reaches the position of the lawnmower 4. As a result, the anti-detachment control unit 39 changes its state from the first state to the second state while the third aircraft 7 is flying toward the lawnmower 4 to transfer the battery. In other words, the anti-detachment control unit 39 changes its state from the first state to the second state before the third aircraft 7 reaches the position of the lawnmower 4.

[0155] Subsequently, when the third aircraft 7 reaches the position of the lawnmower 4, the third aircraft 7 replaces the battery based on the work information of the lawnmower 4, under the control of the transfer control unit 94. In this case, the transfer 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 suitable for the lawnmower 4, and the third aircraft 7 may be configured to transport the appropriate battery to the lawnmower 4 based on this information.

[0156] Furthermore, each element such as the first communication unit 35 and the work vehicle position acquisition unit 36 ​​shown in Figures 3 and 7 (each element provided by the management computer 1, work vehicle E, and aircraft G) may be a physical device such as a microcomputer, or it may be a functional unit in software.

[0157] Furthermore, in Figure 3, the release command unit 97 provided in each aircraft G is omitted from the illustration. In Figure 7, the execution decision unit 95 and lock control unit 96 provided in each aircraft G are omitted from the illustration.

[0158] According to the configuration described above, the aircraft G can approach the work vehicle E while transporting work-related materials and transfer the materials. This makes it easier for the aircraft G to transfer work-related materials while the work vehicle E continues its work. As a result, it is easier to suppress the decrease in work efficiency caused by the transfer of work-related materials.

[0159] Furthermore, according to the configuration described above, the aircraft G will transfer work-related materials based on work information. For example, if the work information indicates the remaining amount of materials, the aircraft G can supply the appropriate amount of materials to the work vehicle E. As a result, it is easier to minimize the number of material transfers and the amount of materials supplied. This makes it easier to suppress the decrease in work efficiency caused by the transfer of work-related materials.

[0160] In other words, the configuration described above makes it possible to realize a work support system A that can easily suppress the decrease in work efficiency caused by the exchange of work-related items.

[0161] [Other Embodiments] (1) The hopper 33 is provided with a lid that covers the opening 33a, and the lid may be configured to be able to change between a closed state and an open state. In this case, the closed state corresponds to the "first state" described above, and the open state corresponds to the "second state" described above.

[0162] (2) The handover section K may be configured to remove and install parts related to the work of the work vehicle E. This allows for the replacement of parts 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 "handover" according to the present invention.

[0163] (3) The flight control unit 93 may be configured in such a way that it cannot perform maintain control.

[0164] (4) The flight control unit 93 may be configured so as not to be able to perform vehicle landing control.

[0165] (5) The work support system A may have only one aircraft G. Even if the work support system A has only one aircraft 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 easier to realize a work support system A that can transfer various types of work-related objects.

[0166] (6) Some or all of the elements provided in the control computer 1 may be included in the aircraft G or in the work vehicle E. In other words, the work support system A does not need to be equipped with the control computer 1.

[0167] (7) The flying vehicle G may be configured to place work-related items at a predetermined location using a transfer unit K. In this case, the placement corresponds to the "transfer" according to the present invention. With this configuration, if the work vehicle E passes through the location or its vicinity during the course of work, work-related items can be easily supplied to the work vehicle E.

[0168] (8) The aircraft G may be configured to retrieve work-related objects placed at a predetermined location using the transfer unit K. In this case, the retrieval corresponds to the "transfer" according to the present invention.

[0169] (9) The transfer unit K may recover the chemical from the work vehicle E. In this case, the recovery corresponds to the "transfer" according to the present invention. After recovering the chemical, the transfer unit K may replenish a different type of chemical. In this case, the replenishment corresponds to the "transfer" according to the present invention.

[0170] (10) The flying vehicle G may have a detection unit (e.g., a camera) that detects the remaining amount of materials (e.g., seedling mats 84) in the work vehicle E and acquires information indicating the remaining amount of materials. In this case, the information indicating the remaining amount of materials corresponds to the "work information" according to the present invention. The detection unit also corresponds to the "information acquisition unit" according to the present invention.

[0171] (11) The work support system A may be configured to support the work of work vehicles E other than those of the type exemplified in the above embodiment. For example, the work support system A may support the work of work vehicles E such as combine harvesters and construction work vehicles.

[0172] Furthermore, the configurations disclosed in the above-described embodiments (including other embodiments, the same applies hereinafter) can be applied in combination with configurations disclosed in other embodiments, as long as no inconsistencies arise. In addition, the embodiments disclosed herein are illustrative, and the embodiments of the present invention are not limited thereto, and can be modified as appropriate without departing from the object of the present invention. [Industrial applicability]

[0173] This invention can be used in work support systems that assist work performed by work vehicles. [Explanation of symbols]

[0174] 39: Anti-loosening control unit (state control unit) 66: Connection mechanism 81: First battery (work-related item) 82: Second battery (work-related item) 84: Seedling mat (work-related item) 91: Second Communications Department (Information Acquisition Department) 93: Flight Control Unit 95: Execution Decision Department 96: Lock Control Unit A: Work support system E: Work vehicle G: Flying object H: Flight equipment K: Handover Department

Claims

1. A work support system that assists work performed by a tractor equipped with a hopper for spreading agricultural materials, An aircraft having a flying device that is capable of flying and transporting the aforementioned agricultural materials, and a transfer unit connected to the flying device, The aircraft comprises a flight control unit that controls the flight of the aircraft, The transfer unit is configured to transfer agricultural materials between the aircraft and the tractor. The aforementioned flying object has an information acquisition unit that acquires work information, which is information indicating the remaining amount of the agricultural materials stored in the hopper. Based on the work information, the aircraft replenishes the agricultural materials to the hopper via the transfer unit. The flight control unit is capable of maintaining control of the flight of the aircraft so that the relative position between the tractor and the aircraft is maintained during the operation of the tractor. The transfer unit is a work support system configured to enable the transfer of agricultural materials while the maintenance control is being performed.

2. A work support system for assisting work performed by a tractor having a hopper for spreading agricultural materials, An aircraft having a flying device that is capable of flying and transporting the aforementioned agricultural materials, and a transfer unit connected to the flying device, The aircraft includes a flight control unit that controls the flight of the aircraft, The transfer unit is configured to transfer agricultural materials between the aircraft and the tractor. The aforementioned flying object has an information acquisition unit that acquires work information, which is information indicating the remaining amount of the agricultural materials stored in the hopper. Based on the work information, the aircraft replenishes the agricultural materials to the hopper via the transfer unit. The flight control unit is capable of controlling the flight of the aircraft so that it lands on the tractor while the tractor is operating. The transfer unit is a work support system configured to enable the transfer of agricultural materials after the aircraft has landed on the tractor.

3. At least one of the tractor and the transfer unit is configured to change between a first state in which the transfer of agricultural materials is impossible and a second state in which the transfer of agricultural materials is possible. The work support system according to claim 1 or 2, further comprising a state control unit that performs a state change between the first state and the second state.

4. The work support system according to claim 3, wherein the state control unit changes the state from the first state to the second state while the aircraft is flying toward the tractor to deliver the agricultural materials.

5. It is equipped with a connecting mechanism that connects the tractor and the transfer unit, The connection mechanism is configured to allow switching between a locked state in which the tractor and the transfer unit remain connected, and an unlocked state in which the connection between the tractor and the transfer unit can be released. The work support system according to any one of claims 1 to 4, further comprising a lock control unit that performs a state change between the locked state and the unlocked state.

6. The work support system according to any one of claims 1 to 5, further comprising an execution determination unit that determines the execution position or execution timing of the transfer of agricultural materials between the aircraft and the tractor based on the aforementioned work information.

7. The work support system according to claim 6, wherein the execution decision unit is capable of determining the execution position or execution timing so as to reduce delays in the tractor's work due to the transfer of agricultural materials.

8. The work support system according to claim 6 or 7, wherein the execution decision unit is capable of determining the execution position or execution timing so as not to run out of agricultural materials in the hopper when the materials are transferred from the flying body to the hopper.

9. The work support system according to any one of claims 6 to 8, wherein the execution decision unit is capable of determining the execution position or execution timing so as to ensure the stability of the delivery of the agricultural materials.

10. The work support system according to any one of claims 6 to 9, wherein the execution decision unit is capable of determining the execution position or execution timing so that the transfer of agricultural materials takes place while the tractor is moving in a straight line.

11. The work support system according to any one of claims 6 to 10, wherein the execution decision unit is capable of determining the execution position or execution timing so that the transfer of agricultural materials takes place while the tractor is traveling at a low speed.

12. A work support system for assisting work performed by a tractor having a hopper for spreading agricultural materials, The aircraft comprises an aircraft capable of flight and transporting the aforementioned agricultural materials, and a transfer unit connected to the aircraft. The transfer unit is configured to transfer agricultural materials between the aircraft and the tractor. The aforementioned flying object has an information acquisition unit that acquires work information, which is information indicating the remaining amount of the agricultural materials stored in the hopper. Based on the work information, the aircraft replenishes the agricultural materials to the hopper via the transfer unit. Based on the aforementioned work information, the system includes an execution determination unit that determines the execution location or execution timing for the transfer of agricultural materials between the aircraft and the tractor. The execution decision unit is configured to calculate the distance between the field edge where the aircraft is waiting and the tractor based on the position information of the aircraft and the position information of the tractor. The execution decision unit is a work support system capable of determining the execution timing at the timing when the distance becomes less than or equal to a predetermined distance.

13. The hopper has an opening facing upward, The work support system according to any one of claims 1 to 12, wherein the transfer unit is configured to supply the agricultural materials from the flying body to the hopper by dropping the agricultural materials into the opening from above the opening.

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