Work aircraft

Abstract

[Problem] To achieve a work-performing aerial vehicle that can take appropriate measures when an abnormality occurs. [Solution] Provided is a work-performing aerial vehicle comprising an aerial vehicle 2, at least one sensor 26, and a control device 24 with at least one computational processing device 24a, wherein the control device 24 is capable of receiving input from the sensor 26 and is capable of executing an operation control process to control the operation of the work-performing aerial vehicle and an abnormality determination process to determine the presence or absence of an abnormality on the basis of input from the sensor 26, and operation control process is executed in an abnormality mode when an abnormality is determined to be present in the abnormality determination process.

Description

[Technical Field]

[0001] The present invention relates to a working aircraft. [Background Art]

[0002] In recent years, studies have been conducted on improving the efficiency of agricultural work using aircraft such as drones. Patent Document 1 discloses an aircraft support device equipped with a spraying apparatus that sprays agricultural chemicals and the like as an example of agricultural work.

[0003] The aircraft support device described in Patent Document 1 includes a position information acquisition unit that acquires the position of the aircraft, a spraying information acquisition unit that acquires information related to spraying, and a display unit that displays the area and surroundings of a farm field. The display unit displays the movement trajectory of the aircraft and the spraying range sprayed by the spraying apparatus. This facilitates work management. [Prior Art Literature] [Patent Literature]

[0004] [Patent Document 1] International Publication No. 2020 / 137242 [Summary of the Invention] [Problem to be Solved by the Invention]

[0005] In the aircraft described in Patent Document 1, no consideration has been given to support when an abnormality occurs in the aircraft.

[0006] Accordingly, there is a demand for realizing a working aircraft that can take appropriate measures when an abnormality occurs. [Means for Solving the Problem]

[0007] The present invention provides a work aircraft comprising: an aircraft; at least one sensor; and a control device having at least one processing unit, wherein the control device is capable of receiving input from the sensor and executing operation control processing to control the operation of the work aircraft, and abnormality determination processing to determine whether or not there is an abnormality based on the input from the sensor, and when an abnormality is determined in the abnormality determination processing, the operation control processing is executed in abnormality mode, and the work device further comprises: a work device capable of performing predetermined work; and a plurality of connectors that can be connected to the aircraft at one end and can be connected to the work device at the other end, wherein the plurality of connectors are such that the relative position between the aircraft and the work device connected via the connectors cannot be changed. 1 Connector The system includes a second connector capable of actively changing the relative position between the aircraft and the work device, which are connected via the connector, and the abnormal mode of the operation control process includes a process of controlling the second connector to actively change the relative position between the aircraft and the work device. It is characterized by the following:

[0008] Furthermore, the control program according to the present invention is a control program capable of controlling a work aircraft comprising: an aircraft; at least one sensor; a control device capable of receiving input from the sensor and having at least one arithmetic processing unit; a work device capable of performing predetermined tasks; and a plurality of connectors that can be connected to the aircraft at one end and to the work device at the other end. When executed, the control program can cause the arithmetic processing unit to execute an operation control process that controls the operation of the work aircraft, and an abnormality determination process that determines whether or not there is an abnormality based on the input from the sensor. When an abnormality is determined in the abnormality determination process, the control program causes the arithmetic processing unit to execute the operation control process in abnormality mode. The plurality of connectors are configured such that the relative position between the aircraft and the work device connected via the connectors cannot be changed. 1 Connector The system includes a second connector capable of actively changing the relative position between the aircraft and the work device, which are connected via the connector, and the abnormal mode of the operation control process is a process that controls the connector to actively change the relative position between the aircraft and the work device. It is characterized by including.

[0009] These configurations allow for the determination of whether or not an abnormality exists, and if an abnormality is present, control can be performed in a specific abnormality mode. This enables appropriate measures to be taken by causing the work aircraft to operate differently from normal operation when any abnormality occurs. This configuration allows for a certain distance to be maintained between the aircraft and the work equipment. This prevents, for example, the airflow that provides thrust to the aircraft from interfering with the operation of the work equipment. With this configuration, when an abnormality is detected, the posture of the work device can be adjusted to recover from the abnormality or to suppress its effects.

[0010] Preferred embodiments of the present invention will be described below. However, the scope of the present invention is not limited by the examples of preferred embodiments described below.

[0011] In one embodiment of the present invention, the abnormal mode of the operation control process of the work aircraft preferably includes a process for identifying a location where the work aircraft can make an emergency landing.

[0012] This configuration allows a malfunctioning aircraft to make an emergency landing at an appropriate location.

[0013] In one embodiment, the work aircraft according to the present invention preferably further comprises an impact mitigation device capable of mitigating the impact on the ground when the work aircraft makes contact with the ground.

[0014] This configuration can minimize damage to the ground when the work aircraft makes contact with it due to an emergency landing or other reasons. Therefore, it can minimize damage to fields and other areas.

[0015] In one embodiment of the present invention, the work aircraft preferably includes a separation device that allows the impact mitigation device to separate the work aircraft into a plurality of parts.

[0016] This configuration allows the work drone to separate into multiple smaller parts before it makes contact with the ground. This reduces the weight of each part that comes into contact with the ground, thus minimizing damage to the field.

[0017] In one aspect, the working aircraft according to the present invention preferably further comprises a notification device capable of notifying the abnormality to the outside of the working aircraft when an abnormality is determined to exist in the abnormality determination process.

[0018] According to this configuration, an administrator of the working aircraft can recognize the abnormality at an early stage.

[0019]

[0020]

[0021]

[0022]

[0023] In one aspect, the working aircraft according to the present invention preferably has that the abnormal mode of the operation control process includes a process of stopping the operation of the working device.

[0024] According to this configuration, the influence of the abnormality can be suppressed when the abnormality is detected.

[0025] In one aspect, the working aircraft according to the present invention preferably has that the highest altitude portion of the working aircraft in a flight state belongs to the working device.

[0026] According to this configuration, the flight altitude of the aircraft does not become excessively high, so that damage to the farm field can be suppressed even if the working aircraft makes an emergency landing.

[0027] In one aspect, the working aircraft according to the present invention comprises a plurality of said aircraft, the abnormality determination process is capable of determining whether there is an abnormality for each of the plurality of aircraft, and the abnormal mode of the operation control process preferably includes a process of separating an individual determined to have an abnormality from the plurality of aircraft from the working aircraft.

[0028] According to this configuration, the operation of the working aircraft can be continued using only normal aircraft.

[0029] In one embodiment of the present invention, the abnormal mode of the operation control process preferably includes a process of connecting another aircraft to the work aircraft to replace the detached aircraft.

[0030] This configuration allows for the replacement of a malfunctioning aircraft with a normal aircraft, thereby restoring the operational aircraft to a normal state.

[0031] In one embodiment, the work aircraft according to the present invention includes a plurality of aircraft comprising one main aircraft and other subordinate aircraft, wherein the subordinate aircraft are controlled in conjunction with the control of the main aircraft, and the abnormal mode of the operation control process preferably includes a process to cause one of the subordinate aircraft to function as a new main aircraft when the detached aircraft is the main aircraft.

[0032] This configuration allows for continuous coordinated control of multiple aircraft in a work aircraft system where multiple aircraft are controlled in conjunction, both before and after the separation of some of the aircraft.

[0033] In one embodiment, the work aircraft according to the present invention preferably includes a driving control process in which the operation control process recognizes at least one of the position and attitude of the work aircraft based on at least one of the position and attitude of the main aircraft, and the abnormal mode of the operation control process preferably includes a process to update the recognition process so that at least one of the position and attitude of the work aircraft is recognized based on at least one of the new position and attitude of the main aircraft.

[0034] With this configuration, in a work aircraft where multiple aircraft are controlled in conjunction, it is possible to continuously and correctly recognize at least one of the position and attitude of the work aircraft before and after separating some of the aircraft.

[0035] In one embodiment, the work aircraft according to the present invention preferably includes a process in which the operation control process sequentially controls the operation of the work aircraft according to a pre-inputted operation plan, and the abnormal mode of the operation control process preferably includes a process in which the effect of separating the individual determined to be abnormal from the work aircraft is evaluated and the operation plan is updated based on the evaluation.

[0036] This configuration allows for changes in the capabilities of a work aircraft, where multiple aircraft are controlled in conjunction, by separating some of the aircraft, to be reflected in the operation plan.

[0037] In one embodiment, the work aircraft according to the present invention comprises a plurality of such aircraft, the abnormality determination process is capable of determining whether or not there is an abnormality for each of the plurality of such aircraft, and the abnormality mode of the operation control process preferably includes a process to reduce the output of the aircraft that has been determined to have an abnormality, or to stop the aircraft, and a process to increase the output of the aircraft other than the aircraft that has been determined to have an abnormality.

[0038] According to this configuration, in a work aircraft system in which multiple aircraft are controlled in conjunction, the operation of an aircraft experiencing a malfunction can be suppressed or stopped to mitigate the effects of the malfunction, while the operation of the work aircraft system can be continued using other aircraft.

[0039] In one embodiment, the work aircraft according to the present invention further comprises a buoyancy body, wherein the magnitude of the buoyancy force that the buoyancy body receives in the air is preferably greater than or equal to the magnitude of gravity that the work aircraft receives on Earth.

[0040] With this configuration, even if some malfunction occurs in the aircraft, the buoyancy of the buoyancy device can keep the work aircraft in the air or suppress its speed when descending to the ground.

[0041] In one embodiment of the work aircraft according to the present invention, it is preferable that the aircraft is capable of generating a thrust force that propels the work aircraft downward, and that the magnitude of the thrust force be greater than or equal to the magnitude of the buoyancy.

[0042] This configuration makes it easier to precisely control the ascent or descent speed of the work aircraft at low speeds during takeoff or landing.

[0043] Further features and advantages of the present invention will become clearer through the following description of exemplary and non-limiting embodiments, with reference to the drawings. [Brief explanation of the drawing]

[0044] [Figure 1] This is a perspective view showing a first embodiment of the work aircraft. [Figure 2] This is a block diagram showing the first embodiment of the work aircraft. [Figure 3] This is a plan view showing a second embodiment of the work aircraft. [Figure 4] This is a side view showing a second embodiment of the work aircraft. [Figure 5] This is a front view showing another embodiment of the work aircraft. [Modes for carrying out the invention]

[0045] [First Embodiment] A first embodiment of the work aircraft according to the present invention will be described with reference to the drawings. Below, an example will be described in which the work aircraft according to the present invention is applied to a work aircraft 1 comprising an aircraft 2 and a seedling planting device 3 (an example of a work device).

[0046] (Configuration of the work aircraft) First, the device configuration of the work aircraft 1 according to this embodiment will be described. The work aircraft 1 according to this embodiment comprises an aircraft 2 and a seedling planting device 3 (Figure 1). The aircraft 2 and the seedling planting device 3 are connected by four connecting members 4. When the work aircraft 1 is in flight, the seedling planting device 3 connected to the connecting members 4 assumes a suspended posture from the aircraft 2. In this posture, the work aircraft 1 can bring the seedling planting device 3 into contact with the field and cause the seedling planting device 3 to perform seedling planting work (example of a predetermined work). In the following description, when referring to the front and rear directions, unless otherwise specified, the direction of arrow F in Figure 1 will be referred to as "front" and the direction of arrow R will be referred to as "rear".

[0047] The aircraft 2 has a propulsion system 21, a power unit 22, a separation device 23 (example of a shock mitigation device), an aircraft control device 24 (example of a control device), a communication device 25, and a sensor group 26 (example of at least one sensor) (Figures 1 and 2). In this embodiment, the propulsion system 21 is implemented as two main wings 21a and one tail wing 21b. The power unit 22 is implemented as a gasoline-driven engine and a fuel tank for supplying fuel to the engine. The aircraft 2 drives the propulsion system 21 with the driving force generated by the power unit 22, and flies using the thrust generated by the propulsion system 21.

[0048] In this embodiment, the propulsion system 21 is implemented as two main wings 21a and one tail wing 21b. The two main wings 21a can change their attitude between a propulsion mode in which the rotor blades are positioned forward and a hovering mode in which the rotor blades are positioned upward. In the propulsion mode, it is easy to propel the aircraft 2 forward, and in the hovering mode, it is easy to keep the aircraft 2 stationary without changing its horizontal position.

[0049] The separation device 23 is a device capable of actively disassembling the aircraft 2 into multiple parts. The separation device 23 separates the aircraft 2 into multiple parts according to a control signal from the aircraft control device 24. This measure is taken to mitigate the impact on the ground when the work aircraft 1 makes contact with the ground. For example, if the propulsion system 21 fails and it becomes difficult to continue flying the work aircraft 1, the work aircraft 1 will make an emergency landing in the field, and the impact of the emergency landing of the work aircraft 1 may damage the field. Therefore, by activating the separation device 23 just before the work aircraft 1 makes contact with the ground, the aircraft 2 is separated into multiple small parts, the weight of each part that comes into contact with the ground is reduced, thus suppressing damage to the field.

[0050] The aircraft control device 24 is implemented as a computer having a processing unit 24a and a storage device 24b. The aircraft control device 24 is configured to be able to receive signals from the sensor group 26 provided on the aircraft 2 and to output signals for controlling various parts of the aircraft 2.

[0051] The communication device 25 is a communication device that enables communication between the aircraft control device 24 and a device installed outside the aircraft 2. The aircraft control device 24 can communicate with the work control device 34 of the seedling planting device 3 via the communication device 25. The aircraft control device 24 can also communicate with a computer P and a smartphone S, which constitute the field management system that manages the field where the work aircraft 1 performs its work, via the mobile phone network N. For example, it can notify the field management system that an abnormality has occurred in the work aircraft 1. In other words, the combination of the aircraft control device 24 and the communication device 25 can function as a notification device that can notify abnormalities to the outside of the work aircraft.

[0052] The sensor group 26 includes a satellite positioning device 26a, an altimeter 26b, an accelerometer 26c, a tilt sensor 26d, a tachometer 26e for the propulsion system 21, and a fuel tank level gauge 26f (Figure 4). However, sensors not relevant to the description of this embodiment are not shown, and this does not mean that the sensor group 26 does not include sensors other than those listed above. Furthermore, the aircraft control device 24 and the communication device 25, which are electronic devices, have a self-diagnostic function and can transmit an abnormal signal if they are in an abnormal state. Therefore, the aircraft control device 24 and the communication device 25 can also be said to have the function of sensors.

[0053] The satellite positioning device 26a receives GNSS (Global Navigation Satellite System) signals from artificial satellites, generates positioning data indicating the position of the aircraft 2 based on the received signals, and transmits it to the aircraft control device 24. GNSS systems such as GPS, QZSS, Galileo, GLONASS, and BeiDou can be used.

[0054] The altimeter 26b generates altitude data indicating the current altitude of the work aircraft 1 and transmits it to the aircraft control device 24.

[0055] The accelerometer 26c generates acceleration data indicating the acceleration of the work aircraft 1 and transmits it to the aircraft control device 24.

[0056] The tilt sensor 26d generates tilt data indicating the tilt of the work aircraft 1 and transmits it to the aircraft control device 24.

[0057] A tachometer 26e is provided for each of the two main wings 21a and the one tail wing 21b that make up the propulsion system 21. The tachometer 26e generates rotational speed data indicating the rotational speed of each of the two main wings 21a and the one tail wing 21b and transmits it to the aircraft control system 24.

[0058] The liquid level gauge 26f is installed in the fuel tank that constitutes the power unit 22 and detects the liquid level of the fuel stored in the fuel tank. The liquid level gauge 26f generates liquid level data indicating the fuel level and transmits it to the aircraft control device 24.

[0059] One end 41 of the connector 4 is connected to the underside of the flying body 2 when it is in flight.

[0060] The seedling planting device 3 comprises a seedling tray 31, a planting device 32, a connected member 33, a work control device 34, and a communication device 35 (Figures 1 and 2). The seedling planting device 3 is a device that can cut out some seedlings from a sheet of seedlings placed on the seedling tray 31 and plant the cut seedlings in the field by the operation of the planting device 32. In this embodiment, the driving force of the planting device 32 is supplied as power from a battery (not shown).

[0061] The connected member 33 is a member configured to be connectable to the other end 42 of the connecting body 4. The connection structure between the connected member 33 and the other end 42 of the connecting body 4 can be realized, for example, by configuring the connected member 33 in a socket shape and the other end 42 of the connecting body 4 in a plug shape, and inserting and fitting the other end 42 of the connecting body 4 into the connected member 33. The connected member 33 and the other end 42 of the connecting body 4 are detachable. Therefore, the seedling planting device 3 is detachable from the aircraft 2.

[0062] There are four connected members 33, which corresponds to the four connecting bodies 4. Of the four connected members 33, the two connected members 33a located on the front side of the seedling planting device 3 and the two connected members 33b located on the rear side have different structures. The significance of this will be explained later.

[0063] Each of the four connected members 33 is provided with a sensor (not shown) capable of detecting whether or not the other end 42 of the connecting body 4 is inserted. The output of the sensor is input to the work control device 34.

[0064] The work control device 34 is implemented as a computer having an arithmetic processing unit and a memory device. The work control device 34 is configured to accept signals from various instruments provided on the seedling planting device 3 and to output signals for controlling each part of the seedling planting device 3. For example, the work control device 34 can recognize whether the other end 42 of the connector 4 is inserted into each connected member 33 based on input from sensors provided on the connected members 33.

[0065] Examples of instruments that may be installed in the seedling planting device 3 include, but are not limited to, instruments that indicate the overall operating status of the seedling planting device 3 (speedometer, inclinometer, etc.), instruments that indicate the status of the seedling tray 31 (weight scale, optical sensor, etc.), and instruments that indicate the operating status of the planting device 32 (tachometer, battery level indicator, etc.).

[0066] The communication device 35 is a communication device that enables communication between the work control device 34 and a device installed outside the aircraft 2. The work control device 34 and the communication device 35 can communicate with the aircraft control device 24 of the aircraft 2. In addition, the work control device 34 can communicate via the mobile phone network N with the computer P and smartphone S that constitute the field management system that manages the field where the work aircraft 1 performs work.

[0067] The connecting body 4 is a component whose one end 41 is connected to the aircraft 2 and whose other end 42 is connected to the seedling planting device 3. Because the aircraft 2 and the seedling planting device 3 are connected via the connecting body 4, when the working aircraft 1 is in flight, the seedling planting device 3 connected to the connecting body 4 assumes a suspended position from the aircraft 2. Four connecting bodies 4 are provided, and the seedling planting device 3 is suspended and supported at four points.

[0068] Of the four connecting members 4, the two connecting members 4a are located on the front side of the flying body 2. (An example of a second connection) It is configured in a rope-like manner. A winch 41a capable of winding up and unwinding the rope-like connector 4a is provided at one end 41 of these two connecting bodies 4a.

[0069] By operating the winch 41a and adjusting the amount of rope-like connector 4a paid out, the relative position between the aircraft 2 and the seedling planting device 3, which are connected via the connector 4a, can be actively changed. For example, by operating the winch 41a in the direction of winding up the connector 4a, the length of the extended connector 4a can be adjusted to match the length of the two connectors 4b on the rear side of the aircraft. (An example of a first connection) By making it shorter, the front part of the seedling planting device 3 can be positioned higher than the rear part. In this position, if the ground surface of the field is on an uphill slope along the direction of travel of the work aircraft 1, the seedling planting device 3 can be advanced along the slope.

[0070] Power for operating the winch 41a may be supplied from the aircraft 2. This power may be supplied from the power unit 22, or from a separate power source (not shown) provided separately from the power unit 22. In this case, the separate power source may be of the same type as the power unit 22 (an engine in this embodiment), or of a different type (such as a battery in this embodiment). Furthermore, the operation of the winch 41a may be controlled by either the aircraft control device 24 or the work control device 34.

[0071] On the other hand, of the four connecting members 4, the two connecting members 4b located on the rear side of the aircraft 2 are configured in a rod shape. The length of these two connecting members 4b cannot be changed, and therefore the relative position between the aircraft 2 and the seedling planting device 3 connected via the connecting members 4b cannot be actively changed. This restricts the posture in which the seedling planting device 3 is suspended to a certain range.

[0072] The other end 42 of the connecting body 4 is configured to be connectable to the connected member 33 of the seedling planting device 3. As described above, the connection structure between the connected member 33 and the other end 42 of the connecting body 4 can be realized, for example, by configuring the connected member 33 in a socket shape and the other end 42 of the connecting body 4 in a plug shape, and inserting and fitting the other end 42 of the connecting body 4 into the connected member 33. The connected member 33 and the other end 42 of the connecting body 4 are detachable, thereby allowing the seedling planting device 3 to be detachably attached to the aircraft 2.

[0073] Of the four connecting bodies 4, the structures of the other ends 42a and 42b of the two connecting bodies 4a located on the front side of the aircraft 2 and the two connecting bodies 4b located on the rear side are different. Also, as mentioned above, of the four connected members 33, the structures of the two connected members 33a located on the front side of the seedling planting device 3 and the two connected members 33b located on the rear side are different. Here, the structures of the two types of connected members 33a and 33b and the two types of other ends 42a and 42b are such that they can be fitted together in combinations of the front connected member 33a and the other end 42a of the connecting body 4a, and in combinations of the rear connected member 33b and the other end 42b of the connecting body 4b, but cannot be fitted together if the combinations are different. This allows the relative position between the aircraft 2 and the seedling planting device 3 to be restricted to a relative position where the fronts of the aircraft 2 and the seedling planting device 3 coincide.

[0074] (Control of the work aircraft) Next, the control of the work aircraft 1 according to this embodiment will be described. The work aircraft 1 is controlled by the aircraft control device 24 and the work control device 34. The control of the work aircraft 1 may be performed autonomously by the aircraft control device 24 and the work control device 34, or it may be performed according to human input from the user. Human input can be input from devices such as a controller (not shown), a computer P or smartphone S that constitute the field management system.

[0075] The aircraft control device 24 is capable of performing operation control processing to control the operation of the work aircraft 1, abnormality detection processing to determine whether or not there is an abnormality based on input from the sensor group 26, and recognition processing to recognize the position and attitude of the work aircraft 1.

[0076] The operation control process controls the operation of the work aircraft 1. More specifically, the operation control process controls the operation of the aircraft 2 and the operation of the seedling planting device 3. Of these, the operation of the aircraft 2 is controlled by the operation of each part of the aircraft 2 based on signals output from the aircraft control device 24. On the other hand, the operation of the seedling planting device 3 is controlled by the operation of each part of the seedling planting device 3 based on signals output from the work control device 34. However, in this embodiment, the control of the seedling planting device 3 when it is connected to the aircraft 2 is carried out by the work control device 34, which operates based on signals transmitted from the aircraft control device 24. In other words, the aircraft control device 24 indirectly controls the seedling planting device 3. Therefore, the aircraft control device 24 functions as a control device that comprehensively controls the operation of the entire work aircraft 1.

[0077] The operation control process is performed in either the normal mode or the abnormal mode. The normal mode is executed when the abnormality detection process determines that there is no abnormality, and operates the aircraft 2 and seedling planting device 3 so that the work aircraft 1 can perform seedling planting work. The abnormality mode is executed when the abnormality detection process determines that there is an abnormality, and operates the aircraft 2 and seedling planting device 3 so that the work aircraft 1 experiencing some kind of abnormality does not adversely affect the outside.

[0078] The abnormality detection process determines whether or not an abnormality has occurred in the work aircraft 1. More specifically, the presence or absence of an abnormality is determined based on the input from the sensor group 26 to the aircraft control device 24. Alternatively, the presence or absence of an abnormality may be determined based on the input from sensors provided on the seedling planting device 3. Examples of types of abnormalities that are determined to have occurred in the abnormality detection process are given below.

[0079] If the current position of the work aircraft 1, which is determined based on the positioning data input from the satellite positioning device 26a, deviates from the range of the field being worked on, it is determined that an abnormality has occurred in which the aircraft deviates from the flight plan.

[0080] If the current altitude of the work aircraft 1, identified based on the altitude data input from the altimeter 26b, deviates from the flyable altitude range defined by laws and regulations (for example, the Aviation Act in Japan), it is determined that an abnormality in the form of a deviation from the flight plan has occurred.

[0081] If at least one of the rotational speeds of the two main wings 21a and the one tail wing 21b, which are identified based on rotational speed data input from the tachometer 26e, deviates from a predetermined control range, it is determined that an abnormality in the form of a malfunction of the propulsion system 21 has occurred.

[0082] When the fuel level, determined based on the rotational speed data input from the liquid level gauge 26f, falls below a predetermined threshold, it is determined that an abnormality in the form of low fuel levels has occurred.

[0083] When the aircraft control device 24 emits an abnormal signal, it is determined that some kind of abnormality has occurred in the aircraft control device 24.

[0084] When the communication device 25 is transmitting an abnormal signal, it is determined that an abnormality in the form of a communication failure has occurred.

[0085] The following are examples of the control processes performed in the abnormal mode of the operation control processing.

[0086] As a first example, the abnormal mode of the operation control process includes a process for identifying a location where the work aircraft 1 can make an emergency landing. The aircraft control device 24 identifies a location suitable for the emergency landing of the work aircraft 1 based on the field layout map received from the field management system. Here, a location suitable for the emergency landing of the work aircraft 1 refers to a location that satisfies conditions such as being an open area where no crops are planted, having sufficient distance from buildings, roads, etc., and being within the range that the work aircraft 1 can reach by self-propelled flight from its current position.

[0087] As a second example, the abnormal mode of the operation control process includes a process to activate the separation device 23 immediately before the work aircraft 1 makes an emergency landing. By activating the separation device 23 just before the work aircraft 1 makes contact with the ground, the aircraft 2 is separated into several smaller parts, which reduces the weight of each part that comes into contact with the ground and can suppress damage to the field.

[0088] As a third example, the abnormal mode of the operation control process includes a process for notifying the outside of the work aircraft 1 that an abnormality has occurred. For example, when the abnormality detection process determines that some kind of abnormality exists, the aircraft control device 24 notifies the field management system that an abnormality has occurred in the work aircraft 1.

[0089] As a fourth example, the abnormal mode of the operation control process includes a process of operating the winch 41a to actively change the relative position between the aircraft 2 and the seedling planting device 3, which are connected via the connector 4a. For example, when an abnormality is detected in which the rotational speed of one of the two main wings 21a decreases, the balance of lift on the left and right sides may become poor, and the flight attitude of the work aircraft 1 may be greatly disrupted. However, by operating the winch 41a to adjust the attitude of the seedling planting device 3, the disruption of the flight attitude can be suppressed.

[0090] As a fifth example, the abnormal mode of the operation control process includes a process to stop the operation of the seedling planting device 3. If the movable parts of the seedling planting device 3 are operating when the work aircraft 1 makes an emergency landing, there is a risk of causing unexpected damage to the field. Therefore, by stopping the operation of the seedling planting device 3 in advance before the work aircraft 1 makes an emergency landing, damage to the field is suppressed.

[0091] The recognition process is the process of recognizing the position and attitude of the work aircraft 1. Specifically, the current position and current altitude of the work aircraft 1 are determined based on positioning data input from the satellite positioning device 26a and altitude data input from the altimeter 26b. In addition, the current attitude of the work aircraft 1 is determined based on acceleration data input from the accelerometer 26c and tilt data input from the tilt sensor 26d.

[0092] The control of the work aircraft 1 described above is realized by a control program executed by the aircraft control device 24. In other words, the control program according to this embodiment is a program that, when executed by the arithmetic processing unit 24a of the aircraft control device 24, causes the arithmetic processing unit 24a to execute the above-mentioned operation control processing, abnormality determination processing, and recognition processing. This control program is stored in the storage device 24b of the aircraft control device 24.

[0093] [Second Embodiment] A second embodiment of the work aircraft according to the present invention will be described with reference to the drawings. Below, an example will be described in which the work aircraft according to the present invention is applied to a work aircraft 5 comprising four aircraft 6 and one wheel combine 7 (an example of a work device; hereinafter simply referred to as combine 7). Parts common to the first embodiment described above will be simplified or omitted.

[0094] The work aircraft 5 according to this embodiment comprises four aircraft 6 and one combine harvester 7 (Figures 3 and 4). Here, the difference is that while there was one aircraft in the first embodiment, there are four (i.e., multiple) aircraft in this embodiment. Also, while the aircraft 2 had two main wings 21a and one tail wing 21b, the aircraft 6 according to this embodiment has four rotor blades 61.

[0095] In the flight state of the work aircraft 5, the highest-altitude part of the work aircraft 5 belongs to the combine harvester 7. Specifically, in the flight state of the work aircraft 5, the altitude of the ceiling portion 71 of the combine harvester 7's cabin from the ground surface G is higher than the altitude of the rotor blades 61 of the aircraft 6 from the ground surface G. This configuration prevents the aircraft 6 from flying at an excessively high altitude, thus minimizing damage to the field even if the work aircraft 5 makes an emergency landing.

[0096] Each of the four aircraft 6 is equipped with an aircraft control device. The aircraft control device in this embodiment has the same functions as the aircraft control device 24 in the first embodiment. Furthermore, in this embodiment, the aircraft control devices provided on the four aircraft 6 communicate with each other to control the flight of the entire work aircraft 5. In addition, abnormality detection processing is performed for each of the four aircraft 6. That is, it is possible to independently determine whether or not there is an abnormality for each of the four aircraft 6.

[0097] Here, one of the four aircraft 6, aircraft 6A, is the main aircraft, and the other three aircraft are secondary aircraft. The flight control of the entire work aircraft 5 is performed by the aircraft control device installed on the main aircraft 6A, and the aircraft control devices of the secondary aircraft 6B, 6C, and 6D are controlled in conjunction with the control of the main aircraft 6A according to the control signals transmitted from the aircraft control device installed on the main aircraft 6A. For example, in the recognition process of the work aircraft 5, the current position and current altitude of the work aircraft 5 are recognized based on the current position and current altitude of the main aircraft 6A. However, the aircraft control devices installed on the four aircraft 6 are all configured to function as both the main aircraft and the secondary aircraft. Note that the position and current altitude recognized as the current position and current altitude of the work aircraft 5 in the recognition process do not necessarily have to match the current position and current altitude of the main aircraft 6A. For example, in the example shown in Figure 3, the position and altitude of a virtual point located at the center of the four aircraft 6 are determined based on the current position and altitude of the main aircraft 6A, and the current position and altitude of the work aircraft 5 are recognized based on the position and altitude of that virtual point.

[0098] The abnormal mode of the operation control processing according to this embodiment includes a process (hereinafter referred to as the "separation process") to detach the aircraft that is determined to be abnormal from the work aircraft 5. For example, when it is determined that an abnormality has occurred in aircraft 6D, the connection between aircraft 6D and the combine harvester 7 is disconnected. The subsequent flight of the work aircraft 5 is handled by aircraft 6A, 6B, and 6C. Aircraft 6D is made to make an emergency landing.

[0099] In this situation, the flight of the work aircraft 5, which is normally carried out by four aircraft 6, is carried out by only three aircraft 6A, 6B, and 6C, so there is a possibility that the output required to stably fly the work aircraft 5 will be insufficient. Therefore, in the abnormal mode of the operation control processing, when the number of aircraft 6 connected to the combine 7 is less than in the normal state, the work aircraft 5 is controlled to not move at least horizontally. This minimizes the load when the output is reduced.

[0100] In the above state, the work aircraft 5 waits for the arrival of another aircraft 6 to replace the detached individual (aircraft 6D). When the other aircraft 6 arrives, it performs a process to connect the other aircraft 6 to the work aircraft 5. As a result, the work aircraft 5 returns to a normal state, and the operation control process returns to normal mode.

[0101] The operation control process for the work aircraft 5 includes sequential control of the operation of the work aircraft 5 according to the operation plan (work content, flight path, etc.) pre-entered from the field management system. Since this operation plan is determined considering the capabilities of the work aircraft 5 under normal conditions, in the state after the aircraft 6D is detached as described above, the capabilities of the work aircraft 5 may be insufficient, and it may not be possible to carry out the operation plan. Therefore, the abnormal mode of the operation control process includes a process to evaluate the impact of the detachment of aircraft 6D on the capabilities of the work aircraft 5 and to update the operation plan based on this evaluation. The updated operation plan may be transmitted to the field management system.

[0102] As another example, if it is determined that there is an abnormality in the main aircraft 6A, the main aircraft 6A is detached, and one of the secondary aircraft 6B, 6C, and 6D (for example, secondary aircraft 6B) is made to function as the new main aircraft. As mentioned above, the flight control of the entire work aircraft 5 is coordinated by the aircraft control device installed in the main aircraft 6A, so simply detaching the main aircraft 6A would make it impossible to control the entire work aircraft 5. Therefore, by changing the main aircraft from aircraft 6A to aircraft 6B, the entire work aircraft 5 can be properly controlled even after aircraft 6A is detached. In this case, the recognition process related to the work aircraft 5 is updated so that the current position and altitude of the work aircraft 5 are recognized based on the current position and altitude of the new main aircraft 6B.

[0103] Furthermore, the abnormal mode of the operation control processing according to this embodiment includes a process to reduce the output of the aircraft 6 that is determined to be abnormal, or to stop that aircraft, and a process to increase the output of the aircraft 6 other than the one that is determined to be abnormal (hereinafter referred to as the output adjustment process). For example, when it is determined that an abnormality has occurred in aircraft 6D, the output of aircraft 6D is reduced or aircraft 6D is stopped. The subsequent flight of the work aircraft 5 is handled by the three aircraft 6A, 6B, and 6C. Therefore, the output of the three aircraft 6A, 6B, and 6C is increased.

[0104] Here, the choice between the separation process and the output adjustment process is made based on various conditions, including the nature of the detected anomaly, the current position of the work aircraft 5, the field conditions, the content of the work already performed and planned to be performed, the date and time, and the weather.

[0105] [Other Embodiments] Finally, other embodiments of the work aircraft according to the present invention will be described. Note that the configurations disclosed in each of the following embodiments can be applied in combination with configurations disclosed in other embodiments, as long as this does not create a conflict.

[0106] Non-limiting examples of work devices in the work aircraft according to the present invention include, in addition to the seedling planting device 3 and combine harvester 7 exemplified above, a snow removal device capable of performing snow removal work, a pesticide spraying device capable of performing pesticide spraying work, a harvesting device capable of performing harvesting work, a transport device capable of performing transport work, a grass cutting device capable of performing grass cutting work, a warning device capable of issuing warnings to intruders and pests, and a tilling device having a drill-shaped drive unit capable of tilling fields.

[0107] In the example shown in Figure 5, the work aircraft 8 comprises a flight body 81, a harvesting device 82, and a buoyancy device 83. In this case, the buoyancy force that the buoyancy device 83 experiences in the air is greater than the gravitational force that the buoyancy device 83 experiences on Earth. That is, the buoyancy device 83 alone has greater buoyancy than gravity and generates an upward force in the air. This gives an upward force to the entire work aircraft 8, which can alleviate the load on the entire work aircraft 8 that needs to be supported by the thrust of the flight body 81. Furthermore, in this embodiment, if the flight body 81 is operated to generate a thrust force that can propel the work aircraft 8 downward, the downward thrust force from the flight body 81 and the upward thrust force from the buoyancy device 83 can be made to counteract each other in the work aircraft 8. This makes it easier to precisely control the ascent or descent speed of the work aircraft 8 when it takes off or lands at a low speed.

[0108] The buoyancy device 83 can be implemented in the form of a hot air balloon or a balloon filled with a gas with a specific gravity lower than air, such as helium. Such embodiments incorporating a buoyancy device may be combined with other embodiments, including the first and second embodiments.

[0109] The form of the aircraft in the work aircraft according to the present invention is not limited. That is, aircraft other than those exemplified in the first and second embodiments may also be adopted as aircraft according to the present invention.

[0110] When the work aircraft according to the present invention is equipped with a work device, the manner in which the aircraft and the work device are connected is not limited to the use of a connecting body. Furthermore, when a connecting body is used, the connecting body may be provided as part of the aircraft, or it may be provided as a separate, detachable member from the aircraft. Also, there may be one or more connecting bodies. When multiple connecting bodies are provided, a configuration in which the relative position between the aircraft and the work device can be actively changed (connecting body 4a in the above embodiment) and a configuration in which the relative position cannot be changed (connecting body 4b in the above embodiment) may be arbitrarily combined.

[0111] In the work aircraft according to the present invention, a plurality of buoyancy generation mechanisms may be configured to cancel each other's operating noises. For example, in the first embodiment described above, the main wing 21a and the tail wing 21b may be controlled to cancel each other's operating noises. In addition, the aircraft, work equipment, and subunit may be equipped with a noise-canceling device that generates a sound (noise-canceling sound) that cancels out the operating noise of the buoyancy generation mechanism. The noise-canceling device may be configured to generate the noise-canceling sound based on a control amount sent to the buoyancy generation mechanism.

[0112] Each device constituting the work aircraft according to the present invention may be designed to be interchangeable between various forms of work aircraft. For example, in the first and second embodiments described above, the structure of the connection between the connector and the work equipment (seedling planting device 3 and combine harvester 7) can be standardized.

[0113] With regard to other configurations, the embodiments disclosed herein are illustrative in all respects, and it should be understood that the scope of the present invention is not limited thereto. Those skilled in the art will readily understand that modifications can be made as appropriate without departing from the spirit of the invention. Therefore, other embodiments modified without departing from the spirit of the invention are naturally included within the scope of the present invention. [Industrial applicability]

[0114] The present invention can be used, for example, in a work aircraft capable of performing various tasks. [Explanation of Symbols]

[0115] 1: Work aircraft (first embodiment) 2: Flying object (first embodiment) 4: Connector 4a: Conjunction (second conjunction) 4b: Conjunction (first conjunction) 21: Propulsion device 21a: Main wing 21b: Tail wing 22: Power plant 23: Separation device 24: Aircraft control system 24a: Arithmetic processing unit 24b: Storage device 25: Communication equipment 26: Sensor group 26a: Satellite positioning equipment 26b: Altimeter 26c: Accelerometer 26d: Tilt sensor 26e: Tachometer 26f:Liquid level gauge 3: Seedling planting device 31: Seedling stand 32: Planting device 33: Member to be connected 34: Operation control device 35: Communication equipment 4: Connector 41: One end of the connector 41a: Winch 42: Other end of the connector 5: Work aircraft (second embodiment) 6: Flying object (second embodiment) 61: Rotary Wing 7: Wheel combine (combine harvester) 71: Ceiling part 8: Work aircraft (other embodiments) 81: Flying object (other embodiments) 82: Harvesting device 83: Buoyancy body

Claims

1. A work aircraft comprising an aircraft, at least one sensor, and a control device having at least one processing unit, The control device is It is capable of receiving input from the aforementioned sensor, and, It is capable of performing an operation control process to control the operation of the aforementioned work aircraft, and an abnormality determination process to determine whether or not there is an abnormality based on the input from the sensor, If the abnormality determination process determines that an abnormality exists, the operation control process is executed in abnormality mode. A work device capable of performing a predetermined task, The system further comprises a plurality of connecting bodies, one end of which is connectable to the aircraft and the other end of which is connectable to the work device. The plurality of connectors include at least a first connector that cannot change the relative position between the aircraft and the work device connected via the connector, and a second connector that can actively change the relative position between the aircraft and the work device connected via the connector. The abnormal mode of the operation control process includes a work aircraft that controls the second connector to actively change the relative position between the aircraft and the work device.

2. The abnormal mode of the operation control process includes a process for identifying a location where the work aircraft can make an emergency landing, according to claim 1.

3. The work aircraft according to claim 1, further comprising an impact mitigation device capable of mitigating the impact on the ground when the work aircraft makes contact with the ground.

4. The work aircraft according to claim 3, which includes a separation device that allows the work aircraft to be separated into a plurality of parts.

5. The work aircraft according to claim 1, further comprising a notification device capable of notifying the outside of the work aircraft of an abnormality when an abnormality is determined to exist in the abnormality determination process.

6. The work aircraft according to claim 1, wherein the abnormal mode of the operation control process includes a process for stopping the operation of the work device.

7. In flight, the highest-altitude portion of the work aircraft belongs to the work device, as described in claim 1.

8. The aircraft comprises multiple such aircraft, The aforementioned abnormality detection process can determine whether or not there is an abnormality for each of the multiple aircraft. The work aircraft according to claim 1, wherein the abnormal mode of the operation control process includes a process of separating an individual from the work aircraft that is determined to be abnormal among the plurality of aircraft.

9. The work aircraft according to claim 8, wherein the abnormal mode of the operation control process includes a process of connecting another aircraft to the work aircraft to replace the detached individual.

10. The multiple aircraft include one main aircraft and other secondary aircraft. The aforementioned subordinate aircraft is controlled in conjunction with the control of the main aircraft. The work aircraft according to claim 8, wherein the abnormal mode of the operation control process includes a process to cause one of the subordinate aircraft to function as a new main aircraft when the separated individual is the main aircraft.

11. The aforementioned operation control process includes a recognition process that recognizes at least one of the position and attitude of the work aircraft based on at least one of the position and attitude of the main aircraft, The work aircraft according to claim 10, wherein the abnormal mode of the operation control process includes a process to update the recognition process so that at least one of the position and attitude of the work aircraft is recognized based on at least one of the position and attitude of the new main aircraft.

12. The aforementioned operation control process includes a process of sequentially controlling the operation of the work aircraft in accordance with a pre-entered operation plan. The abnormal mode of the operation control process includes a process to evaluate the impact of separating the individual that has been determined to be abnormal from the work aircraft, and to update the operation plan based on the evaluation, according to claim 8.

13. The aircraft comprises multiple such aircraft, The aforementioned abnormality detection process can determine whether or not there is an abnormality for each of the multiple aircraft. The abnormal mode of the aforementioned operation control process is A process to reduce the output of or stop the individual of the multiple aforementioned aircraft that is determined to be abnormal, The work aircraft according to claim 1, further comprising a process of increasing the output of the aircraft other than the aircraft that has been determined to have an abnormality.

14. Equipped with additional buoyancy devices, The work aircraft according to any one of claims 1 to 13, wherein the magnitude of the buoyancy force the buoyancy body receives in the air is greater than or equal to the magnitude of the gravitational force the work aircraft receives on Earth.

15. The aircraft can generate a thrust force that propels the work aircraft downwards. The work aircraft according to claim 14, wherein the magnitude of the thrust can be made to be greater than or equal to the magnitude of the buoyancy.

16. A control program capable of controlling a work aircraft comprising: an aircraft; at least one sensor; a control device capable of receiving input from the sensor and having at least one processing unit; a work device capable of performing predetermined tasks; and a plurality of connectors that can be connected to the aircraft at one end and to the work device at the other end, When executed, the arithmetic processing unit can be made to perform an operation control process that controls the operation of the work aircraft, and an abnormality determination process that determines whether or not there is an abnormality based on the input from the sensor. If an abnormality is determined in the abnormality determination process, the arithmetic processing unit is instructed to execute the operation control process in abnormality mode. The plurality of connectors include at least a first connector that cannot change the relative position between the aircraft and the work device connected via the connector, and a second connector that can actively change the relative position between the aircraft and the work device connected via the connector. The abnormal mode of the operation control process includes a control program that controls the connecting body to actively change the relative position between the aircraft and the work device.

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