Unmanned aerial vehicle, management system, package system, management method, and computer program

Abstract

A management system according to one embodiment of the present invention manages the transportation work of an unmanned aerial vehicle, and comprises: a communication device that receives package location information indicating a first location at which located is a package that contains harvested material harvested in a field; and a control device that controls the actions of an unmanned aerial vehicle which supports a structure. In a case where the control device causes the unmanned aerial vehicle to support the package, the control device causes the structure to be separated from the unmanned aerial vehicle.

Description

Unmanned aerial vehicle, management system, package system, management method, and computer program

[0001] The present disclosure relates to an unmanned aerial vehicle, a management system, a package system, a management method, and a computer program.

[0002] An unmanned aerial vehicle (UAV) is an aircraft that cannot carry a person due to its structure and can fly by remote control or automatic pilot. Rotary-wing unmanned aerial vehicles are unmanned aerial vehicles that obtain lift using propellers that rotate around an axis, i.e., rotors. Small unmanned aerial vehicles equipped with multiple rotors (multi-rotor UAVs) are also called "drones," "multirotors," or "multicopters," and are widely used for applications such as aerial photography, surveying, logistics, and pesticide spraying.

[0003] Patent Document 1 describes an unmanned aerial vehicle (unmanned flying object) that changes its flight position in conjunction with the operation of agricultural machinery.

[0004] Japanese Patent Application Laid-Open No. 2022-104737

[0005] There is a demand for unmanned aerial vehicles to transport harvested products.

[0006] A harvest management system according to one embodiment of the present disclosure is a harvest management system that uses an unmanned aerial vehicle to acquire crops harvested from a field by a mobile agricultural machine, wherein an acquisition device used to acquire the crops is connected to the unmanned aerial vehicle and moves together with the unmanned aerial vehicle, and the unmanned aerial vehicle is equipped with a receiving device that receives location information indicating the position of the agricultural machine within the field or the position where the agricultural machine plans to discharge the crops, a flight device that flies the unmanned aerial vehicle, and a control device that controls the operation of the flight device to fly the unmanned aerial vehicle to a position where it can acquire a first crop stored in the agricultural machine or a second crop discharged from the agricultural machine, and the first crop or the second crop is acquired using the acquisition device connected to the unmanned aerial vehicle.

[0007] An unmanned aerial vehicle according to one embodiment of the present disclosure is an unmanned aerial vehicle that transports crops harvested from a field, and comprises a flight device that flies the unmanned aerial vehicle, a control device that controls the operation of the flight device, a communication device that receives package location information indicating a first location where a target package to be transported containing the crop is located, and package weight information indicating the weight of the target package, and a support device that can support the target package.The control device determines based on the package weight information whether the target package can be transported to a second location different from the first location, and if it determines that the target package can be transported, controls the flight device to fly the unmanned aerial vehicle to the first location, has the support device support the target package, and controls the flight device to fly the unmanned aerial vehicle to the second location.

[0008] A management system according to one embodiment of the present disclosure is a management system that manages transportation operations of unmanned aerial vehicles, and includes a communication device that receives package location information indicating a first location where a package containing harvested produce is located in a field, and a control device that controls the operation of the unmanned aerial vehicle supporting a structure, and the control device separates the structure from the unmanned aerial vehicle when the unmanned aerial vehicle is to support the package.

[0009] According to an embodiment of the present disclosure, an unmanned aerial vehicle retrieves crops harvested by an agricultural machine. For example, the unmanned aerial vehicle retrieves the crops from the agricultural machine without landing on the ground. Also, for example, the unmanned aerial vehicle retrieves the crops from a position above the agricultural machine. Because there is no need to secure ground surface for a transport vehicle to travel alongside the agricultural machine, crop harvesting can be performed easily and efficiently.

[0010] According to one embodiment of the present disclosure, an unmanned aerial vehicle capable of carrying a target package can fly to a first location where the target package is located and support and carry the target package, thereby efficiently transporting harvested produce.

[0011] According to an embodiment of the present disclosure, harvested produce can be transported efficiently by having the unmanned aerial vehicle that was operating to support a structure transport the package. By using an unmanned aerial vehicle with a detached structure, the weight of the package that can be transported by the unmanned aerial vehicle can be increased.

[0012] 1 is a block diagram schematically showing several examples of rotary drive devices that rotate rotors in an unmanned aerial vehicle with multiple rotors. FIG. 2 is a plan view schematically showing one basic configuration example of an unmanned aerial vehicle with multiple rotors. FIG. 3 is a side view schematically showing one basic configuration example of an unmanned aerial vehicle with multiple rotors. FIG. 4 is a plan view schematically showing another basic configuration example of an unmanned aerial vehicle with multiple rotors. FIG. 5 is a block diagram showing an example basic configuration of a battery-powered multicopter. FIG. 6 is a block diagram showing an example basic configuration of a series hybrid drive multicopter. FIG. 7 is a block diagram showing an example basic configuration of a parallel hybrid drive multicopter. FIG. 8 is a diagram showing an example of a harvest management system. FIG. 9 is a side view schematically showing an example of a harvester. FIG. 10 is a block diagram showing an example configuration of a harvester. FIG. 11 is a block diagram showing an example configuration of an unmanned aerial vehicle. FIG. 12 is a block diagram showing examples of configurations of a management device and a terminal device. FIG. 13 is a diagram schematically showing an example of an unmanned aerial vehicle to which an acquisition device is connected. FIG. 14 is a diagram showing a field where a harvester harvests crops. FIG. 15 is a flowchart showing an example of an operation for using an unmanned aerial vehicle to acquire harvested crops harvested from a field by a harvester. FIG. 16 is a diagram showing an example of an operation for using an unmanned aerial vehicle to acquire harvested crops stored in a tank of a harvester. 1 is a diagram showing an example of an operation for using an unmanned aerial vehicle to acquire harvested goods stored in a tank of a harvester. FIG. 2 is a diagram showing an example of an operation for using an unmanned aerial vehicle to acquire harvested goods stored in a tank of a harvester. FIG. 3 is a diagram showing an example of an operation for using an unmanned aerial vehicle to acquire harvested goods stored in a tank of a harvester. FIG. 4 is a diagram showing an example of an operation for using an unmanned aerial vehicle to acquire harvested goods stored in a tank of a harvester. FIG. 5 is a diagram showing an example of an operation for using an unmanned aerial vehicle to acquire harvested goods stored in a tank of a harvester. FIG. 6 is a diagram showing an example of an operation for using an unmanned aerial vehicle to acquire harvested goods stored in a container of a harvester.1 is a diagram showing an example of an operation for using an unmanned aerial vehicle to acquire a container in which harvest products are stored. FIG. 2 is a diagram showing an example of an operation for using an unmanned aerial vehicle to acquire a container in which harvest products are stored. FIG. 3 is a diagram showing an example of a small unmanned aerial vehicle for harvesting crops. FIG. 4 is a diagram showing an example of agricultural machinery. FIG. 5 is a diagram showing an example of an operation for scooping up a bale discharged from a baler. FIG. 6 is a diagram showing an example of an operation for scooping up a bale discharged from a baler. FIG. 7 is a diagram showing an example of an operation for scooping up a bale discharged from a baler. FIG. 8 is a flowchart showing an example of a process for determining an unmanned aerial vehicle to transport a package of harvest products from among a plurality of unmanned aerial vehicles. FIG. 9 is a flowchart showing an example of a process for determining an unmanned aerial vehicle to transport a package of harvest products from among a plurality of unmanned aerial vehicles. FIG. 10 is a diagram showing an example of a field in which an unmanned aerial vehicle performs an operation to acquire and transport a package. FIG. 11 is a flowchart showing an example of a process for determining whether the unmanned aerial vehicle itself is capable of transporting a target package. FIG. 12 is a diagram showing an example of an unmanned aerial vehicle supporting a work machine.

[0023] Fig. 1 is a flowchart showing an example of an operation of an unmanned aerial vehicle supporting a work machine to separate the work machine and transport harvested products.

[0024] Fig. 2 is a diagram showing an unmanned aerial vehicle supporting a work machine performing work in a field.

[0025] Fig. 3 is a diagram showing an unmanned aerial vehicle with the work machine separated.

[0013] Hereinafter, embodiments of the present disclosure will be described. However, more detailed descriptions than necessary may be omitted. For example, detailed descriptions of well-known matters and redundant descriptions of substantially identical configurations may be omitted. This is to avoid unnecessary redundancy in the following description and to facilitate understanding by those skilled in the art. Note that the inventors provide the accompanying drawings and the following description to enable those skilled in the art to fully understand the present disclosure, and do not intend them to limit the subject matter described in the claims. In the following description, components having the same or similar functions are designated by the same reference numerals. The symbols F, Re, L, R, U, and D in the drawings represent front, rear, left, right, top, and bottom, respectively.

[0014] The following embodiments are merely examples, and the technology of the present disclosure is not limited to the following embodiments. The contents of the following embodiments are merely examples, and various modifications are possible as long as no technical contradiction occurs. Furthermore, one aspect can be combined with another aspect as long as no technical contradiction occurs.

[0015] (Unmanned Aerial Vehicle) An unmanned aerial vehicle with multiple rotors includes a rotary drive unit that rotates the rotors (hereinafter, sometimes referred to as "propellers"). Hereinafter, such an unmanned aerial vehicle will be referred to as a "multicopter."

[0016] The rotational drive unit of a multicopter can take a variety of forms. Fig. 1A is a block diagram showing four examples of the rotational drive unit 3 in the present disclosure. A flight device 1 that flies a multicopter includes multiple rotors 2 and a rotational drive unit 3.

[0017] The first rotation drive device 3A shown in FIG. 1A has a plurality of electric motors (hereinafter referred to as "motors") 14 that rotate a plurality of rotors 2, and a battery 52 that stores power to be supplied to each motor 14. The battery 52 is, for example, a secondary battery such as a polymer lithium-ion battery. Each rotor 2 is connected to the output shaft of the corresponding motor 14 and rotated by the motor 14. In order to increase the payload and / or flight time, it is necessary to increase the power storage capacity of the battery 52. ​​The power storage capacity of the battery 52 can be increased by increasing the size of the battery 52, but increasing the size of the battery 52 results in an increase in weight.

[0018] The second rotation drive device 3B shown in FIG. 1A includes a power transmission system 23 mechanically connected to the rotor 2 and an internal combustion engine 7a that provides driving force (torque) to the power transmission system 23. The power transmission system 23 includes mechanical components such as gears or belts, and transmits torque from the output shaft of the internal combustion engine 7a to the rotor 2. The internal combustion engine 7a can efficiently generate mechanical energy by burning fuel. Examples of the internal combustion engine 7a include a gasoline engine, a diesel engine, and a hydrogen engine. The number of internal combustion engines 7a included in the rotation drive device 3B is not limited to one.

[0019] The third rotary drive device 3C shown in FIG. 1A includes multiple motors 14, a power buffer 9 that stores power to be supplied to each motor 14, a power generator 8 such as an alternator that generates power, and an internal combustion engine 7a that provides mechanical energy for the power generator 8 to generate electricity. A typical example of the power buffer 9 is a battery such as a secondary battery, but it may also be a capacitor. In the third rotary drive device 3C, even if the power buffer 9 does not have a large storage capacity, the power generator 8 generates power using the driving force (mechanical energy) of the internal combustion engine 7a, thereby enabling an increase in payload and / or flight time. This type of drive is called a "series hybrid drive." The power generator 8 and internal combustion engine 7a in the series hybrid drive are called a "range extender" because they extend the flight distance of the multicopter.

[0020] 1A includes a plurality of motors 14, a power buffer 9 that stores power to be supplied to each motor 14, a power generator 8 such as an alternator that generates power, an internal combustion engine 7a that provides driving force for generating power to the power generator 8, and a power transmission system 23 that transmits the driving force generated by the internal combustion engine 7a to a rotor 2 to rotate the rotor 2. At least one rotor 2 of the plurality of rotors 2 is rotated by the internal combustion engine 7a, and the other rotors 2 are rotated by the motor 14. In the fourth rotary drive device 3D, the mechanical energy generated by the internal combustion engine 7a can also be used to rotate the rotor 2 without being converted into electric power, thereby improving energy utilization efficiency. This type of drive is called a "parallel hybrid drive."

[0021] Fig. 1B is a plan view schematically illustrating one basic configuration example of multicopter 10. The configuration example of Fig. 1B includes the first rotational drive device 3A shown in Fig. 1A as the rotational drive device 3. That is, the rotational drive device 3 (3A) in this example includes a motor 14 and a battery 52. ​​Fig. 1C is a side view schematically illustrating multicopter 10.

[0022] 1B and 1C includes a plurality of rotors 2, an airframe 4, and an airframe frame 5 that supports the rotors 2 and the airframe 4. The airframe frame 5 supports the airframe 4 at its center and rotatably supports the plurality of rotors 2 with a plurality of arms 5A extending outward from the center. A motor 14 that rotates the rotors 2 is provided near the tip of each arm 5A. The airframe 4 and the airframe frame 5 are sometimes collectively referred to as the "airframe 11."

[0023] 1B, the multicopter 10 is a quad-type multicopter (quadcopter) having four rotors 2. The rotors 2 located on one diagonal line rotate in the same direction (clockwise or counterclockwise), while the rotors 2 located on different diagonal lines rotate in opposite directions.

[0024] The main body 4 includes a control device 4a that controls the operation of devices and components mounted on the multicopter 10, a group of sensors 4b connected to the control device 4a, a communication device 4c connected to the control device 4a, and a battery 52.

[0025] The control device 4 a may include, for example, a flight control device such as a flight controller and a host computer (companion computer). The companion computer can perform advanced arithmetic processing such as image processing, obstacle detection, and obstacle avoidance based on the sensor data acquired by the sensor group 4 b.

[0026] The sensor group 4b may include an acceleration sensor, an angular velocity sensor, a geomagnetic sensor, a barometric pressure sensor, an altitude sensor, a temperature sensor, a flow rate sensor, an imaging device, a laser sensor, an ultrasonic sensor, an obstacle contact sensor, and a Global Navigation Satellite System (GNSS) receiver. The acceleration sensor and the angular velocity sensor may be mounted on the airframe main body 4 as components of an IMU (Inertial Measurement Unit). Examples of the laser sensor may include, for example, a laser range finder used to measure the distance to the ground, and a two-dimensional or three-dimensional light detection and ranging (LiDAR).

[0027] The communication device 4c may include a wireless communication module for transmitting and receiving signals via an antenna to a transmitter or ground station (Ground Control Station (GCS)) on the ground, a mobile communication module using a cellular communication network, etc. The communication device 4c may receive signals such as control commands transmitted from the ground and transmit sensor data such as image data acquired by the sensor group 4b as telemetry information. The communication device 4c may have a function for communicating between multicopters and a satellite communication function. The control device 4a can be connected to a computer on the cloud via the communication device 4c. Some or all of the functions of the companion computer may be performed by the computer on the cloud.

[0028] The battery 52 is a secondary battery that can store power by charging and supply power to the motors 14 by discharging. The battery 52 and the multiple motors 14 operate to rotate the multiple rotors 2, generating a desired thrust. Each of the multiple rotors 2 typically has multiple blades with a fixed pitch angle, generating thrust through rotation. The pitch angle may be variable. The multiple rotors 2 do not all need to have the same diameter (propeller diameter); one or more rotors 2 may have a larger diameter than the other rotors 2. The thrust (static thrust) generated by the rotating rotors 2 is generally proportional to the cube of the rotor 2 diameter. Therefore, when rotors 2 with different diameters are included, the rotor 2 with the larger diameter may be referred to as the "main rotor," and the rotor 2 with the smaller diameter may be referred to as the "sub-rotor." Regardless of the diameter, the configuration of the rotary drive device 3 may include rotors 2 with a relatively larger thrust and rotors 2 with a relatively smaller thrust. In this case, the rotor 2 capable of generating a relatively large thrust may be referred to as the "main rotor," and the rotor 2 capable of generating a relatively small thrust may be referred to as the "sub-rotor." For example, the rotor 2 capable of generating a relatively large thrust per rotation may be referred to as the "main rotor," and the rotor 2 capable of generating a relatively small thrust per rotation may be referred to as the "sub-rotor." In one example, the main rotor may be disposed more inward than the sub-rotors. In other words, each rotor 2 may be disposed so that the distance from the center of the aircraft to the rotation axis of each main rotor is shorter than the distance from the center of the aircraft to the rotation axis of each sub-rotor.

[0029] In this example, the rotary drive device 3 includes a plurality of motors 14. As mentioned above, the rotary drive device 3 may include an internal combustion engine 7a.

[0030] FIG. 1D is a plan view schematically illustrating an example of the basic configuration of a multicopter 10 including a second rotational drive device 3B as the rotational drive device 3. In the example shown in FIG. 1D , an internal combustion engine 7a is supported by the airframe main body 4. In this example, the driving force generated by the internal combustion engine 7a is transmitted to multiple rotors 2 via multiple power transmission systems 23, causing each rotor 2 to rotate. The control device 4a can change the rotational speed of each rotor 2 by controlling each power transmission system 23. The rotational drive device 3B may include a mechanism for changing the pitch angle of each blade of the multiple rotors 2. In this case, the control device 4a may adjust the lift generated by each rotor 2 by controlling the mechanism to change the pitch angle of the blades.

[0031] In a "parallel hybrid drive" in which some of the multiple rotors 2 are rotated by the internal combustion engine 7a and the other rotors 2 are rotated by the motor 14, the internal combustion engine 7a and the battery 52 are supported on the aircraft body 4. At least one rotor 2 of the multiple rotors 2 is connected to the internal combustion engine 7a via the power transmission system 23, and the other rotors 2 are connected to the motor 14.

[0032] In such a parallel hybrid drive, the diameter of one or more rotors 2 rotated by the internal combustion engine 7a may be larger than the diameter of the other rotors 2 rotated by the motor 14. In other words, the internal combustion engine 7a may be used to rotate the main rotor, and the motor 14 may be used to rotate the sub-rotor. In such a case, the main rotor is primarily used to generate thrust, and the sub-rotor is used to generate thrust and for attitude control. The main rotor may also be called a "booster rotor," and the sub-rotor may also be called an "attitude control rotor."

[0033] In the case of a parallel hybrid drive, the internal combustion engine is used for both thrust generation and power generation. By selectively transmitting the driving force (torque) generated by the internal combustion engine to one or both of the rotor and the power generator, it is possible to achieve a good balance between thrust generation and power generation.

[0034] Equipping a multicopter with an internal combustion engine and using it to generate thrust and / or electricity contributes to increased payload and flight time. It is desirable to control the attitude of a multicopter by rotating the propellers with a motor, which has better response characteristics than an internal combustion engine. Therefore, in applications requiring precise control of the multicopter's attitude, it is desirable to employ a parallel hybrid drive or series hybrid drive to increase the payload and flight time. If the rotary drive device 3 is equipped with a mechanism for changing the pitch angle of each blade of the multiple rotors 2, the attitude can also be adjusted by changing the pitch angle of each blade.

[0035] Increased payload and flight time may further expand the applications of multicopters. For example, in the agricultural field, multicopters are currently being used for spraying pesticides or monitoring crop growth conditions. However, by connecting various ground implements (hereinafter, sometimes simply referred to as "implements") to a multicopter, various agricultural tasks can be performed from the air. Agricultural implements are sometimes called "implements." Examples of implements include sprayers that spray pesticides on crops, mowers, seeders, spreaders, rakes, balers, harvesters, plows, harrows, or rotary tillers. Work vehicles such as tractors are not included in the "implements" of this disclosure.

[0036] In the example shown in FIG. 1C , a work implement 200 is coupled to the multicopter 10. The work implement 200 can spray, for example, pesticides or fertilizers on a field or crops within the field. Increasing the payload and flight time allows for a larger and / or more versatile work implement 200. For example, by changing the work implement 200 coupled to the multicopter 10, a variety of ground tasks (agricultural operations) can be performed, including liquid and granular application of pesticides, fertilization, thinning, weeding, transplanting, direct seeding, and harvesting. The work implement 200 may be equipped with a mechanism such as a robotic hand. In this case, a single work implement 200 can perform a variety of ground tasks. If the work implement 200 has a sufficient space to accommodate materials, the work implement 200 can also be used to transport agricultural materials or harvested products over a wide area. The work implement 200 can be coupled to the multicopter 10 in a variety of ways. The multicopter 10 may suspend and tow the work machine 200 by a cable. The work machine 200 towed by the multicopter 10 can also perform ground work while being towed while the multicopter 10 is flying or hovering. The work machine 200 during work may be in the air or on the ground.

[0037] In the example shown in FIG. 1C , the multicopter 10 includes a power supply device 76. The power supply device 76 is a device that supplies power to the work machine 200 from a drive energy source, such as a battery 52 or a power generation device 8, included in the multicopter 10. Various functions of the work machine 200 can be performed using this power. The work machine 200 includes actuators such as motors that operate using power obtained from the power supply device 76 of the multicopter 10. The work machine 200 preferably includes a battery that stores power. The ESC 16, which will be described later, may be included in the control device 4a.

[0038] FIG. 2A is a block diagram showing an example of the basic configuration of a battery-powered multicopter 10. The battery-powered multicopter 10 includes multiple rotors 12, multiple motors 14 that rotate the rotors 12, multiple ESCs (electric speed controllers) 16 each having a motor drive circuit that drives the motors 14, a battery 52 that supplies power to the corresponding motors 14 via each ESC 16, a control device 4a that controls the multiple ESCs 16 to control attitude and perform flight, a sensor group 4b, a communication device 4c, and a power supply device 76 electrically connected to the battery 52. ​​The rotor 12 is an example of a rotor 2. For simplicity, FIG. 2A shows the rotor 12, the motor 14, and the ESC 16 as a single block, but the rotors 12, the motors 14, and the ESCs 16 are actually multiple in number. This also applies to FIGS. 2B and 2C.

[0039] The control device 4a can receive control commands wirelessly, for example, from a ground station 6 located on the ground via the communication device 4c. The number of ground stations 6 is not limited to one and may be distributed across multiple locations. The communication device 4c can also receive control commands wirelessly from a control device operated by a pilot on the ground. The control device 4a may have the function of automatically or autonomously performing takeoff, flight, obstacle avoidance, and landing operations based on sensor data obtained from the sensor group 4b. The control device 4a may be configured to communicate with the work machine 200 connected to the power supply device 76 and acquire a signal indicating the status of the work machine 200 from the work machine 200. The control device 4a may also provide the work machine 200 with a signal that controls the operation of the work machine 200. Furthermore, the work machine 200 may generate a signal instructing the operation of the multicopter 10 and transmit it to the control device 4a. Such communication between the control device 4a and the work machine 200 can be performed via wired or wireless communication.

[0040] FIG. 2B is a block diagram showing an example of the basic configuration of a series hybrid drive multicopter 10. Similar to the battery-powered multicopter 10, the series hybrid drive multicopter 10 includes multiple rotors 12, multiple motors 14, multiple ESCs 16, a control device 4a, a sensor group 4b, and a communication device 4c. The illustrated series hybrid drive multicopter 10 further includes an internal combustion engine 7a, a fuel tank 7b for storing fuel for the internal combustion engine 7a, a power generation device 8 driven by the internal combustion engine 7a to generate electric power, a power buffer 9 for temporarily storing the electric power generated by the power generation device 8, and a power supply device 76 electrically connected to the power buffer 9. The power buffer 9 is, for example, a battery such as a secondary battery. The electric power generated by the power generation device 8 is supplied to the motor 14 via the power buffer 9 and the ESC 16. The electric power generated by the power generation device 8 may also be supplied to the work machine 200 via the power supply device 76.

[0041] FIG. 2C is a block diagram showing an example of the basic configuration of a parallel hybrid drive multicopter 10. Similar to the series hybrid drive multicopter 10, the parallel hybrid drive multicopter 10 includes multiple rotors 12, multiple motors 14 that respectively drive the multiple rotors 12, multiple ESCs 16, a control device 4a, a sensor group 4b, a communication device 4c, an internal combustion engine 7a, a fuel tank 7b, a power generator 8, a power buffer 9, and a power supply device 76. The parallel hybrid drive multicopter 10 further includes a drive train 27 that transmits the driving force of the internal combustion engine 7a, and a rotor 22 that rotates by receiving the driving force of the internal combustion engine 7a from the drive train 27. One of the rotor 12 and the rotor 22 may be referred to as the “first rotor” and the other as the “second rotor” to distinguish them from each other. The number of rotors 22 connected to the drive train 27 and rotating may be one or more.

[0042] In the parallel hybrid drive multicopter 10, the internal combustion engine 7a not only drives the power generation device 8 to generate electricity, but also mechanically transmits energy to the rotor 22 to rotate the rotor 22. On the other hand, in the series hybrid drive multicopter 10, all of the rotors 12 are rotated by the electric power generated by the power generation device 8. For this reason, in the series hybrid drive multicopter 10, if the power generation device 8 is, for example, a fuel cell, the internal combustion engine 7a is not an essential component.

[0043] (Harvest Management System) Next, a harvest management system will be described that uses the unmanned aerial vehicle 10 to acquire crops harvested from fields by agricultural machines.

[0044] The agricultural machine of this embodiment may be a mobile agricultural machine that is capable of harvesting crops in a field while moving. Examples of the agricultural machine include a harvester, a tractor, and an agricultural mobile robot. In some cases, the entire agricultural machine and an implement attached to or pulled by the agricultural machine, such as a tractor, function as a single "agricultural machine."

[0045] Fig. 3 is a diagram showing an example of a harvest management system 1000 according to this embodiment. The harvest management system 1000 includes an agricultural machine 100, an unmanned aerial vehicle 10, a terminal device 400, and a management device 600. Fig. 3 shows a harvester as an example of the agricultural machine 100. The unmanned aerial vehicle 10 is, for example, the multicopter described above.

[0046] The harvester 100 may be, for example, a combine harvester. The harvester 100 harvests crops in a field, threshes the harvested crops, stores the harvested crops after threshing, and discharges the harvested crops. The crops in the field may be, but are not limited to, harvestable grains such as rice, wheat, corn, and soybeans. The unmanned aerial vehicle 10 acquires and transports the harvested crops harvested by the harvester 100 from the field.

[0047] The harvester 100 has an automatic driving function. That is, the harvester 100 can travel by the operation of a control device, without manual operation. The control device in this embodiment is provided inside the harvester 100 and can control both the speed and steering of the harvester 100. The harvester 100 may travel automatically not only within a field but also outside the field (e.g., on a road). The harvester 100 is equipped with devices used for positioning or self-location estimation, such as a GNSS unit and a LiDAR sensor. The control device of the harvester 100 causes the harvester 100 to travel automatically based on the position of the harvester 100 and information on a target route.

[0048] The unmanned aerial vehicle 10 has an autonomous flight function and can fly under the control of a control device. The unmanned aerial vehicle 10 is equipped with devices used for positioning or self-location estimation, such as a GNSS unit and a LiDAR sensor. The control device of the unmanned aerial vehicle 10 automatically flies the unmanned aerial vehicle 10 based on information on the position of the unmanned aerial vehicle 10 and the target flight path.

[0049] Terminal device 400 is a computer used by a user to remotely monitor harvester 100 and unmanned aerial vehicle 10. Management device 600 is a computer managed by the business operator that operates harvest management system 1000. Harvester 100, unmanned aerial vehicle 10, terminal device 400, and management device 600 can communicate with each other via network 80. While one harvester 100 and one unmanned aerial vehicle 10 are illustrated in FIG. 3 as an example, harvest management system 1000 may include multiple harvesters 100 and / or multiple unmanned aerial vehicles 10. Harvest management system 1000 may also include other agricultural machinery.

[0050] The management device 600 is a computer that manages agricultural work and transportation work performed by the harvester 100 and the unmanned aerial vehicle 10. The management device 600 may be, for example, a server computer that centrally manages information about a farm field on the cloud and supports agriculture by utilizing data on the cloud. The management device 600, for example, creates a work plan for the harvester 100 and the unmanned aerial vehicle 10 and causes the harvester 100 and the unmanned aerial vehicle 10 to perform agricultural work in accordance with the work plan. The management device 600 generates a target route within the farm field based on information input by a user using the terminal device 400 or another device. The management device 600 may also generate and edit an environmental map based on data collected by the harvester 100, the unmanned aerial vehicle 10, other moving objects, etc. using a sensing device such as a LiDAR sensor. The management device 600 transmits the generated work plan, target route, and environmental map data to the harvester 100 and the unmanned aerial vehicle 10. The harvester 100 and the unmanned aerial vehicle 10 automatically move and perform various tasks based on this data.

[0051] The terminal device 400 is a computer used by a user located remotely from the harvester 100 and the unmanned aerial vehicle 10. The terminal device 400 shown in FIG. 3 is a laptop computer, but is not limited thereto. The terminal device 400 may be a stationary computer such as a desktop personal computer (PC), or a mobile terminal such as a smartphone or tablet computer. The terminal device 400 may be used to remotely monitor or remotely operate the harvester 100 and the unmanned aerial vehicle 10. For example, the terminal device 400 can display images captured by cameras (imaging devices) provided on the harvester 100 and the unmanned aerial vehicle 10 on a display. The terminal device 400 can also display a setting screen on the display that allows the user to input information necessary to create a work plan for the harvester 100 (e.g., a schedule for each agricultural task). When the user inputs the necessary information on the setting screen and performs a send operation, the terminal device 400 transmits the input information to the management device 600. The management device 600 creates a work plan based on the information. The terminal device 400 may further have a function of displaying a setting screen on the display for the user to input information necessary for setting a target route.

[0052] The configuration and operation of the system in this embodiment will be described in more detail below.

[0053] (System Configuration) Fig. 4 is a side view schematically illustrating an example of a harvester 100. The harvester 100 includes a vehicle body 101 and a traveling device 102. The traveling device 102 illustrated is a crawler-type traveling device, but may also be a traveling device equipped with wheels with tires. A cabin 110 is provided above the vehicle body 101.

[0054] A height-adjustable reaping device 103 for reaping crops is provided in front of the traveling device 102. A height-adjustable reel 109 for raising the stalks of crops is provided above the reaping device 103. A thresher 105 and a tank 106 for storing harvested crops are arranged side by side in the left-right direction behind the cabin 110. A transport device 104 for transporting the harvested crops is provided between the reaping device 103 and the thresher 105. The thresher 105 threshes the harvested crops. The tank 106 stores the harvested crops obtained by threshing grains and the like. A straw waste treatment device 108 is provided behind the thresher 105. The straw waste treatment device 108 finely cuts the stalks and the like after the harvested crops, such as grains, have been removed and discharges them to the outside. The tank 106 may be provided with a discharge device for discharging the harvested crops from the tank 106.

[0055] The configurations and operations of the various devices that perform harvesting operations, such as the reaping device 103, the conveying device 104, the threshing device 105, the straw waste processing device 108, the reel 109, and the discharge device, are well known, so detailed explanations of them will be omitted here.

[0056] The harvester 100 in this embodiment can operate in both a manual operation mode and an automatic operation mode. In the automatic operation mode, the harvester 100 can travel unmanned. Also, in the automatic operation mode, the harvester 100 can travel unmanned while performing an operation to harvest crops in a field.

[0057] As shown in Fig. 4, the harvester 100 includes a prime mover (engine) 111 and a transmission 112. Inside the cabin 110, a driver's seat, operation levers, an operation terminal, and a group of switches for operation are provided.

[0058] The harvester 100 may include at least one sensing device that senses the environment around the harvester 100 and a control device that processes sensing data output from the at least one sensing device. The harvester 100 includes multiple sensing devices. The sensing devices may be a LiDAR sensor 125, a camera 126, and an obstacle sensor 127.

[0059] The cameras 126 may be installed, for example, on the front, rear, left, and right sides of the harvester 100. The cameras 126 photograph the environment around the harvester 100 and generate image data. The images acquired by the cameras 126 may be output to a control device mounted on the harvester 100 and transmitted to a terminal device 400 for remote monitoring. The images may also be used to monitor the harvester 100 during unmanned operation.

[0060] The LiDAR sensors 125 illustrated in FIG. 4 are disposed at the front and rear of the harvester 100. Additional LiDAR sensors 125 may be provided on the sides of the harvester 100. The harvester 100 may include multiple LiDAR sensors disposed at different positions and with different orientations. The LiDAR sensors 125 may be 3D-LiDAR sensors or 2D-LiDAR sensors. The LiDAR sensors 125 sense the environment surrounding the harvester 100 and output sensing data. The LiDAR sensors 125 repeatedly output sensor data indicating the distance and direction to each measurement point of an object in the surrounding environment, or the three-dimensional or two-dimensional coordinate values ​​of each measurement point. The sensor data output from the LiDAR sensors 125 is processed by a control device of the harvester 100. The control device can estimate the self-position of the harvester 100 by matching the sensor data with an environmental map. The control device can further detect, based on the sensor data, objects such as obstacles present in the surroundings of the harvester 100. The control device can also generate or edit an environmental map using an algorithm such as SLAM (Simultaneous Localization and Mapping).

[0061] The obstacle sensor 127 illustrated in FIG. 4 is provided on the side of the harvester 100. The obstacle sensor 127 may also be located in other locations. For example, the obstacle sensor 127 may be provided on the front and rear of the harvester 100. The obstacle sensor 127 may include, for example, a laser scanner or an ultrasonic sonar. The obstacle sensor 127 is used to detect surrounding obstacles during autonomous driving and to stop or detour the harvester 100. The LiDAR sensor 125 may be used as one of the obstacle sensors 127.

[0062] The harvester 100 includes a positioning device 121 that detects the geographic coordinates of the position of the harvester 100. The positioning device 121 is, for example, a GNSS unit. The GNSS unit 121 includes a GNSS receiver. The GNSS receiver may include an antenna that receives signals from GNSS satellites and a processor that calculates the position of the harvester 100 based on the signals received by the antenna. The GNSS unit 121 receives satellite signals transmitted from multiple GNSS satellites and performs positioning based on the satellite signals. GNSS is a general term for satellite positioning systems such as GPS (Global Positioning System), QZSS (Quasi-Zenith Satellite System, e.g., Michibiki), GLONASS, Galileo, and BeiDou. In this embodiment, the GNSS unit 121 is provided on the top of the cabin 110, but may be provided in another location.

[0063] The control device of the harvester 100 may use, for positioning, sensing data acquired by sensing devices such as the camera 126 and / or the LiDAR sensor 125, in addition to the positioning results obtained by the GNSS unit 121. If there are features that function as characteristic points in the environment in which the harvester 100 travels, the position and orientation of the harvester 100 can be estimated with high accuracy based on the data acquired by the camera 126 and / or the LiDAR sensor 125 and an environmental map that is pre-stored in a storage device. By using the data acquired by the camera 126 and / or the LiDAR sensor 125 to correct or complement position data based on satellite signals, the position of the harvester 100 can be identified with higher accuracy.

[0064] The prime mover 111 may be, for example, a diesel engine. An electric motor may be used instead of a diesel engine. The transmission 112 can change the propulsive force and travel speed of the harvester 100 by changing the speed. The transmission 112 can also switch the harvester 100 between forward and reverse travel.

[0065] In a configuration in which the harvester 100 is equipped with a crawler-type traveling device 102, the traveling direction of the harvester 100 can be changed by varying the rotational speeds of the left and right wheels equipped with tracks or by varying the rotational directions of the left and right wheels. In a configuration in which the harvester 100 is equipped with a traveling device equipped with tires and wheels, the harvester 100 is equipped with a power steering device, and the traveling direction of the harvester 100 can be changed by controlling the power steering device to change the turning angle of the steering wheels (also referred to as the "steering angle").

[0066] The harvester 100 shown in Fig. 4 is capable of being operated with a driver, but may be designed for unmanned operation only. In this case, components required only for manned operation, such as the cabin 110, steering device, and driver's seat, may not be provided in the harvester 100. The unmanned harvester 100 can travel autonomously or by remote control by a user.

[0067] 5 is a block diagram showing an example configuration of the harvester 100. The harvester 100 can communicate with the terminal device 400 and the management device 600 via the network 80 (FIG. 3). The harvester 100 and the unmanned aerial vehicle 10 may communicate with each other via the network 80, or may communicate directly without using the network 80.

[0068] 5 includes a GNSS unit 121, an inertial measurement unit (IMU) 122, a LiDAR sensor 125, a camera 126, an obstacle sensor 127, an operation terminal 131, an operation switch group 132, a drive unit 140, a power transmission mechanism 141, a sensor group 150, a control unit 160, and a communication unit 190. These components are connected to each other via a bus so as to be able to communicate with each other.

[0069] The GNSS unit 121 includes, for example, a GNSS receiver and an RTK receiver. The sensor group 150 detects various states of the harvester 100. The sensor group 150 includes an operation lever sensor 151, a rotation sensor 152, and a load sensor 156. The control device 160 includes a processor 161, a RAM (Random Access Memory) 162, a ROM (Read Only Memory) 163, a storage device 164, and multiple electronic control units (ECUs) 165 to 167. Figure 5 shows components that are relatively closely related to the automatic driving operation of the harvester 100, and does not illustrate other components.

[0070] The GNSS unit 121 receives satellite signals transmitted from multiple GNSS satellites and generates GNSS data based on the satellite signals. The GNSS data is generated in a predetermined format, such as the NMEA-0183 format. The GNSS data may include, for example, values ​​indicating the identification number, elevation angle, azimuth angle, and reception strength of each satellite from which the satellite signal is received.

[0071] The GNSS unit 121 may perform positioning of the harvester 100 using RTK (Real Time Kinematic)-GNSS. Positioning using RTK-GNSS utilizes satellite signals transmitted from multiple GNSS satellites as well as correction signals transmitted from a reference station. The reference station may be installed near the field where the harvester 100 performs its work (e.g., within 10 km of the harvester 100). The reference station generates correction signals, for example, in RTCM format, based on the satellite signals received from multiple GNSS satellites and transmits them to the GNSS unit 121. The RTK receiver 122 includes an antenna and a modem and receives the correction signals transmitted from the reference station. The GNSS unit 121 corrects the positioning results based on the correction signals. Using RTK-GNSS, it is possible to perform positioning with an accuracy of, for example, a few centimeters. Position data including information on latitude, longitude, and altitude is acquired by high-precision positioning using RTK-GNSS. The GNSS unit 121 calculates the position of the harvester 100, for example, at a frequency of about 1 to 10 times per second.

[0072] The positioning method is not limited to RTK-GNSS, and any positioning method (such as interferometric positioning or relative positioning) that can obtain position data with the required accuracy can be used. For example, positioning may be performed using a virtual reference station (VRS) or a differential global positioning system (DGPS). If position data with the required accuracy can be obtained without using a correction signal transmitted from a reference station, the position data may be generated without using a correction signal. In this case, the GNSS unit 121 does not need to be equipped with an RTK receiver.

[0073] Even when RTK-GNSS is used, in a location where a correction signal from a reference station cannot be obtained (for example, on a road far from a field), the position of the harvester 100 is estimated by other methods without relying on signals from the RTK receiver. For example, the position of the harvester 100 can be estimated by matching data output from the LiDAR sensor 125 and / or the camera 126 with a highly accurate environmental map.

[0074] The IMU 122 may include a three-axis acceleration sensor and a three-axis gyroscope. The IMU 122 may also include a direction sensor such as a three-axis geomagnetic sensor. The IMU 122 functions as a motion sensor and can output signals indicative of various quantities such as the acceleration, velocity, displacement, and attitude of the harvester 100.

[0075] The position data can be supplemented using the output signal of the IMU 122. The IMU 122 can measure the tilt and minute movements of the harvester 100. By using the data acquired by the IMU 122 to supplement the position data based on satellite signals, the positioning performance can be improved.

[0076] In addition to the satellite signals and correction signals described above, the position and orientation of the harvester 100 can be estimated with higher accuracy based on signals output from the IMU 122. The signals output from the IMU 122 can be used to correct or supplement the position calculated based on the satellite signals and correction signals. The IMU 122 outputs signals at a higher frequency than position detection using satellite signals. Using these high-frequency signals, the position and orientation of the harvester 100 can be measured at a higher frequency (e.g., 10 Hz or higher). Instead of the IMU 122, a three-axis acceleration sensor and a three-axis gyroscope may be provided separately. The IMU 122 may be included in the GNSS unit 121.

[0077] The camera 126 is an imaging device that captures images of the environment surrounding the harvester 100. The camera 126 includes an image sensor, such as a charge-coupled device (CCD) or a complementary metal oxide semiconductor (CMOS). The camera 126 may also include an optical system including one or more lenses and a signal processing circuit. The camera 126 captures images of the environment surrounding the harvester 100 while the harvester 100 is traveling and generates image (e.g., video) data. The camera 126 can capture video at a frame rate of, for example, 3 frames per second (fps) or higher. The images generated by the camera 126 can be used, for example, when a remote observer checks the environment surrounding the harvester 100 using the terminal device 400. The images generated by the camera 126 may be used for positioning or obstacle detection. Multiple cameras 126 may be provided at different positions on the harvester 100, or a single camera may be provided. A visible light camera that generates a visible light image and an infrared camera that generates an infrared image may be provided separately. Both a visible light camera and an infrared camera may be provided as cameras that generate images for surveillance. The infrared camera can also be used to detect obstacles at night.

[0078] The obstacle sensor 127 detects objects present in the vicinity of the harvester 100. The obstacle sensor 127 may include, for example, a laser scanner or an ultrasonic sonar. The obstacle sensor 127 outputs a signal indicating the presence of an obstacle when an object is present closer than a predetermined distance from the obstacle sensor 127. Multiple obstacle sensors 127 may be provided at different positions on the harvester 100. For example, multiple laser scanners and multiple ultrasonic sonars may be arranged at different positions on the harvester 100. By providing multiple obstacle sensors 127, it is possible to reduce blind spots in monitoring obstacles around the harvester 100.

[0079] The operation lever sensor 151 detects operation of the operation lever by a user inside the cabin 110. The output signal of the operation lever sensor 151 is used for operation control by the control device 160. The rotation sensor 152 measures the rotation speed of the axle of the traveling device 102, i.e., the number of rotations per unit time. The rotation sensor 152 may be a sensor that uses, for example, a magnetoresistive element (MR), a Hall element, or an electromagnetic pickup. The rotation sensor 152 outputs a numerical value that indicates, for example, the number of rotations per minute (unit: rpm) of the axle. The rotation sensor 152 is used, for example, to measure the speed of the harvester 100.

[0080] The load sensor 156 is provided at the bottom of the tank 106 and detects the weight of the harvested product in the tank 106. By detecting the weight of the harvested product in the tank 106, the control device 160 can recognize the storage state of the harvested product in the tank 106. A yield sensor and a taste sensor may be provided inside or around the tank 106. The taste sensor outputs data such as the moisture content and protein content of the harvested product as quality data.

[0081] The drive device 140 includes various devices necessary for driving the harvester 100 to travel, such as the prime mover 111 and the transmission 112. The prime mover 111 may be equipped with an internal combustion engine such as a diesel engine. The drive device 140 may be equipped with an electric motor for traction instead of or in addition to the internal combustion engine.

[0082] The power transmission mechanism 141 transmits the power generated by the prime mover 111 to various devices that perform the harvesting operation. The devices that perform the harvesting operation include the reaping device 103, the transport device 104, the threshing device 105, the tank 106, the straw waste treatment device 108, and the reel 109. The harvester 100 may also include a power source (such as an electric motor) separate from the prime mover 111 that supplies power to at least one of the devices that perform the harvesting operation.

[0083] The processor 161 may be, for example, a semiconductor integrated circuit including a central processing unit (CPU). The processor 161 may be realized by a microprocessor or a microcontroller. Alternatively, the processor 161 may be realized by a field programmable gate array (FPGA) equipped with a CPU, a graphics processing unit (GPU), an application specific integrated circuit (ASIC), an application specific standard product (ASSP), or a combination of two or more circuits selected from these circuits. The processor 161 sequentially executes a computer program stored in the ROM 163, which describes a group of instructions for executing at least one process, to achieve the desired process.

[0084] The ROM 163 is, for example, a writable memory (e.g., a PROM), a rewritable memory (e.g., a flash memory), or a read-only memory. The ROM 163 stores a program that controls the operation of the processor 161. The ROM 163 does not need to be a single storage medium, but may be a collection of multiple storage media. Part of the collection of multiple storage media may be removable memory.

[0085] The RAM 162 provides a working area for temporarily loading the control program stored in the ROM 163 at boot time. The RAM 162 does not need to be a single storage medium, but may be a collection of multiple storage media.

[0086] The storage device 164 includes one or more storage media, such as a flash memory or a magnetic disk. The storage device 164 stores various data generated by the GNSS unit 121, the LiDAR sensor 125, the camera 126, the obstacle sensor 127, the sensor group 150, and the control device 160. The data stored in the storage device 164 may include map data (environmental map) of the environment in which the harvester 100 travels and target route data for autonomous driving. The environmental map includes information on multiple fields in which the harvester 100 will perform agricultural work and the roads in their surroundings. The environmental map and target route may be generated by a processor in the management device 600. The control device 160 may also have a function for generating or editing the environmental map and target route. The control device 160 can edit the environmental map and target route obtained from the management device 600 according to the traveling environment of the harvester 100. The storage device 164 also stores work plan data received by the communication device 190 from the management device 600.

[0087] The storage device 164 also stores computer programs that cause the processor 161 and the ECUs 165-167 to execute various operations, which will be described later. Such computer programs may be provided to the harvester 100 via a storage medium (e.g., a semiconductor memory or an optical disk) or an electric communication line (e.g., the Internet). Such computer programs may be sold as commercial software.

[0088] The control device 160 includes a plurality of ECUs 165 to 167. The ECU 165 controls the driving speed and turning operation of the harvester 100 by controlling the prime mover 111, the transmission 112, the traveling device 102, etc., which are included in the drive device 140.

[0089] The ECU 165 performs calculations and controls to achieve autonomous driving based on data output from the GNSS unit 121, the camera 126, the obstacle sensor 127, the LiDAR sensor 125, the sensor group 150, and the processor 161. For example, the ECU 165 identifies the position of the harvester 100 based on data output from at least one of the GNSS unit 121, the camera 126, and the LiDAR sensor 125. Within the field, the ECU 165 may determine the position of the harvester 100 based only on data output from the GNSS unit 121. The ECU 165 may estimate or correct the position of the harvester 100 based on data acquired by the camera 126 and / or the LiDAR sensor 125. By utilizing the data acquired by the camera 126 and / or the LiDAR sensor 125, the accuracy of positioning can be further improved. For example, the ECU 165 may estimate the position of the harvester 100 by matching data output from the LiDAR sensor 125 and / or the camera 126 with an environmental map. During autonomous driving, the ECU 165 performs calculations necessary for the harvester 100 to travel along a target route based on the estimated position of the harvester 100.

[0090] The ECU 166 may determine a destination of the harvester 100 based on the work plan stored in the storage device 164, and may determine a target route from a start point to a destination point of the movement of the harvester 100. The ECU 166 may perform processing to detect objects located around the harvester 100 based on data output from the camera 126, the obstacle sensor 127, and the LiDAR sensor 125.

[0091] The ECU 167 controls the operation of the power transmission mechanism 141 and the like to cause the various devices that perform the harvesting operations described above to perform desired operations.

[0092] Through the operation of these ECUs, the control device 160 realizes automatic driving and crop harvesting operations. During automatic driving, the control device 160 controls the drive device 140 based on the measured or estimated position of the harvester 100 and the target route. In this way, the control device 160 can cause the harvester 100 to travel along the target route.

[0093] The multiple ECUs included in the control device 160 can communicate with each other in accordance with a vehicle bus standard such as CAN (Controller Area Network). Instead of CAN, a faster communication method such as in-vehicle Ethernet (registered trademark) may be used. In FIG. 5 , each of the ECUs 165 to 167 is shown as an individual block, but the functions of each of these may be realized by multiple ECUs. An on-board computer that integrates at least some of the functions of the ECUs 165 to 167 may be provided. The control device 160 may include ECUs other than the ECUs 165 to 167, and any number of ECUs may be provided depending on the functions. Each ECU includes a processing circuit including one or more processors. The processor 161 may be integrated with one of the ECUs included in the control device 160.

[0094] The communication device 190 is a device including circuits for communicating with the unmanned aerial vehicle 10, the terminal device 400, and the management device 600. The communication device 190 includes circuits for wireless communication with the communication device of the unmanned aerial vehicle 10. This allows the unmanned aerial vehicle 10 to perform desired operations and obtain information from the unmanned aerial vehicle 10. The communication device 190 may further include an antenna and communication circuits for transmitting and receiving signals via the network 80 between the communication devices of the terminal device 400 and the management device 600. The network 80 may include, for example, a cellular mobile communication network such as 3G, 4G, or 5G, and the Internet. The communication device 190 may have a function for communicating with a mobile terminal used by an observer near the harvester 100. Communication with such a mobile terminal may be performed in accordance with any wireless communication standard, such as Wi-Fi (registered trademark), cellular mobile communication such as 3G, 4G, or 5G, or Bluetooth (registered trademark).

[0095] The operation terminal 131 is a terminal through which a user performs operations related to the traveling of the harvester 100 and the operation of the unmanned aerial vehicle 10, and is also referred to as a virtual terminal (VT). The operation terminal 131 may include a display device such as a touch screen and / or one or more buttons. The display device may be, for example, a liquid crystal display or an organic light-emitting diode (OLED) display. By operating the operation terminal 131, a user can perform various operations, such as switching the autonomous driving mode on / off, recording or editing an environmental map, and setting a target route. At least some of these operations can also be realized by operating the operation switch group 132. The operation terminal 131 may be configured to be detachable from the harvester 100. A user located remotely from the harvester 100 may operate the detached operation terminal 131 to control the operation of the harvester 100. Instead of the operation terminal 131, the user may operate a computer, such as a terminal device 400, on which necessary application software is installed to control the operation of the harvester 100.

[0096] FIG. 6 is a block diagram showing an example configuration of the unmanned aerial vehicle 10. The unmanned aerial vehicle 10 shown in FIG. 6 includes the same components as the unmanned aerial vehicle 10 shown in FIG. 2A. However, the power supply device 76 and the work machine 200 shown in FIG. 2A are omitted from FIG. 6. In the example shown in FIG. 6, the control device 4a includes a processor 41, a RAM 42, a ROM 43, and a storage device 44. FIG. 6 also shows a GNSS unit 61, an IMU 62, an altitude sensor 63, a LiDAR sensor 65, a camera 66, and a load sensor 67 as examples of the sensor group 4b. The various components of the unmanned aerial vehicle 10 can be connected to each other so that they can communicate with each other via a bus. FIG. 6 shows components that are relatively closely related to the autonomous flight operation of the unmanned aerial vehicle 10, and does not include other components.

[0097] For simplicity, Fig. 6 shows the rotor 2, motor 14, and ESC 16 as a single block each, but there may be multiple rotors 2, motors 14, and ESCs 16. Although not shown in Fig. 6, the unmanned aerial vehicle 10 may include an internal combustion engine 7a, a fuel tank 7b, and a power generation device 8, as shown in Fig. 2B or 2C. Furthermore, as shown in Fig. 2C, the unmanned aerial vehicle 10 may include at least one rotor 22 driven by the internal combustion engine 7a. The unmanned aerial vehicle 10 may employ a "series hybrid" or "parallel hybrid" drive system.

[0098] The GNSS unit 61 is an example of a positioning device that detects the geographic coordinates of the position of the unmanned aerial vehicle 10. The GNSS receiver included in the GNSS unit 61 receives satellite signals transmitted from multiple GNSS satellites and generates GNSS data based on the satellite signals.

[0099] The GNSS unit 61 illustrated in FIG. 6 may use RTK-GNSS to perform positioning of the unmanned aerial vehicle 10. By using RTK-GNSS, it is possible to perform positioning with an accuracy of, for example, a few centimeters. Position data including information on latitude, longitude, and altitude is obtained through highly accurate positioning using RTK-GNSS. The GNSS unit 61 calculates the position of the unmanned aerial vehicle 10, for example, at a frequency of approximately 1 to 10 times per second.

[0100] The positioning method is not limited to RTK-GNSS, and any positioning method (such as interferometric positioning or relative positioning) that can obtain position data with the required accuracy can be used. For example, positioning may be performed using VRS or DGPS. If position data with the required accuracy can be obtained without using a correction signal transmitted from a reference station, the position data may be generated without using a correction signal. In this case, the GNSS unit 61 does not need to be equipped with an RTK receiver.

[0101] Even when RTK-GNSS is used, in locations where correction signals from a reference station cannot be obtained, the position of the unmanned aerial vehicle 10 is estimated by other methods, not relying on signals from the RTK receiver. For example, the position of the unmanned aerial vehicle 10 can be estimated by matching data output from the LiDAR sensor 65 and / or camera 66 with a high-precision environmental map.

[0102] The IMU 62 may include a three-axis acceleration sensor and a three-axis gyroscope. The IMU 62 may also include a direction sensor such as a three-axis geomagnetic sensor. The IMU 62 functions as a motion sensor and can output signals indicating various quantities, such as the acceleration, velocity, displacement, and attitude of the unmanned aerial vehicle 10. Based on the signals output from the IMU 62, in addition to satellite signals and correction signals, the position and orientation of the unmanned aerial vehicle 10 can be estimated with higher accuracy. The signals output from the IMU 62 can be used to correct or supplement the position calculated based on the satellite signals and correction signals. The IMU 62 outputs signals at a higher frequency than a GNSS receiver. Using these high-frequency signals, the position and orientation of the unmanned aerial vehicle 10 can be measured at a higher frequency (e.g., 10 Hz or higher). Instead of the IMU 62, a three-axis acceleration sensor and a three-axis gyroscope may be provided separately. The IMU 62 may be included in the GNSS unit 61.

[0103] The altitude sensor 63 measures the altitude of the unmanned aerial vehicle 10 and outputs a signal indicating that altitude. Altitude refers to the vertical distance between a reference plane (e.g., the ground surface) and the aircraft. The altitude sensor 63 can be realized, for example, by a barometer, a GNSS receiver, or a ranging sensor that measures the distance from the aircraft to the ground, or a combination of these.

[0104] The LiDAR sensor 65 may be a 3D-LiDAR sensor or a 2D-LiDAR sensor. The LiDAR sensor 65 senses the environment surrounding the unmanned aerial vehicle 10 and outputs sensing data. The LiDAR sensor 65 repeatedly outputs sensor data indicating the distance and direction to each measurement point of an object in the surrounding environment, or the three-dimensional or two-dimensional coordinate values ​​of each measurement point. Multiple LiDAR sensors 65 may be installed in multiple positions, such as the front, rear, left, and right sides of the unmanned aerial vehicle 10. The sensor data output from the LiDAR sensor 65 is processed by the control device 4a. The control device 4a can estimate the self-position of the unmanned aerial vehicle 10 by matching the sensor data with an environmental map. The control device 4a can also detect objects, such as obstacles, present in the vicinity of the unmanned aerial vehicle 10 based on the sensor data. The control device 4a may generate or edit an environmental map using an algorithm such as SLAM.

[0105] The camera 66 is an imaging device that captures images of the environment surrounding the unmanned aerial vehicle 10. The camera 66 includes an image sensor such as a CCD or CMOS. The camera 66 may also include an optical system including one or more lenses and a signal processing circuit. The camera 66 captures images of the environment surrounding the unmanned aerial vehicle 10 during flight and generates image (e.g., video) data. The camera 66 can capture video at a frame rate of, for example, 3 fps or more. The images generated by the camera 66 may be used, for example, when a remote monitor checks the environment surrounding the unmanned aerial vehicle 10 using the terminal device 400. The images generated by the camera 66 may be used for positioning or obstacle detection. Multiple cameras 66 may be provided at different positions on the unmanned aerial vehicle 10, or a single camera may be provided. A visible camera that generates visible light images and an infrared camera that generates infrared images may be provided separately. Both a visible camera and an infrared camera may be provided to generate images for monitoring. Infrared cameras can also be used to detect obstacles at night.

[0106] The load sensor 67 detects the weight of an object, such as the work machine 200, connected to the unmanned aerial vehicle 10. The control device 4a can determine whether the weight of the object connected to the unmanned aerial vehicle 10 is appropriate, for example, by comparing the weight of the object connected to the unmanned aerial vehicle 10 with the maximum payload of the unmanned aerial vehicle 10. The control device 4a can also calculate the amount of power and / or fuel consumed for flight based on the weight of the object connected to the unmanned aerial vehicle 10.

[0107] The processor 41 may be, for example, a semiconductor integrated circuit including a central processing unit (CPU). The ROM 43 may be, for example, a writable memory (e.g., PROM), a rewritable memory (e.g., flash memory), or a read-only memory. The RAM 42 provides a working area for temporarily loading the control program stored in the ROM 43 at boot time. The detailed configurations of the processor 41, RAM 42, and ROM 43 are similar to those of the processor 161, RAM 162, and ROM 163, and therefore will not be described in detail here. The processor 41 may operate as the flight controller and companion computer described above.

[0108] The storage device 44 includes one or more storage media, such as a flash memory or a magnetic disk. The storage device 44 stores various data generated by the sensor group 4b and the control device 4a. The data stored in the storage device 44 may include map data (environmental map) of the environment in which the unmanned aerial vehicle 10 will fly and data on a target flight path for autonomous flight. The environmental map includes information on multiple fields in which the unmanned aerial vehicle 10 will operate and their surrounding areas. The environmental map and target flight path may be generated by a processor in the management device 600. The control device 4a may also have the function of generating or editing the environmental map and target flight path. The control device 4a can edit the environmental map and target flight path obtained from the management device 600 according to the flight environment of the unmanned aerial vehicle 10. The storage device 44 also stores work plan data received by the communication device 4c from the management device 600.

[0109] The storage device 44 also stores computer programs that cause the processor 41 to perform various operations, which will be described later. Such computer programs may be provided to the unmanned aerial vehicle 10 via a storage medium (e.g., a semiconductor memory or an optical disk) or a telecommunications line (e.g., the Internet). Such computer programs may also be sold as commercial software.

[0110] The communication device 4c is a device including circuits for communicating with the harvester 100, the terminal device 400, and the management device 600. The communication device 4c includes circuits for wireless communication with the communication device 190 of the harvester 100. This allows the harvester 100 to perform desired operations and to obtain information from the harvester 100. The communication device 4c may further include an antenna and communication circuits for transmitting and receiving signals via the network 80 between the communication devices of the terminal device 400 and the management device 600. The communication device 4c may have a function for communicating with a mobile terminal used by an observer located near the unmanned aerial vehicle 10. Communication with such a mobile terminal may be performed in accordance with any wireless communication standard, such as cellular mobile communication such as Wi-Fi (registered trademark), 3G, 4G, or 5G, or Bluetooth (registered trademark).

[0111] Next, the configurations of the management device 600 and the terminal device 400 will be described with reference to Fig. 7. Fig. 7 is a block diagram showing an example of the configuration of the management device 600 and the terminal device 400.

[0112] The management device 600 includes a storage device 650, a processor 660, a ROM 670, a RAM 680, and a communication device 690. These components are communicatively connected to each other via a bus. The management device 600 manages the schedule of agricultural work performed by the harvester 100 and the unmanned aerial vehicle 10 and can function as a cloud server that supports agriculture by utilizing the data it manages. A user can input information necessary for creating a work plan using the terminal device 400 and upload that information to the management device 600 via the network 80. The management device 600 can create a schedule of agricultural work, i.e., a work plan, based on that information. The management device 600 can also generate or edit an environmental map. The environmental map may be distributed from a computer external to the management device 600.

[0113] The communication device 690 is a communication module for communicating with the harvester 100, the unmanned aerial vehicle 10, and the terminal device 400 via the network 80. The communication device 690 can perform wired communication in accordance with a communication standard such as IEEE 1394 (registered trademark) or Ethernet (registered trademark). The communication device 690 may perform wireless communication in accordance with the Bluetooth (registered trademark) standard or the Wi-Fi standard, or cellular mobile communication such as 3G, 4G, or 5G.

[0114] The processor 660 may be, for example, a semiconductor integrated circuit including a central processing unit (CPU). The ROM 670 may be, for example, a writable memory (e.g., PROM), a rewritable memory (e.g., flash memory), or a read-only memory. The RAM 680 provides a working area for temporarily loading the control program stored in the ROM 670 at boot time. The detailed configurations of the processor 660, ROM 670, and RAM 680 are similar to those of the processor 161, ROM 163, and RAM 162, and therefore will not be described in detail here.

[0115] The storage device 650 mainly functions as database storage. The storage device 650 may be, for example, a magnetic storage device or a semiconductor storage device. The storage device 650 may be a device independent of the management device 600. For example, the storage device 650 may be a storage device connected to the management device 600 via the network 80, such as a cloud storage device.

[0116] The terminal device 400 includes an input device 420, a display device 430, a storage device 450, a processor 460, a ROM 470, a RAM 480, and a communication device 490. These components are communicatively connected to one another via a bus. The input device 420 converts user instructions into data and inputs the data to a computer. The input device 420 may be, for example, a keyboard, a mouse, or a touch panel. The display device 430 may be, for example, a liquid crystal display or an organic EL display. The processor 460, the ROM 470, the RAM 480, the storage device 450, and the communication device 490 are described in the hardware configuration examples of the harvester 100, the unmanned aerial vehicle 10, and the management device 600, and therefore their description will be omitted.

[0117] (Operation) Next, the operation of using the unmanned aerial vehicle 10 to acquire the harvested product harvested from the field by the harvester 100 will be described.

[0118] In this embodiment, an acquisition device used to acquire the harvested product is connected to the unmanned aerial vehicle 10 and moves together with the unmanned aerial vehicle 10, and the acquisition device is used to acquire the harvested product. The acquisition device may be an example of a work machine 200.

[0119] The acquisition device may be detachable from the unmanned aerial vehicle 10, or may be configured integrally with the body of the unmanned aerial vehicle 10. The operation of the acquisition device may be controlled by a control device 4a of the unmanned aerial vehicle 10. Communication between the unmanned aerial vehicle 10 and the acquisition device may be performed wired or wirelessly. Power required for operation of the acquisition device may be supplied to the acquisition device from the unmanned aerial vehicle 10 via a power supply device 76, or the acquisition device may be equipped with a battery. The acquisition device may be equipped with a control device that controls the operation of the acquisition device, in which case the control device 4a controls the operation of the acquisition device by communicating with the control device of the acquisition device.

[0120] Fig. 8 is a diagram schematically illustrating an example of an unmanned aerial vehicle 10 connected to an acquisition device. In the example shown in Fig. 8, the acquisition device is a suction device 210a. The suction device 210a suctions and acquires harvested products stored in the tank 106 of the harvester 100. The harvested products are, for example, grains. By suctioning the harvested products, the harvested products can be transferred from the harvester 100 to the unmanned aerial vehicle 10.

[0121] 8, the unmanned aerial vehicle 10 is provided with a coupling device 18, and the suction device 210a is coupled to the coupling device 18. Any method may be used to couple the suction device 210a to the coupling device 18. For example, the suction device 210a may be coupled to the coupling device 18 using a link mechanism, or the suction device 210a may be coupled to the coupling device 18 using a fastener such as a bolt.

[0122] The suction machine 210a includes a nozzle 211, a suction blower 212, and a tank 215. The suction blower 212 is sometimes referred to as a suction pump. The unmanned aerial vehicle 10 is flown so that the tip of the nozzle 211 is positioned inside the tank 106 of the harvester 100, and the suction blower 212 is operated to suck up the harvested material inside the tank 106. The harvested material can be obtained by storing the sucked up harvested material in the tank 215.

[0123] The suction device 210a is, for example, a centrifugal suction device. The centrifugal suction device is sometimes called a cyclone suction device. Since the technology for separating the sucked harvested product from the air by centrifugal suction is well known, a detailed description thereof will be omitted here. A suction device employing a method other than the centrifugal suction method may also be used as the suction device 210a.

[0124] Nozzle 211 can be extended or retracted by operating actuator 216. Furthermore, the orientation of nozzle 211 can be changed by operating actuator 217. For example, when unmanned aerial vehicle 10 is to land on the ground, the length of nozzle 211 can be shortened and the direction in which nozzle 211 extends can be directed closer to the horizontal direction, thereby preventing nozzle 211 from interfering with the ground.

[0125] The LiDAR sensor 65 and the camera 66 are positioned in a location that allows easy monitoring of the harvest acquisition operation using the acquisition device. In this example, the LiDAR sensor 65 and the camera 66 are provided on the skid 19 of the unmanned aerial vehicle 10. A LiDAR sensor 65 and a camera 66 used to control the flight of the unmanned aerial vehicle 10 may be provided separately from these. Alternatively, the LiDAR sensor 65 and the camera 66 may be provided on the acquisition device.

[0126] 9 is a diagram showing a field 70 in which a harvester 100 harvests crops. The harvester 100 of this embodiment harvests crops while traveling autonomously through the field 70. Within the field 70, the harvester 100 performs an operation to harvest crops while traveling along a predetermined target route 73. Within the field 70, the position of the harvester 100 is determined mainly based on data output from the GNSS unit 121. In addition to the positioning data output from the GNSS unit 121, the position of the harvester 100 may also be estimated based on data output from the LiDAR sensor 125 and / or the camera 126.

[0127] In the example shown in FIG. 9 , the field 70 includes a work area 71 where the harvester 100 harvests crops, and a headland 72 located near the outer periphery of the field 70. The user can set in advance which areas of the field 70 on the map correspond to the work area 71 and the headland 72. The harvester 100 automatically travels from the start point of work to the end point of work along a target route 73 as shown in FIG. 9 . Note that the target route 73 shown in FIG. 9 is merely an example, and the target route 73 can be determined in any manner. The target route 73 may be created based on a user operation, or may be created automatically. The target route 73 may be created, for example, to cover the entire work area 71 within the field 70.

[0128] In this embodiment, the harvester 100 acquires the harvested product from the field 70 using the unmanned aerial vehicle 10. Figure 10 is a flowchart showing an example of the operation of acquiring the harvested product from the field 70 by the harvester 100 using the unmanned aerial vehicle 10.

[0129] The harvester 100 harvests crops while traveling automatically along the target route 73. The processor 161 ( FIG. 5 ) of the harvester 100 causes the ECU 165 to execute control for automatically traveling the harvester 100 along the target route 73, and also causes the ECU 167 to execute control for the crop harvesting operation. The ECU 165 controls the operation of the drive unit 140 to cause the harvester 100 to travel automatically. The ECU 167 controls the operation of the power transmission mechanism 141 to cause various devices that perform the crop harvesting operation to perform desired operations. The reaping device 103 reaps crops in the field 70. The threshing device 105 threshes the harvested crops. The tank 106 stores the harvested product obtained by threshing grains and the like. The straw waste treatment device 108 finely cuts stalks and the like after the harvested product, such as grains, has been removed and discharges them to the outside.

[0130] The processor 41 (FIG. 6) of the unmanned aerial vehicle 10 controls the operation of the flight device 1 (FIG. 1) to fly the unmanned aerial vehicle 10. The processor 41 flies the unmanned aerial vehicle 10 so as to approach the harvester 100 (step S101 in FIG. 10).

[0131] The unmanned aerial vehicle 10 and the harvester 100 communicate data with each other via the communication device 4C and the communication device 190. The processor 161 of the harvester 100 transmits information on the geographic coordinates of the position of the harvester 100 obtained from the GNSS unit 121 to the unmanned aerial vehicle 10 via the communication device 190.

[0132] The processor 41 of the unmanned aerial vehicle 10 sets the geographic coordinate position of the harvester 100 as the target position. As the position of the traveling harvester 100 changes, the target position is updated as needed. The processor 41 flies the unmanned aerial vehicle 10 so as to reach the latest target position. The target position may be set based on the geographic coordinates of the harvester 100, the traveling direction and traveling speed of the harvester 100. The processor 41 flies the unmanned aerial vehicle 10 so as to be positioned above the harvester 100.

[0133] 11A to 11C are diagrams showing an example of an operation of using unmanned aerial vehicle 10 to acquire harvested products stored in tank 106 of harvester 100. For ease of explanation, the interiors of tanks 106 and 215 are shown as see-through views in FIGS.

[0134] 11A , an opening 106a is provided in an upper portion 106u of the tank 106 of the harvester 100. By inserting a nozzle 211 of a suction device 210a into the opening 106a, the harvested product stored in the tank 106 can be sucked out. The processor 41 flies the unmanned aerial vehicle 10 so that the tip (lower end) 211a of the nozzle 211 is positioned inside the tank 106. The processor 41 aligns the nozzle 211 with the opening 106a using output signals from the LiDAR sensor 65 and / or the camera 66.

[0135] The processor 41 uses, for example, an estimation model generated by machine learning to identify point cloud data representing the opening 106a and point cloud data representing the nozzle 211 from the three-dimensional point cloud data output by the LiDAR sensor 65. The estimation model is stored in advance in the storage device 44.

[0136] The processor 41 can insert the nozzle 211 into the opening 106a by flying the unmanned aerial vehicle 10 so that the tip 211a of the nozzle 211 is positioned within the range of the opening 106a in a planar view seen from a direction along the vertical direction, and then lowering the unmanned aerial vehicle 10.

[0137] The processor 41 may insert the nozzle 211 into the opening 106a using data output by the camera 66 after capturing an image of the nozzle 211 and the opening 106a. The processor 41 uses, for example, an estimation model generated by machine learning to identify an image representing the opening 106a and an image representing the nozzle 211 from the image data output by the camera 66. The processor 41 can insert the nozzle 211 into the opening 106a by descending the unmanned aerial vehicle 10 while flying the unmanned aerial vehicle 10 so that the tip 211a of the nozzle 211 is positioned within the range of the opening 106a in a planar view.

[0138] FIG. 11B is a diagram showing the operation of the suction device 210a sucking up the harvested product 310 stored in the tank 106 of the harvester 100.

[0139] The processor 41 can adjust the length of the nozzle 211 by operating the actuator 216 ( FIG. 8 ). The processor 41 then operates the suction blower 212 to begin suctioning the harvested material 310 in the tank 106 (step S102 in FIG. 10 ). The harvested material 310 is transferred from the tank 106 to the suction machine 210a through the nozzle 211. The suctioned harvested material 310 is stored in the tank 215. By inserting the nozzle 211 into the tank 106 and suctioning the harvested material 310, the harvested material 310 can be easily transferred from the harvester 100 to the unmanned aerial vehicle 10.

[0140] When harvesting the harvest 310 in the tank 106, the unmanned aerial vehicle 10 may be landed on the harvester 100. For example, the unmanned aerial vehicle 10 may be landed on the upper part 106u of the tank 106. This makes it possible to suppress misalignment between the unmanned aerial vehicle 10 and the harvester 100, thereby enabling the harvesting operation of the harvest 310 to be performed stably. In this case, the rotor 2 may be rotated so as to generate a lift force large enough to prevent the unmanned aerial vehicle 10 from rising. By generating such a lift force, the weight of the unmanned aerial vehicle 10 acting on the harvester 100 during landing can be reduced.

[0141] While the suction device 210a is operating to suck up the harvested product 310 in the tank 106, the processor 41 may rotate the rotor 2 so as to generate a lift force corresponding to the suction force of the suction device 210a. A downward force acts on the unmanned aerial vehicle 10 due to a reaction force from the suction operation of the suction device 210a, but by generating a lift force in the rotor 2, such a downward force can be offset.

[0142] The unmanned aerial vehicle 10 may include a connection device that connects the unmanned aerial vehicle 10 to the harvester 100 when harvesting the harvested product 310 from the harvester 100. This can prevent misalignment between the unmanned aerial vehicle 10 and the harvester 100, allowing for stable harvesting of the harvested product. For example, a skid 19 is used as such a connection device. For example, the upper portion 106u of the tank 106 may be magnetic, and the skid 19 may include an electromagnet at its lower portion. The processor 41 turns on the electromagnet, thereby connecting the skid 19 to the tank 106. The skid 19 and the tank 106 may also each include a connection device that connects them to each other. Furthermore, the connection device may include a "barb" that extends from the nozzle 211 in a substantially horizontal direction. For example, the barb can be opened and closed like an umbrella inside the tank 106, and the nozzle 211 includes an actuator that opens and closes the barb. The horizontal length of the barb in the open state is greater than the diameter of the opening 106a, preventing the nozzle 211 from slipping out of the tank 106. When harvesting the harvested product 310 while flying the unmanned aerial vehicle 10, the connection between the unmanned aerial vehicle 10 and the harvester 100 can be maintained.

[0143] The processor 41 can detect the weight of the harvest 310 stored in the tank 215 using a load sensor 67 (FIG. 6). The load sensor 67 is provided, for example, in the coupling device 18, and detects the weight of the suction device 210a to which the tank 215 is attached. By comparing the weight of the suction device 210a when the tank 215 is empty with the weight of the suction device 210a when the tank 215 contains the harvest 310, the weight of the harvest 310 stored in the tank 215 can be calculated.

[0144] The weight of the harvested product 310 stored in the tank 215 may be detected using a load sensor provided in the tank 215 .

[0145] While the suction device 210a is sucking the harvested product 310, the processor 41 determines whether the weight of the harvested product accumulated in the tank 215 is equal to or greater than a first predetermined value (step S103 in FIG. 10). The first predetermined value is, for example, 80-100% of the maximum weight of the harvested product 310 that can be stored in the tank 215, but is not limited to this value.

[0146] The first predetermined value may be set based on the weight (payload) that can be carried by unmanned aerial vehicle 10. The first predetermined value may also be set based on the remaining amount of an energy source for flying unmanned aerial vehicle 10. The remaining amount of an energy source for flying unmanned aerial vehicle 10 is, for example, the remaining amount of battery 52 (FIG. 2A) and / or the remaining amount of fuel in fuel tank 7b (FIG. 2B).

[0147] While the weight of the harvest accumulated in the tank 215 is less than the first predetermined value, the processor 41 continues to cause the suction device 210a to suction the harvest 310. When the processor 41 determines that the weight of the harvest accumulated in the tank 215 is equal to or greater than the first predetermined value, it stops the operation of the suction blower 212 and causes the suction device 210a to stop suctioning the harvest 310 (step S104).

[0148] Processor 41 may control the on / off of the suction operation of suction device 210a by comparing the weight of suction device 210a provided with tank 215 with the maximum load capacity of unmanned aerial vehicle 10. For example, when the weight of suction device 210a, which performs the operation of suctioning harvested material 310 and storing it in tank 215, reaches 80-100% of the maximum load capacity, suction of harvested material 310 by suction device 210a may be stopped.

[0149] When the suction device 210a has finished collecting the harvested product 310, the processor 41 causes the unmanned aerial vehicle 10 to detach from the harvester 100 (step S105). Figure 11C is a diagram showing the unmanned aerial vehicle 10 detaching from the harvester 100. The processor 41 causes the unmanned aerial vehicle 10 to detach from the harvester 100 by raising the unmanned aerial vehicle 10 above the harvester 100.

[0150] After detaching the unmanned aerial vehicle 10 from the harvester 100, the processor 41 causes the unmanned aerial vehicle 10 to transport the harvested goods to a predetermined location (step S106). For example, the processor 41 causes the unmanned aerial vehicle 10 to move to a building where the harvested goods will be stored. FIG. 12 is a diagram showing the unmanned aerial vehicle 10 moving to a storage shed 78 where the harvested goods will be stored. The processor 41 sets the geographic coordinate position of the storage shed 78 or its surrounding area as the target position. The processor 41 flies the unmanned aerial vehicle 10 so as to reach the set target position. When the unmanned aerial vehicle 10 arrives at the storage shed 78 or its surrounding area, the harvested goods in the tank 215 are transferred to the storage shed 78. The unmanned aerial vehicle 10, with its tank 215 now empty, may return to the field 70 and resume harvesting work.

[0151] The above-described operation of unmanned aerial vehicle 10 to acquire harvested products can be performed even while harvester 100 is moving. By having unmanned aerial vehicle 10 acquire harvested products from harvester 100 that continues harvesting work while moving, work efficiency can be improved.

[0152] In the operation of obtaining the harvest from the harvester 100, if the weight of the harvest accumulated in the tank 106 of the harvester 100 is less than a second predetermined value, the processor 41 may control the unmanned aerial vehicle 10 to wait at a predetermined position.

[0153] The predetermined position where the unmanned aerial vehicle 10 waits can be set to any position that does not interfere with the harvesting operation by the harvester 100. The predetermined position may be set to a position within the work area 71 where harvesting operation has already been completed, as long as it does not interfere with the harvesting operation by the harvester 100. The predetermined position may also be set to a position outside the field 70.

[0154] While the harvester 100 is harvesting crops, the processor 161 determines whether the weight of the harvest accumulated in the tank 106 is equal to or greater than a second predetermined value. For example, the processor 161 determines whether the value of the weight of the harvest in the tank 106 detected by the load sensor 156 is equal to or greater than the second predetermined value. The second predetermined value is, for example, 50-90% of the maximum weight of the harvest that can be stored in the tank 106, but is not limited to this value.

[0155] While the amount of harvest accumulated in tank 106 is less than the second predetermined value, processor 161 does not send to unmanned aerial vehicle 10 a command to fly unmanned aerial vehicle 10 to the position of harvester 100. While processor 41 has not received a command, it causes unmanned aerial vehicle 10 to wait at a predetermined position.

[0156] When processor 161 determines that the weight of the harvested product accumulated in tank 106 has reached or exceeded a second predetermined value, it transmits a command to unmanned aerial vehicle 10 via communication device 190 to fly unmanned aerial vehicle 10 to the position of harvester 100. Upon receiving the command, processor 41 causes unmanned aerial vehicle 10 to fly to the position of harvester 100 and perform an operation to retrieve the harvested product stored in tank 106 of harvester 100. By having unmanned aerial vehicle 10 retrieve the harvested product when a predetermined amount or more of the harvested product has accumulated in harvester 100, work efficiency can be improved.

[0157] The unmanned aerial vehicle 10 may receive data indicating the weight of the harvest accumulated in the tank 106 of the harvester 100, and the processor 41 of the unmanned aerial vehicle 10 may determine whether the weight of the harvest accumulated in the tank 106 has reached or exceeded a second predetermined value. When the processor 41 determines that the weight of the harvest accumulated in the tank 106 has reached or exceeded the second predetermined value, it flies the unmanned aerial vehicle 10 to the position of the harvester 100 and performs an operation to retrieve the harvest stored in the tank 106 of the harvester 100.

[0158] In order to efficiently harvest crops in the field 70, it is conceivable to have the harvester 100, which harvests crops while traveling within the field 70, and a transport vehicle that transports the harvested crops travel side by side, with the transport vehicle receiving the harvested crops discharged by the harvester 100 and storing them in the bed of the transport vehicle. This allows the harvester 100 to transfer the harvested crops to the transport vehicle while harvesting the crops. This eliminates the need to interrupt harvesting operations to transfer the harvested crops stored within the harvester 100 to a transport vehicle waiting at the outer periphery of the field 70, allowing for efficient crop harvesting. However, this method requires that a ground surface be secured within the field 70 that allows the transport vehicle to travel side by side with the harvester 100, and it may not be easy to secure such a ground surface depending on the field 70.

[0159] According to this embodiment, the unmanned aerial vehicle 10 acquires the harvested product harvested by the harvester 100. The unmanned aerial vehicle 10 can acquire the harvested product from the harvester 100 without landing on the ground. Also, for example, the unmanned aerial vehicle 10 can acquire the harvested product from a position above the harvester 100. Because there is no need to secure ground surface for a transport vehicle to travel alongside the harvester 100, crop harvesting can be carried out easily and efficiently.

[0160] Next, another example of an acquisition device used to acquire harvested products will be described.

[0161] Figure 13 is a diagram schematically illustrating another example of an unmanned aerial vehicle 10 connected to an acquisition device. In the example shown in Figure 13, the acquisition device is a robot arm 210b. The robot arm 210b has a gripper 221. The robot arm 210b has multiple actuators, and by driving these actuators, it is possible to move the joints of the robot arm 210b and cause the gripper 221 to grasp an object. The number of robot arms 210b connected to the unmanned aerial vehicle 10 is arbitrary, and may be one or three or more.

[0162] Gripper 221 grips, for example, a vacuum hose extending from a vacuum cleaner placed outside or inside field 70. Figure 14 is a diagram showing vacuum hose 226 extending from vacuum cleaner 225 placed inside field 70, and unmanned aerial vehicle 10 supporting vacuum hose 226. Figure 15 is a diagram showing unmanned aerial vehicle 10 flying such that the end of vacuum hose 226 gripped by gripper 221 is located inside tank 106 of harvester 100.

[0163] The vacuum hose 226 may be supported by two or more unmanned aerial vehicles 10 working together, or by a single unmanned aerial vehicle 10. By supporting the vacuum hose 226 by two or more unmanned aerial vehicles 10 working together, the vacuum hose 226 can be supported stably.

[0164] 15 , processor 41 of unmanned aerial vehicle 10 flies unmanned aerial vehicle 10 so that the end of vacuum hose 226 gripped by gripper 221 is positioned inside tank 106 of harvester 100. In this state, suction device 225 performs a suction operation, whereby harvested material 310 in tank 106 is sucked in and transferred from harvester 100 to suction device 225 through vacuum hose 226. In this example, harvested material 310 can be transferred to suction device 225 located at a distance from harvester 100. By using vacuum hose 226 to suck in harvested material 310 from harvester 100 that is currently harvesting crops, crop harvesting can be performed efficiently.

[0165] The gripper 221 of the robotic arm 210 b may grasp the exhaust hose extending from the harvester 100 .

[0166] 16 is a diagram showing a discharge hose 228 extending from harvester 100 and an unmanned aerial vehicle 10 supporting discharge hose 228. Discharge hose 228 may be supported by two or more unmanned aerial vehicles 10 working together, or by a single unmanned aerial vehicle 10. By supporting discharge hose 228 by two or more unmanned aerial vehicles 10 working together, discharge hose 228 can be supported stably.

[0167] In the example shown in FIG. 16 , the harvester 100 is equipped with a discharge device 107 that discharges the harvested material from the tank 106. The discharge device 107 includes a transport device such as a screw conveyor, and is capable of moving the harvested material in the tank 106 upward and discharging the harvested material to the outside. The discharge device 107 is capable of raising and lowering and rotating. A discharge device mounted on a known harvester can be used as the discharge device 107, and therefore a detailed description thereof will be omitted here. In this example, one end of a discharge hose 228 is connected to a discharge port at the tip of the discharge device 107.

[0168] The processor 41 of the unmanned aerial vehicle 10 flies the unmanned aerial vehicle 10 so that the position of the other end of the discharge hose 228 held by the gripper 221 is the position of the loading platform of a transport vehicle 227 placed outside or within the field 70.

[0169] In this state, the discharge device 107 performs a harvest discharge operation, whereby the harvest is discharged from the tank 106 and transferred from the harvester 100 to the transport vehicle 227 through the discharge hose 228. In this example, the harvest can be transferred to the transport vehicle 227 located at a distance from the harvester 100. By using the discharge hose 228 to transfer the harvest discharged from the harvester 100 while it is harvesting crops, the harvesting can be carried out efficiently.

[0170] Instead of the transport vehicle 227, a container may be placed outside or inside the field 70, and the harvested product may be transported to the container. Also, a discharge device that discharges the harvested product from the tank 106 may be separate from the harvester 100 and placed adjacent to the harvester 100.

[0171] Robot arm 210b connected to unmanned aerial vehicle 10 may be equipped with a vacuum gripper. Figures 17A to 17C are diagrams showing an example of an operation in which unmanned aerial vehicle 10 is used to acquire harvested product 310a stored in container 232 of harvester 100a. In this example, robot arm 210b is equipped with vacuum gripper 222. The operation of robot arm 210b and vacuum gripper 222 may be controlled by processor 41 of unmanned aerial vehicle 10.

[0172] In this example, a robot arm 231 is provided on the vehicle body 230 of the harvester 100a, and the robot arm 231 is used to harvest crops. The crops in the field include, but are not limited to, vegetables, fruits, etc. For example, crops are harvested from trees 75 in the field. A container 232 is disposed on the vehicle body 230. The robot arm 231 places the harvested crops 310a into the container 232, whereby the harvested crops 310a are stored in the container 232. The vacuum gripper 222 can simultaneously pick up multiple harvested crops 310a.

[0173] The processor 41 of the unmanned aerial vehicle 10 flies the unmanned aerial vehicle 10 so that the vacuum gripper 222 can suction and acquire the harvest product 310a inside the container 232. The processor 41 aligns the vacuum gripper 222 with the container 232 using output signals from the LiDAR sensor 65 and / or the camera 66. As described above, for example, the processor 41 can align the vacuum gripper 222 with the container 232 by detecting the positions of the vacuum gripper 222 and the container 232 from the 3D point cloud data and / or image data using an estimation model generated by machine learning. The processor 41 flies the unmanned aerial vehicle 10 so that the vacuum gripper 222 is located within the range of the container 232 in a planar view, and then descends the unmanned aerial vehicle 10, thereby bringing the vacuum gripper 222 into contact with the harvest product 310a inside the container 232.

[0174] Figure 17B is a diagram showing the operation of vacuum gripper 222 suctioning harvested material 310a in container 232. Once vacuum gripper 222 has sucked harvested material 310a, processor 41 causes unmanned aerial vehicle 10 to detach from harvester 100a. Figure 17C is a diagram showing unmanned aerial vehicle 10 detaching from harvester 100a. Processor 41 causes unmanned aerial vehicle 10 to detach from harvester 100a by raising unmanned aerial vehicle 10 above harvester 100a.

[0175] After unmanned aerial vehicle 10 is released from harvester 100a, processor 41 causes unmanned aerial vehicle 10 to transport the harvested goods to a predetermined location. For example, processor 41 causes unmanned aerial vehicle 10 to move to a structure for storing the harvested goods. When unmanned aerial vehicle 10 arrives at storage 78 or the surrounding area, the harvested goods are transferred to storage 78. After releasing the harvested goods, unmanned aerial vehicle 10 may return to field 70 and resume the task of harvesting the harvested goods.

[0176] In this way, the unmanned aerial vehicle 10 picks up the harvested crops stored in the harvester 100a that is currently harvesting crops and removes them from the harvester 100a, thereby enabling efficient harvesting of crops.

[0177] In the above description, the unmanned aerial vehicle 10 acquires harvested products from the harvester 100a, but this is not limiting. For example, the unmanned aerial vehicle 10 may acquire harvested products stored in a transport vehicle.

[0178] Unmanned aerial vehicle 10 may use a hook to lift and transport container 232, which is detachably attached to harvester 100a. Figures 18A to 18C are diagrams showing an example of an operation in which unmanned aerial vehicle 10 acquires container 232 storing harvested product 310a. In this example, the acquisition device is hook 210c. Hook 210c is connected to coupling device 18 via wire 223. A rod, a robot arm, or the like may be used instead of wire 223. Hook 210c may be provided with an actuator that moves a latch, in which case processor 41 of unmanned aerial vehicle 10 may control the opening and closing of the latch.

[0179] The container 232 is provided with a wire 223 that connects the ends of the container 232. The wire 223 connects, for example, the four corners of the opening of the container 232. By hooking the wire 223 onto the hook 210c, the container 232 can be lifted up by the hook 210c. A handle may be provided on the container 232 instead of the wire 223.

[0180] The processor 41 of the unmanned aerial vehicle 10 flies the unmanned aerial vehicle 10 so that the container 232 can be lifted by the hook 210c. The processor 41 aligns the hook 210c with the wire 223 using output signals from the LiDAR sensor 65 and / or the camera 66. As described above, for example, the processor 41 can align the hook 210c with the wire 223 by detecting the positions of the hook 210c and the wire 223 from the 3D point cloud data and / or image data using an estimation model generated by machine learning. The processor 41 lowers the unmanned aerial vehicle 10 and brings the hook 210c into contact with the wire 223, thereby hooking the wire 223 onto the hook 210c. The task of hooking the wire 223 onto the hook 210c may be performed manually.

[0181] FIG. 18B is a diagram showing a state in which wire 223 is engaged with hook 210c. When wire 223 is engaged with hook 210c, processor 41 causes unmanned aerial vehicle 10 to detach from harvester 100a. FIG. 18C is a diagram showing unmanned aerial vehicle 10 detaching from harvester 100a. Processor 41 causes unmanned aerial vehicle 10 to detach from harvester 100a by raising unmanned aerial vehicle 10 above harvester 100a. By raising unmanned aerial vehicle 10 above harvester 100a, container 232 can be lifted by hook 210c. An empty container 232 carried by another unmanned aerial vehicle 10 may be set on harvester 100a. This allows harvester 100a to continue harvesting operations.

[0182] After detaching unmanned aerial vehicle 10 from harvester 100a, processor 41 causes unmanned aerial vehicle 10 to transport container 232 to a predetermined location. For example, processor 41 causes unmanned aerial vehicle 10 to move to a building where the harvested material will be stored. When unmanned aerial vehicle 10 arrives at storage 78 or the surrounding area, the harvested material in container 232 is transferred to storage 78. Unmanned aerial vehicle 10 may return to field 70 again with the now empty container 232 hanging from its back, and set container 232 on harvester 100a.

[0183] In this way, the unmanned aerial vehicle 10 lifts and transports the container 232 of the harvester 100a that is harvesting crops, thereby enabling the crops to be harvested efficiently.

[0184] In the above description, unmanned aerial vehicle 10 lifts container 232 placed on harvester 100a, but this is not limiting. For example, unmanned aerial vehicle 10 may lift and transport container 232 placed on a transporter.

[0185] Furthermore, the tank 106 of the harvester 100 (FIG. 4) may be detachable from the harvester 100, in which case the unmanned aerial vehicle 10 may lift and transport the tank 106 of the harvester 100.

[0186] In the above-described harvester 100a, crops are harvested using a robotic arm 231 provided on the harvester 100a, but this is not limiting. For example, a small unmanned aerial vehicle may harvest crops and place the harvested material in a container 232. FIG. 18D is a diagram showing an example of a small unmanned aerial vehicle 240 that harvests crops. In this example, the unmanned aerial vehicle 240 is provided with a robotic arm 231, and the unmanned aerial vehicle 240 harvests crops using the robotic arm 231. The unmanned aerial vehicle 240 places the harvested material 310a into the container 232, whereby the harvested material 310a is stored in the container 232. In this example, a transport vehicle may be used as the harvester 100a.

[0187] Next, an embodiment will be described in which the unmanned aerial vehicle 10 scoops up harvested crops discharged from the agricultural machine 100. Fig. 19 is a diagram showing an example of the agricultural machine 100. In the example shown in Fig. 19, a baler 302, which is an example of a work machine, is towed by a tractor 301. The work machine 302 towed by the tractor 301 and the tractor 301 as a whole function as a single "agricultural machine."

[0188] The baler 302 is towed by the tractor 301 to collect grass contained in a swath (row of collected grass) formed in the field 70, and forms the collected grass into a predetermined shape to form a bale 310b. The baler 302 discharges the formed bale 310b, for example, to the rear of the baler 302. The configuration of a baler is well known, so a detailed description thereof will be omitted here.

[0189] In this example, unmanned aerial vehicle 10 scoops up and transports bale 310b discharged from baler 302. Figures 20A to 20C are diagrams showing an example of the operation of scooping up bale 310b discharged from baler 302. In this example, the acquisition device is bucket 210d. Bucket 210d is connected to coupling device 18 via arm 235. Arm 235 may be provided with multiple actuators that move arm 235 itself and bucket 210d, and in this case, processor 41 of unmanned aerial vehicle 10 may drive these actuators. Bale 310b can be transported by scooping it up using bucket 210d.

[0190] Before the baler 302 discharges the bale 310b, the processor 41 of the unmanned aerial vehicle 10 causes the unmanned aerial vehicle 10 to wait near the planned discharge position of the bale 310b. The tractor 301 or the baler 302 transmits position information indicating the planned discharge position of the bale 310b to the unmanned aerial vehicle 10. The position information includes geographic coordinate information. Based on the received position information, the processor 41 flies the unmanned aerial vehicle 10 to a position where it can acquire the bale 310b discharged from the baler 302 and causes the unmanned aerial vehicle 10 to wait. For example, as shown in FIG. 20A , the unmanned aerial vehicle 10 waits slightly behind the planned discharge position of the bale 310b on the travel path of the baler 302.

[0191] When baler 302 discharges bale 310b, tractor 301 or baler 302 transmits a signal notifying unmanned aerial vehicle 10 that bale 310b has been discharged. When unmanned aerial vehicle 10 receives the signal, processor 41 causes unmanned aerial vehicle 10 to descend and scoop up discharged bale 310b with bucket 210d.

[0192] FIG. 20B is a diagram showing the operation of scooping up a bale 310b, which has been discharged from the baler 302 and is rolling on the ground, with the bucket 210d.

[0193] The processor 41 moves the bucket 210d to a position where the bale 310b can be acquired using the output signals of the LiDAR sensor 65 and / or the camera 66. As described above, the positions of the bale 310b and the bucket 210d can be detected from the 3D point cloud data and / or image data using, for example, an estimation model generated by machine learning. By bringing the bale 310b and the bucket 210d closer to each other, the bale 310b can be placed inside the bucket 210d.

[0194] Once the bail 310b is stored in the bucket 210d, the processor 41 causes the unmanned aerial vehicle 10 to ascend. Figure 20C is a diagram showing the unmanned aerial vehicle 10 ascending with the bail 310b stored in the bucket 210d.

[0195] After detaching unmanned aerial vehicle 10 from baler 302, processor 41 causes unmanned aerial vehicle 10 to transport bale 310b to a predetermined location. For example, processor 41 causes unmanned aerial vehicle 10 to move to a structure for storing harvested produce. When unmanned aerial vehicle 10 arrives at storage 78 or the surrounding area, bale 310b is transferred to storage 78. Unmanned aerial vehicle 10 may return to field 70 to retrieve bale 310b.

[0196] Although each of the above-described acquisition devices used to acquire harvested products is detachable from the unmanned aerial vehicle 10, this is not a limitation. Each of the acquisition devices may also be integrally mounted on the unmanned aerial vehicle 10.

[0197] Next, a process for selecting an unmanned aerial vehicle 10 from a plurality of unmanned aerial vehicles 10 to transport crops harvested from a farm field 70 will be described.

[0198] During the harvesting of crops in field 70, multiple packages of harvested produce may be generated that need to be transported to a predetermined location, such as an area where a storage facility is located. The transportation of such multiple packages may be shared among multiple unmanned aerial vehicles 10. In this embodiment, when a package that needs to be transported is generated, an unmanned aerial vehicle 10 that is suitable for transporting the package is selected from the multiple unmanned aerial vehicles 10.

[0199] Figures 21, 22, and 23 are flowcharts illustrating an example of a process for selecting an unmanned aerial vehicle 10 to transport a package of harvested produce from among a plurality of unmanned aerial vehicles 10. Figure 24 is a diagram illustrating an example of a field 70 in which unmanned aerial vehicles 10 operate to retrieve and transport the package.

[0200] In the example shown in Figure 24, a small unmanned aerial vehicle 240 (Figure 18D) is harvesting crops from trees 75 in a field 70. A transport vehicle 320 for storing the harvested product is placed in the field 70. A container 330 is placed on the transport vehicle 320. The unmanned aerial vehicle 240 places the harvested product 310a into the container 330, thereby storing the harvested product in the container 330. The container 330 is detachable from the transport vehicle 320. The package of the harvested product transported by the unmanned aerial vehicle 10 is, for example, the container 330 in which the harvested product is stored. The unmanned aerial vehicle 10 obtains and transports the container 330 in which the harvested product is stored.

[0201] The transport vehicle 320 may be the harvester 100a described above. The container 330 may be the container 232 ( FIG. 18D ). The transport vehicle 320 may include the components shown in FIG. 5. The transport vehicle 320 can communicate with the terminal device 400 and the management device 600 via the network 80 ( FIG. 3 ). The transport vehicle 320 and the unmanned aerial vehicle 10 may communicate with each other via the network 80, or may communicate directly without using the network 80. The transport vehicle 320 may be capable of being operated with a driver or may be capable of being operated only unmanned. If the transport vehicle 320 is capable of being operated only unmanned, the components required only for manned operation, such as a steering device and a driver's seat, may not be provided in the transport vehicle 320. If the transport vehicle 320 does not harvest crops, the components required for harvesting crops may not be provided in the transport vehicle 320.

[0202] Processor 161 (FIG. 5) of transporter 320 can communicate with unmanned aerial vehicle 10, terminal device 400, and management device 600 via communication device 190. Processor 41 (FIG. 6) of unmanned aerial vehicle 10 can communicate with transporter 320, terminal device 400, and management device 600 via communication device 4C.

[0203] 24, transport vehicles 320a-320e are positioned as transport vehicles 320 within field 70. Unmanned aerial vehicles 10a-10d are performing work.

[0204] Here, as an example, a container 330 placed on a transport vehicle 320a is set as the target package to be transported, and a process is described in which an unmanned aerial vehicle 10 that will transport the target package 330 is determined from among multiple unmanned aerial vehicles 10a-10d.

[0205] A load sensor 156 (FIG. 5) of the transport vehicle 320a detects the weight of the container 330. When the harvested product 310a (FIG. 18D) is stored in the container 330, the load sensor 156 detects the weight of the container 330 including the stored harvested product 310a.

[0206] The processor 161 of the transport vehicle 320a determines whether the weight of the container 330 detected by the load sensor 156 is equal to or greater than a third predetermined value. The third predetermined value is, for example, the weight of the container 330 when the harvested product 310a is stored in the container 330 in an amount that is approximately 50-90% of the volume of the container 330, but is not limited to this value.

[0207] When the processor 161 determines that the weight of the container 330 is equal to or greater than the third predetermined value, the processor 161 transmits package weight information indicating the weight of the container 330, which is the target package, and package position information indicating the geographic coordinates of the position of the container 330, to the management device 600. The processor 161 can obtain the information on the geographic coordinates of the position of the container 330 from the information output by the GNSS unit 121. In addition, the processor 161 transmits a request signal to the management device 600 requesting transportation of the container 330.

[0208] Each of the unmanned aerial vehicles 10a-10d transmits availability information indicating its own payload availability to the management device 600. The availability represents the weight of additional packages that the unmanned aerial vehicle 10 can carry. The availability can be calculated, for example, from the difference between the maximum payload of the unmanned aerial vehicle 10 and the weight of the object currently being carried by the unmanned aerial vehicle 10. The availability may also be calculated taking into account the weight of fuel carried by the unmanned aerial vehicle 10.

[0209] The processor 41 of the unmanned aerial vehicle 10 can detect the weight of the object currently being loaded using a load sensor 67 (FIG. 6). The load sensor 67 is provided, for example, in the coupling device 18, and detects the weight of the object coupled to the coupling device 18. Information regarding the maximum payload of the unmanned aerial vehicle 10 is pre-stored in the storage device 44. The processor 41 of each of the unmanned aerial vehicles 10a-10d transmits availability information to the management device 600.

[0210] The processor 41 of the unmanned aerial vehicle 10 further transmits remaining energy information indicating the remaining amount of an energy source for flying the unmanned aerial vehicle 10 to the management device 600. The remaining amount of the energy source for flying the unmanned aerial vehicle 10 is, for example, the remaining amount of fuel in the battery 52 ( FIG. 2A ) and / or the remaining amount of fuel in the fuel tank 7 b ( FIG. 2B ). For example, the processor 41 can obtain information about the remaining amount of battery 52 from information output by a battery management system (BMS) of the battery 52. ​​For example, a fuel sensor that detects the remaining amount of fuel is provided in the fuel tank 7 b, and the processor 41 can obtain information about the remaining amount of fuel from the output signal of the fuel sensor. The processor 41 of the unmanned aerial vehicle 10 further transmits unmanned aerial vehicle position information indicating the geographic coordinates of the position of the unmanned aerial vehicle 10 to the management device 600. The processor 41 can obtain information about the geographic coordinates of the position of the unmanned aerial vehicle 10 from information output by the GNSS unit 61. Processor 41 of each of unmanned aerial vehicles 10 a - 10 d transmits remaining energy information and unmanned aerial vehicle position information to management device 600 .

[0211] Processor 660 (FIG. 7) of management device 600 can communicate with unmanned aerial vehicle 10, transport vehicle 320a, and terminal device 400 via communication device 690. Communication device 690 receives the above-mentioned package weight information, package location information, request signal, availability information, remaining energy information, and unmanned aerial vehicle location information.

[0212] Processor 660 determines which of the plurality of unmanned aerial vehicles 10a-10d will deliver target package 330 to the predetermined location. In the example shown in Figure 24, the predetermined location is a location at storage bay 78 or the area surrounding it.

[0213] The processor 660 selects a candidate for the unmanned aerial vehicle 10 from among the plurality of unmanned aerial vehicles 10a-10d based on the package weight information and availability information (step S201 in FIG. 21). FIG. 22 is a flowchart showing an example of the details of the processing of step S201. The processor 660 selects, as a candidate for the unmanned aerial vehicle 10, an unmanned aerial vehicle for which the weight of additional packages that can be loaded, obtained from the availability information, is equal to or greater than the weight indicated by the package weight information.

[0214] Processor 660 acquires package weight information and availability information for each of unmanned aerial vehicles 10a-10d (step S211). The package weight information indicates the weight value W1 of the target package 330. The availability information indicates the weight value W2 of additional packages that can be loaded. Processor 660 compares the magnitude relationship between weight value W1 and weight value W2 for each of unmanned aerial vehicles 10a-10d (step S212). Processor 660 selects as candidates for unmanned aerial vehicles 10 those whose weight value W2 is equal to or greater than weight value W1 (step S213). Processor 660 does not select as candidates for unmanned aerial vehicles 10 those whose weight value W2 is less than weight value W1 (step S214).

[0215] Next, processor 660 further selects a candidate from the one or more unmanned aerial vehicles 10 selected in step S213 based on the remaining energy information (step S202 in Figure 21). Figure 23 is a flowchart showing an example of the details of the processing in step S202.

[0216] Information indicating the relationship between the energy consumption rate of unmanned aerial vehicle 10 in flight and the weight of the object carried by unmanned aerial vehicle 10, for example, a map indicating such relationship, is pre-stored in storage device 650. The energy consumption rate represents the amount of power and / or fuel consumed per unit distance to fly unmanned aerial vehicle 10. Information on the geographic coordinates of the location to which target package 330 will be delivered (e.g., a location in storage 78 or the surrounding area) is pre-stored in storage device 650.

[0217] Processor 660 calculates the distance between the current position of unmanned aerial vehicle 10 and the position of target package 330, and also calculates the distance between the position of target package 330 and the destination position.

[0218] Processor 660 calculates the amount of energy consumption (first energy consumption) when unmanned aerial vehicle 10 is flown from the current position to the position of target package 330. Processor 660 also calculates the amount of energy consumption (second energy consumption) when unmanned aerial vehicle 10 carrying target package 330 flies from the position of target package 330 to the destination position, assuming that unmanned aerial vehicle 10 is carrying target package 330. Processor 660 can calculate the remaining energy amount R1 when unmanned aerial vehicle 10 carrying target package 330 flies to the destination position, based on the current remaining energy amount, the first energy consumption amount, and the second energy consumption amount.

[0219] The processor 660 calculates the remaining energy R1 for each of the one or more unmanned aerial vehicles 10 selected in step S213 (Figure 22) (step S221 of Figure 23).

[0220] The processor 660 compares the calculated remaining energy amount R1 with a fourth predetermined value (step S222). The fourth predetermined value is an arbitrary value greater than zero. The fourth predetermined value may be, for example, but is not limited to, a value corresponding to a remaining energy amount of 10-20%.

[0221] The processor 660 selects an unmanned aerial vehicle whose remaining energy R1 is equal to or greater than the fourth predetermined value (step S223) as a candidate for the transport unmanned aerial vehicle 10. The processor 660 does not select an unmanned aerial vehicle whose remaining energy R1 is less than the fourth predetermined value as a candidate for the transport unmanned aerial vehicle 10 (step S224).

[0222] The processor 660 determines the transport unmanned aerial vehicle 10 to transport the target package 330 from among the one or more unmanned aerial vehicles 10 selected in step S223 (step S203 in FIG. 21 ). For example, the processor 660 determines the unmanned aerial vehicle 10 with the shortest distance between the current position of the unmanned aerial vehicle 10 and the position of the target package 330 as the transport unmanned aerial vehicle 10. Alternatively, for example, the processor 660 may determine the unmanned aerial vehicle 10 with the largest remaining energy amount R1 as the transport unmanned aerial vehicle 10.

[0223] As an example, processor 660 determines unmanned aerial vehicle 10b as the delivery unmanned aerial vehicle. Processor 660 outputs to unmanned aerial vehicle 10b an instruction to deliver target package 330. Processor 660 also outputs package location information indicating the geographic coordinates of the location of target package 330 to unmanned aerial vehicle 10b.

[0224] When processor 41 of unmanned aerial vehicle 10b receives the delivery instruction and package location information, it flies unmanned aerial vehicle 10b to the location of target package 330. Target package 330 is, for example, container 232 (FIGS. 18A-18D). Unmanned aerial vehicle 10b is provided with, for example, hook 210c as a support device for supporting target package 330. Once unmanned aerial vehicle 10b reaches the airspace above container 232, it can acquire container 232 using the method described with reference to FIGS. 18A-18C. After acquiring container 232, unmanned aerial vehicle 10b flies toward storage facility 78 or the surrounding area to which it is to be delivered or the surrounding area. When unmanned aerial vehicle 10b arrives at storage facility 78 or the surrounding area, the harvested product is transferred to storage facility 78.

[0225] In this embodiment, an unmanned aerial vehicle 10 suitable for transporting the target package 330 is selected from among a plurality of unmanned aerial vehicles 10 .

[0226] The weight value W1 of the target package 330 is compared with the weight value W2 of a package that the unmanned aerial vehicle 10 can further carry, and the unmanned aerial vehicle 10 that meets the condition that the weight value W2 is greater than or equal to the weight value W1 is determined to be the unmanned aerial vehicle 10 for transport.

[0227] This prevents unmanned aerial vehicle 10 that cannot transport target package 330, for example, if the maximum load capacity would be exceeded when loaded with target package 330, from attempting to transport target package 330. Furthermore, even if unmanned aerial vehicle 10 is already supporting another package, if the unmanned aerial vehicle 10 has sufficient carrying capacity, it can support target package 330, thereby enabling efficient transportation of harvested products.

[0228] Furthermore, in this embodiment, the remaining energy amount R1 is calculated assuming that the unmanned aerial vehicle 10 has carried the target package 330 and flown to the destination location. The unmanned aerial vehicle 10 that satisfies the condition that the remaining energy amount R1 is equal to or greater than a fourth predetermined value is determined to be the transport unmanned aerial vehicle 10. This prevents the unmanned aerial vehicle 10 from becoming unable to fly while transporting the target package 330.

[0229] In addition, if there is sufficient remaining energy in the energy source of each of the multiple unmanned aerial vehicles 10, the process of determining the transport unmanned aerial vehicle 10 based on the remaining energy amount R1 may be omitted.

[0230] In the above description, the management device 600 performs the process of determining the unmanned aerial vehicle 10 that will carry the target package 330, but the terminal device 400 may also perform this process.

[0231] Alternatively, the unmanned aerial vehicle 10 itself may determine whether it is capable of transporting the target package 330 .

[0232] FIG. 25 is a flowchart showing an example of a process for determining whether the unmanned aerial vehicle 10 itself is capable of transporting the target package 330 .

[0233] Here, as an example, a container 330 placed on the transport vehicle 320a is set as the target package to be transported, and a process will be described in which the unmanned aircraft 10 itself determines whether or not it is possible to transport the target package 330.

[0234] When the processor 161 of the delivery vehicle 320a determines that the weight of the container 330 is equal to or greater than the third predetermined value, the processor 161 transmits package weight information indicating the weight of the container 330, which is the target package, and package location information indicating the geographic coordinates of the location of the container 330, to the plurality of unmanned aerial vehicles 10. The processor 161 also transmits a request signal to the plurality of unmanned aerial vehicles 10 requesting the delivery of the container 330.

[0235] Here, the description will be made of the processing performed by one unmanned aerial vehicle 10 among the plurality of unmanned aerial vehicles 10. The other unmanned aerial vehicles 10 also perform similar processing.

[0236] The processor 41 of the unmanned aerial vehicle 10 generates availability information, remaining energy information, and unmanned aerial vehicle position information. The communication device 4C of the unmanned aerial vehicle 10 receives the package weight information, package position information, and request signal.

[0237] The processor 41 acquires package weight information and availability information (step S311). The package weight information indicates the weight value W1 of the target package 330. The availability information indicates the weight value W2 of a package that can be loaded. The processor 41 compares the magnitude relationship between the weight value W1 and the weight value W2 (step S312).

[0238] If the weight value W2 is less than the weight value W1, the processor 41 determines that the target package 330 cannot be transported (step S316). In this case, the target package 330 is not transported. If the weight value W2 is equal to or greater than the weight value W1, the processor 41 calculates the remaining energy amount R1 (step S313).

[0239] Information indicating the relationship between the energy consumption rate of unmanned aerial vehicle 10 in flight and the weight of the object carried by unmanned aerial vehicle 10, for example, a map indicating such relationship, is pre-stored in storage device 44. Information on the geographic coordinates of the location to which target package 330 is to be delivered (e.g., a location in storage 78 or the surrounding area) is pre-stored in storage device 44.

[0240] The processor 41 calculates the distance between the current position of the unmanned aerial vehicle 10 and the position of the target package 330, and also calculates the distance between the position of the target package 330 and the destination position.

[0241] The processor 41 calculates the amount of energy consumption (first energy consumption) when the unmanned aerial vehicle 10 is flown from the current position to the position of the target package 330. The processor 41 also calculates the amount of energy consumption (second energy consumption) when the unmanned aerial vehicle 10 carrying the target package 330 flies from the position of the target package 330 to the destination position, assuming that the unmanned aerial vehicle 10 is carrying the target package 330. The processor 41 calculates the remaining energy amount R1 when the unmanned aerial vehicle 10 carrying the target package 330 flies to the destination position, based on the current remaining energy amount, the first energy consumption amount, and the second energy consumption amount.

[0242] The processor 41 compares the calculated remaining energy amount R1 with a fourth predetermined value (step S314). If the remaining energy amount R1 is less than the fourth predetermined value, the processor 41 determines that the target package 330 cannot be transported (step S316). In this case, the target package 330 is not transported. If the remaining energy amount R1 is equal to or greater than the fourth predetermined value, the processor 41 determines that the target package 330 can be transported (step S315).

[0243] The processor 41 outputs information indicating the determination result as to whether or not the target package 330 can be transported to the outside via the communication device 4C. This allows the processor 41 to notify other unmanned aerial vehicles 10, the management device 600, etc. that it can transport the target package 330 or that it cannot transport the target package 330.

[0244] If the processor 41 determines that the target package 330 can be transported, it flies the unmanned aerial vehicle 10 to the location of the target package 330. The target package 330 is, for example, a container 232 (FIGS. 18A-18D). The unmanned aerial vehicle 10 is provided with, for example, a hook 210c as a support device for supporting the target package 330. Once the unmanned aerial vehicle 10 reaches the airspace above the container 232, it can acquire the container 232 using the method described above with reference to FIGS. 18A-18C. The processor 41 flies the unmanned aerial vehicle 10, which has acquired the container 232, toward the storage facility 78 or the surrounding area where the harvested product is to be transported. When the unmanned aerial vehicle 10 arrives at the storage facility 78 or the surrounding area, the harvested product is transferred to the storage facility 78.

[0245] In addition, if there is sufficient remaining energy in the energy source of the unmanned aerial vehicle 10, the process of determining whether the target package 330 can be transported based on the remaining energy amount R1 may be omitted.

[0246] As described above, the unmanned aerial vehicle 10 capable of transporting the target package 330 flies to the location where the target package 330 is located and supports and transports the target package 330, thereby enabling efficient transportation of harvested produce.

[0247] When determining whether target package 330 can be transported based on the weight of target package 330, processor 41 may determine that target package 330 can be transported if the total weight of one or more packages that unmanned aerial vehicle 10 will support when supporting target package 330 is equal to or less than the maximum load capacity. Processor 41 determines that target package 330 cannot be transported if the total weight exceeds the maximum load capacity.

[0248] If the unmanned aerial vehicle 10 is already supporting one or more packages different from the target package 330, the processor 41 determines that the target package 330 can be transported if the sum of the weight value indicated by the package weight information and the weight values ​​of the one or more other packages is equal to or less than the maximum load capacity. The processor 41 determines that the target package 330 cannot be transported if the sum of the weight value indicated by the package weight information and the weight values ​​of the one or more other packages exceeds the maximum load capacity.

[0249] This prevents unmanned aerial vehicle 10 that cannot transport target package 330, for example, from attempting to transport target package 330 if the target package 330 would exceed its maximum load capacity when loaded.

[0250] Even if the unmanned aerial vehicle 10 is already supporting a package, if there is sufficient carrying capacity, it can be made to support another package, thereby allowing for efficient transportation of harvested produce.

[0251] Harvester 100a and / or unmanned aerial vehicle 240 as illustrated in Figures 18A-18D operate as a packaging system that packages harvested products. As described above, container 232 storing harvested products constitutes a package. Robot arm 231 provided on harvester 100a and / or unmanned aerial vehicle 240 operates as a packaging device that packages the harvested products. A processor of harvester 100a and / or unmanned aerial vehicle 240 controls the operation of robotic arm 231, which is the packaging device. Here, it is assumed that processor 161 of harvester 100a controls the operation of robotic arm 231.

[0252] The package may be, for example, a storage unit for harvested product. The package may be, for example, the tank 106 for storing harvested product described above. In this case, the tank 106 is detachable from the harvester 100. The package may be, for example, a wrapped mass of harvested product, such as the bale 310b described above.

[0253] The processor 161 of the harvester 100a may adjust the amount of crop harvested by the robotic arm 231 and change the weight of the container 232 containing the harvested product based on the carrying capacity of the unmanned aerial vehicle 10 carrying the package of harvested product.

[0254] For example, the processor 41 of the unmanned aerial vehicle 10 transmits availability information indicating the weight value W2 of additional packages that can be loaded to the harvester 100a. The processor 161 of the harvester 100a adjusts the amount of crops harvested by the robotic arm 231 so that the weight value W1 of the container 232 does not exceed the weight value W2. In this way, by adjusting the weight of the container 232 containing the harvested product according to the carrying capacity of the unmanned aerial vehicle 10, the unmanned aerial vehicle 10 can transport the container 232. Note that the number of harvested products placed in the container 232 may be adjusted to adjust the weight of the container 232.

[0255] The processor 161 of the harvester 100a may move the harvester 100a, on which the container 232 is placed, to a position where the unmanned aerial vehicle 10 can acquire the container 232. Even if the location where the crops were harvested is an area that is difficult for the unmanned aerial vehicle 10 to enter, the unmanned aerial vehicle 10 can acquire the package by moving the location of the package.

[0256] The process of changing the weight of the container 232 containing the harvested product based on the carrying capacity of the unmanned aerial vehicle 10 may be performed by the management device 600. The processor 660 of the management device 600 transmits to the harvester 100a an instruction to change the weight of the container 232 containing the harvested product based on the availability information and remaining energy information of the unmanned aerial vehicle 10. The processor 660 can calculate the weight of the container 232 that the unmanned aerial vehicle 10 can transport to the destination location based on the availability information and remaining energy information, for example, by using a map showing the relationship between the energy consumption rate of the unmanned aerial vehicle 10 and the weight of an object carried by the unmanned aerial vehicle 10. The processor 660 instructs the harvester 100a to ensure that the weight of the container 232 does not exceed the calculated transportable weight.

[0257] In the above example, the weight of the container 232 was adjusted, but in a configuration in which the unmanned aerial vehicle 10 supports multiple packages, the number of packages supported by the unmanned aerial vehicle 10 may be changed based on the carrying capacity of the unmanned aerial vehicle 10.

[0258] By changing the weight or number of packages according to the carrying capacity of the unmanned aerial vehicle 10, the unmanned aerial vehicle 10 can carry the packages.

[0259] In an embodiment in which the baler 302 forms bales 310b, such as the one illustrated in Figure 19, the bales 310b are packages of harvested produce. In the example in which bales 310b are formed, the weight or number of bales 310b may be varied depending on the carrying capacity of the unmanned aerial vehicle 10.

[0260] In the above example, the unmanned aerial vehicle 10 transports a package of harvested goods. However, the unmanned aerial vehicle 10 may transport unpackaged harvested goods. In this case, the processor 161 of the harvester 100a may transmit harvest weight information indicating the weight of the harvested goods and harvest location information indicating the geographic coordinates of the location of the harvested goods to the management device 600 and / or the unmanned aerial vehicle 10. The processor 660 of the management device 600 determines, based on the harvest weight information and the harvest location information, a transport unmanned aerial vehicle 10 from among the plurality of unmanned aerial vehicles 10 that will transport the harvested goods to a destination location (e.g., a location in the storage shed 78 or its surrounding area). The processor 41 of the unmanned aerial vehicle 10 determines, based on the harvest weight information and the harvest location information, whether the harvested goods can be transported to the destination location. If it is determined that the harvested goods can be transported, the processor 41 flies the unmanned aerial vehicle 10 to the location of the harvested goods, causes the acquisition device 210 to acquire the harvested goods, and then flies the unmanned aerial vehicle 10 to the destination location. The unmanned aerial vehicle 10 capable of transporting harvested goods flies to the location of the harvested goods, acquires the harvested goods, and transports them, thereby enabling efficient transportation of the harvested goods.

[0261] Next, a process for transporting harvested goods by an unmanned aerial vehicle 10 that is performing a task other than transporting harvested goods will be described.

[0262] The unmanned aerial vehicle 10 can perform various tasks other than transporting harvested crops. For example, the unmanned aerial vehicle 10 performs the task of supporting and transporting any structure. An example of the structure that the unmanned aerial vehicle 10 supports and transports is a work machine 200. By supporting the work machine 200, the unmanned aerial vehicle 10 can transport the work machine 200 to a desired location or assist the work machine 200 in its work.

[0263] Figure 26 is a diagram showing an example of an unmanned aerial vehicle 10 supporting a work machine 200a. The type of work machine 200a is arbitrary. In the example shown in Figure 26, the work machine 200a is a brush cutter. In this example, a rod 261 extends upward from the top of the body of the work machine 200a. A hook 262 is provided on the top of the rod 261. The hook 262 has a shape that allows hook 210c connected to the unmanned aerial vehicle 10 to be attached thereto. The hook 262 is, for example, a ring hook.

[0264] The rod 261 is rotatably attached to the main body of the work machine 200a, and the angle of the rod 261 relative to the main body of the work machine 200a can be freely changed. A wire or the like may be used instead of the rod 261.

[0265] The method by which the unmanned aerial vehicle 10 supports the work machine 200a is arbitrary, and a mechanism different from the above may be used.

[0266] In this embodiment, the work implement 200a is separated from the unmanned aerial vehicle 10 supporting the work implement 200a and transports the harvested crops.

[0267] Figure 27 is a flowchart showing an example of the operation of unmanned aerial vehicle 10 supporting work implement 200a to detach work implement 200a and transport harvested crops. Figures 28A and 28B are diagrams showing unmanned aerial vehicle 10 supporting work implement 200a performing work in field 70. Figure 28C is a diagram showing unmanned aerial vehicle 10 from which work implement 200a has been detached.

[0268] The unmanned aerial vehicle 10 supports the work machine 200a, for example, in a warehouse or the surrounding area (step S401). The processor 41 of the unmanned aerial vehicle 10 flies the unmanned aerial vehicle 10 supporting the work machine 200a and transports the work machine 200a to the area where the work machine 200a will perform work. The area where the work machine 200a will perform work is, for example, within the field 70 or the area surrounding the field 70.

[0269] In the example shown in Figures 28A and 28B, the area in which the work machine 200a works is a farm field 70. If the work machine 200a is a grass cutter, the work machine 200a cuts grass. Figure 28A shows the work machine 200a working on a slope 70b with a relatively large inclination angle. Figure 28B shows the work machine 200a working on a relatively flat ground 70a. Even when working on a slope 70b with a relatively large inclination angle, the unmanned aerial vehicle 10 supports the work machine 200a, allowing the work machine 200a to perform its work stably.

[0270] As described above, when a predetermined amount of harvested produce has accumulated in container 330, processor 161 (FIG. 5) of transporter 320 transmits package weight information indicating the weight of container 330, which is the target package, and package location information indicating the geographic coordinates of the location of container 330, to unmanned aerial vehicle 10. Processor 161 also transmits a request signal to unmanned aerial vehicle 10 requesting the transport of container 330. Communication device 4C of unmanned aerial vehicle 10 receives the package weight information, package location information, and request signal (step S402).

[0271] When the request signal is received, the processor 41 of the unmanned aerial vehicle 10 determines whether it is possible to release the support of the work machine 200a and transport the package 330 (step S403).

[0272] When the work machine 200a is located in an area that requires support from the unmanned aerial vehicle 10, the processor 41 causes the unmanned aerial vehicle 10 to continue supporting the work machine 200a that is performing the work. For example, as shown in FIG. 28A , when the work machine 200a is performing work on a slope 70b with a relatively large inclination angle, the processor 41 continues to support the work machine 200a. In this case, the package 330 is not transported. This allows the work machine 200a to perform its work appropriately.

[0273] If the work implement 200a is located in an area where work can be performed without being supported by the unmanned aerial vehicle 10, the processor 41 causes the unmanned aerial vehicle 10 to release support for the work implement 200a (step S404). For example, as shown in Figure 28B, if the work implement 200a is performing work on relatively flat ground 70a, the processor 41 releases support for the work implement 200a. Figure 28C shows the unmanned aerial vehicle 10 from which support for the work implement 200a has been released and the work implement 200a has been separated.

[0274] For example, the processor 41 can control the operation of the latch of the hook 210c so that the latch is in an open state, and fly the unmanned aerial vehicle 10 so that the hook 210c moves diagonally downward relative to the hook 262 of the work implement 200a, thereby separating the hook 210c from the hook 262. This allows the work implement 200a to be separated from the unmanned aerial vehicle 10. The separated work implement 200a may continue to perform work.

[0275] The processor 41 flies the unmanned aerial vehicle 10, which has released support from the work implement 200a, to the position of the target package 330 indicated by the package position information. The target package 330 is, for example, a container 232 (FIGS. 18A-18D). The unmanned aerial vehicle 10 that has reached the airspace above the container 232 can support the container 232 using the method described using FIGS. 18A-18C. The processor 41 flies the unmanned aerial vehicle 10 supporting the container 232 toward the destination storage facility 78 or the surrounding area (step S405). When the unmanned aerial vehicle 10 arrives at the storage facility 78 or the surrounding area, the harvested product is transferred to the storage facility 78.

[0276] In this way, by separating the work implement 200a from the unmanned aerial vehicle 10 supporting the work implement 200a and having the unmanned aerial vehicle 10 transport the harvested crops, the harvested crops can be transported efficiently. By using the unmanned aerial vehicle 10 with the support of the work implement 200a released, the weight of the package 330 that the unmanned aerial vehicle 10 can transport can be increased.

[0277] In the processing of step S403 described above, processor 41 may determine, based on the degree of progress of the work of work machine 200a, whether it is possible to have unmanned aerial vehicle 10 release support for work machine 200a and transport package 330. For example, if the degree of progress of the work of work machine 200a is relatively low, unmanned aerial vehicle 10 can continue to support work machine 200a performing the work, allowing work machine 200a to perform the work appropriately. If the degree of progress of the work of work machine 200a is relatively high, unmanned aerial vehicle 10 can release support for work machine 200a and transport package 330.

[0278] Furthermore, by comparing the work deadline for work machine 200a set in the work plan with the deadline for transporting package 330, it may be determined whether it is possible to have unmanned aerial vehicle 10 release support for work machine 200a and transport package 330. For example, if there is time until the work deadline for work machine 200a and the deadline for transporting package 330 is approaching, unmanned aerial vehicle 10 may release support for work machine 200a and transport package 330.

[0279] Furthermore, in the processing of step S403 described above, after determining whether package 330 can be transported based on the state of work machine 200a, processor 41 may further determine whether package 330 can be transported based on the weight of package 330 and / or the remaining amount of energy source of unmanned aerial vehicle 10. In this case, processor 41 determines whether unmanned aerial vehicle 10 can transport package 330 to the destination location based on the package weight information. Processor 41 also determines whether unmanned aerial vehicle 10 can transport package 330 to the destination location based on the remaining amount of energy source. For example, processor 41 can perform processing such as that described using FIG. 25 to determine whether package 330 can be transported.

[0280] Furthermore, support of the work machine 200a may be released when the unmanned aerial vehicle 10 transporting the work machine 200a reaches the destination, without determining whether it is possible to transport the package 330 based on the state of the work machine 200a. For example, if there is no need for the unmanned aerial vehicle 10 to support the work machine 200a performing work, support of the work machine 200a may be released when the destination is reached, and the unmanned aerial vehicle 10 may be flown to the position of the package 330 and have it support the package 330.

[0281] The process of determining whether the package 330 can be transported may be performed by the processor 660 of the management device 600 and / or the processor 460 of the terminal device 400. Furthermore, the various processes described above may be performed by at least two of the processors 41, 660, and 460 working together.

[0282] Systems that perform the various processes described above can also be retrofitted to unmanned aerial vehicles and / or agricultural machines that do not already have those functions. Such systems can be manufactured and sold independently of the unmanned aerial vehicles and agricultural machines. Computer programs used in such systems can also be manufactured and sold independently of the unmanned aerial vehicles and agricultural machines. The computer programs can be provided, for example, by being stored on a computer-readable non-transitory storage medium. The computer programs can also be provided by downloading via a telecommunications line (e.g., the Internet).

[0283] As described above, the present disclosure includes the systems, unmanned aerial vehicles, methods, and computer programs described below.

[0284] [Item A1] A harvest management system that uses an unmanned aerial vehicle to acquire harvested products harvested from a field by a mobile agricultural machine, wherein an acquisition device used to acquire the harvest products is connected to the unmanned aerial vehicle and moves together with the unmanned aerial vehicle, the unmanned aerial vehicle comprising: a receiving device that receives position information indicating the position of the agricultural machine within the field or the position where the agricultural machine plans to discharge the harvested products; a flight device that flies the unmanned aerial vehicle; and a control device that controls the operation of the flight device to fly the unmanned aerial vehicle to a position where it can acquire a first harvest product stored in the agricultural machine or a second harvest product discharged from the agricultural machine, and the harvest management system acquires the first harvest product or the second harvest product using the acquisition device connected to the unmanned aerial vehicle.

[0285] In order to efficiently harvest crops in a field, it is possible to have an agricultural machine that harvests crops while traveling within the field and a transport vehicle that transports the harvested crops travel side by side, with the transport vehicle receiving the harvested crops discharged by the agricultural machine and storing them in the loading platform of the transport vehicle. This allows the agricultural machine to transfer the harvested crops to the transport vehicle while harvesting the crops. Since there is no need to interrupt harvesting operations to transfer the harvested crops stored inside the agricultural machine to the transport vehicle waiting at the outer edge of the field, crop harvesting can be performed efficiently.

[0286] However, with the above method, it is necessary to ensure a ground surface within the field that allows the transport vehicle to run alongside the agricultural machine, and depending on the field, it may not be easy to ensure such a ground surface.

[0287] According to an embodiment of the present disclosure, an unmanned aerial vehicle retrieves crops harvested by an agricultural machine. For example, the unmanned aerial vehicle retrieves the crops from the agricultural machine without landing on the ground. Also, for example, the unmanned aerial vehicle retrieves the crops from a position above the agricultural machine. Because there is no need to secure ground surface for a transport vehicle to travel alongside the agricultural machine, crop harvesting can be performed easily and efficiently.

[0288] [Item A2] The harvest management system described in Item A1, wherein the acquisition device includes a suction machine, and the suction machine acquires the first harvest product stored in the agricultural machine by suction.

[0289] By sucking up the harvested material, it can be transferred from the agricultural machine to the unmanned aerial vehicle.

[0290] By sucking up the harvested crops from the agricultural machinery that is harvesting the crops, the crops can be harvested more efficiently.

[0291] [Item A3] A harvest management system as described in Item A2, wherein the first harvest product is stored in a tank of the agricultural machine, the suction machine is provided with a nozzle, the control device controls the unmanned aerial vehicle to fly so that the end of the nozzle is positioned within the tank, and the first harvest product is transferred from the agricultural machine to the suction machine through the nozzle.

[0292] The nozzle allows for easy transfer of harvested produce from the agricultural machine to the unmanned aerial vehicle.

[0293] [Item A4] The harvest management system according to Item A2 or A3, wherein the acquisition device includes a tank for storing the sucked first harvest product.

[0294] The harvested material can be collected and stored in a tank connected to the drone.

[0295] [Item A5] The harvest management system described in Item A4 further comprises a sensor for detecting the weight of the first harvest product stored in the tank of the acquisition device, and when the weight value detected by the sensor becomes equal to or greater than a first predetermined value, the suction machine stops suctioning the first harvest product.

[0296] This makes it possible to prevent the weight of the first harvest product stored in the tank of the harvesting device from exceeding the weight that can be stored in the tank.

[0297] [Item A6] A harvest management system described in any of Items A1 to A5, wherein the first harvest product is stored in a tank of the agricultural machine, the acquisition device includes a gripper capable of grasping a vacuum hose extending from a suction machine located outside the field or within the field, the control device controls the unmanned aerial vehicle to fly so that the end of the vacuum hose grasped by the gripper is positioned within the tank, and the first harvest product is transferred from the agricultural machine to the suction machine through the vacuum hose.

[0298] This allows the harvested material to be transferred to a vacuum located away from the agricultural machine.

[0299] By using a vacuum hose to suck up the harvested crops from the agricultural machinery that is harvesting the crops, the harvesting can be carried out efficiently.

[0300] [Item A7] The harvest management system of Item A6, wherein the unmanned aerial vehicle cooperates with one or more other unmanned aerial vehicles to support the vacuum hose.

[0301] This allows the vacuum hose to be stably supported.

[0302] [Item A8] The harvest management system described in any one of Items A1 to A7, wherein the acquisition device includes a vacuum gripper, and the vacuum gripper suctions and acquires the first harvest product stored in the agricultural machine.

[0303] The harvested product can be obtained by absorbing the harvested product stored in the agricultural machine.

[0304] By using an unmanned aerial vehicle to pick up the harvested crops stored by agricultural machinery that is harvesting crops and remove them from the agricultural machinery, crop harvesting can be carried out efficiently.

[0305] [Item A9] The harvest management system described in any one of Items A1 to A8, further comprising a connection device that connects the unmanned aerial vehicle to the agricultural machine when acquiring the first harvest product from the agricultural machine.

[0306] This makes it possible to suppress positional deviation between the unmanned aerial vehicle and the agricultural machine, thereby enabling stable harvesting of crops.

[0307] [Item A10] A harvest management system described in any of items A1 to A9, wherein the agricultural machine is equipped with a sensor that detects the weight of the first harvest product stored in the agricultural machine, and the control device controls the unmanned aerial vehicle to wait at a predetermined position when the weight value detected by the sensor of the agricultural machine is less than a second predetermined value, and controls the unmanned aerial vehicle to fly to a position where the first harvest product stored in the agricultural machine can be obtained when the weight value detected by the sensor of the agricultural machine is equal to or greater than the second predetermined value.

[0308] When a predetermined amount of harvested goods has accumulated inside the agricultural machine, the unmanned aerial vehicle can retrieve the harvested goods, thereby improving work efficiency.

[0309] [Item A11] A harvest management system described in any of Items A1 to A10, wherein the first harvest product is discharged from a discharge hose extending from the agricultural machine, the acquisition device includes a gripper capable of grasping the discharge hose, the control device controls the unmanned aerial vehicle to fly so that the position of the end of the discharge hose grasped by the gripper is such that the first harvest product can be discharged into a transport vehicle or container located outside or within the field, and the first harvest product is transported from the agricultural machine to the transport vehicle or container through the discharge hose.

[0310] The harvest may be transferred to a vehicle or container located remotely from the farm machine.

[0311] By using a discharge hose to transport the harvested crops discharged from the agricultural machine that is harvesting the crops, the harvesting of the crops can be carried out efficiently.

[0312] [Item A12] The harvest management system of Item A11, wherein the unmanned aerial vehicle cooperates with one or more other unmanned aerial vehicles to support the discharge hose.

[0313] This allows the drain hose to be stably supported.

[0314] [Item A13] The harvest management system according to any one of items A1 to A12, wherein the acquisition device performs an operation of acquiring the first harvest product in accordance with control by the control device.

[0315] The acquisition device can be operated appropriately depending on the environment in which the harvested product is acquired.

[0316] [Item A14] A harvest management system described in any of Items A1 to A13, wherein the first harvest product is stored in a container that is detachably attached to the agricultural machine, the acquisition device includes a hook, and the control device controls the unmanned aerial vehicle to fly so as to lift the container using the hook.

[0317] The container can be lifted using a hook to retrieve the harvest from the agricultural machine.

[0318] By using unmanned aerial vehicles to lift up the harvested crops stored by agricultural machinery that is harvesting crops, crop harvesting can be carried out more efficiently.

[0319] [Item A15] The harvest management system according to any one of items A1 to A14, wherein the acquisition device acquires the first harvest product from the agricultural machine while it is moving.

[0320] By obtaining harvested products from agricultural machinery that continues harvesting while moving, work efficiency can be improved.

[0321] [Item A16] A harvest management system described in any of Items A1 to A15, wherein the acquisition device includes a bucket, and the control device controls the unmanned aerial vehicle to fly so as to scoop up the second harvest product discharged from the agricultural machine with the bucket.

[0322] Harvested goods can be obtained from agricultural machinery by scooping them up with a bucket.

[0323] [Item A17] The control device is a harvest management system described in Item A16, in which the control device performs the following controls: control to have the unmanned aerial vehicle wait at a position where the second harvested product is scheduled to be discharged before the agricultural machine discharges the second harvested product; and control to fly the unmanned aerial vehicle so as to scoop up the second harvested product discharged from the agricultural machine with the bucket.

[0324] This allows the harvested crops discharged from agricultural machinery to be immediately scooped up.

[0325] [Item A18] An unmanned aerial vehicle that acquires harvested products from a field by a mobile agricultural machine, wherein an acquisition device used to acquire the harvested products is connected to the unmanned aerial vehicle, the unmanned aerial vehicle comprising: a receiving device that receives position information indicating the position of the agricultural machine within the field or the position where the agricultural machine plans to discharge the harvested products; a flight device that flies the unmanned aerial vehicle; and a control device that controls the operation of the flight device to fly the unmanned aerial vehicle to a position where it can acquire a first harvested product stored in the agricultural machine or a second harvested product discharged from the agricultural machine, and the unmanned aerial vehicle acquires the first harvested product or the second harvested product using the acquisition device.

[0326] According to an embodiment of the present disclosure, an unmanned aerial vehicle retrieves crops harvested by an agricultural machine. For example, the unmanned aerial vehicle retrieves the crops from the agricultural machine without landing on the ground. Also, for example, the unmanned aerial vehicle retrieves the crops from a position above the agricultural machine. Because there is no need to secure ground surface for a transport vehicle to travel alongside the agricultural machine, crop harvesting can be performed easily and efficiently.

[0327] [Item A19] A harvest management method using an unmanned aerial vehicle to acquire crops harvested from a field by a mobile agricultural machine, the harvest management method including: an acquisition device used to acquire the crops is connected to the unmanned aerial vehicle and moves together with the unmanned aerial vehicle; flying the unmanned aerial vehicle to a position where it can acquire a first crop stored in the agricultural machine or a second crop discharged from the agricultural machine based on location information indicating the position of the agricultural machine within the field or a location where the agricultural machine is scheduled to discharge the crop; and acquiring the first crop or the second crop using the acquisition device connected to the unmanned aerial vehicle.

[0328] According to an embodiment of the present disclosure, an unmanned aerial vehicle retrieves crops harvested by an agricultural machine. For example, the unmanned aerial vehicle retrieves the crops from the agricultural machine without landing on the ground. Also, for example, the unmanned aerial vehicle retrieves the crops from a position above the agricultural machine. Because there is no need to secure ground surface for a transport vehicle to travel alongside the agricultural machine, crop harvesting can be performed easily and efficiently.

[0329] [Item A20] A computer program that causes a computer to control the operation of using an unmanned aerial vehicle to acquire crops harvested from a field by a mobile agricultural machine, wherein an acquisition device used to acquire the crops is connected to the unmanned aerial vehicle and moves together with the unmanned aerial vehicle, and the computer program causes the computer to fly the unmanned aerial vehicle to a position where it can acquire a first crop stored in the agricultural machine or a second crop discharged from the agricultural machine, based on position information indicating the position of the agricultural machine within the field or a position where the agricultural machine is scheduled to discharge the crops; and acquire the first crop or the second crop using the acquisition device connected to the unmanned aerial vehicle.

[0330] According to an embodiment of the present disclosure, an unmanned aerial vehicle retrieves crops harvested by an agricultural machine. For example, the unmanned aerial vehicle retrieves the crops from the agricultural machine without landing on the ground. Also, for example, the unmanned aerial vehicle retrieves the crops from a position above the agricultural machine. Because there is no need to secure ground surface for a transport vehicle to travel alongside the agricultural machine, crop harvesting can be performed easily and efficiently.

[0331] [Item B1] An unmanned aerial vehicle that transports crops harvested from a field, comprising: a flight device that flies the unmanned aerial vehicle; a control device that controls the operation of the flight device; a communication device that receives package position information indicating a first position where a target package to be transported, including the crop, is located, and package weight information indicating the weight of the target package; and a support device that can support the target package, wherein the control device determines, based on the package weight information, whether the target package can be transported to a second position different from the first position, and if it determines that the target package can be transported, controls the flight device to fly the unmanned aerial vehicle to the first position, has the support device support the target package, and controls the flight device to fly the unmanned aerial vehicle to the second position.

[0332] An unmanned aerial vehicle capable of carrying a target package flies to a first position where the target package is located and supports and carries the target package, thereby enabling efficient transportation of harvested produce.

[0333] [Item B2] The control device, in the unmanned aerial vehicle described in Item B1, determines that the target package can be transported if the weight value of the package that can be further loaded, obtained from the availability of loading capacity, is equal to or greater than the weight value indicated by the package weight information, and determines that the target package cannot be transported if the weight value of the package that can be further loaded is less than the weight value indicated by the package weight information.

[0334] This can prevent unmanned aerial vehicles that cannot transport a target package from attempting to transport the target package, for example, if the target package exceeds the maximum load capacity when loaded.

[0335] Even if the unmanned aerial vehicle is already supporting a package, if there is room for carrying capacity, it can be made to support another package, thereby making it possible to transport harvested products more efficiently.

[0336] [Item B3] An unmanned aerial vehicle as described in Item B1 or B2, wherein the control device determines that the target package can be transported if the total weight of one or more packages that the unmanned aerial vehicle will support when supporting the target package is less than a predetermined weight value, and determines that the target package cannot be transported if the total weight exceeds the predetermined weight value.

[0337] This can prevent unmanned aerial vehicles that cannot transport a target package from attempting to transport the target package, for example, if the target package exceeds the maximum load capacity when loaded.

[0338] Even if the unmanned aerial vehicle is already supporting a package, if there is room for carrying capacity, it can be made to support another package, thereby making it possible to transport harvested products more efficiently.

[0339] [Item B4] In the case where the unmanned aerial vehicle is already supporting one or more other packages different from the target package, the control device determines that the target package can be transported if the sum of the weight value indicated by the package weight information and the weight value of the one or more other packages is less than the predetermined weight value, and determines that the target package cannot be transported if the sum of the weight value indicated by the package weight information and the weight value of the one or more other packages exceeds the predetermined weight value, in the unmanned aerial vehicle described in Item B3.

[0340] Even if the unmanned aerial vehicle is already supporting a package, if there is room for carrying capacity, it can be made to support another package, thereby making it possible to transport harvested products more efficiently.

[0341] [Item B5] An unmanned aerial vehicle described in any of items B1 to B4, wherein the control device determines whether the target package can be transported to the second location based further on the remaining amount of energy source used to fly the unmanned aerial vehicle.

[0342] This prevents the unmanned aerial vehicle from becoming unable to fly while transporting the package.

[0343] [Item B6] The control device, assuming that the unmanned aerial vehicle will carry the target package, calculates the remaining amount of the energy source when the unmanned aerial vehicle supporting the target package reaches the second position, and determines that the target package can be carried if the calculated remaining amount of the energy source is greater than a predetermined value, and determines that the target package cannot be carried if the calculated remaining amount of the energy source is equal to or less than the predetermined value, in the unmanned aerial vehicle described in Item B5.

[0344] This prevents the unmanned aerial vehicle from becoming unable to fly while transporting the package.

[0345] [Item B7] The control device calculates a first energy consumption amount when the unmanned aerial vehicle is flown from its current location to the first position, and a second energy consumption amount when the unmanned aerial vehicle supporting the target package is flown from the first position to the second position, and calculates the remaining amount of the energy source when the unmanned aerial vehicle supporting the target package reaches the second position based on the first energy consumption amount and the second energy consumption amount.

[0346] This allows the remaining amount of the energy source to be calculated with high accuracy.

[0347] [Item B8] The unmanned aerial vehicle according to any one of items B1 to B7, wherein the control device uses the communication device to output to the outside information indicating the determination result as to whether the target package can be transported.

[0348] This allows the unmanned aerial vehicle and management device to be notified that it is capable of transporting the target package, or that it is not capable of transporting the target package.

[0349] [Item B9] A management system that determines an unmanned aerial vehicle from among a plurality of unmanned aerial vehicles to transport harvested produce from a field, comprising: a communication device that receives package location information indicating a first location where a target package to be transported containing the harvested produce is located, package weight information indicating the weight of the target package, and availability information indicating the availability of payload for each of the plurality of unmanned aerial vehicles; and a processing device that determines from the plurality of unmanned aerial vehicles an unmanned aerial vehicle to transport the target package to a second location different from the first location based on the package weight information and the availability information, wherein the processing device uses the communication device to output an instruction to transport the target package to the determined unmanned aerial vehicle.

[0350] This allows the selection of an unmanned aerial vehicle suitable for transporting the package from among a plurality of unmanned aerial vehicles.

[0351] [Item B10] The management system described in Item B9, wherein the processing device determines as the unmanned aerial vehicle an unmanned aerial vehicle whose weight value of the additional packages that can be loaded, obtained from the availability information, is equal to or greater than the weight value indicated by the package weight information.

[0352] This can prevent unmanned aerial vehicles that cannot transport a target package from attempting to transport the target package, for example, if the target package exceeds the maximum load capacity when loaded.

[0353] Even if an unmanned aerial vehicle is already carrying a package, if the unmanned aerial vehicle has sufficient carrying capacity, it can carry another package, thereby making it possible to transport harvested products more efficiently.

[0354] [Item B11] The management system described in Item B9 or B10, wherein the processing device determines the transport unmanned aerial vehicle from among the plurality of unmanned aerial vehicles further based on the remaining amount of energy source used for the flight of each of the plurality of unmanned aerial vehicles.

[0355] This prevents the unmanned aerial vehicle from becoming unable to fly while transporting the target package.

[0356] [Item B12] The processing device calculates the remaining amount of the energy source for each of the multiple unmanned aerial vehicles when it is assumed that the unmanned aerial vehicle supports the target package and flies to the second position, determines the unmanned aerial vehicle whose calculated remaining amount of the energy source is greater than a predetermined value as the unmanned aerial vehicle for transport, and does not determine the unmanned aerial vehicle whose calculated remaining amount of the energy source is less than the predetermined value as the unmanned aerial vehicle for transport, in the management system described in Item B11.

[0357] This prevents the unmanned aerial vehicle from becoming unable to fly while transporting the target package.

[0358] [Item B13] The processing device calculates, for each of the plurality of unmanned aerial vehicles, a first energy consumption amount when the unmanned aerial vehicle is flown from its current location to the first position, and a second energy consumption amount when the unmanned aerial vehicle is flown from the first position to the second position while supporting the target package, and calculates the remaining amount of the energy source when the unmanned aerial vehicle is flown to the second position while supporting the target package based on the first energy consumption amount and the second energy consumption amount. This is the management system described in Item B12.

[0359] This allows the remaining amount of the energy source to be calculated with high accuracy.

[0360] [Item B14] A packaging system for packaging harvested produce from a field, comprising: a packaging device for packaging the harvested produce; and a control device for controlling the operation of the packaging device, wherein the control device changes the weight or number of the harvested produce packages produced by the packaging device based on the carrying capacity of an unmanned aerial vehicle that transports the harvested produce packages.

[0361] By changing the weight or number of packages according to the carrying capacity of the unmanned aerial vehicle, the packages can be carried by the unmanned aerial vehicle.

[0362] [Item B15] The packaging system described in Item B14, wherein the control device changes the weight or number of the packages created by the packaging device based on at least one of the available payload of the unmanned aerial vehicle and the remaining amount of energy source used to fly the unmanned aerial vehicle.

[0363] By changing the weight or number of packages to a value that can be carried by the unmanned aerial vehicle, the packages can be carried by the unmanned aerial vehicle.

[0364] [Item B16] The package system according to Item B14 or B15, wherein the control device controls the unmanned aerial vehicle to move the package to a position where the package can be acquired by the unmanned aerial vehicle.

[0365] This allows the unmanned aerial vehicle to retrieve the package by moving the package location, even if the location where the crop was harvested is an area that is difficult for unmanned aerial vehicles to enter.

[0366] [Item B17] An unmanned aerial vehicle that transports harvested crops from a field, comprising: a flight device that flies the unmanned aerial vehicle; a control device that controls the operation of the flight device; a communication device that receives harvest position information indicating a first position where the harvest is located and harvest weight information indicating the weight of the harvest; and a support device that supports the harvest, wherein the control device determines based on the harvest weight information whether the harvest can be transported to a second position different from the first position, and if it determines that the harvest can be transported, controls the flight device to fly the unmanned aerial vehicle to the first position, has the support device support the harvest, and controls the flight device to fly the unmanned aerial vehicle to the second position.

[0367] The harvested product can be transported efficiently by an unmanned aerial vehicle capable of transporting the harvested product flying to a first position where the harvested product is located and supporting and transporting the harvested product.

[0368] [Item C1] A management system for managing unmanned aerial vehicle transportation operations, comprising: a communication device that receives package location information indicating a first location where a package containing harvested produce is located in a field; and a control device that controls the operation of the unmanned aerial vehicle that supports a structure, wherein the control device separates the structure from the unmanned aerial vehicle when the unmanned aerial vehicle is to support the package.

[0369] By having the unmanned aerial vehicle that was operating to support the structure transport the package, the harvested produce can be transported efficiently.

[0370] By using an unmanned aerial vehicle with a separated structure, the weight of the package that the unmanned aerial vehicle can carry can be increased.

[0371] [Item C2] The structure is a work machine, and the control device controls the operation of the unmanned aerial vehicle that supports the work machine and transports it to a predetermined area within the field or around the field, causes the unmanned aerial vehicle to release its support for the work machine in the predetermined area, flies the unmanned aerial vehicle that has released its support for the work machine to the first position, causes the unmanned aerial vehicle to support the package, and flies the unmanned aerial vehicle supporting the package to a second position different from the first position, in the management system described in Item C1.

[0372] By having the package carried by an unmanned aerial vehicle that also carries a work machine, harvested crops can be transported efficiently.

[0373] By using an unmanned aerial vehicle with the work implement released from support, the weight of the package that the unmanned aerial vehicle can carry can be increased.

[0374] [Item C3] The management system described in Item C2, wherein the work machine performs work in the specified area while being supported by the unmanned aerial vehicle, and the control device causes the unmanned aerial vehicle to release support for the work machine when the work machine is in an area where work can be performed without being supported by the unmanned aerial vehicle.

[0375] This allows the work machine to continue working even if the unmanned aerial vehicle releases its support, allowing the work machine to perform its work efficiently.

[0376] [Item C4] The control device is a management system described in Item C3, in which the control device causes the unmanned aerial vehicle to release support for the work machine when the communication device receives a request to transport the package and the work machine is in an area where work can be performed without being supported by the unmanned aerial vehicle.

[0377] By releasing the support of the work machine after a request to transport the package is received, the work of the work machine can be performed efficiently.

[0378] [Item C5] The control device is a management system described in Item C4, in which, when the communication device receives a request to transport the package but the work machine is in an area that requires support from the unmanned aerial vehicle, the control device causes the unmanned aerial vehicle to continue supporting the work machine performing the work.

[0379] This allows the work machine to perform its work appropriately.

[0380] [Item C6] The management system according to any one of items C2 to C5, wherein the control device determines whether to cause the unmanned aerial vehicle to release support for the work machine based on the degree of progress of the work performed by the work machine.

[0381] For example, if the progress of the work of the work machine is low, the unmanned aerial vehicle can continue to support the work machine performing the work, allowing the work machine to perform the work appropriately.

[0382] [Item C7] A management system described in any of Items C1 to C6, wherein the communication device further receives package weight information indicating the weight of the package, and the control device determines based on the package weight information whether the unmanned aerial vehicle can transport the package to the second position, and if it determines that the unmanned aerial vehicle can transport the specified package, flies the unmanned aerial vehicle with the structure separated to the first position to support the package.

[0383] By having an unmanned aerial vehicle carry a package when it has the capability to do so, it is possible to prevent unmanned aerial vehicles that are not capable of carrying a package from attempting to carry the package.

[0384] [Item C8] The management system described in Item C7, wherein the control device determines whether the unmanned aerial vehicle is capable of transporting the package to the second location based further on the remaining amount of an energy source used to fly the unmanned aerial vehicle.

[0385] This prevents the unmanned aerial vehicle from becoming unable to fly while transporting the package.

[0386] [Item C9] An unmanned aerial vehicle that supports and transports a structure, comprising: a communication device that receives package location information indicating a first location where a package containing harvested produce is located in a field; and a control device that controls the operation of supporting the structure, wherein the control device separates the structure from the unmanned aerial vehicle when the unmanned aerial vehicle is to support the package.

[0387] By having the unmanned aerial vehicle that was operating to support the structure transport the package, the harvested produce can be transported efficiently.

[0388] By using an unmanned aerial vehicle with a separated structure, the weight of the package that the unmanned aerial vehicle can carry can be increased.

[0389] [Item C10] A management method for managing transportation operations of an unmanned aerial vehicle, the management method including: receiving package location information indicating a first location where a package containing harvested produce is located in a field; controlling the operation of the unmanned aerial vehicle supporting a structure; and, when having the unmanned aerial vehicle support the package, separating the structure from the unmanned aerial vehicle.

[0390] By having the unmanned aerial vehicle that was operating to support the structure transport the package, the harvested produce can be transported efficiently.

[0391] By using an unmanned aerial vehicle with a separated structure, the weight of the package that the unmanned aerial vehicle can carry can be increased.

[0392] [Item C11] A computer program that causes a computer to manage transportation operations of an unmanned aerial vehicle, the computer program causing the computer to execute the following: receiving package location information indicating a first location where a package containing harvested produce is located in a field; controlling the operation of an unmanned aerial vehicle that supports a structure; and, when the unmanned aerial vehicle is to support the package, separating the structure from the unmanned aerial vehicle.

[0393] By having the unmanned aerial vehicle that was operating to support the structure transport the package, the harvested produce can be transported efficiently.

[0394] By using an unmanned aerial vehicle with a separated structure, the weight of the package that the unmanned aerial vehicle can carry can be increased.

[0395] The techniques of the present disclosure are particularly useful in the agricultural field, where unmanned aerial vehicles are used.

[0396] 1: Flight device, 2: Rotor (propeller), 3: Rotational drive device, 4: Airframe body, 4a: Control device, 4b: Sensor group, 4c: Communication device, 5: Airframe frame, 6: Ground station, 7a: Internal combustion engine, 7b: Fuel tank, 8: Power generation device, 9: Power buffer, 10: Unmanned aerial vehicle (multicopter), 11: Airframe, 12: Rotor, 14: Motor, 16: ESC, 18: Coupling device, 19: Skid, 22: Rotor, 23: Power transmission system, 27: Drive train, 41: Processor, 42: RAM, 43: ROM, 44: Storage device, 52: Battery, 61: GNSS unit (positioning device), 62: Inertial measurement unit (IMU), 63: Altitude sensor, 65: LiDAR sensor, 66: Camera, 67: Load sensor, 70: Field, 71: Working area, 72: Headland, 73: Target route, 75: Trees, 76: Power supply device, 78: Storage shed, 100: Agricultural machine (harvester), 101: Body, 102: Traveling device, 103: Harvesting device, 104: Conveying device, 105: Thresher, 106: Tank, 106a: Opening, 106u: Tank top, 107: Discharge device, 108: Straw waste treatment device, 109: Reel, 110: Cabin, 111: Prime mover (engine), 112: Transmission, 117: Discharge outlet, 121: Positioning device (GNSS unit), 122: Inertial measurement unit (IMU), 125: LiDAR sensor, 126: Camera, 127: Obstacle sensor, 131: Operation terminal, 132: Operation switch group, 140: Drive device, 141: Power transmission mechanism, 150: Sensor group, 151: Operation lever sensor, 152: Rotation sensor, 156: Load sensor, 160: Control device, 161: Processor, 162: RAM, 163: ROM, 164: Storage device, 165-167: ECU, 190: Communication device, 200: Work machine, 210: Acquisition device (support device), 211: Nozzle, 212: Suction blower, 215: Tank, 216: Actuator, 217: Actuator, 221: Gripper, 222: Vacuum gripper, 223: Wire, 225: Suction machine, 226: Vacuum hose, 227: Transport vehicle, 228: Discharge hose, 230: Vehicle body, 231: Robot arm, 232: Container,233: Wire (handle), 235: Arm, 240: Unmanned aerial vehicle, 261: Rod, 262: Hook, 301: Tractor, 302: Baler, 310: Harvested product, 320: Transport vehicle (harvester), 330: Package, 400: Terminal device, 420: Input device, 430: Display device, 450: Storage device, 460: Processor, 470: ROM, 480: RAM, 490: Communication device, 600: Management device, 660: Processor, 650: Storage device, 670: ROM, 680: RAM, 690: Communication device,

Claims

1. A management system for managing transportation operations of unmanned aerial vehicles, a communication device that receives package location information indicating a first location where a package containing harvested produce is located in the field; a control device that controls the operation of the unmanned aerial vehicle supporting the structure; Equipped with The control device separates the structure from the unmanned aerial vehicle when the control device causes the unmanned aerial vehicle to support the package.

2. the structure is a work machine, The control device controlling the operation of the unmanned aerial vehicle that supports and transports the work implement to a predetermined area within or around the field; causing the unmanned aerial vehicle to release support for the work machine in the predetermined area; flying the unmanned aerial vehicle with support for the work implement released to the first position; causing the unmanned aerial vehicle to support the package; The management system of claim 1 , further comprising flying the unmanned aerial vehicle carrying the package to a second location different from the first location.

3. the work machine performs work in the predetermined area while being supported by the unmanned aerial vehicle; The management system described in claim 2, wherein the control device causes the unmanned aerial vehicle to release support for the work machine when the work machine is in an area where work can be performed without being supported by the unmanned aerial vehicle.

4. The control device A management system as described in claim 3, which causes the unmanned aerial vehicle to release support for the work machine when the communication device receives a request to transport the package and the work machine is in an area where work can be performed without being supported by the unmanned aerial vehicle.

5. The control device 5. The management system described in claim 4, wherein when the communication device receives a request to transport the package but the work machine is in an area that requires support from the unmanned aerial vehicle, the unmanned aerial vehicle continues to support the work machine performing the work.

6. The management system according to claim 2 , wherein the control device determines whether to cause the unmanned aerial vehicle to release support for the work machine based on the degree of progress of the work performed by the work machine.

7. the communication device further receives package weight information indicating a weight of the package; The control device determining whether the unmanned aerial vehicle is capable of transporting the package to the second location based on the package weight information; A management system as described in any one of claims 2 to 5, wherein, if it is determined that the unmanned aerial vehicle is capable of transporting the package, the unmanned aerial vehicle with the structure separated is flown to the first position to support the package.

8. The management system of claim 7 , wherein the control device determines whether the unmanned aerial vehicle is capable of transporting the package to the second location based further on the remaining amount of an energy source used to fly the unmanned aerial vehicle.

9. An unmanned aerial vehicle that supports and transports a structure, a communication device that receives package location information indicating a first location where a package containing harvested produce is located in the field; a control device that controls the operation of supporting the structure; Equipped with The control device separates the structure from the unmanned aerial vehicle when causing the unmanned aerial vehicle to support the package.

10. A management method for managing transportation operations of unmanned aerial vehicles, comprising: receiving package location information indicating a first location where a package containing harvested produce is located in the field; Controlling the movement of the unmanned aerial vehicle supporting the structure; separating the structure from the unmanned aerial vehicle when the unmanned aerial vehicle is supporting the package; Management methods, including:

11. A computer program that causes a computer to manage transportation operations of unmanned aerial vehicles, The computer program comprises: receiving package location information indicating a first location where a package containing harvested produce is located in the field; Controlling the movement of the unmanned aerial vehicle supporting the structure; separating the structure from the unmanned aerial vehicle when the unmanned aerial vehicle is supporting the package; A computer program that causes the computer to execute the above.