Operation device and work machine

Abstract

An operation device 5 capable of operating a flight body 2 that flies while generating propulsion, and a work device 4 connected to the flight body 2 and capable of performing work on a ground surface, the operation device 5 including: a single device body 50; and operation tools (51, 52), which are provided in the single device body 50 and with which the flight body 2 and the work device 4 can be operated.

Description

Operating device and work machine

[0001] The present invention relates to a work machine that includes a flying object that can be operated by an operating device and a work device.

[0002] 2. Description of the Related Art A conventional work machine includes, for example, an aircraft and a work device connected to the aircraft by a wire, as described in Patent Document 1.

[0003] International Publication No. 2023 / 203670

[0004] The flying object provided in such a work machine is generally operated using an operating device that communicates with the flying object wirelessly.

[0005] Furthermore, a work device that performs work at a location remote from the operator, such as that disclosed in Patent Document 1, is generally operated using an operating device that communicates with the work device wirelessly.

[0006] In other words, the operator needs to use two operating devices to operate the flying vehicle and the work device.

[0007] Therefore, when using a work machine, there is a demand for a work machine that can improve operability when operating the flying body and the work device.

[0008] The operating device of the present invention is an operating device that can operate an aircraft that flies by generating thrust and a work device that is connected to the aircraft and can perform work on the ground surface, and is equipped with a single device main body and an operating tool that is attached to the single device main body and can operate the aircraft and the work device.

[0009] According to this invention, an operating tool provided on a single operating main body is used to operate the flying vehicle and the working device. This configuration allows the operator to operate the flying vehicle and the working device with a single operating device. In other words, when operating the flying vehicle and the working device, the operator does not need to switch between two operating devices: the operating device for the flying vehicle and the operating device for the working device. As a result, it is possible to improve operability when operating the flying vehicle and the working device.

[0010] In the present invention, it is preferable that a first mode switch be provided that can switch between a flight operation mode, which is a mode for operating the flying object, and a work operation mode, which is a mode for operating the work device.

[0011] With this configuration, the operator simply uses the first mode switching device to switch to flight operation mode when operating the aircraft, and to switch to work operation mode when operating the work device, making it possible for the operator to intuitively understand how to switch between the mode for operating the aircraft and the mode for operating the work device.

[0012] In the present invention, it is preferable that a communication device is provided which outputs an operation signal to the flying object when the operating tool is operated in the flight operation mode, and outputs an operation signal to the work device when the operating tool is operated in the work operation mode.

[0013] With this configuration, mode switching can be achieved with a simple configuration in which an operation signal is sent from the operating tool to the flying object in flight operation mode, and an operation signal is sent from the operating tool to the work device in work operation mode.

[0014] In the present invention, the operating tool has an operating stick that can swing in one direction and another direction that intersects with the one direction, and the communication device, when in the flight operation mode, operates the operating stick in the one direction and the other direction, outputs an operating signal corresponding to the operation in the one direction and the other direction to the flying object, and when in the work operation mode, operates the operating stick in the one direction and the other direction, outputs an operating signal corresponding to the operation in the one direction and the other direction to the work device.

[0015] According to this configuration, the operating tool can be configured as an operating tool that is generally used to operate an air vehicle such as a drone. Furthermore, mode switching can be achieved with a simple configuration in which an operating signal is sent from the operating tool to the air vehicle in the flight operation mode, and an operating signal is sent from the operating tool to the work device in the work operation mode.

[0016] In the present invention, it is preferable that the operating tool include a common operating tool that operates both the flying object and the working device simultaneously.

[0017] This configuration makes it possible to easily operate both the flying vehicle and the working device simultaneously by using a common operating tool, which is useful, for example, when you want to simultaneously turn the flying vehicle left and right and the working device left and right.

[0018] In the present invention, it is preferable that a communication device be provided that can receive flight data transmitted from the aircraft and work data transmitted from the work device.

[0019] With this configuration, for example, the work device can receive information such as flight altitude transmitted from the flying object, and the operator can confirm the information before operating the flying object. Similarly, for example, when the work device is a grass cutter, information on the rotation speed of the cutting blade can be received, and the operator can confirm the information before operating the work device.

[0020] In the present invention, it is preferable that the flight data includes video data captured by a flight imaging device provided on the aircraft, and the work data includes video data captured by a work imaging device provided on the work device.

[0021] With this configuration, the operator can operate the flying vehicle and the working device based on the information captured by the imaging devices provided on each of the flying vehicle and the working device.

[0022] In the present invention, it is preferable to provide a display device capable of displaying video data included in the flight data and the work data.

[0023] With this configuration, the operator can check the display device and perform these operations based on the information captured by the imaging devices installed on the aircraft and the work device.

[0024] In the present invention, it is preferable that a second mode switch is provided that can switch between a flight display mode in which the display device displays images captured by the flight imaging device, and a work display mode in which the display device displays images captured by the work imaging device.

[0025] This configuration allows switching between the flight display mode and the work display mode regardless of the switching operation between the flight operation mode and the work operation mode. For example, the operator can check the video captured by the work imaging device while operating the flying vehicle.

[0026] In the present invention, it is preferable that the aircraft operating unit is provided with the operating tool for operating the aircraft, and the work operating unit is provided with the operating tool for operating the work device.

[0027] With this configuration, it is possible to operate the flying object and the working device without switching the operation mode.

[0028] The work machine of the present invention comprises an aircraft that flies by generating thrust, a work device that is connected to the aircraft and can perform work on the ground surface, and the operating device described above.

[0029] According to the present invention, it is possible to configure a work machine that is equipped with an operating device that achieves the above-mentioned effects.

[0030] It is a side view showing an overview of the work machine. It is a block diagram showing a configuration related to the control of the work machine. It is a diagram showing a configuration of an operation device. It is a diagram showing a configuration of an operation device of another embodiment.

[0031] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The following description will be given with reference to the accompanying drawings, in which, unless otherwise specified, the direction of arrow U in the drawings is defined as "up" and the direction of arrow D is defined as "down."

[0032] [Overall Configuration of Work Machine] The following describes the work machine 1 of this embodiment. As shown in Fig. 1 , the work machine 1 includes an aircraft 2, a connecting mechanism 3, and a work device 4. The work machine 1 is configured so that the aircraft 2 can fly while the work device 4 performs agricultural work.

[0033] 2, the airframe 20 of the airframe 2 includes landing gear 20a, a propulsion device 21, a satellite positioning device 22, a communication device 23, a control device 24, and a flight imaging device 25.

[0034] The propulsion devices 21 are propellers that rotate when driven. The drive source of the propulsion devices 21 may be an engine or an electric motor. The number of propulsion devices 21 is preferably three or more, and may be four, five, six, seven or more. The airframe 20 may be equipped with multiple types of propulsion devices 21 that differ in size and output.

[0035] The satellite positioning device 22 receives positioning signals from artificial satellites used in GNSS (Global Navigation Satellite Systems, such as GPS, QZSS, Galileo, GLONASS, and BeiDou). Based on the received positioning signals, the satellite positioning device 22 generates positioning data indicating the position of the aircraft 2 itself.

[0036] The communication device 23 communicates with the operation device 5, which will be described later.

[0037] The control device 24 controls the propulsion device 11, thereby controlling the operation of the aircraft 2. The control device 24 may be configured by one or more ECUs mounted on the aircraft 2.

[0038] The flight imaging device 25 is a camera that is provided on the flying vehicle 2 and is capable of capturing images of the surroundings of the flying vehicle 2.

[0039] 1, the coupling mechanism 3 couples the flying vehicle 2 and the working device 4. The coupling mechanism 3 is composed of four wires 31. The upper ends of the wires 31 are connected to the flying vehicle 2, and the lower ends of the wires 31 are connected to the working device 4.

[0040] Here, the flying object 2 or the working device 4 may be equipped with a winch, and the wire 31 may be configured to be wound up and unwound by the winch.

[0041] [Configuration of Working Device] The working device 4 is a device that can perform work on the ground surface. In this embodiment, the working device 4 is a grass cutter. The working device 4 may also be a cultivator, a seedling planting machine, a sowing machine, an insecticide sprayer, a harvester, a granular insecticide feeder, a fertilizer applicator, or the like.

[0042] As shown in FIG. 2 , the work device 4 includes a traveling device 41 , a work execution device 42 , a communication device 43 , a control device 44 , and a work imaging device 45 .

[0043] 1 and 2 , in this embodiment, the traveling device 41 is a device that contacts the ground surface to travel the working device 4, and is a wheel configured to be able to turn. The traveling device 41 may be a crawler-type traveling device or a leg-type traveling device. Note that in this embodiment, the traveling device 41 is not driven, and the working device 4 moves forward and backward by being pulled by the flying vehicle 2 connected by the coupling mechanism 3.

[0044] The task executing device 42 is a device that actually performs tasks on the ground surface. In this embodiment, the task executing device 42 is a cutting blade. The task executing device 42 may also be a tilling device, a seedling planting device, a sowing device, a spraying device (chemicals, granular chemicals, fertilizer), or a harvesting device.

[0045] As shown in FIG. 2, the communication device 43 communicates with the operation device 5, which will be described later.

[0046] The control device 44 controls the operation of the working device 4. The control device 44 may be configured by one or more ECUs mounted on the working device 4.

[0047] The working device 4 may include an engine, a fuel tank, and a battery as a power source. The working device 4 may be operated by a battery mounted on the working device 4, or may be operated by power supplied from the flying vehicle 2. When power is supplied from the flying vehicle 2 to the working device 4, examples of the power supply method include power supply via an electric wire installed along the connecting mechanism 3, wireless power supply, etc.

[0048] The work imaging device 45 is a camera that is provided on the work device 4 and is capable of capturing images of the surroundings of the work device 4 .

[0049] 1, the work machine 1 includes an operating device 5 that is operated by an operator. In this embodiment, the operating device 5 is a device that is operated by the operator mainly using two operating tools, and the two operating tools are stick-shaped operating sticks that the operator can operate with his or her fingers.

[0050] As shown in Figure 3, the operating device 5 comprises a single device main body 50 and two operating tools provided on the device main body 50 that can be operated by an operator: a first operating tool 51 (corresponding to the "operating stick" of the present invention) and a second operating tool 52 (corresponding to the "operating stick" of the present invention).

[0051] The first operating device 51 and the second operating device 52 are each configured to be swingable in the left-right direction in Figure 3 (corresponding to the "one direction" of the present invention, hereinafter referred to as the "left-right direction") and in the vertical direction in Figure 3 (corresponding to the "other direction" of the present invention, hereinafter referred to as the "up-down direction"), which is a direction intersecting the left-right direction.

[0052] Furthermore, the operating device 5 is equipped with an operating mode switching operating tool 53 (corresponding to the "first mode switching tool" of the present invention) that can switch between a flight operating mode, which is a mode for operating the flying vehicle 2, and a work operating mode, which is a mode for operating the work device 4. Note that, to inform the operator of the current operating mode, the current operating mode may be displayed on a display device 60, which will be described later, but this is not particularly limited.

[0053] 2 , in this embodiment, the operation device 5 includes a communication device 54 and a control device 55. When the operation mode switching device 53 is operated to switch to the flight operation mode, the communication device 54 communicates with the communication device 23 of the flying object 2.

[0054] The control device 55 detects the operations of the first operating device 51, the second operating device 52, and the operation mode switching operating device 53, and controls the communication device 54 to output operation signals corresponding to the operations of these operating devices. The control device 55 may be configured by one or more ECUs mounted on the operating device 5.

[0055] In the flight operation mode, when the first operating tool 51 and the second operating tool 52 of the operating device 5 are operated in the left-right and up-down directions, operation signals corresponding to these operations are output to the flying object 2. Specifically, the output operation signals are transmitted from the communication device 54. The transmitted operation signals are received by the communication device 23 of the flying object 2 and transmitted to the control device 24 of the flying object 2. The control device 24 controls the operation of the propellers and other components of the propulsion device 21 of the flying object 2 based on the transmitted operation signals.

[0056] For example, the first operating device 51 may be operated to cause the aircraft 2 to ascend or descend and turn left or right, and the second operating device 52 may be operated to cause the aircraft 2 to move forward or backward and move left or right, but this is not particularly limited.

[0057] When the operation mode switching tool 53 is operated to switch to the work operation mode, the communication device 54 communicates with the communication device 43 of the work device 4 .

[0058] In the work operation mode, when the first operating tool 51 and the second operating tool 52 of the operation device 5 are operated in the left-right and up-down directions, operation signals corresponding to these operations are output to the work device 4. Specifically, the output operation signals are transmitted from the communication device 54. The transmitted operation signals are received by the communication device 43 of the work device 4 and transmitted to the control device 44 of the work device 4. The control device 44 controls the operation of the work device 4 based on the transmitted operation signals.

[0059] For example, the first operating device 51 may be operated to start or stop the rotation of the cutting blade, which is the work execution device 42 of the work device 4, and to increase or decrease the rotation speed, and the second operating device 52 may be operated to turn the running device 41 of the work device 4 left or right, but this is not particularly limited.

[0060] With the above-described configuration, the first operating tool 51 and the second operating tool 52 of the operating device 5 are configured as common operating tools that are capable of operating the flying object 2 in the flight operation mode and are capable of operating the work device 4 in the work operation mode.

[0061] [Configuration of the Display Device of the Control Device] The control device 5 includes a display device 60 that can display images captured by the flight imaging device 25 and images captured by the work imaging device 45 .

[0062] In the flight operation mode, data transmitted from the communication device 23 of the flying object 2 is received by the communication device 54 of the control device 5. Here, the data transmitted from the communication device 23 of the flying object 2 is referred to as flight data. The flight data includes video data captured by the flight imaging device 25. The display device 60 displays the video captured by the flight imaging device 25 in real time based on the transmitted video data.

[0063] In the work operation mode, data transmitted from the communication device 43 of the work device 4 is received by the communication device 54 of the operation device 5. Here, the data transmitted from the communication device 43 of the work device 4 is referred to as work data. The work data includes video data captured by the work imaging device 45. The display device 60 displays the video captured by the work imaging device 45 in real time based on the transmitted video data.

[0064] Other Embodiments Hereinafter, other embodiments in which the above-described embodiment is modified will be described.

[0065] (1) In the above embodiment, the display device 60 displays images captured by the flight imaging device 25 in the flight operation mode and images captured by the work imaging device 45 in the work operation mode. However, the present invention is not limited to the above embodiment. For example, the display device 60 may be provided with a display mode switching device that can switch between a flight display mode in which images captured by the flight imaging device 25 are displayed on the display device 60 and a work display mode in which images captured by the work imaging device 45 are displayed on the display device 60. In this case, the display mode may be switched by a display mode switching device (corresponding to the “second mode switching device” of the present invention) separately from the operation mode switching by the operation mode switching device 53.

[0066] (2) In the above embodiment, the operating device 5 is provided with two operating tools (a first operating tool 51 and a second operating tool 52), but the present invention is not limited to the above embodiment. For example, as shown in Fig. 4, the operating device 5 may be provided with an aircraft operating unit 5A and a work operating unit 5B, and the aircraft operating unit 5A may be provided with a first flight operating tool 51a and a second flight operating tool 52a for operating the aircraft 2, and the work operating unit 5B may be provided with a first work operating tool 51b and a second work operating tool 52b for operating the work device 4.

[0067] Furthermore, for example, in addition to the first operating device 51 and the second operating device 52, or instead of the first operating device 51 and the second operating device 52, a common operating device may be provided that operates both the flying vehicle 2 and the working device 4 simultaneously.

[0068] (3) In the above embodiment, an example configuration has been described in which the operation device 5 communicates with the flying vehicle 2 in flight operation mode and the communication device 54 communicates with the work device 4 in work operation mode, but the present invention is not limited to the above embodiment. For example, the communication device 23 of the flying vehicle 2 and the communication device 43 of the work device 4 may communicate with each other, and the operation device 5 may be configured to communicate with the flying vehicle 2 via the work device 4 in flight operation mode. Furthermore, the operation device 5 may be configured to communicate with the work device 4 via the flying vehicle 2 in work operation mode.

[0069] (4) In the above embodiment, the operating device 5 is described as a device that the operator primarily controls using two operating tools. However, the present invention is not limited to the above embodiment. For example, the operating device 5 may be a smartphone or tablet that displays operating images corresponding to the first operating tool 51 and the second operating tool 52 of the present invention on an operating screen. In other words, in this configuration, the operator can operate the aircraft 2 and the work device 4 using operating images corresponding to the first operating tool 51 and the second operating tool 52 displayed on the operating screen.

[0070] (5) In the above embodiment, the traveling device 41 of the working device 4 is described as being configured not to be driven, but the present invention is not limited to the above embodiment. For example, the working device 4 may be configured to be self-propelled by driving the traveling device 41. In this case, the operating device 5 may be configured to operate the traveling device 41 in the work operation mode, and to be able to operate the working device 4 to move forward / backward and turn left / right, etc.

[0071] (6) In the above embodiment, the working device 4 is described as having a traveling device 41 and traveling in contact with the ground surface. However, the present invention is not limited to the above embodiment. For example, the working device 4 may be configured to be suspended from the flying vehicle 2 and perform work such as sowing seeds on the ground surface without contacting the ground surface. In this case, the operating device 5 may be configured to operate only the work performing device 42 when in the work operation mode.

[0072] (7) In the above embodiment, the working machine 1 is described as including the flying vehicle 2, the connecting mechanism 3, and the working device 4, but the present invention is not limited to the above embodiment. For example, instead of the flying vehicle 2, an underwater drone or the like configured to navigate underwater may be used.

[0073] The configurations disclosed in the above embodiments (including other embodiments, the same applies hereinafter) can be applied in combination with the configurations disclosed in other embodiments, unless a contradiction occurs. Furthermore, the embodiments disclosed in this specification are merely examples, and the present invention is not limited to these, and can be modified as appropriate within the scope of the purpose of the present invention.

[0074] The present invention can be used in a work machine that includes a flying object and a work device that can be operated by an operating device.

[0075] 1: Work machine 2: Air vehicle 4: Work device 5: Operation device 25: Flight imaging device (camera) 45: Work imaging device (camera) 50: Device body 51: First operation tool (operation stick) 52: Second operation tool (operation stick) 53: Operation mode switching operation tool (operation tool, first mode switching tool) 60: Display device 5A: Air vehicle operation unit 5B: Work operation unit

Claims

1. An operating device that can operate a flying object that generates thrust and flies, and a working device that is connected to the flying object and can perform work on the ground surface, the operating device comprising: a single device body; and an operating tool provided on the single device body and capable of operating the flying object and the working device.

2. The operating device according to claim 1, further comprising a first mode switch capable of switching between a flight operation mode, which is a mode of operating the flying object, and a work operation mode, which is a mode of operating the working device.

3. The operating device according to claim 2, further comprising a communication device that outputs an operation signal to the flying object when the operating tool is operated in the flight operation mode, and outputs an operation signal to the working device when the operating tool is operated in the work operation mode.

4. The operating tool has an operating stick that can swing in one direction and another direction that intersects the one direction. The communication device outputs an operation signal corresponding to the operation in the one direction and the other direction to the flying object when the operating stick is operated in the one direction and the other direction in the flight operation mode, and outputs an operation signal corresponding to the operation in the one direction and the other direction to the working device when the operating stick is operated in the one direction and the other direction in the work operation mode. The operating device according to claim 3.

5. The operating device according to claim 1, wherein the operating tool has a common operating tool for operating both the flying object and the working device at the same time.

6. The operating device according to claim 1 or 2, further comprising a communication device capable of receiving flight data transmitted from the flying object and work data transmitted from the working device.

7. The flight data includes video data captured by a flight imaging device provided on the flying object, and the work data includes video data captured by a work imaging device provided on the working device. The operating device according to claim 6.

8. The operating device according to claim 7, further comprising a display device capable of displaying the video data included in the flight data and the work data.

9. The operating device according to claim 8, further comprising a second mode switch capable of switching between a flight display mode, which is a mode of displaying the video captured by the flight imaging device on the display device, and a work display mode, which is a mode of displaying the video captured by the work imaging device on the display device.

10. The operating device according to claim 1, further comprising a flight body operating unit provided with the operating tool for operating the flight body, and a work operating unit provided with the operating tool for operating the work device.

11. A working machine comprising: a flight body that generates thrust and flies; a work device connected to the flight body and capable of performing work on the ground surface; and the operating device according to any one of claims 1 to 10.

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