Agricultural flight device

Abstract

The present invention provides an agricultural flight device capable of performing, in a flight state, predetermined work on a work object located below.　The present invention is provided with: a flying body (2) having a body (20) and a generation device (21) that is connected to the body and generates flight propulsion force to be applied to the body; and a support member (5) that is connected to the flying body and is capable of supporting a work device (3) below the body.

Description

agricultural flying equipment

[0001] The present invention relates to an agricultural flying device equipped with a working device for performing a predetermined task.

[0002] In recent years, the development of flying devices such as multicopters with multiple rotating wings has progressed, and applications for these devices are being developed. As a result, these types of flying devices are also being used in the agricultural field (see Patent Document 1).

[0003] Japanese Patent Publication No. JP-A-10-113008

[0004] However, the uses of this type of flying device are still in their infancy, and even in the agricultural field, there are no devices yet available that are specialized for agricultural work. For example, as disclosed in Patent Document 1, they are limited to general uses, such as capturing images of a field with an observation camera to monitor the field. In other words, there are no devices that can directly handle work objects (e.g., seedlings or crops) located below while flying, and from the perspective of improving work efficiency, the development of agricultural equipment using flying devices is eagerly awaited.

[0005] SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide an agricultural flying device that can perform predetermined tasks on a work object below while in flight.

[0006] The agricultural flying device of the present invention comprises an aircraft having a main body, a generating device connected to the main body and generating flight propulsion force to be applied to the main body, and a support member connected to the aircraft, the support member being capable of supporting a working device below the main body.

[0007] The agricultural flight device may include a work implement for performing agricultural work, and the support member may connect the main body and the work implement.

[0008] The flying vehicle may include a skid, and the support member may support the working device so as to be located between the main body and a lower end of the skid.

[0009] The lower end of the skid may be repositionable above the lower end of the work device.

[0010] The support member may be configured to support multiple locations of the work device spaced apart in a first direction perpendicular to the vertical direction, and multiple locations of the work device spaced apart in a second direction perpendicular to the vertical direction and the first direction.

[0011] The flying vehicle has a battery for storing electricity, the generating device is a rotary wing device that is driven by electricity from the battery and generates the flight propulsion force, and the working device includes an electric actuator for performing a predetermined function, and the electric actuator may be operated by electricity supplied from the battery.

[0012] The working device comprises a seedling holding device having a pair of clamping members that can be switched between a first state in which they approach each other and can hold at least a portion of the leaves and stems of the seedlings, and a second state in which they move away from each other and release the first state, by moving in a first direction perpendicular to the up-down direction, and a drive device that switches the seedling holding device between the first state and the second state, and the drive device may have the electric actuator and a moving mechanism that moves at least one of the pair of clamping members in the first direction by driving the electric actuator.

[0013] The agricultural flying device may be equipped with a sensing device that detects the presence or absence of the seedlings between the pair of clamping members, and the drive device may allow one of the clamping members to move in the first direction when the sensing device detects the seedlings between the pair of clamping members.

[0014] The rotary blade device includes a propeller that can rotate around an axis extending in the vertical direction, and a motor that receives power from the battery and drives the propeller to rotate, and the propeller may be positioned above the seedling holding device.

[0015] The rotary blade device may have a plurality of propellers arranged around the main body, and the seedling holding device may be positioned closer to the main body than the rotation centers of each of the plurality of propellers.

[0016] The agricultural flying device comprises a pair of stays as the support members, the pair of stays being spaced apart in the first direction, each of the pair of stays including a first connecting portion connected to the main body of the flying body, a pair of inclined portions extending from both ends of the first connecting portion in a second direction perpendicular to the first direction and the vertical direction and inclining downward in the vertical direction toward the tip, and a pair of second connecting portions fixed to the respective tip portions of the pair of inclined portions, each of which is connected to the working device, and the distance in the second direction between the pair of inclined portions may be wider toward the working device than toward the flying body.

[0017] The work implement may perform at least one of tilling, sowing, and mowing.

[0018] According to the present invention, predetermined work can be performed on a work object located below while in flight.

[0019] FIG. 1 is an overall perspective view of an agricultural flying device including an agricultural seedling holding device according to one embodiment of the present invention. FIG. 2 is a plan view of the agricultural flying device according to the same embodiment. FIG. 3 is a front view of the agricultural flying device according to the same embodiment. FIG. 4 is a side view of the agricultural flying device according to the same embodiment. FIG. 5 is an exploded perspective view of the agricultural flying device according to the same embodiment. FIG. 6 is a perspective view of the agricultural seedling holding device (seedling holding device) of the agricultural flying device according to the same embodiment. FIG. 7 is a side view of the agricultural seedling holding device (seedling holding device) of the agricultural flying device according to the same embodiment. FIG. 8 is a plan view of the agricultural seedling holding device (seedling holding device) of the agricultural flying device according to the same embodiment. FIG. 9 is a schematic cross-sectional view taken along the line IX-IX in FIG. 8. FIG. 10 is a schematic explanatory diagram illustrating a movement mechanism (second mechanism) of the agricultural seedling holding device (seedling holding device) of the agricultural flying device according to the same embodiment. FIG. 11 is a schematic perspective view of a seedling (seedling raising mat) to be held by the agricultural seedling holding device (seedling holding device) of the agricultural flying device according to the same embodiment. FIG. 12 is a schematic perspective view showing a usage state of seedlings (seedling raising mats) to be held by the agricultural seedling holding device (seedling holding device) of the agricultural flying device according to the embodiment. FIG. 13 is an explanatory diagram of a transporting method for transporting seedlings by the agricultural flying device according to the embodiment. FIG. 14 is an explanatory diagram of a method for transporting seedlings by the agricultural flying device according to the embodiment, which is an explanatory diagram of a transporting method using a flight different from the transporting method of FIG. 13. FIG. 15 is a front view of the agricultural flying device according to the embodiment in a state of preparation for flight. FIG. 16 is a front view of the agricultural flying device according to the embodiment in a state where it has reached above the seedlings (seedling raising mats). FIG. 17 is a front view illustrating the arrangement of the agricultural seedling holding device (seedling holding device) of the agricultural flying device according to the embodiment and the seedlings (seedling raising mats) to be held. FIG. 18 is a side view illustrating the arrangement of the agricultural seedling holding device (seedling holding device) of the agricultural flying device according to the embodiment and the seedlings (seedling raising mats) to be held. FIG. 19 is an explanatory diagram illustrating changes in the attitude of the skids of the agricultural flying device according to the embodiment. FIG. 20 is a front view of the agricultural flight device according to the embodiment, in which a seedling is held in the agricultural seedling holding device (seedling holding device).Fig. 21 is a front view of the agricultural flying device according to the embodiment, in which a seedling is held in the agricultural seedling holding device (seedling holding device) and the flying body is flown to lift the seedling. Fig. 22 is a schematic cross-sectional view of an agricultural seedling holding device according to another embodiment of the present invention. Fig. 23 is a schematic cross-sectional view of an agricultural seedling holding device according to yet another embodiment of the present invention. Fig. 24 is a front view of an agricultural flying device according to yet another embodiment of the present invention.

[0020] An embodiment of the present invention will be described below with reference to the drawings. In the following description, a direction perpendicular to the vertical direction will be referred to as a first direction, and a direction perpendicular to the vertical direction and the first direction will be referred to as a second direction. Accordingly, in each drawing, the first direction, the second direction, and the third direction are additionally illustrated using two or three orthogonal axes.

[0021] 1 to 5, agricultural flying device 1 comprises flying vehicle 2 having main body 20 and generator 21 that generates flight propulsion to impart to main body 20, and working device 3 that performs a predetermined function on a work target. Agricultural flying device 1 also comprises support member 5 that is connected to flying vehicle 2 and is capable of supporting working device 3 below main body 20.

[0022] In this embodiment, the aircraft 2 has a main body 20, a generator 21, and skids 22 extending downward from the main body 20. The aircraft 2 has brackets 23 to which electrical equipment 4 can be attached. The aircraft 2 has a battery B for storing power (see FIGS. 1 and 2). The aircraft 2 also has electrical equipment for controlling flight (for example, a control board CB (see FIGS. 1 and 2) that controls the generator 21, a GPS antenna, an attitude control device, and various sensors (gyro sensors, acceleration sensors, etc.)).

[0023] The main body 20 has a main body portion 200 formed in a predetermined three-dimensional shape and support arm portions 201... that connect and support the generator 21, and the support arm portions 201... are connected to the main body portion 200.

[0024] The main body 200 is hollow and has an internal space. The shape (three-dimensional shape) of the main body 200 can be set as appropriate. For example, the main body 200 may be rectangular in plan view, and may have a cubic or rectangular parallelepiped shape as a whole.

[0025] In this embodiment, the main body portion 200 is formed in a circular (perfect circle) shape in a plan view. That is, the outer shape of the main body portion 200 when viewed from the third direction is formed in a circular shape.

[0026] Specifically, the main body 200 includes a circular peripheral wall 200a having a centerline CL1 (hereinafter referred to as the vertical centerline) extending in the third direction, a top portion 200b that closes the upper end opening of the peripheral wall 200a in the third direction, and a bottom portion 200c that closes the lower end opening of the peripheral wall 200a in the third direction. In this embodiment, the top portion 200b bulges outward as it approaches the center (the center of the circle). That is, the top portion 200b is dome-shaped. In contrast, the bottom portion 200c is flat. The peripheral wall 200a, the top portion 200b, and the bottom portion 200c define an internal space. This internal space accommodates a battery B and electrical devices that control flight (e.g., a control board CB that controls the generator 21, a GPS antenna, an attitude control device, various sensors (e.g., gyro sensors, acceleration sensors), transceivers, etc.).

[0027] In this embodiment, coupling portions 202, 202 that couple the skid 22 are provided on the lower portion of the main body portion 200. That is, the main body portion 200 includes coupling portions 202, 202 that couple the skid 22 rotatably about an axis extending in the second direction below the outer surface (lower surface) of the bottom portion 200 c.

[0028] In this embodiment, the aircraft 2 includes a pair of skids 22. The pair of skids 22 are spaced apart in the first direction. Accordingly, the main body portion 200 includes a pair of connecting portions 202 for connecting the pair of skids 22 to the main body 20.

[0029] The pair of connecting portions 202, 202 are spaced apart in the first direction. Specifically, the pair of connecting portions 202, 202 are symmetrically arranged with respect to an imaginary plane that passes through the center position (the center of the top portion 200 b) of the main body 20 (main body portion 200) in the first direction and extends in the second and third directions.

[0030] 4, each of the pair of coupling portions 202 includes a pair of coupling pieces 202a arranged at an interval in the second direction, each of which has a through hole (not numbered) that penetrates concentrically in the second direction. With skids 22 (support legs 221 described later) interposed between the pair of coupling pieces 202a, each of the coupling portions 202 is configured such that an axis (pin) P extending in the second direction is inserted through the through hole of the pair of coupling pieces 202a and the skids 22, thereby rotatably coupling the skids 22 about the axis P.

[0031] 3 , the main body 20 includes a connecting member 203 that integrates a pair of connecting portions 202, 202 spaced apart in the first direction. The connecting member 203 is formed by bending a plate material, and both ends in the first direction constitute the connecting portions 202, 202. That is, both ends in the first direction of the connecting member 203 are provided with through-holes that penetrate in the second direction and into which shafts P that connect the skid 22 are inserted. In this embodiment, the connecting member 203 integrates a pair of connecting pieces 202 a, 202 a of each connecting portion 202, 202.

[0032] Specifically, the connecting member 203 is formed by bending a plate material of a predetermined expanded shape, which has a width large enough to accommodate a pair of connecting portions 202, 202 at both ends in the first direction, into a U-shape, and by cutting out a predetermined portion, as shown in Figure 4, a pair of connecting pieces 202a, 202a that are each in an upright state and facing each other in the second direction, and a connecting piece 202b that connects the pair of connecting pieces 202a, 202a in the second direction are formed.

[0033] In the connecting member 203, the upper end portions of the pair of connecting pieces 202 a, 202 a in the third direction are bent, and each of the pair of connecting pieces 202 a, 202 a is formed in an L shape when viewed from the first direction. That is, the pair of connecting pieces 202 a, 202 a includes, at their upper ends, protruding attachment pieces 203 c that protrude outward in the second direction and are fixed (for example, by screws) to the underside of the main body portion 200 (the outer surface of the bottom portion 200 c).

[0034] A through-hole (a hole for inserting the shaft P) is drilled concentrically in the second direction in each of the pair of connecting pieces 202a, 202a, thereby forming a pair of connecting portions 202, 202 at both ends of the connecting member 203 in the first direction. The connecting piece 202b extends in the second direction and connects the pair of connecting pieces 202a, 202a. As described above, the attachment piece 203c is fixed to the main body portion 200 (bottom portion 200c), so that the connecting piece 202b is also fixed to the main body portion 200. In the connecting member 203 of this embodiment, a pair of connecting pieces 202b are formed spaced apart in the first direction.

[0035] With the connecting member 203 (mounting pieces 203c) fixed at a predetermined position relative to the main body portion 200, the pair of connecting pieces 202b are spaced a predetermined distance apart in the first direction and arranged symmetrically with respect to an imaginary plane extending in the second and third directions along the longitudinal centerline CL1. Accordingly, each of the pair of connecting pieces 202b not only connects (couples) the pair of connecting pieces 202a, 202a (the pair of connecting pieces 202a, 202a) to each other, but also serves as an attaching portion 204 for attaching a pair of stays 5, 5 described below serving as the support member 5. That is, the main body 20 has a pair of attaching portions 204 for attaching the pair of stays 5, 5 to the underside of the main body portion 200. Because the connecting member 203 is made of metal, the pair of attaching portions 204 are also made of metal. As a result, the stays 5, 5 are firmly fixed to the pair of attaching portions 204 via screw members.

[0036] In this embodiment, the agricultural flying device 1 includes a pair of stays 5, 5 as the support member 5. As shown in Figure 3, the pair of mounting portions 204 (connecting pieces 202b) are located inward (closer to the longitudinal center line CL1) than the pair of connecting portions 202, 202. Accordingly, the pair of stays 5, 5 attached to the pair of mounting portions 204 are located between the pair of skids 22, 22 connected to the pair of connecting portions 202, 202, respectively.

[0037] As shown in FIG. 1 , the support arms 201 extend straight from the main body 200 in a direction intersecting the longitudinal centerline CL1. More specifically, the main body 20 of this embodiment has a plurality of support arms 201 extending from the peripheral wall 200a of the main body 200 in a direction intersecting the third direction, the support arms 201 being arranged radially around the center of the top portion 200b of the main body 200 as viewed from the third direction. Each of the support arms 201 has a base end connected to the peripheral wall 200a and a tip end opposite the base end in the direction of extension from the peripheral wall 200a. Each of the support arms 201 is hollow and has an internal space extending from the tip end to the base end. Accordingly, an opening is formed in the peripheral wall 200a of the main body 200, connecting the internal space of the main body 200 with the internal space of the support arms 201. As described above, in this embodiment, the battery B is housed within the main body 200, but for example, to ensure power capacity, a battery B may be housed in the internal space of each of the multiple connections.

[0038] As shown in FIG. 2 , the multiple support arms 201 are arranged at equal intervals around the vertical center line CL1. In this embodiment, the main body 20 has four support arms 201. Accordingly, each of the four support arms 201 is located between a center line CL2 (hereinafter referred to as a first horizontal center line) that extends in a first direction perpendicular to the vertical center line CL1 and a center line CL3 (hereinafter referred to as a second horizontal center line) that is perpendicular to the vertical center line CL1 and the first horizontal center line CL2. In other words, each of the four support arms 201 is arranged at an angle of 45° with respect to the first horizontal center line CL2 or the second horizontal center line CL3.

[0039] 3 and 4, the base ends of the support arms 201 are disposed at the same height (position) in the third direction. That is, the base ends of the support arms 201 are located on the same imaginary plane perpendicular to the vertical center line CL1. Furthermore, the tip ends of the support arms 201 are located on the same imaginary plane perpendicular to the vertical center line CL1.

[0040] In this embodiment, the distal end of each of the support arms 201 is positioned higher in the third direction than the proximal end of each of the support arms 201. That is, the support arms 201 are provided with an outwardly tilted distal end. As shown in FIG. 2 , the distal ends of the support arms 201 are positioned on the same imaginary circle VC (imaginary perfect circle) centered at the center (center) of the top portion 200b as viewed from the third direction. Specifically, an electric motor 211 of a rotary blade device (described later), which serves as the generator 21, is fixed to the distal end of each of the support arms 201. The output shaft of the electric motor 211 protrudes upward. Accordingly, the attachment positions of the electric motor 211 relative to the distal ends of the support arms 201 are set so that the center of the output shaft of the electric motor 211 is positioned on the same imaginary circle VC (imaginary perfect circle) centered at the center (center) of the main body portion 200 (top portion 200b) as viewed from the third direction.

[0041] The generator 21 is connected to the main body 20. In this embodiment, the generator 21 is a rotary wing device that provides flight propulsion to the main body 20. The rotary wing device is driven by power from the battery B. Specifically, the rotary wing device includes a propeller 210 that rotates around a predetermined axis, and an electric motor 211 that receives power from the battery B and drives the propeller 210 to rotate.

[0042] The rotary wing device includes a plurality of propellers 210 arranged around the main body 20. Accordingly, the rotary wing device includes a plurality of electric motors 211 corresponding to the number of propellers 210. In other words, the flying object 2 of this embodiment is a multicopter that can fly unmanned using the multiple propellers 210, and is called, for example, a drone.

[0043] In this embodiment, the rotary wing device includes four propellers 210 and correspondingly, four electric motors 211. That is, each of the four electric motors 211 is fixed to a respective tip of the four support arm portions 201. In this embodiment, since the main body 20 has four support arm portions 201, four electric motors 211 are provided corresponding to the number of tip portions of the support arm portions 201, and four propellers 210 driven by the electric motors 211 are also provided. Each of the four propellers 210 is disposed above the working device 3 (the holding device 31 described later).

[0044] In this embodiment, each of the multiple (four) electric motors 211 is a DC (direct current) motor, and receives power from a battery B housed in the main body portion 200. That is, each of the multiple electric motors 211 is electrically connected to the battery B in the main body portion 200 by a power line (electric wire) inserted into the corresponding support arm portion 201.

[0045] The propeller 210 is fixed to the output shaft of the electric motor 211. The electric motor 211 is fixed to the support arm unit 201 (tip end) with the axis of the output shaft positioned in the third direction and the output shaft protruding upward. Accordingly, the propeller 210 fixed to the output shaft of the electric motor 211 rotates around the output shaft (axis extending in the third direction) of the electric motor 211. Furthermore, as described above, the center of the output shaft of the electric motor 211 is positioned on an imaginary circle VC (imaginary perfect circle) centered on the center of the main body unit 200 in a plan view (as seen from the third direction), and therefore the rotation centers of each of the multiple (four) propellers 210 are also positioned on the imaginary circle VC (imaginary perfect circle).

[0046] The arrangement of the four propellers 210 and the four electric motors 211 is the same in relation to the corresponding support arm units 201. In the illustrated aircraft 2, the propeller 210 has two blades extending symmetrically from a central portion including the center of rotation, but the propeller 210 may have multiple blades arranged at equal intervals around the center of rotation from a central portion including the center of rotation (for example, three blades, four blades, etc.).

[0047] The rotary wing device (generator 21) of this embodiment has four (an even number) propellers 210, and therefore drives the electric motor 211 to rotate adjacent propellers 210 in the circumferential direction of the imaginary circle VC in opposite directions. As a result, the rotary wing device (generator 21) generates flight propulsion (lift) for the main body 20 to fly through the rotation of each of the multiple propellers 210.

[0048] The pair of skids 22, 22 come into contact with the ground when the aircraft 2 (multicopter) lands, supporting the main body 20 on the ground. That is, each of the pair of skids 22, 22 has a ground contact portion 220 at its lower end.

[0049] Specifically, each of the pair of skids 22, 22 has a support leg 221 connected to the main body 20 (main body portion 200) and a ground portion 220 connected to the support leg 221, as shown in Figures 3 and 4.

[0050] The support legs 221 extend in one direction and have a first end in one direction and a second end on the opposite side of the first direction. The first ends of the support legs 221 are connected to the main body 20. That is, the first ends of the support legs 221 are connected to the connecting portions 202, 202 located below the main body portion 200. In contrast, the second ends of the support legs 221 are connected to the grounding portion 220. The grounding portion 220 extends in the second direction. The second ends of the support legs 221 are connected to the center of the grounding portion 220 in the second direction. The grounding portion 220 has a rigid shaft portion 220a connected to the support leg 221 and a cushion portion 220b fitted onto the shaft portion 220a. The cushion portions 220b are provided on both sides of the center of the support legs 221 of the shaft portion (see FIG. 4).

[0051] As shown in Figure 3, the distance in the first direction between at least the lower ends (ground contact portions 220) of the pair of skids 22, 22 is set wider than that of the seedling mat M. In this embodiment, the pair of skids 22, 22 (support legs 221) are arranged so that the distance in the first direction increases as they extend downward from the main body 20. In other words, the pair of skids 22, 22 are arranged so that they widen when viewed from the second direction.

[0052] In this embodiment, the vertical distance from the downward-facing outer surface (hereinafter simply referred to as the lower surface) of the main body 20 (main body portion 200) to the lower ends (ground contact portions 220) of each of the pair of skids 22, 22 can be changed.

[0053] In this embodiment, as shown in FIG. 3 , the upper ends (first ends of the support legs 221) of the pair of skids 22 are connected to the connecting portion 202 of the main body 20 so as to be rotatable around an axis (axis P) extending in the second direction. Thus, by rotating each of the pair of skids 22 from a state in which they extend downward from the main body 20 around the axis (axis P), the distances L1 to L2 in the third direction from the main body 20 (the underside of the main body portion 200) to the respective lower ends of the pair of skids 22 are changed. In other words, when the grounding portion 220 is landed, the height from the landing surface of the grounding portion 220 to the main body 20 can be changed. In this embodiment, the grounding portion 220 can be positioned above the seedling holding device 3. In other words, when the flying object 2 is flying (e.g., hovering), the seedling holding device 3 can approach the ground (seedlings Se or seedling material M on the ground) without being obstructed by the skids 22.

[0054] In this way, when each of the pair of skids 22, 22 is rotatable around an axis extending in the second direction at the first end of the support leg 221, the pair of skids 22, 22 may be configured to be able to maintain their position at any rotation angle, or may be able to maintain their position at multiple preset rotation angles. That is, each of the pair of skids 22, 22 may be fixable (non-rotatable) at any angle, or may be fixable (non-rotatable) at each of multiple preset rotation angles. As a means for fixing the skids 22, 22 (a means for maintaining their position), a fixing bolt that physically prevents the rotation of the skids 22, 22 (for example, by frictional resistance or mechanical engagement), a ratchet mechanism that maintains the position of the skids 22, 22 in multiple stages, or a ball-lock mechanism may be used.

[0055] The bracket 23 protrudes downward from the lower surface of the main body 20. More specifically, the bracket 23 is attached to the lower surface (the outer surface of the bottom portion 200c) of one end of the main body 20 in the second direction and extends downward in the third direction. As shown in FIG. 4 , in this embodiment, the electrical equipment 4 is attached to the lower end of the bracket 23. The bracket 23 and the electrical equipment 4 are connected via male screw members. That is, the bracket 23 has holes through which the male screw members for fastening the electrical equipment 4 are inserted. In this embodiment, the retaining device 31 is disposed below the main body 20 at a distance from the main body 20. Based on this premise, the electrical equipment 4 is disposed between the main body 20 and the retaining device 31, which are vertically aligned, and the bracket 23 is also positioned between the main body 20 and the retaining device 31, which are vertically aligned. That is, based on the premise that the electrical equipment 4 is disposed overlapping one surface of the bracket, the lower end of the bracket 23 is positioned not to reach the retaining device 31 in order to ensure space for the attached electrical equipment 4.

[0056] The electrical component 4 operates using power supplied from the battery B. In this embodiment, the electrical component 4 is an imaging device (camera). The bracket 23 is configured to allow an imaging device to be attached thereto, with the imaging device positioned between the pair of stays 5 and the imaging direction of the imaging device facing the second direction, by virtue of the above-described arrangement. Note that while the electrical component 4 in this embodiment is an imaging device (camera), it may also be, for example, a distance measurement sensor instead of an imaging device (camera). Even in this case, if the bracket 23 is configured to allow a distance measurement sensor to be attached thereto, with the distance measurement sensor positioned between the pair of stays 5 and the measurement direction of the distance measurement sensor facing the second direction, distance measurement can be performed properly without being obstructed by the stays 5 or the skids 22, and the measurement results can be used to improve the flight of the aircraft 2.

[0057] In this embodiment, an antenna At is attached to the other end in the second direction of the underside (bottom 200c) of the main body 20. The antenna At is connected via a coaxial cable to a transceiver inside the main body 20. As a result, in addition to the electrical equipment 4, the antenna At is also located between the pair of stays 5, 5, and between the main body 20 and the lower end of the skid 22 (see FIG. 4).

[0058] The flying vehicle 2 is as described above, and is equipped with a rotary wing device including multiple propellers 210 as the generator 21, and the main body 20 (main body section 200) is equipped with electrical equipment (particularly, a transceiver, etc.), so it can fly by remote control via wireless or wired communication. Note that the flying vehicle 2 is not limited to one that can fly by remote control via wireless or wired communication, but may also be one that flies fully automatically by autonomous control.

[0059] The support member 5 can support multiple locations on the working device 3 (agricultural seedling holding device 3). Specifically, as shown in FIGS. 4 and 5 , the agricultural flying device 1 of this embodiment includes a pair of stays 5, 5 as support members 5 for connecting the flying vehicle 2 to the working device 3, i.e., the agricultural seedling holding device 3 (holding device 31), as described above. That is, the agricultural flying device 1 includes a pair of stays 5, 5 spaced apart in the first direction and connecting the flying vehicle 2 to the working device 3 (holding device 31). The agricultural flying device 1 also includes a sensing device 34 for detecting the work target, as shown in FIG. 6 . In this embodiment, the pair of stays 5, 5 and the sensing device 34 are fixed to the agricultural seedling holding device 3. That is, the pair of stays 5, 5 and the sensing device 34 are included in the agricultural seedling holding device 3, and the agricultural seedling holding device 3 can be attached to or detached from the flying vehicle 2 by removing the pair of stays 5, 5 from the main body 20 (mounting portion).

[0060] 2 to 4, the centers of gravity CG1, CG2 of the main body 20 and the holding device 31 coincide or nearly coincide when viewed from the third direction. That is, the pair of stays 5, 5 connect the main body 20 and the agricultural seedling holding device 3 in a state where the centers of gravity CG1, CG2 of the main body 20 and the agricultural seedling holding device 3 coincide or nearly coincide when viewed from the third direction.

[0061] As shown in Figures 5 and 6, the stays 5, 5 include a first connecting portion 50, 50 that connects to the main body 20 of the aircraft 2, a pair of inclined portions 521, 521 that extend from both ends of the first connecting portion 50, 50 in the second direction and slope downward in the third direction toward the tip, and a pair of second connecting portions 51, 51 that are fixed to the respective tip portions of the pair of inclined portions 521, 521, and each of which is connected to the agricultural seedling holding device 3 (frame 33 described later).

[0062] More specifically, in this embodiment, each of the pair of stays 5, 5 includes a first connecting portion 50 that connects to the main body 20 of the aircraft 2, a second connecting portion 51, 51 that connects to the agricultural seedling holding device 3 (frame 33 described later), and a stay main body 52 that connects the second connecting portion 51, 51 to the first connecting portion 50.

[0063] In each of the pair of stays 5, 5, the first connecting portion 50 is disposed above the second connecting portions 51, 51. Accordingly, the second connecting portions 51, 51 are disposed below the first connecting portion 50.

[0064] In this embodiment, each of the pair of stays 5 includes a pair (two) of second connecting portions 51. The pair of second connecting portions 51 are spaced apart in the second direction. Accordingly, the first connecting portion 50 is positioned a predetermined distance above the second connecting portions 51 in the third direction and at a midpoint between the two second connecting portions 51. The first connecting portion 50 and the pair of second connecting portions 51 are each made of metal. The first connecting portion 50 is connected to the mounting portion 204 of the connecting member 203 attached to the main body 20 (main body portion 200) of the aircraft 2 via a male screw member. In contrast, the pair of second connecting portions 51 are connected to the frame 33 of the agricultural seedling holding device 3 via a male screw member.

[0065] The stay body 52 is made by bending a metal rod, and has a straight portion 520 to which the first connecting portion 50 is fixed, the straight portion 520 extending in the second direction, and a pair of inclined portions 521, 521 extending from both ends of the straight portion 520 and to whose tip portions the second connecting portions 51, 51 are fixed, the pair of inclined portions 521, 521 extending in the second direction when viewed from the third direction, and being positioned downward in the third direction and inclined as they move away from the straight portion 520.

[0066] A first connecting portion 50 is connected to the straight portion 520, and second connecting portions 51 are connected to the respective ends of the pair of inclined portions 521. The pair of inclined portions 521 have the same length and inclination angle and are disposed symmetrically with respect to an imaginary plane passing through the center of the straight portion 520 in the second direction. The inclination angle of each of the pair of inclined portions 521 with respect to the straight portion 520 is set, in relation to the overall length of the inclined portions 521, so that the linear distance in the third direction between the second connecting portion 51 and the first connecting portion 50 (strictly speaking, the position corresponding to the first connecting portion 50) is a predetermined distance. In other words, the inclination angle of each of the pair of inclined portions 521 with respect to the straight portion 520 is set so that the distance from the bottom surface of the main body 20 to the top surface of the agricultural seedling holding device 3 (frame 33) is a predetermined distance. As a result, the distance in the second direction between the pair of inclined portions 521, 521 is wider on the seedling holding device 3 side than on the flying body 2 side.

[0067] The tip ends of the pair of inclined portions 521 (portions connected to the second connecting portions 51) are bent outward in the first direction. Each of the pair of stays 5 is arranged so that, when the second connecting portions 51 are connected to the main body 20 and the two first connecting portions 50 are connected to the frame 33 of the agricultural seedling holding device 3, the straight portion 520 and the pair of inclined portions 521 are aligned along an imaginary plane extending in the second and third directions. That is, the connection portion between the mounting portion 204 of the aircraft 2 (the support arm portion 201 of the connecting member 203) and the frame 33 of the agricultural seedling holding device 3 to which the first connecting portions 50 are connected is set at a position such that the pair of inclined portions 521 are in a straight, upright position (a position extending in the third direction) when viewed from the second direction.

[0068] In this embodiment, a pair of stays 5, 5 connect the main body 20 to the agricultural seedling holding device 3 while the centers of gravity CG1, CG2 of the main body 20 and the centers of gravity CG1, CG2 of the agricultural seedling holding device 3 are aligned or approximately aligned in the third direction.

[0069] The pair of stays 5, 5 are connected to the main body 20 (main body portion 200) at a distance from each other in the first direction. Specifically, the pair of stays 5, 5 are connected to the main body 20 (main body portion 200) with the bracket 23 of the aircraft 2 interposed therebetween. As a result, the bracket 23 is disposed between the pair of stays 5, 5. As described above, the support member 5 (pair of stays 5, 5) has four second connecting portions 51 connected to the seedling holding device (working device) 3, so that the seedling holding device (working device) 3 is supported at multiple locations (four locations). As a result, the seedling holding device (working device) 3 does not sway due to shaking during flight, but is connected to the main body 20 in a rigid state.

[0070] The work device 3 performs a predetermined function on a work target below while the agricultural flying device 1 (air vehicle 2) is flying. Specifically, the work device 3 is a device for agricultural work (a device for performing agricultural work). As shown in Figures 1 to 5, the work device 3 is disposed below the main body 20 of the air vehicle 2. The work device 3 is disposed below and spaced from the main body 20.

[0071] 6, the working device 3 includes an electric actuator 30 for performing a predetermined function. The electric actuator 30 operates using power supplied from a battery B. In this embodiment, the electric actuator 30 is supplied with power from the battery B of the aircraft 2.

[0072] The working device 3 can be used for various tasks, such as plowing, sowing, or mowing. In this embodiment, the working device 3 is a seedling holding device 3 (agricultural seedling holding device 3) that handles seedlings Se. Accordingly, the working device 3 includes a holding device 31 that can hold seedlings Se or seedling materials M that contain seedlings Se.

[0073] Specifically, the seedling holding device 3 of this embodiment comprises a pair of clamping members 310, 311 capable of clamping the leaves or stems of seedlings, a first mechanism M1 that brings the pair of clamping members 310, 311 closer together so that the leaves or stems of seedlings can be clamped, and a moving mechanism 32 that includes a second mechanism M2 that moves the pair of clamping members apart.

[0074] The moving mechanism 32 switches between a first state in which the seedling Se or the seedling material M containing the seedling Se can be held by clamping between a pair of clamping members 310, 311, and a second state in which the first state is released, by operating the first mechanism M1 and the second mechanism M2.

[0075] That is, the seedling holding device 3 includes a holding device 31 that can be switched between a first state in which the seedling Se or the seedling Se of the seedling material M including the seedling Se can be held, and a second state in which the first state is released, and a drive device 32 that switches the holding device 31 between the first state and the second state. The seedling holding device 3 includes a frame 33 that supports the holding device 31 and the drive device 32. The seedling holding device 3 includes a sensing device 34 that detects the presence or absence of the seedling Se or the seedling Se of the seedling material M between the pair of clamping members 310, 311.

[0076] As shown in Figures 3 and 4, the holding device 31 is disposed below (directly below) the main body 20 of the aircraft 2. Accordingly, the propeller 210 (multiple propellers 210) of the aircraft 2 is disposed above the holding device 31. More specifically, the holding device 31 is disposed between the main body 20 and the lower ends (grounding portions 220) of the pair of skids 22. The holding device 31 is also disposed between the pair of skids 22. In this embodiment, the entire seedling holding device 3, including the holding device 31, is disposed between the main body 20 and the lower ends of the pair of skids 22. The entire seedling holding device 3, including the holding device 31, is also disposed between the pair of skids 22. Accordingly, the distance in the first direction between the pair of skids 22 is set to a distance that allows the seedlings Se (in this embodiment, the seedling raising mat M) held by the seedling holding device 3 to be interposed therebetween.

[0077] 2, the holding device 31 is disposed closer to the main body 20 than the rotation centers of the respective propellers 210. In other words, the entire seedling holding device 3 including the holding device 31 is disposed closer to the main body 20 than the rotation centers of the respective propellers 210.

[0078] Specifically, as described above, the center of rotation (output shaft of electric motor 211) of the multiple propellers 210 of the generator 21 (rotor device) of the aircraft 2 is located on the periphery of a virtual circle (virtual perfect circle) VC centered at the center of the main body 20 (main body part 200), and based on this, the holding device 31 (in this embodiment, the entire seedling holding device 3 including the holding device 31) is located within the virtual circle (virtual perfect circle) VC when viewed from the third direction.

[0079] As shown in Fig. 9, the holding device 31 is configured to be able to hold seedlings Se (leaves and stems above the roots of the seedlings Se) contained in a seedling raising mat M as seedling material containing multiple seedlings Se. In this embodiment, the holding device 31 holds multiple seedlings Se contained in the seedling raising mat M. Specifically, the holding device 31 holds at least one row of multiple seedlings Se arranged in a matrix on the seedling raising mat M.

[0080] The holding device 31 of this embodiment holds a plurality of seedlings Se that are aligned in a predetermined row among a plurality of seedlings Se arranged in a matrix on the seedling raising mat M. Specifically, the holding device 31 of this embodiment holds a plurality of seedlings Se that are aligned in a second direction in each of two rows spaced apart in the first direction among a plurality of rows that are aligned at equal or approximately equal intervals in the first direction.

[0081] Specifically, the holding device 31 includes a pair of clamping members 310, 311 that are relatively movable in a first direction and that are switchable between a first state and a second state. The pair of clamping members 310, 311 of the holding device 31 are switched between the first state and the second state by operation of a drive device (movement mechanism) 32. Note that the first state is a state in which the pair of clamping members 310, 311 approach each other and can clamp and hold the seedling Se or the seedling material M. In contrast, the second state is a state in which the clamping force (pressure force acting on the seedling Se, etc.) by the pair of clamping members 310, 311 to clamp the seedling Se or seedling Se free-standing member is released, and in this embodiment, this is a state in which the pair of clamping members 310, 311 are relatively separated (a state in which at least one of the clamping members 310 is away from the seedling Se or seedling Se of the seedling material M to be clamped).

[0082] Each of the pair of clamping members 310, 311 is a holding member that holds the seedling Se in a sandwiched state. As shown in Figures 6 to 8, each of the pair of clamping members 310, 311 extends in the second direction. Each of the pair of clamping members 310, 311 is a plate-shaped member that stands in the third direction, has a thickness in the first direction (the thickness direction is the first direction), and extends in the second direction. As a result, each of the pair of clamping members 310, 311 has a flat surface in the first direction, and faces each other.

[0083] More specifically, as shown in Fig. 9, each of the pair of clamping members 310, 311 has clamping portions 310a, 311a for clamping the seedlings Se, each having a clamping surface extending in the second and third directions, and fixed pieces 310b, 311b connected to the upper ends (top ends) of the clamping portions 310a, 311a in the third direction and extending in the first direction from the clamping portions 310a, 311a. Each of the pair of clamping members 310, 311 is formed by bending a metal plate, and the fixed pieces 310b, 311b are bent relative to the clamping portions 310a, 311a. That is, each of the pair of clamping members 310, 311 is formed in an L-shape that is upside down when viewed from the second direction. Screws for fastening to a connection (fixing) target are inserted through the fixing pieces 310b, 311b. That is, the fixing pieces 310b, 311b have a plurality of holes for inserting the screws drilled at intervals in the second direction.

[0084] The holding device 31 has multiple sets (multiple pairs) of pairs of clamping members 310, 311. In this embodiment, the holding device 31 has two sets (two pairs) of pairs of clamping members 310, 311. In each set, the pair of clamping members 310, 311 face each other with their clamping portions 310a, 311a (clamping surfaces) facing each other in the first direction. The multiple sets of clamping members 310, 311 are aligned in the first direction. One clamping member 310 of each of the multiple sets has the same configuration, and the other clamping member 311 of each of the multiple sets has the same configuration.

[0085] In this embodiment, one clamping member 310 of the pair of clamping members 310, 311 in each set is movable in a first direction, and the other clamping member 311 of the pair of clamping members 310, 311 is fixed in a fixed position. That is, the other clamping member 311 is fixed to the frame 33, and one clamping member 310 is provided to be movable in the first direction. In this embodiment, the one clamping members 310 of each set move synchronously in the same direction. That is, the one clamping member 310 of each set is connected to a reciprocating body 315 (described later) of the movement mechanism 32, and moves synchronously together as the reciprocating body 315 moves in the first direction.

[0086] As described above, the moving mechanism 32 moves one of the pair of clamping members 310, 311 in the first direction to switch between the first state and the second state, and therefore, in this embodiment, the driving device 32 that drives to change the state of the holding device 31 refers to the moving mechanism. Accordingly, hereinafter, the driving device 32 will also be described as the moving mechanism.

[0087] The moving mechanism 32 is disposed above the holding device 31. The moving mechanism 32 has a biasing member 36 that applies a biasing force to one of the clamping members 310, moving the one of the clamping members 310 to one side in the first direction. The moving mechanism 32 also has an electric actuator 30 that moves the one of the clamping members 310 to the other side in the first direction against the biasing force of the biasing member 36. In this seedling holding device 3, the second mechanism M2 releases the drive of the electric actuator 30 and allows the one of the clamping members 310 to move in the first direction by the biasing member 36. In this embodiment, when the sensing device 34 detects a seedling Se or a seedling Se of a seedling material M between the pair of clamping members 310, 311, the moving mechanism 32 allows the one of the clamping members 310 to move in the first direction by the biasing member 36.

[0088] Accordingly, the moving mechanism 32 uses the first mechanism (the biasing force of the biasing member 36) to move one of the clamping members 310 in a first direction and switch to either the first state or the second state, and uses the second mechanism (driving the electric actuator 30) to move one of the clamping members 310 in the first direction and switch to the other of the first state or the second state.

[0089] That is, the moving mechanism 32 includes a first mechanism M1 including a biasing member 36 that moves one clamping member 310 closer to the other clamping member 311 with the biasing force of the biasing member 36, and a second mechanism M2 including an electric actuator 30 that moves one clamping member 310 away from the other clamping member 311 against the biasing force of the biasing member 36. In this embodiment, the first mechanism M1 and the second mechanism M2 are operatively connected and interlock with each other. That is, the seedling holding device 3 includes, as a common component of the first mechanism M1 and the second mechanism M2, a reciprocating body 315 that is guided by the frame 33 and reciprocates in a first direction, and to which one clamping member 310 is directly or indirectly connected. That is, the moving mechanism 32 includes a reciprocating body 315 to which one clamping member 310 is directly or indirectly connected, and to which one clamping member 310 is reciprocating in the first direction.

[0090] In the first mechanism M1, a compression coil spring is used as the biasing member 36. The compression coil spring 36 is arranged to be compressible in a first direction. The compression coil spring 36 is arranged between a first spring receiving portion 37 fixed to the reciprocating body 315 and a second spring receiving portion 38 fixed to the frame 33, the second spring receiving portion 38 facing the first spring receiving portion 37 in the first direction. As a result, the compression coil spring 36 biases the first spring receiving portion 37 to one side in the first direction, moving the reciprocating body 315 to which the first spring receiving portion 37 is fixed toward one side in the first direction (a direction toward the other clamping member 311). Accordingly, the biasing member 36 also moves one clamping member 310 attached to the reciprocating body 315 toward one side in the first direction. The first mechanism M1 includes a shaft 321 that transmits the biasing force of the compression coil spring 36 toward the other side in the first direction due to the driving of the electric actuator 30 of the second mechanism M2 to the reciprocating body 315.

[0091] The shaft 321 is inserted (inserted) through the compression coil spring 36 and passes through the first spring receiving portion 37 and the second spring receiving portion 38 so as to be movable in the first direction. Accordingly, the first spring receiving portion 37 and the second spring receiving portion 38 are provided with through holes 370, 380 that pass through in the first direction and into which the shaft 321 is inserted.

[0092] As described above, one end of the shaft body 321 is connected to the plate-shaped rack 323. Accordingly, a groove into which the plate-shaped rack 323 can be inserted is formed by carving it in the axial direction with one end face open at one end of the shaft portion. Furthermore, a pin insertion hole is provided radially through one end of the shaft body 321 for inserting (press-fitting) a connecting pin Pa for connecting to the rack 323. Accordingly, a hole is also provided thicknesswise through one end of the rack 323 for inserting (press-fitting) the connecting pin Pa. Thus, with one end of the rack 323 inserted in the groove, the connecting pin Pa is inserted into the pin insertion hole of the shaft body 321 and the hole of the rack 323 so as to straddle the shaft body 321 and the rack 323.

[0093] A flange 321b protruding radially outward is formed on the outer periphery of one end of the shaft 321. Specifically, the shaft 321 has a main shaft 321a inserted into the through holes 370, 380 of the first spring receiving portion 37 and the second spring receiving portion 38, and a flange 321b protruding from the outer periphery of the main shaft 321a.

[0094] The main shaft portion 321a is a main part of the shaft body 321, and its length in the first direction is the length of the shaft body 321. The main shaft portion 321a has the same (uniform) outer diameter over its entire length. The groove and pin insertion hole are provided in the main shaft portion 321a. The flange portion 321b is located at one end or one end side of the main shaft portion 321a, and is provided closer to the other end than the groove and pin insertion hole. The outer diameter of the flange portion 321b is larger than the diameter of the through hole of the first spring receiving portion 37. In other words, the flange portion 321b is set to an outer diameter that can interfere with (abut against) the first spring receiving portion 37 in the first direction from the rack 323 side.

[0095] The main shaft portion 321a is inserted, with the other end leading, into the through-hole 370 of the first spring receiving portion 37, on the condition that the connected rack 323 is maintained in a state of meshing with the pinion gear 322. The main shaft portion 321a is also inserted into the through-hole of the second spring receiving portion 38, which will be described later, on the condition that the connected rack 323 is maintained in a state of meshing with the pinion gear 322. Based on this condition, the length of the main shaft portion 321a is set so that the other end protrudes from the second spring receiving portion 38.

[0096] More specifically, an annular retaining member 324 having a diameter larger than the through hole of second spring receiving portion 38 is screwed to the other end of main shaft portion 321a that protrudes outward beyond second spring receiving portion 38. Based on this state, the length (distance) in the first direction from flange portion 321b of main shaft portion 321a to the other end face (removal prevention member 324) is set to be equal to or greater than the sum of the length in the first direction of compression coil spring 36 in an extended state between first spring receiving portion 37 and second spring receiving portion 38 and the thickness in the first direction of first spring receiving portion 37 and second spring receiving portion 38.

[0097] That is, the length (distance) in the first direction from the flange portion 321b of the main shaft portion 321a to the other end face (anti-pullout member 324) is set to be greater than or equal to the sum of the length in the first direction of the compression coil spring 36 in the compressed state, the difference in length between the extended state and the compressed state of the compression coil spring 36 (the amount of movement in the first direction of one of the clamping members 310), and the thickness in the first direction of the first spring receiving portion 37 and the second spring receiving portion 38.

[0098] In this embodiment, the length (distance) in the first direction from the flange 321b of the main shaft 321a to the other end surface (the anti-slip member 324) is set to the sum of the length of the compression coil spring 36 in the first direction in the compressed state, the difference in length between the compressed and expanded states of the compression coil spring 36 (the amount of movement of one of the clamping members 310 in the first direction), and the thicknesses in the first direction of the first spring receiving portion 37 and the second spring receiving portion 38. Note that the expanded state of the compression coil spring 36 includes not only the natural length, which is the maximum expanded state, but also a state in which the compression coil spring 36 has not expanded to the maximum expanded state (natural length). In other words, the expanded state of the compression coil spring 36 refers to the maximum expanded state (design state) in the operating state of the device, and also includes a state in which the compression coil spring 36 generates a resilient force without reaching the natural length due to the clamping member reaching the limit of its movement range or due to contact between the second spring receiving portion 38 and the anti-slip member 324. The compressed state of the compression coil spring 36 includes not only the maximum contraction (compression) state but also a state in which the maximum contraction (compression) state has not been reached. That is, the compressed state of the compression coil spring 36 here also includes a state in which the compression coil spring 36 has not been compressed to its limit due to the clamping member reaching the limit position of its movement range.

[0099] A rack 323 (described later) is connected to one end of the shaft body 321 (main shaft portion 321a) that is inserted into the through-hole 370 of the first spring receiving portion 37 and extends in the first direction.

[0100] 6 to 9, the reciprocating body 315 is supported by the frame 33 in a state where it can move in the first direction. That is, the reciprocating body 315 has a guided portion 315a that is guided by first beams 330, 330 (guide grooves 330a) of the frame 33, which will be described later, and a member attachment portion 315b to which one clamping member 310 of the pair of clamping members 310, 311 is attached, the member attachment portion 315b being connected to the guided portion 315a.

[0101] The reciprocating body 315 of this embodiment includes a pair of guided portions 315a, 315a spaced apart in the second direction, each of the pair of guided portions 315a extending in the first direction.

[0102] The member mounting portion 315b extends in the second direction, and both ends in the second direction are connected to the pair of guided portions 315a. In this embodiment, since the holding device 31 has two pairs of clamping members 310, 311, the reciprocating body 315 has two member mounting portions 315b, 315b to mount one of the clamping members 310 of each pair. The two member mounting portions 315b, 315b are arranged at an interval in the first direction, and both ends in the second direction of each are connected to the pair of guided portions 315a, 315a. As a result, the pair (two) guided portions 315a, 315a and the two member mounting portions 315b, 315b form a rectangular frame when viewed from the third direction. The reciprocating body 315 also has a connecting portion 315c that extends in the second direction between the two member mounting portions 315b, 315b, and both ends of the connecting portion 315c in the second direction are connected to the pair of guided portions 315a.

[0103] A first spring receiving portion 37 that receives one end of the biasing member 36 (compression coil spring 36) is provided on the upper surface of the connecting portion 315c. The first spring receiving portion 37 is shaped like a plate and has a thickness in the first direction. A through hole for inserting the shaft body 321 (main shaft portion 321a) is provided in the first direction through the first spring receiving portion 37.

[0104] A geared motor is used for the electric actuator 30 of the second mechanism M2. Specifically, as shown in Fig. 10 , the electric actuator 30 includes an electric motor 300 having an output shaft 300a, and a drive transmission mechanism (hereinafter referred to as a first drive transmission mechanism) 301 that transmits the rotational drive force of the output shaft 300a of the electric motor 300, and outputs the rotation of the output shaft of the electric motor 211 at a constant speed or at a reduced speed.

[0105] The electric motor 300 is driven by power supplied from the battery B of the flying vehicle 2. The electric motor 300 is also connected to the control board CB of the flying vehicle 2 and is controlled by the control board CB of the flying vehicle 2.

[0106] In this embodiment, the first drive transmission mechanism 301 includes a gear mechanism 302 and a casing 303 that houses the gear mechanism 302 and is directly connected to the electric motor 300 .

[0107] The gear mechanism 302 includes a first shaft 302a concentrically connected to the output shaft 300a of the electric motor 211, a second shaft 302b that is rotatable around an axis extending perpendicular to the axis of the first shaft 302a, a first gear 302c fixed to the first shaft 302a, and a second gear 302d fixed to the second shaft 302b, which meshes with the first gear 302c.

[0108] The first shaft 302a and the second shaft 302b are each rotatably supported (axially supported) by the casing 303. The gear mechanism 302 (first gear 302c and second gear 302d) may be any gear that can transmit rotation about two orthogonal axes and that can rotate forward and backward. For example, the first gear 302c and the second gear 302d may each be a bevel gear or a hypoid gear, in which the first gear 302c is a worm gear and the second gear 302d is a wheel gear, or the first gear 302c and the second gear 302d are helical gears with a 45-degree helix angle. In other words, the gear mechanism 302 is one in which the second shaft 302b also rotates forward and backward when an input (forward and reverse) is made to at least the first shaft 302a. In this embodiment, a combination of a worm gear and a worm wheel that causes so-called self-locking, in which input from the second shaft 302b side is blocked in order to allow input from the second shaft 302b side, is not adopted. In other words, the gear mechanism 302 that is adopted is one in which, when input is received from the second shaft 302b side, the rotation of the second shaft 302b is transmitted to the first gear 302c via the second gear 302d, allowing the first shaft 302a to rotate.

[0109] The moving mechanism 32 (second mechanism M2) is equipped with a drive transmission mechanism (hereinafter referred to as the second drive transmission mechanism 320) that converts the output of the electric actuator 30 into an axial force (spring force) in a first direction and moves one of the pair of clamping members 310, 311 in the first direction.

[0110] The second drive transmission mechanism 320 is mechanically connected to the second shaft 302b of the electric actuator 30 and includes a pinion gear 322 attached to a shaft that rotates concentrically with the second shaft 302b, and a rack 323 that meshes with the pinion gear 322.

[0111] The pinion gear 322 is located below the electric actuator 30 (second gear 302d). The driving force of the electric motor 211 is transmitted to the pinion gear 322 via the first gear 302c and the second gear 302d, and the pinion gear 322 rotates concentrically with (in synchronization with) the second gear 302d.

[0112] The rack 323 extends in a first direction and is movable in the first direction. In this embodiment, the rack 323 is a plate-shaped member having a longitudinal axis in the first direction. A tooth row 323a that meshes with the teeth of the pinion gear 322 is formed at one end of the rack 323 in the second direction and is aligned in the first direction. The rack 323 has a guided hole 323b into which a guide pin 325 fixed to the frame 33 can be loosely inserted. The guided hole 323b is formed as an elongated hole extending in the first direction, allowing movement of the rack 323 in the first direction. In this embodiment, as shown in FIG. 8 , the rack 323 has a striker 323c at the other end in the second direction that activates the limit switches LS1 and LS2 and that protrudes partially in the second direction. In this embodiment, the striker 323c is trapezoidal when viewed from the third direction. That is, the striker 323c is formed such that the outer edges at both ends in the first direction are inclined and flared toward the ends.

[0113] The frame 33 has mounting portions 326 for mounting to the aircraft 2 capable of flying in the sky. That is, the frame 33 has mounting portions 326 for mounting a pair of stays 5, 5 that are attached to the aircraft 2.

[0114] Specifically, the frame 33 includes a pair of first beams 330, 330 extending in a first direction and spaced apart in a second direction, and second beams 331, 332, 333 extending in the second direction, each of which has both ends in the second direction connected to the pair of first beams 330, 330 and connects the pair of first beams 330, 330 at a predetermined interval. Furthermore, the frame 33 includes a mounting bracket 334 to which the electric actuator 30 is attached.

[0115] As shown in FIGS. 7 and 9 , each of the pair of first beams 330 has a guide groove 330a at a position facing each other, which guides the guided portion 315a in the first direction. Specifically, each of the pair of first beams 330 has a pair of opposing pieces 330b facing each other at a distance in the third direction, and a connecting piece 330c standing in the third direction and connecting one end of the pair of opposing pieces 330b in the second direction. Each of the pair of opposing pieces 330b and the connecting piece 330c is a strip-shaped piece extending longitudinally in the first direction. In this embodiment, each of the pair of first beams 330 is fabricated by bending a metal plate. As a result, the other end of the pair of opposing pieces 330b in the second direction is open in the second direction in each of the pair of first beams 330.

[0116] Each of the pair of first beams 330, 330 is disposed symmetrically with respect to an imaginary plane extending in the first and third directions, with the connecting piece 330c positioned outward in the second direction. That is, each of the pair of first beams 330, 330 is disposed with the portions that are open in the second direction facing each other. As a result, the pair of opposing pieces 330b, 330b and the connecting piece 330c define a guide groove 330a in which the guided portion 315a of the reciprocating body 315 is disposed, and each of the pair of first beams 330, 330 also serves as a rail that guides the guided portion 315a of the reciprocating body 315 in the first direction.

[0117] Furthermore, each of the pair of first beams 330, 330 is provided with an attachment portion 326 for attachment to the aircraft 2. Specifically, as shown in FIG. 8 , in each of the pair of first beams 330, 330, of a pair of opposing pieces 330b, 330b spaced apart in the third direction, the attachment portion 326 is provided on the upper surface of the opposing piece 330b located on the upper side. In each of the first beams 330, 330 (opposing pieces 330b, 330b), the attachment portions 326 are provided at two locations spaced apart in the first direction. That is, each of the pair of first beams 330, 330 is provided with an attachment portion 326 that connects a pair of second connecting portions 51, 51 included in the stays 5, 5. The second connecting portions 51, 51 and the attachment portion 326 are connected via screw members. In this way, each of the pair of first beams 330, 330 has two mounting portions 326 corresponding to a pair of second connecting portions 51, 51, and therefore each of the pair of stays 5, 5 is arranged along the first beams 330, 330.

[0118] The frame 33 of this embodiment further includes a plurality of second beams 331, 332, and 333. The plurality of second beams 331, 332, and 333 are arranged at intervals in the first direction. Each of the plurality of second beams 331, 332, and 333 has a longitudinal direction in the second direction and is formed in a strip shape. However, because the purposes of each of the second beams 331, 332, and 333 are different, the width in the first direction (width in the short side direction) and the connection position relative to the pair of first beams 330, 330 are different.

[0119] Specifically, the frame 33 includes, as second beams 331, 332, 333, a member mounting beam 331 for mounting the other clamping member 311, a fitting mounting beam 332 for mounting a mounting fitting 334, and a support beam 333 for supporting the second spring receiving portion 38.

[0120] In this embodiment, since the holding device 31 includes two pairs of clamping members 310, 311, two member mounting beams 331 are also provided. The two member mounting beams 331 are spaced apart in the first direction. Each of the two member mounting beams 331 is connected to the lower opposing piece 330b of the pair of opposing pieces 330b that constitute the first beams 330, 330. The two member mounting beams 331 are positioned offset to one side with respect to the center in the first direction. That is, the two member mounting beams 331 are positioned on one side in the first direction to avoid the placement of the two clamping members (one clamping member 310) attached to the reciprocating body 315 and to ensure a gap that allows the seedling Se to be interposed between the pair of clamping members 310, 311.

[0121] The other clamping member 311 is attached to each of the two component mounting beams 331. The other clamping member 311 is fixed to the component mounting beam 331 along the longitudinal direction of the component mounting beam 331. In this embodiment, the fixed piece 311b of the other clamping member 311 is bent in the first direction, similar to the one clamping member 310. Accordingly, the other clamping member 311 is fixed by screwing its upper end to the component mounting beam 331 with the fixed piece 311b overlapping the upper surface of the component mounting beam 331. As a result, the clamping portion 311a of the other clamping member 311 extends straight downward in the third direction from the component mounting beam 331. In addition, in this embodiment, the component mounting portion 315b of the reciprocating body 315 is positioned above the component mounting beam 331 (the upper end of the other clamping member 311) and is movable in the first direction.

[0122] The bracket mounting beam 332 is a beam for attaching the mounting bracket 334 that secures the electric actuator 30, and is therefore positioned to correspond to the location of the electric actuator 30. However, it is positioned in a position that does not obstruct the movement of the reciprocating body 315 (the clamping member). In this embodiment, it is positioned between the other clamping member 311 of one pair and one clamping member 310 of the other pair (the clamping member located farthest from the other clamping member 311 of the pair). The bracket mounting beam 332 is also connected to the lower opposing piece 330b of the pair of opposing pieces 330b that constitute the first beams 330. The mounting bracket 334 that secures the electric actuator 30 is screwed to the upper surface of the bracket mounting beam 332. In addition to the electric actuator 30, limit switches LS1 and LS2 operated by a striker 323c provided on the rack 323 are also fixed to the mounting bracket 334. Two limit switches LS1 and LS2 are provided spaced apart in the first direction (fixed to the mounting bracket 334). One of the two limit switches, LS1, detects that one clamping member 310 is in the open state (second state), and the other limit switch LS2 detects that one clamping member 310 is in the closed state (first state). In other words, the position of the rack 323 corresponds to the position (state) of one clamping member 310, so the state of the pair of clamping members 310, 311 (one clamping member 310) can be grasped by operating the limit switches LS1 and LS2 with the striker 323c provided on the rack 323.

[0123] The support beam 333 connects the other ends of the pair of first beams 330, 330. The support beam 333 is connected to the upper opposing piece 330b of the pair of opposing pieces 330b constituting the first beams 330, 330. The second spring receiving portion 38 is disposed approximately in the center of the support beam 333 in the second direction. The second spring receiving portion 38 is protruding from the support beam 333. Specifically, the second spring receiving portion 38 is connected to the upper surface of the support beam 333 and protrudes upward in the third direction from the upper surface of the support beam 333. As described above, the second spring receiving portion 38 is provided with a through hole 380 penetrating in the first direction, through which the main shaft portion 321a of the shaft body 321 is inserted. The through hole 380 of the second spring receiving portion 38 is concentric and has the same diameter as the first spring receiving portion 37 (through hole 370) in the first direction. That is, the first spring receiving portion 37 (through hole 370) and the second spring receiving portion 38 (through hole 380) are provided concentrically and at the same position (height) in the third direction, thereby allowing the shaft body 321 to move in the first direction.

[0124] In this embodiment, the seedling holding device 3 includes a sensing device 34, as shown in FIG. 9 . The sensing device 34 detects the presence or absence of a seedling Se (leaves or stems) between the pair of clamping members 310, 311. Accordingly, the seedling holding device 3 is configured to enter a first state upon detecting the presence of a seedling Se between the pair of clamping members 310, 311. The sensing device 34 includes a transmitter 340 that transmits a signal and a receiver 341 that receives the signal from the transmitter. The transmitter 340 emits a signal from the transmitter, and the receiver 341a receives a signal from the receiver 341. For example, the sensing device 34 may include an optical sensor (e.g., an infrared sensor or a laser sensor). In other words, in this type of sensing device 34, the transmitter 340a emits an optical signal, and the receiver 341a receives the optical signal from the transmitter 340a.

[0125] Accordingly, in the sensing device 34 of this embodiment, the transmitter 340 is attached to one of the clamping members 310, and the receiver 341 is attached to the other clamping member 311. That is, holes that allow signals to pass in the first direction are arranged facing each other in each of the pair of clamping members 310, 311. Accordingly, the transmitting unit 340a of the transmitter 340 corresponds to the hole in one of the clamping members 310 of the pair of clamping members 310, 311, and is fixed to that one clamping member 310. Meanwhile, the receiving unit 341a of the receiver 341 corresponds to the hole in the other clamping member 311 of the pair of clamping members 310, 311, and is fixed to the other clamping member 311. Since the pair of clamping members 310, 311 clamp the seedling Se with their opposing surfaces, the transmitter 340 and receiver 341 are fixed to the surfaces opposite the opposing surfaces (clamping surfaces) of the pair of clamping members 310, 311.

[0126] In this embodiment, two pairs of clamping members 310, 311 are provided, and therefore holes (holes whose centers are concentric in the first direction) are provided at corresponding positions for all of the clamping members, and a transmitter 340 and a receiver 341 are attached to the clamping member located outermost in the first direction. In this way, when seedlings Se are not present between each pair of clamping members 310, 311, there is nothing between the pair of clamping members 310, 311 that blocks the signal from the transmitter (transmitting unit 340a), so the receiver 341 (receiving unit 341a) can receive the signal from the transmitter 340 (transmitting unit 340a), and it can be determined that seedlings Se are not present between the pair of clamping members 310, 311. In contrast, when a seedling Se is present between each pair of clamping members 310, 311, the seedling Se is present between the pair of clamping members 310, 311, blocking the signal from the transmitter (transmitting unit 340a), so the signal from the transmitter 340 (transmitting unit 340a) is blocked by the seedling Se, and the receiver 341 (receiving unit 341a) is unable to receive the signal.This makes it possible to determine that a seedling Se is present between the pair of clamping members 310, 311.

[0127] As described above, in the agricultural flying device 1 configured as described above, the electric actuator 30 is operated by power supplied from the flying vehicle 2. When the power supply is stopped, the output shaft of the electric actuator 30 (electric motor 211) becomes rotatable. More specifically, in the agricultural flying device 1 of this embodiment, when the power is turned on, the electric actuator 30 operates, moving the rack 323 and the shaft 321 toward the other side in the first direction via the first transmission mechanism and the second drive transmission mechanism 320. In this state, the flange 321b of the shaft 321 presses the first spring bearing 37. That is, the electric actuator 30 moves the first spring bearing 37 toward the other side in the first direction against the biasing force of the biasing member 36. Accordingly, of the pair of clamping members 310, 311, one clamping member 310 mechanically connected to the reciprocating body 315 also moves in the same direction. That is, one clamping member 310 moves away from the other clamping member 311. When the striker 323c operates one of the limit switches LS1, the movement of one of the clamping members 310 is stopped, as it is determined that the one of the clamping members 310 is at the farthest position (a state in which the seedling Se can be placed between the pair of clamping members 310, 311).

[0128] However, as described above, when the power supply to the electric actuator 30 (electric motor 211) is stopped, the output shaft of the electric motor 211 becomes rotatable, and the compression coil spring 36 pushes back the first spring member. Therefore, in this embodiment, when one of the limit switches LS1 is operated, power is continuously supplied to the electric actuator 30 (electric motor 211) so as to generate an axial force (output) that balances the biasing force of the compression coil spring 36. Then, when a seedling Se is placed between the pair of clamping members 310, 311, the sensing device 34 (transmitter 340 and receiver 341) detects the seedling Se. That is, it detects that the pair of clamping members 310, 311 are now able to hold the seedling Se. In this state, the power supply from the battery B of the main body 20 to the electric actuator 30 is stopped. Then, the output shaft of the electric motor 211 becomes rotatable, and the biasing force of the biasing member 36 (compression coil spring 36) pushes back the first spring bearing portion 37. At this time, the rack 323 also moves in the same direction, generating a rotational torque in the pinion gear 322, but the electric motor 211 and the like allow this rotation without impeding it. As the first spring bearing 37 moves, one clamping member 310 approaches the other clamping member 311, and the seedling Se between the pair of clamping members 310, 311 is held by the pair of clamping members 310, 311. In this state, the striker 323c of the rack 323 operates the other limit switch LS2, and it can be seen that the pair of clamping members 310, 311 are holding the seedling Se.

[0129] The agricultural flying device 1 of this embodiment is as described above. Next, a method for transporting seedlings Se using the agricultural flying device 1 configured as described above will be described. In this embodiment, the seedlings Se to be transported are paddy rice seedlings. An example will be described in which a large number of paddy rice seedlings Se are transported to a rice transplanter as a destination. Prior to the transport method, a seedling raising mat M will be briefly described. As shown in FIG. 11 , the seedling raising mat M is a mat-like structure in which a large number of seedlings Se are grown (raised) in soil So placed in a shallow tray T that is rectangular or oblong in plan view. The seedlings Se root in the soil So in the tray, forming a single unit with the soil So, giving the mat a rectangular shape in plan view. Each of the numerous seedlings Se on the seedling raising mat M grows with its leaves and stems positioned above the roots in the soil So. The numerous seedlings Se on the seedling raising mat M are aligned or irregularly arranged vertically and horizontally in plan view (the vertical direction corresponding to the first direction and the horizontal direction corresponding to the second direction). In addition, Figure 11 shows a seedling mat M on which a large number of seedlings Se... are arranged vertically and horizontally, with the tray T shown by a dotted line (virtual line) and the seedling mat M removed from the tray T.

[0130] In this embodiment, a large number of seedlings Se are transported (transferred) at once in the form of seedling mats M to a rice transplanter in a field F. Accordingly, as shown in FIG. 12 , the starting point of the seedling mats M (seedlings Se) is generally the ridge SH or alley (farm road) FR around the field F, or a special platform set up near the field F. Accordingly, prior to operation with the rice transplanter (prior to transporting the seedlings Se), multiple seedling mats M (seedlings Se) are placed in advance on the flat ground of the ridge SH or alley (farm road) FR, or on the flat top surface of a special platform. Note that FIG. 12 illustrates the state in which multiple seedling mats M are placed on the flat ground of the ridge SH.

[0131] As the rice planting operation in the field F progresses using the rice transplanter and it becomes necessary to supply seedlings Se to the rice transplanter, the agricultural flying device 1 equipped with the seedling holding device 3 configured as described above is used to transport (transport) the seedlings Se (seedling raising mat M) to the rice transplanter, as shown in Figures 13 and 14 . That is, the agricultural flying device 1 waits in the second state in which the pair of clamping members 310, 311 are spaced apart until it becomes necessary to supply seedlings Se to the rice transplanter. Then, when it becomes necessary to supply seedlings Se to the rice transplanter, the seedlings Se are lifted up by the flight of the flying vehicle 2 while at least a portion of the leaves and stems of the seedlings Se are held by the seedling holding device 3 (first state: the pair of clamping members 310, 311 are brought close together and clamped). After lifting up the seedlings Se, the flying vehicle 2 moves the seedlings Se horizontally.

[0132] Specifically, when the agricultural flying device 1 is started, the electric motor 300 of the electric actuator 30 is driven, and as shown in Figure 15, one clamping member 310 is moved away from the other clamping member 311, and the device waits in a state (second state) in which the seedling Se can be placed between the pair of clamping members 310, 311.

[0133] As shown in Figures 13 and 14, the agricultural flying device 1 is remotely or automatically controlled by a remote controller (remote control) to fly above the seedlings Se (first flight step). At this time, the agricultural flying device 1 equipped with the seedling holding device 3 is flown so that the seedlings, whose leaves or stems are positioned above their roots, are overlapped in a planar view with the seedlings Se by the seedling holding device 3, which includes holding members 310, 311 capable of holding at least a portion of the leaves and stems of the seedlings Se (first flight step). That is, as shown in Figure 16, the agricultural flying device 1 (air vehicle 2) is flown above the seedling raising mat M, and the seedlings Se (seedling raising mat M) are positioned within the range of the seedling holding device 3 when viewed from above in the third direction. More preferably, the agricultural flying device 1 (air vehicle 2) is flown so that the seedlings Se are positioned below the gap between the pair of clamping members (holding members) 310, 311.

[0134] 17 and 18 , the agricultural flight device 1 is flown to a position where the seedling holding device 3 overlaps the seedling Se in a planar view, and the holding members 310, 311 overlap the seedling Se in a direction perpendicular to the vertical direction (descending flight process). That is, the agricultural flight device 1 is flown to a position where the clamping members (holding members) 310, 311 overlap the seedling Se in a first direction or a second direction perpendicular to the vertical direction (projected overlap position) (descending flight process). As described above, the spacing between the skids 22, 22 in the first direction is set wider than the size of the seedling raising mat M. Therefore, when the agricultural flight device 1 is flown to a position where the clamping members (holding members) 310, 311 overlap the seedling Se in a first direction or a second direction perpendicular to the vertical direction (projected overlap position), the seedling Se (seedling raising mat M) is positioned between the pair of skids 22, 22, as shown in FIG. 17 . Furthermore, when the agricultural flying device 1 is flown to a position where the holding members 310, 311 overlap the seedlings Se in a direction perpendicular to the vertical direction, each of the pair of plate-shaped clamping members 310, 311 extending in the second direction is positioned on either side of the seedlings Se in the first direction. That is, the seedling holding device 3 moves downward in the third direction with the gap between the pair of clamping members 310, 310 in the second state (separated state) corresponding to the vertical position of the seedlings Se, so that the seedlings Se are positioned between the pair of clamping members 310, 311. In particular, because the clamping portions 310a, 311a of the clamping members 310, 311 are plate-shaped, they enter the gaps between adjacent seedlings Se in the first direction (between the rows of seedlings S), and the clamping members 310, 311 (clamping portions 310a, 311a) overlap the seedlings Se projectively in the first direction.

[0135] Then, when the descending flight process is completed, as described above, the leaves or stems of the seedlings Se are positioned between the pair of clamping members 310, 311, and the seedlings Se are held by the holding members.

[0136] In the agricultural flying device 1 of this embodiment, the flying object 2 is a multicopter equipped with a rotorcraft as the generator 21 that generates flight propulsion to be applied to the main body 20, as described above. During the descending flight phase or the holding phase, the rotorcraft is stopped or reversed depending on when the holding members 310, 311 hold the seedling Se. As described above, when the pair of clamping members 310, 311 clamp (hold) the seedling Se, the skid 22 (ground contact portion 220) lands on the ground of the levee SH. When the holding device 31 (clamping member) descends to approach the seedling Se or when the pair of clamping members 310, 311 clamp (hold) the seedling Se, the rotorcraft is stopped, reversed, or its rotation speed is reduced depending on when the pair of clamping members 310, 311 are positioned on both sides of the seedling Se.

[0137] Stopping, reversing, or reducing the rotation speed of the rotary blade devices in this manner makes it easier to interpose the seedling Se between the pair of clamping members 310, 311. When the timing for holding the seedling Se is just before landing or after landing (when the ground contact portions 220 of the skids 22, 22 are in contact with the ground), if the distance in the third direction between the lower ends (ground contact portions 220) of the skids 22, 22 and the main body 20 is large, the seedling Se may not reach between the pair of clamping members 310, 311 of the holding device 31 below the main body 20. Therefore, as shown in FIG. 19 , the skids 22, 22 are rotated in advance to adjust the distances A1, A2, and A3 in the third direction between the lower ends (ground contact portions 220) of the skids 22, 22 and the main body 20. That is, it is necessary to rotate the skids 22, 22 in advance to adjust the distances B1, B2, and B3 in the third direction between the lower ends (ground contact portions 220) of the skids 22, 22 and the main body 20. Furthermore, if the skids 22, 22 get in the way during flight (work) (for example, when holding seedlings Se with the holding device 31 during descent), the lower end (grounding portion 220) of the skid 22 may be positioned (by rotating the skid 22) to a position higher than the seedling holding device 3 (the lower ends of the pair of clamping members 310, 311 of the holding device 31), which is the work device (a position a predetermined distance B3 away from the lower ends of the clamping members 310, 311), and the position may be maintained (the posture may be maintained).

[0138] 20 , the seedling holding device 3 clamps at least a portion of the leaves and stems of the seedling Se (holding process). That is, when a seedling Se is present between the pair of clamping members 310, 311, the pair of clamping members 310, 311 are moved toward each other to hold the seedling Se or the seedling Se of the seedling material M (holding process). In this embodiment, the agricultural flying device 1 includes a sensing device 34. When the sensing device 34 detects the seedling Se (the seedling Se blocks the optical signal from the transmitter 340, preventing the receiver 341 from receiving the optical signal), the power supply to the electric motor 211 is cut off, and the output shaft becomes free to rotate. That is, the electric motor 211, which had been operating against the bias of the biasing member 36 (compression coil spring 36), stops operating. Accordingly, the first spring receiving portion 37 is pushed in the first direction by the biasing force of the biasing member 36 (compression coil spring 36), and the reciprocating body 315 slides in the first direction. Accordingly, one clamping member 310 approaches the other clamping member 311 and clamps the seedling Se of the seedling material M together with the other clamping member 311. In this way, the other clamping member 311 approaches the one clamping member 310 by the biasing force of the biasing member 36 (compression coil spring 36), so that the biasing force of the biasing member 36 (compression coil spring 36) acts as a clamping force to clamp (hold) the seedling Se in the seedling holding device 3 of this embodiment. That is, the seedling holding device 3 (a pair of clamping members 310, 311) applies a clamping force that resists the weight of the seedling Se (seedling raising mat M) by pressing the holding members (clamping members) 310, 311 against at least one of the leaves and stems of the seedling Se (in this embodiment, since the seedlings Se are paddy rice seedlings, a bundle of leaves of the seedling Se) in a direction perpendicular to the up-down direction. This allows the seedling holding device 3 to securely clamp (hold) the seedling Se (seedling raising mat M).

[0139] As shown in FIG. 21 , the agricultural flight device 1 is raised while the seedling holding device 3 holds at least a portion of the leaves and stems of the seedling Se (in this embodiment, the tips of the leaves of the seedling Se), lifting the seedling Se (second flight step). After lifting the seedling Se, the seedling Se is moved horizontally, flying the agricultural flight device 1 to its destination, the rice transplanter (second flight step). That is, once the pair of clamping members 310, 311 hold (clamp) the seedling Se (after the holding step), the seedling Se is first lifted to a desired height above the ground of the bank SH, and then moved horizontally, flying the agricultural flight device 1 to its destination (the rice transplanter) while avoiding obstacles (second flight step). Furthermore, lifting the seedling Se (seedling raising mat M) in this manner prevents the soil So of the seedling raising mat M from being dragged and falling. That is, the roots of the seedling Se are prevented from drying out.

[0140] Then, after the second flight step, when the agricultural flight device 1 arrives at its destination, the holding device 31 is released (holding release step). In this embodiment, when the agricultural flight device 1 arrives at the rice transplanter by remote control or automatic operation, power is supplied to the electric motor 211, driving the electric motor 211. The drive of the electric motor 211 is then transmitted to the rack 323 via the first and second transmission mechanisms, moving the shaft 321 against the biasing force of the biasing member 36 (compression coil spring 36). This causes the flange 321b of the shaft 321 to abut against the first spring bearing 37, which moves in the first direction. In other words, one clamping member 310 moves away from the other clamping member 311. This releases the clamping (holding) of the seedling Se by the pair of clamping members 310, 311, and the rice seedling Se is placed in the rice transplanter or near the rice transplanter. Therefore, the operator can replenish the seedlings Se to the rice transplanter without having to go and get the seedlings Se to be supplied to the rice transplanter.

[0141] The above-described embodiment (preferable embodiment of the present invention) is as described above, and the above-described embodiment includes many inventions including the present invention, and in particular provides the inventions described in the following items.

[0142] (Item 1-1) An agricultural seedling holding device 3 comprising a pair of clamping members 310, 311 capable of clamping at least a portion of the leaves or stems of seedlings Se, a first mechanism M1 that brings the pair of clamping members 310, 311 closer together so that at least a portion of the leaves or stems of the seedlings Se can be clamped, and a moving mechanism 32 that includes a second mechanism M2 that moves the pair of clamping members 310, 311 apart, and at least one of the first mechanism M1 and the second mechanism M2 has an electric actuator 30 that moves at least one of the pair of clamping members 310, 311.

[0143] According to the agricultural seedling holding device 3 of Item 1-1, at least one of the first mechanism M1 and the second mechanism M2 included in the movement mechanism (drive device) 32 has an electric actuator 30 that moves at least one of the pair of clamping members 310, 311. Therefore, by operating the electric actuator 30, the pair of clamping members 310, 311 can at least either clamp or release the leaves or stems of the seedlings Se. This allows for efficient handling of the seedlings Se. Furthermore, the movement of at least one of the pair of clamping members 310, 311 can be electrically controlled, and oil leaks, etc., that occur with hydraulic equipment, can be prevented, preventing oil contamination of the seedlings Se and the soil.

[0144] (Item 1-2) An agricultural seedling holding device 3 described in Item 1-1, in which a first mechanism M1 brings a pair of clamping members 310, 311 closer together in a first direction intersecting the vertical direction, while a second mechanism M2 moves the pair of clamping members 310, 311 apart in the first direction.

[0145] According to the agricultural seedling holding device 3 of Item 1-2, the operation of the first mechanism M1 and the second mechanism M2 allows the pair of clamping members 310, 311 to be switched between a close state and a mutually separated state, thereby reliably clamping (holding) the seedling Se. Furthermore, when the pair of clamping members 310, 311 are separated from each other, the clamping force of the pair of clamping members 310, 311 on the seedling Se or seedling material M is weakened, and the clamping (holding) state is released.

[0146] (Item 1-3) An agricultural seedling holding device 3 described in Item 1-1 or Item 1-2, wherein either the first mechanism M1 or the second mechanism M2 has an electric actuator 30, and the other of the first mechanism M1 or the second mechanism M2 has a biasing member 36 that biases at least one of the pair of clamping members 310, 311 to move it to one side in the first direction.

[0147] According to the agricultural seedling holding device 3 of Items 1-3, either the first mechanism M1 or the second mechanism M2 has an electric actuator 30, and the other of the first mechanism M1 or the second mechanism M2 has a biasing member 36 that biases at least one of the clamping members 310 to move it to one side in the first direction. Therefore, when the other of the first mechanism M1 or the second mechanism M2 is activated, the clamping member 311 can be moved to one side in the first direction without consuming power. In this way, the configuration in which the pair of clamping members 310, 311 are moved relative to one another does not cause oil leaks, as occurs with hydraulic equipment, and also prevents the seedlings Se and the soil from being contaminated with oil.

[0148] (Item 1-4) The agricultural seedling holding device according to Item 1-3, wherein the electric actuator 30 moves one of the clamping members 310 to either the other side in the first direction against the biasing force of the biasing member 36.

[0149] According to the agricultural seedling holding device 3 of items 1-4, the electric actuator 30 moves one of the clamping members 310 to either side of the first direction against the force of the biasing member 36, so that the combination of the electric actuator 30 and the biasing member 36 can move one of the clamping members 310.

[0150] (Item 1-5) An agricultural seedling holding device 3 described in Item 1-4, in which when the other of the first mechanism M1 or the second mechanism M2 moves one of the clamping members 310 in one of the first directions by the force of the force member 36, the drive of the electric actuator 30 is released, and the movement of one of the clamping members 310 in one of the first directions by the force member 36 is allowed.

[0151] According to the agricultural seedling holding device 3 of items 1-5, when either the first mechanism M1 or the second mechanism M2 moves one of the clamping members in a first direction by the force of the spring member 36, the drive of the electric actuator 30 is released, allowing the movement of one of the clamping members 310 in the first direction by the spring member 36.Therefore, by releasing the drive of the electric actuator 30, the one of the clamping members 310 moves in the first direction by the spring force of the spring member 36 without relying on the drive of the electric actuator 30.

[0152] (Item 1-6) The agricultural seedling holding device 3 described in item 1-5, wherein the first mechanism M1 has a biasing member 36, and the biasing force of the biasing member 36 moves one clamping member 310 to one side in the first direction, bringing it closer to the other clamping member 311, and the second mechanism M2 has an electric actuator 30, and by driving the electric actuator 30, moves one clamping member 310 to the other side in the first direction, moving it away from the other clamping member 311.

[0153] According to the agricultural seedling holding device 3 of Items 1-6, the biasing force of the biasing member 36 acts as a clamping force to clamp the seedling Se. Because the biasing force of the biasing member 36 is mechanically determined, the clamping force on the seedling Se is also kept within a certain range, making it possible to suppress damage to the seedling Se due to clamping.

[0154] (Item 1-7) An agricultural seedling holding device 3 described in Item 1-6, which has multiple pairs of clamping members 310, 311, and a moving mechanism 32 which moves one of the pairs of clamping members 310, 311 in the multiple pairs in a first direction in synchronization.

[0155] According to the agricultural seedling holding device 3 of item 1-7, since it has multiple pairs of clamping members 310, 311, by clamping a seedling Se with each of the multiple pairs of clamping members 310, 311, it is possible to clamp (hold) multiple seedlings Se, and multiple seedlings Se (in multiple locations) of seedling material M.

[0156] (Item 1-8) The agricultural seedling holding device 3 according to any one of items 1-1 to 1-8, wherein the electric actuator 30 is disposed above the pair of clamping members 310, 311.

[0157] According to the agricultural seedling holding device 3 of item 1-8, the electric actuator 30 is positioned above the holding device 31, so that the electric actuator 30 is prevented from interfering with the holding device 31 holding the seedling Se.

[0158] (Item 1-9) An agricultural seedling holding device 3 according to any one of items 1-1 to 1-8, comprising a frame 33 that supports a moving mechanism 32, and the frame 33 having an attachment portion 326 for attachment to an aircraft 2 that can fly in the sky.

[0159] According to the agricultural seedling holding device 3 of items 1-9, the frame 33 supporting the moving mechanism 32 has an attachment portion 204 for attachment to an aircraft 2 capable of flying in the sky, so that it can be attached to the aircraft 2, and the seedlings Se or seedlings Se can be transported by the flight of the aircraft 2.

[0160] (Item 1-10) An agricultural seedling holding device 3 described in any one of items 1-1 to 1-9, which is equipped with a sensing device 34 that detects the presence or absence of a seedling Se between a pair of clamping members 310, 311, and a first mechanism M1 that, when the sensing device 34 detects the presence of a seedling Se between the pair of clamping members 310, 311, brings the pair of clamping members 310, 311 closer together to hold the seedling Se between the pair of clamping members 310, 311.

[0161] According to the agricultural seedling holding device 3 of items 1-10, the agricultural seedling holding device of any one of claims 1 to 8 is provided with a sensing device 34 that detects the presence or absence of a seedling Se between the pair of clamping members 310, 311, and when the sensing device 34 detects the presence of a seedling Se between the pair of clamping members 310, 311, the first mechanism M1 brings the pair of clamping members 310, 311 closer to each other to hold the seedling Se between the pair of clamping members 310, 311. Because the first state is reached, the seedling Se can be automatically held without empty gripping.

[0162] (Item 2-1) An agricultural flying device 1 comprising an aircraft 2 having a main body 20, a generator 21 connected to the main body 20 and generating flight propulsion force to be applied to the main body 20, and a seedling holding device 3 capable of holding at least a portion of the leaves and stems of seedlings Se, wherein the aircraft 2 has skids 22, 22 each extending downward from the main body 20, and the seedling holding device 3 is arranged between the main body 20 and the lower end of the skid 22.

[0163] According to the agricultural flying device 1 of Item 2-1, the seedling holding device 3 capable of holding seedlings Se or seedlings Se of seedling materials M including seedlings Se is disposed between the main body 20 and the lower end of the skid 22, and therefore the holding device 31 is located below the main body 20 and above the lower end of the skid 22. Therefore, by flying the flying object 2 so that the seedlings Se are positioned below the holding device 31, the holding device 31 can hold the seedlings Se or seedlings Se of seedling materials M.

[0164] (Item 2-2) The agricultural flying device according to Item 2-1, wherein at least the lower end of the seedling holding device 3 is disposed between the main body 20 and the lower end of the skid 22.

[0165] According to the agricultural flying device 1 of Item 2-2, the lower end of the holding device 31 is located below the main body 20 and above the lower end of the skid 22. Therefore, by flying the flying vehicle 2 so that the seedlings Se are positioned below the lower end of the holding device 31, the holding device 31 can hold the seedlings Se or seedlings Se of the seedling material M.

[0166] (Item 2-3) The agricultural flight device 1 according to Item 2-1 includes a pair of skids 22, the pair of skids 22, 22 being spaced apart in a first direction perpendicular to the up-down direction, and the seedling holding device 3 being disposed between the pair of skids 22, 22.

[0167] According to the agricultural flying device 1 of Item 2-3, the holding device 31 is disposed between a pair of skids 22, 22 that are arranged so that the distance between them increases in the first direction downward from the main body 20. Therefore, the seedling holding device 3 is disposed below the main body 20 and between the pair of skids 22, 22. This allows the holding device 31 to hold (sandwich) the seedling Se or seedling Se of seedling material M below. Furthermore, when the flying vehicle 2 is lowered from above, the skids 22, 22 are prevented from coming into contact with the lower part, making it easier to position the pair of skids 22, 22 on both sides of the seedling Se or seedling Se of seedling material M. This makes it easier to place the holding device 31 in a state where it can hold the seedling Se or seedling Se of seedling material M.

[0168] (Item 2-4) The agricultural flying device 1 according to Item 2-3, wherein the pair of skids 22, 22 are arranged such that the distance between them in the first direction increases as they extend downward from the main body 20.

[0169] According to the agricultural flying device 1 of item 2-4, the distance between the lower ends of the pair of skids 22, 22 is widened, allowing for a stable landing.

[0170] (Item 2-5) The seedling holding device 3 is configured to be able to hold seedlings Se contained in a seedling raising mat M, and the distance in the first direction between at least the lower ends of a pair of skids 22, 22 is wider than that of the seedling raising mat M. This is the agricultural flying device 1 described in Item 2-3.

[0171] According to the agricultural flying device 1 of item 2-5, it is easy to arrange the pair of skids 22, 22 on both sides of the seedling raising mat M.

[0172] (Item 2-6) An agricultural flying device 1 described in any one of items 2-3 to 2-5, wherein each of the pair of skids 22, 22 has a ground contact portion 220 at its lower end that extends in the vertical direction and in a second direction perpendicular to the first direction, the seedling holding device 3 has a pair of clamping members 310, 311 that move relatively in the first direction and can be switched between a relatively close state and a relatively far state, and each of the pair of clamping members 310, 311 extends in the second direction.

[0173] According to the agricultural flying device 1 of item 2-6, the ground contact portions 220 of a pair of skids 22, 22 extend in the same direction as the clamping member, so that when the clamping member is brought into a state where it can clamp the seedling Se, the ground contact portions 220 of the skids 22, 22 can be prevented from colliding with the seedling Se or seedling material M.

[0174] (Item 2-7) The agricultural flight device 1 according to any one of items 2-3 to 2-6, wherein the vertical distance from the main body 20 to the lower end of each of the pair of skids 22, 22 is changeable.

[0175] According to the agricultural flight device 1 of Item 2-7, the vertical distance from the main body 20 to the lower ends of the pair of skids 22, 22 can be changed, and therefore the relative position of the holding device 31 with respect to the lower ends of the skids 22, 22 can be changed between the main body 20 and the lower ends of the skids 22, 22. In other words, the relative position of the holding device 31 with respect to the main body 20 remains constant, but the relative position of the holding device 31 with respect to the lower ends of the skids 22, 22 can be changed. Therefore, because the distance of the holding device 31 from the surface on which the lower ends of the skids 22, 22 land can be changed in the third direction, it becomes possible to hold (clamp) even short seedlings Se.

[0176] (Item 2-8) The agricultural flying device 1 described in Item 2-7, wherein the upper end of each of the pair of skids 22, 22 is connected to the main body 20 so as to be rotatable about an axis extending in the vertical direction and in a second direction perpendicular to the first direction, and the vertical distance from the main body 20 to the lower end of each of the pair of skids 22, 22 can be changed by rotating each of the pair of skids 22, 22 about its axis from a state in which the skids 22, 22 extend downward from the main body 20.

[0177] According to the agricultural flying device 1 of Item 2-8, the upper ends of the pair of skids 22, 22 are connected to the main body 20 so as to be rotatable about an axis extending vertically and in a second direction perpendicular to the first direction. By rotating each of the pair of skids 22, 22 about its axis from a state in which it extends downward from the main body 20, the vertical distance from the main body 20 to the lower ends of each of the pair of skids 22, 22 can be easily changed. This makes it possible to hold (clamp) even short seedlings Se. The rotation of the skids 22, 22 about their axes may be multi-stage or continuous.

[0178] (Item 2-9) The agricultural flying device 1 described in Item 2-7, wherein each of the pair of skids 22, 22 is configured to be extendable and retractable in the direction of extension from the main body 20, and the extension and retraction changes the vertical distance from the main body 20 to the lower end of each of the pair of skids 22, 22.

[0179] According to the agricultural flight device 1 of Item 2-9, each of the pair of skids 22 is configured to be extendable in the direction of extension from the main body 20. This extension and contraction changes the vertical distance from the main body 20 to the lower end of each of the pair of skids 22, 22, making it easy to change the vertical distance from the main body 20 to the lower end of each of the pair of skids 22, 22. This makes it possible to hold (clamp) even short seedlings Se. The extension and contraction of the skids 22, 22 may be multi-stage or continuous.

[0180] (Item 2-10) The agricultural flight device 1 according to any one of Items 2-1 to 2-9, wherein the generator 21 is a rotary wing device that imparts flight propulsion to the main body 20, and the flight body 2 is a multicopter.

[0181] According to the agricultural flying device 1 of item 2-10, the generating device 21 is a rotary wing device that provides flight propulsion to the main body 20, and since the flying body 2 is a multicopter, it can also ascend and descend in a third direction, and the holding device 31 can be positioned corresponding to the location of the seedlings Se or seedling materials M.

[0182] (Item 3-1) An agricultural flying device 1 comprising: an aircraft 2 having a main body 20; a generator 21 connected to the main body 20 and generating flight propulsion to be applied to the main body 20; and a seedling holding device 3 capable of holding at least a portion of the leaves and stems of seedlings and arranged at a distance below the main body 20, wherein the aircraft 2 has a bracket 23 to which electrical equipment 4 can be attached, and the electrical equipment 4 attached to the bracket 23 is arranged between the main body 20 and the seedling holding device 3.

[0183] According to the agricultural flying device 1 of item 3-1, the flying body 2 has a bracket 23 to which electrical equipment 4 can be attached, and the electrical equipment 4 attached to the bracket 23 is positioned between the main body 20 and the seedling holding device 3, which are arranged in the vertical direction, so that the space between the main body 20 and the seedling holding device 3 can be effectively utilized.

[0184] (Item 3-2) The agricultural flying device 1 according to Item 3-1, wherein the bracket 23 protrudes downward from the underside of the main body 20.

[0185] According to the agricultural flying device 1 of item 3-2, the bracket 23 protrudes downward from the underside of the main body 20, so the electrical equipment 4 attached to the bracket 23 is also positioned downward from the underside of the main body 20.

[0186] (Item 3-3) An agricultural flying device 1 as described in Item 3-1 or Item 3-2, which is provided with a pair of stays 5, 5 spaced apart in a first direction perpendicular to the up-down direction and connecting the flying body 2 and the seedling holding device 3, and the bracket 23 is arranged between the pair of stays 5, 5.

[0187] The agricultural flying device 1 of Item 3-3 includes a pair of stays 5, 5 spaced apart in a first direction perpendicular to the up-down direction and connecting the flying body 2 and the seedling holding device 3, so that the seedling holding device 3 is maintained in a fixed position relative to the main body 20 of the flying body 2. Furthermore, because the pair of stays 5, 5 connect the flying body 2 and the seedling holding device 3 while spaced apart in the first direction, the seedling holding device 3 is connected to the flying body 2 in a stable state.

[0188] (Item 3-4) The agricultural flying device 1 described in Item 3-3, wherein the electrical equipment 4 is an imaging device, and the bracket 23 is configured to allow attachment of the imaging device such that the imaging device is positioned between a pair of stays 5, 5 and the imaging direction of the imaging device faces the up-down direction and a second direction perpendicular to the first direction.

[0189] According to the agricultural flying device 1 of item 3-4, the electric component is an imaging device, and the bracket 23 is configured to allow the imaging device to be attached so that the imaging device is positioned between the pair of stays 5, 5 and the imaging direction of the imaging device faces up and down and a second direction perpendicular to the first direction, so that the skids 22, 22 and stays 5, 5 are not present in the imaging area of ​​the imaging device, and imaging can be performed well in the imaging direction. Therefore, the images captured by the imaging device can be used to control the flying vehicle 2 and operate the seedling holding device 3.

[0190] (Item 3-5) An agricultural flying device according to Item 3-3, wherein the electrical equipment 4 is a distance measurement sensor, and the bracket 23 is configured to allow the distance measurement sensor 4 to be attached so that the distance measurement sensor 4 is positioned between a pair of stays 5, 5 and the measurement direction of the distance measurement sensor faces the up and down direction and a second direction perpendicular to the first direction.

[0191] According to the agricultural flying device 1 of items 3-5, the electrically powered component is a distance measurement sensor, and the bracket 23 is configured to allow the distance measurement sensor to be attached so that the distance measurement sensor is positioned between the pair of stays 5, 5 and the measurement direction of the distance measurement sensor faces the up-down direction and a second direction perpendicular to the first direction, so that the skids 22, 22 and stays 5, 5 are not present within the measurement area of ​​the distance measurement sensor, and measurements (distance measurements) can be performed effectively in the measurement direction. Therefore, the measurement results from the distance measurement sensor can be used to control the flying vehicle 2 and operate the seedling holding device 3.

[0192] (Item 3-6) The agricultural flying device 1 described in any one of Items 3-1 to 3-4, wherein the flying body 2 has a battery B that stores electricity, the generator 21 is a rotary wing device that is driven by electricity from the battery B and generates flight propulsion, and the electrical equipment 4 operates using electricity supplied from the battery B.

[0193] According to the agricultural flying device 1 of item 3-6, the flying vehicle 2 has a battery B that stores electricity, the generator 21 is a rotary wing device that is powered by electricity from battery B and generates flight propulsion, and the electrical equipment 4 operates using electricity supplied from battery B, so the flying vehicle 2 can fly without oil leaks that could cause soil contamination.

[0194] (Item 3-7) The agricultural flight device 1 according to Item 3-5, wherein the rotary wing device includes a propeller 210 that rotates around a predetermined axis, and an electric motor 211 that receives power from a battery B to drive the propeller 210 to rotate.

[0195] According to the agricultural flying device 1 of item 3-7, since it operates using power supplied from battery B, the flying object 2 can fly without oil leaks that can cause soil contamination.

[0196] (Item 4-1) An agricultural flying device 1 comprising: an aircraft 2 having a main body 20; a generator 21 connected to the main body 20 and generating flight propulsion to be applied to the main body 20; and a support member 5 connected to the aircraft 2, the support member 5 being capable of supporting a work device 3 below the main body 20.

[0197] According to the agricultural flying device 1 of item 4-1, the working device 3 that performs a specified function on a work object below is positioned below the main body 20 of the flying body 2, so that the specified function can be performed without impairing the function of the working device 3.

[0198] (Item 4-2) The agricultural flight device 1 according to Item 4-1, further comprising a work implement 3 for performing agricultural work, and the support member 5 connects the main body 20 and the work implement 3.

[0199] According to the agricultural flying device 1 of item 4-2, it is equipped with a working device 3 for performing agricultural work, and the working device 3 is connected to the main body 20 via a support member 5, and is therefore positioned below the main body 20 of the flying vehicle 2, so that it can perform the specified functions related to agricultural work without impairing the function of the working device 3.

[0200] (Item 4-3) The agricultural flying device 1 according to Item 4-1 or 4-2, wherein the flying body 2 includes a skid 22, and the support member 5 supports the working device 3 so that the working device 3 is positioned between the main body 20 and a lower end of the skid 22.

[0201] According to the agricultural flying device 1 of item 4-3, the work implement 3 is located between the main body 20 and the lower end of the skid 22, so that work can be performed on a work object below.

[0202] (Item 4-4) The agricultural flight device 1 according to Item 4-3, wherein the lower end of the skid 22 can be repositioned higher than the lower end of the work device 3.

[0203] According to the agricultural flight device 1 of Item 4-4, the lower end of the skid 22 can be repositioned higher than the working device 3, preventing the skid 22 from contacting (interfering with) the work object or the ground below when the working device 3 is performing agricultural work. This allows the working device 3 to perform its work smoothly.

[0204] (Item 4-5) The agricultural flying device 1 described in any one of Items 4-1 to 4-4, wherein the support member 5 is configured to be able to support multiple locations of the working device 3 spaced apart in a first direction perpendicular to the up-down direction, and multiple locations of the working device 3 spaced apart in a second direction perpendicular to the up-down direction and the first direction.

[0205] According to the agricultural flying device 1 of item 4-5, the support member 5 supports the working device 3 at multiple points, providing a strong (rigid) connection between the main body 20 and the working device 3. This prevents the working device 3 from swaying during flight or work, making it easier to work on work objects below.

[0206] (Item 4-6) The agricultural flying device 1 described in Item 4-2, wherein the flying body 2 has a battery B that stores electricity, the generator 21 is a rotary wing device that is driven by electricity from the battery B and generates flight propulsion, the working device 3 includes an electric actuator 30 for performing a predetermined function, and the electric actuator 30 operates using electricity supplied from the battery B.

[0207] According to the agricultural flying device 1 of item 4-6, power is supplied to the electric actuator 30 of the working device 3 from the battery B of the flying vehicle, so the working device 3 can be operated without providing a separate battery B.

[0208] (Item 4-7) The agricultural flying device 1 described in Item 4-6 includes a seedling holding device 3 having a pair of clamping members 310, 311 that can be switched between a first state in which they approach each other and can hold at least a portion of the leaves and stems of the seedlings Se, and a second state in which they move away from each other and release the first state, by moving in a first direction perpendicular to the up-down direction, and a drive device 32 that switches the seedling holding device 3 between the first state and the second state, and the drive device 32 has an electric actuator 30 and a movement mechanism 32 that moves at least one of the pair of clamping members 310, 311 in the first direction by driving the electric actuator 30.

[0209] According to the agricultural flying device 1 of Items 4-7, the flying vehicle 2 can fly to position the holding device 31 in a position corresponding to the seedling Se placed below. The electric actuator 30 drives the movement mechanism 32 to move at least one of the pair of clamping members 310, 311 in a first direction, thereby placing the device in at least one of a first state and a second state. This allows the seedling holding device 3 to hold the seedling Se or seedling material M below, which is the work object. By flying the flying vehicle 2 with the seedling holding device 3 holding the seedling Se or seedling material M, the seedling Se or seedling material M can be transported (transported) to the destination. Furthermore, upon arrival at the destination, the holding device 31 can be switched to the second state to release the seedling Se or seedling material M from its hold.

[0210] (Item 4-8) The agricultural flying device 1 described in Item 4-7 includes a sensing device 34 that detects the presence or absence of seedlings Se between the pair of clamping members 310, 311, and the driving device 32 allows one of the clamping members 310 to move in a first direction when the sensing device 34 detects the presence of seedlings Se between the pair of clamping members 310, 311.

[0211] According to the agricultural flying device 1 of items 4-8, the agricultural flying device 1 includes a sensing device 34 that detects the presence or absence of seedlings Se or seedling material M between the pair of clamping members 310, 311. When the sensing device 34 detects the presence of seedlings Se between the pair of clamping members 310, 311, the driving device 32 allows the biasing member 36 to move one of the clamping members 310 in a first direction, thereby automatically holding the seedlings Se without empty gripping. Furthermore, the biasing force of the biasing member 36 moves one of the clamping members 310 in the first direction while ensuring a clamping force (holding force) that holds (clamps) the seedlings Se. In other words, because the biasing force of the biasing member 36 is mechanically determined, the clamping force on the seedlings Se is maintained within a certain range, minimizing damage to the seedlings Se due to clamping.

[0212] (Item 4-9) The rotary wing device includes a propeller 210 that can rotate around an axis extending in the vertical direction, and a motor that receives power from a battery B and drives the propeller 210 to rotate, and the propeller 210 is disposed above the seedling holding device 3. The agricultural flight device 1 is described in any one of items 4-7 to 4-10.

[0213] According to the agricultural flying device 1 of item 4-9, the flying device 2 can fly without oil leaks that can cause soil contamination because it is powered by the battery B. In addition, because the propeller 210 is positioned above the seedling holding device 3, the flying device 2 can fly stably without losing its balance due to the presence of the seedling holding device 3.

[0214] (Item 4-10) The agricultural flight device 1 described in Item 4-11, wherein the rotary wing device has a plurality of propellers 210 around the main body 20, and the seedling holding device 3 is positioned closer to the main body 20 than the rotation centers of each of the plurality of propellers 210.

[0215] According to the agricultural flying device 1 of item 4-10, the rotary wing device has multiple propellers 210 around the main body 20, and the seedling holding device 3 is positioned closer to the main body 20 than the rotation center of each of the multiple propellers 210, so that the flying body 2 can fly stably without losing its flight balance due to the presence of the seedling holding device 3.

[0216] (Item 4-11) The agricultural flying device 1 described in Item 4-5 includes a pair of stays 5, 5 as support members, the pair of stays 5, 5 being spaced apart in a first direction, each of the pair of stays 5, 5 including a first connecting portion 50 connected to the main body 20 of the flying vehicle 2, a pair of inclined portions 521, 521 extending from both ends of the first connecting portion 50 in a second direction perpendicular to the first direction and the up-down direction and inclining downward in the up-down direction toward the tip, and a pair of second connecting portions 51, 51 fixed to the tip ends of the pair of inclined portions 521, 521, each of which is connected to the work device 3, and the distance between the pair of inclined portions 521, 521 in the second direction is wider toward the work device 3 than toward the flying vehicle 2.

[0217] According to the agricultural flying device 1 of Item 4-11, a pair of stays 5, 5 connecting the flying body 2 and the work device 3 are spaced apart in the first direction. Therefore, the flying body 2 and the work device 3 are connected at two locations in the first direction. Each of the pair of stays 5, 5 includes a first connecting portion 50 connected to the main body 20 of the flying body 2, a pair of inclined portions 521, 521 extending from both ends of the first connecting portion 50 in a second direction perpendicular to the first direction and the vertical direction and inclining downward in the vertical direction toward the tip, and a pair of second connecting portions 51, 51 fixed to the respective tips of the pair of inclined portions 521, 521, each of which is connected to the work device 3. The distance between the pair of inclined portions 521, 521 in the second direction is wider toward the work device 3 than toward the flying body 2, so the pair of second connecting portions 51, 51 are connected to the work device 3 with a gap in the second direction. Therefore, each of the pair of stays 5, 5 is fixed to two locations in the second direction of the working device 3, allowing the working device 3 to be stably connected to the main body 20. This allows the agricultural flying device 1 configured as described above to fly stably without losing flight balance due to the presence of the working device 3.

[0218] (Item 4-12) The agricultural flight device 1 according to Item 4-2, wherein the work device 3 performs at least one of plowing, sowing, and mowing.

[0219] According to the agricultural flight device 1 of item 4-12, the work device 3 performs at least one of plowing, sowing, and mowing, so that it is possible to perform tasks other than handling seedlings Se.

[0220] (Item 5-1) A method for transporting seedlings using an agricultural flying device 1, in which the seedlings Se are lifted up by the flight of an aircraft 2 while at least a portion of the leaves and stems of the seedlings Se are held by a seedling holding device 3.

[0221] According to the transportation method of item 5-1, the seedlings Se are lifted up, so that the seedlings Se can be transported without being affected by the condition on the ground.

[0222] (Item 5-2) A method for transporting seedlings using the agricultural flying device 1 according to Item 5-1, in which the seedlings Se are lifted up and then moved horizontally by the flight of the flying body 2.

[0223] According to the transportation method of item 5-2, the seedlings Se are moved horizontally, so that the seedlings Se can be moved in a straight line along the shortest route.

[0224] (Item 5-3) A method for transporting seedlings using an agricultural flying device 1, comprising: a first flying step of flying an agricultural flying device 1 equipped with a seedling holding device 3 so that the seedling holding device 3, which includes holding members 310, 311 capable of holding at least a portion of the leaves and stems of the seedlings Se, overlaps the seedlings Se in a planar view, with the seedlings Se positioned so that their leaves or stems are located above their roots; a holding step of holding at least a portion of the leaves and stems of the seedlings Se with the holding members 310, 311 of the seedling holding device 3; and a second flying step of raising the agricultural flying device 1 while the seedling holding device 3 is holding at least a portion of the leaves and stems of the seedlings Se, causing the seedlings Se to float up.

[0225] According to the transportation method of item 5-3, the method includes a first flight step in which an agricultural flying device 1 equipped with a seedling holding device 3 is flown so that the seedling holding device 3, which includes holding members 310, 311 capable of holding at least a portion of the leaves and stems of the seedlings Se, overlaps the seedlings Se in a planar view; a holding step in which at least a portion of the leaves and stems of the seedlings Se are held by the holding members 310, 311 of the seedling holding device 3; and a second flight step in which, while the seedling holding device 3 is holding at least a portion of the leaves and stems of the seedlings Se, the agricultural flying device 1 is raised and the seedlings Se are lifted up, thereby allowing the seedlings Se to be transported while being securely held.

[0226] (Item 5-4) A method for transporting seedlings using the agricultural flight device 1 described in Item 5-3, wherein the first flight process includes a descending flight process in which the agricultural flight device 1 is flown to a position where the seedling holding device 3 overlaps the seedling Se in a planar view and the holding members 310, 311 overlap the seedling Se in a direction perpendicular to the up-down direction.

[0227] According to the transportation method of item 5-4, the first flying step causes the holding members 310, 311 to be positioned so as to overlap the seedlings Se, so that the seedlings Se can be securely held without being caught in the air.

[0228] (Item 5-5) A method for transporting seedlings Se using the agricultural flying device 1 according to Item 5-3, wherein the holding step includes clamping at least a part of the leaves and stems of the seedlings Se with the seedling holding device 3.

[0229] According to the transportation method of item 5-5, the holding step clamps at least a part of the leaves and stems of the seedlings Se with the seedling holding device 3, so that the seedlings Se can be held.

[0230] (Item 5-6) A method for transporting seedlings Se using the agricultural flying device 1 described in Item 5-5, in which in the holding process, the seedling holding device 3 presses the holding members 310, 311 against at least a portion of the leaves and stems of the seedlings Se in a direction perpendicular to the up-down direction, thereby generating a clamping force that resists the seedlings Se's own weight.

[0231] According to the transportation method of item 5-6, the seedlings Se are securely held after the holding step, and the seedlings Se are prevented from falling off when flying in the next step.

[0232] (Item 5-7) A method for transporting seedlings Se using the agricultural flight device 1 described in any one of Items 5-3 to 5-6, wherein the second flight step includes a step of moving the seedlings Se horizontally after lifting them off the ground, and also includes flying the agricultural flight device 1 to a rice transplanter.

[0233] According to the transportation method of items 5-7, the seedlings Se can be transported to the destination in a short time.

[0234] (Item 5-8) A method for transporting seedlings Se using the agricultural flight device 1 described in any one of items 5-3 to 5-7, further including a retention release step of releasing the retention of the seedlings Se by the seedling retention device 3 when the agricultural flight device 1 arrives at the rice transplanter after the second flight step.

[0235] According to the transportation method of items 5-8, after the second flight step, the method further includes a holding release step of releasing the seedling holding device 3 when the agricultural flight device 1 arrives at the destination, so that the seedlings Se that have arrived at the destination can be placed (unloaded).

[0236] (Item 5-9) The flying object 2 is a multicopter equipped with a rotor device as a generating device 21 that generates flight propulsion to be applied to the main body 20, and a method for transporting seedlings Se using the agricultural flying device 1 described in Item 5-4, in which the rotor device is stopped or reversed depending on the timing at which the holding members 310, 311 hold the seedlings Se during the descending flight process or holding process.

[0237] According to the transportation method of items 5-9, during the descending flight step or the holding step, the rotor device is stopped or reversed depending on the timing when the holding member 310 holds the seedlings Se, so downwash caused by the driving of the rotor device is not generated, and the seedlings Se can be prevented from being disturbed by the influence of the wind and tilting over. This makes it easier to hold the seedlings Se with the pair of clamping members 310, 311. In particular, when the rotor device is reversed, the wind direction is opposite to the downwash, which straightens out the tilted seedlings Se, making it easier to hold the seedlings Se with the pair of clamping members 310, 311.

[0238] The present invention is not limited to the above-described embodiment, and can be modified as appropriate without departing from the spirit of the present invention.

[0239] In the above embodiment, the aircraft 2 has four propellers 210, but is not limited to this. For example, the aircraft 2 may be a tricopter having three propellers 210, a quadcopter having four propellers 210, a hexacopter having six propellers 210, or an octocopter having eight propellers 210. When changing the number of propellers 210 in this way, it goes without saying that, in addition to changing the number of support arms 201 or the shape of the support arms 201, multiple electric motors 211 that rotate and drive the propellers 210 are provided in accordance with the arrangement of the propellers 210.

[0240] In the above embodiment, the first mechanism M1 is provided with the biasing member 36, and the biasing force of the biasing member 36 brings one clamping member 310 closer to the other clamping member 311, making it possible to hold the seedling Se (first state). However, this is not limited to this. For example, as shown in Figures 22 and 23, the first mechanism M1 may be provided with an electric actuator 30, and driving the electric actuator 30 may bring one clamping member 310 closer to the other clamping member 311, making it possible to hold the seedling Se. In this case, the second mechanism M2 may be provided with the biasing member 36, and, contrary to the above embodiment, driving the electric actuator 30 may bring one clamping member 310 closer to the other clamping member 311, making it possible to hold the seedling Se, while the biasing force of the biasing member 36 may release the clamping of the seedling Se. Note that Figure 22 has the same configuration as the seedling holding device 3 of the above embodiment except that it does not have the second spring receiving portion 38, and Figure 23 has the same configuration as the seedling holding device 3 of the above embodiment except that the first spring receiving portion 37 is fixed to the frame 33 and the second spring receiving portion 38 is fixed to the reciprocating body 315, but by changing the transmission path of the spring force of the spring member 36, the seedling Se can be held by driving the electric actuator 30.

[0241] 23, when the seedling Se is released from the clamping position, one of the clamping members 310 can be moved away from the seedling Se by the biasing force of the biasing member 36. In contrast, in the seedling holding device 3 shown in FIG. 22, the biasing force of the biasing member 36 only weakens the clamping force (pressure force on the seedling Se) of the clamping member 310 (releases the action of the clamping force), but the clamping (holding) of the seedling Se can be released.

[0242] In the above embodiment, the pair of skids 22, 22 of the aircraft 2 are coupled to the main body 20 rotatably about an axis extending in the second direction, thereby enabling the distance in the third direction from the main body 20 to the ground contact portions 220 of the skids 22, 22 (the distance in the third direction from the ground contact surface to the main body 20) to be changed. However, this is not limited to this. For example, as shown in FIG. 24 , each of the pair of skids 22, 22 may be configured to be extendable and retractable in the direction of extension from the main body 20. That is, each of the support legs 221 of the pair of skids 22, 22 may be configured to be extendable and retractable. Even in this case, by extending and retracting the support legs 221, the distance in the third direction (up-down direction) from the main body 20 to the lower ends (ground contact portions 220) of each of the pair of skids 22, 22 can be changed, as in the above embodiment.

[0243] In the above embodiment, the electrical equipment 4 attached to the bracket 23 of the aircraft 2 (main body 20) was an imaging device (camera), but this is not limited to this. For example, as described above, the electrical equipment 4 may be a sensor (range-measuring sensor) or a transceiver 341. However, in these cases, as in the above embodiment, power is still supplied from the battery B of the aircraft 2. Furthermore, a single bracket 23 may be configured to allow multiple electrical equipment 4 to be attached.

[0244] In the above embodiment, the method for transporting seedlings Se using the agricultural flight device 1 has been described with reference to rice seedlings Se. However, the seedlings Se transported by the agricultural flight device 1 are not limited to this. For example, the seedlings Se may be vegetable seedlings other than rice. For example, the seedlings may be leafy vegetable seedlings such as lettuce, cabbage, leeks, onions, or herbs. Accordingly, the starting point and destination (destination) of the seedlings Se when transporting the seedlings Se using the agricultural flight device 1 are not limited to the ridge SH or the rice transplanter in the field F. When growing crops from the seedlings Se, the starting point of the agricultural flight device 1 may be the ridge SH or the alley FR surrounding the field F, and the destination (destination) of the transplanter in the field F may be the agricultural flight device 1. In addition, when growing (producing) seedlings Se from seeds, the field F (or farm) may be the starting point for the agricultural flight device 1 (seedling Se), and a work site where shipping work is carried out or a shipping area (truck departure and arrival area) may be the destination (arrival point) for the agricultural flight device 1 (seedling Se).

[0245] DESCRIPTION OF SYMBOLS 1: Agricultural flying device 2: Flying body 3: Working device (seedling holding device, agricultural seedling holding device) 4: Electrical equipment 5: Stay (supporting member) 20: Main body 21: Generator 22: Skid 23: Bracket 30: Electric actuator 31: Holding device 32: Moving mechanism 33: Frame 34: Sensing device 36: Urging member (compression coil spring) 204: Mounting portion 310: Clamping member 310a: Clamping portion 310b: Fixing piece 311: Clamping member 311: Holding member 311a: Clamping portion 311b: Fixing piece 326: Mounting portion CG1: Center of gravity CG2: Center of gravity CL1: Center line (vertical center line) CL2: Center line (first horizontal center line) CL3: Center line (second horizontal center line) M1: First mechanism M2: Second mechanism Se: Seedling

Claims

1. An aircraft having a main body and a generating device connected to the main body for generating flight propulsion force applied to the main body, and a support member connected to the aircraft, the support member being capable of supporting a working device below the main body. An agricultural flying device comprising:

2. An agricultural flying device according to claim 1, comprising a working device for performing agricultural work, wherein the support member connects the main body and the working device.

3. The agricultural flying device according to claim 1, wherein the aircraft comprises skids, and the support member supports the working device so as to be located between the main body and the lower ends of the skids.

4. The agricultural flying device according to claim 3, wherein the lower end of the skid is positionally changeable above the lower end of the working device.

5. The agricultural flying device according to claim 1, wherein the support member is configured to be capable of supporting a plurality of locations of the working device spaced apart in a first direction orthogonal to the vertical direction, and a plurality of locations of the working device spaced apart in a second direction orthogonal to the vertical direction and the first direction.

6. The aircraft has a battery for storing electric power, the generating device is a rotary wing device driven by the electric power from the battery to generate the flight propulsion force, the working device includes an electric actuator for exerting a predetermined function, and the electric actuator operates by the electric power supplied from the battery. The agricultural flying device according to claim 2.

7. The working device includes a seedling holding device having a pair of clamping members that can be switched between a first state in which they move closer to each other to hold at least a part of the leaves and stems of the seedlings and a second state in which they move away from each other to release the first state by moving in a first direction orthogonal to the vertical direction, and a driving device for switching the seedling holding device between the first state and the second state. The driving device includes the electric actuator and a moving mechanism that moves at least one of the pair of clamping members in the first direction by driving the electric actuator. The agricultural flying device according to claim 6.

8. An agricultural flying device according to claim 7, further comprising a sensing device for detecting the presence or absence of the seedlings between the pair of clamping members, wherein the driving device allows the movement of the one clamping member in the first direction when the sensing device detects the seedlings between the pair of clamping members.

9. The rotary wing device includes a propeller rotatable about an axis extending in the vertical direction, and a motor that receives power supply from the battery and rotationally drives the propeller. The agricultural flying device according to claim 7 or 8, wherein the propeller is disposed above the seedling holding device.

10. The agricultural flying device according to claim 9, wherein the rotary wing device includes a plurality of the propellers around the main body, and the seedling holding device is disposed closer to the main body side than the rotation center of each of the plurality of propellers.

11. A pair of stays as the support members, the pair of stays being spaced apart in the first direction, each of the pair of stays including a first connecting portion connected to the main body of the flying object, and a pair of inclined portions extending from both ends of the first connecting portion in a second direction orthogonal to the first direction and the vertical direction, and being inclined downward in the vertical direction toward the tip side, and a pair of second connecting portions fixed to the tip portions of the pair of inclined portions, respectively, each of the pair of second connecting portions being connected to the working device. The agricultural flying device according to claim 5, wherein the interval in the second direction between the pair of inclined portions is larger on the working device side than on the flying object side.

12. The agricultural flying device according to claim 2, wherein the working device performs at least any one of tillage, seeding, and mowing.

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