Agricultural flight device, material transportation system, and material transportation method

Abstract

Provided is an agricultural flight device capable of quickly and accurately supplying materials to a work machine.　This agricultural flight device (5) comprises: a machine body (50a); and a holding device (51) provided to the machine body (50a). The machine body (50a) flies in a state of holding an agricultural material (S) by means of the holding device (51), and flies in the air above the work machine (1) during traveling from after turning to the next turn. When the machine body (50a) reaches the air above the work machine (1), the holding device (51) unlocks the holding of the agricultural material (S) to release the agricultural material (S).

Description

Agricultural flying device, material transport system, and material transport method

[0001] The present invention relates to an agricultural flying device, a material transport system, and a material transport method for transporting agricultural materials (e.g., seedlings) to a working machine while it is moving.

[0002] The seedling transplanter disclosed in Patent Document 1 comprises a seedling tray transport platform installed in the center of an autonomously moving body frame, and a control device that receives radio waves from a positioning satellite and recognizes the map position of the center coordinates of the seedling tray transport platform.When the seedling transplanter is stopped, the control device transmits the map position of the center coordinates of the seedling tray transport platform to the transport aircraft carrying the seedling trays, guides the transport aircraft over the seedling tray transport platform, and drops the seedling trays onto the seedling tray transport platform.

[0003] Japanese Patent Publication No. 2022-57029

[0004] In the seedling transplanter of Patent Document 1, seedling trays are replenished from the transport aircraft while the machine is stopped, so the machine cannot receive seedling trays from the transport aircraft while it is moving. The seedling transplanter remains stopped until the seedling trays are replenished, and seedling transplanting is suspended. This results in the problem of a long time required for the transport aircraft to replenish the seedlings in the seedling transplanter (working machine).

[0005] SUMMARY OF THE INVENTION In view of the above problems, an object of the present invention is to provide an agricultural flying device, a material transport system, and a material transport method that can quickly and accurately supply materials to a work machine.

[0006] The technical means of the present invention for solving the above technical problems is characterized by the following points.

[0007] An agricultural flying device according to one aspect of the present invention is an agricultural flying device comprising an airframe and a holding device provided on the airframe, wherein the airframe flies while holding agricultural material in the holding device and moves above a working machine that is running from one turn to the next, and when the airframe reaches the airframe above the working machine, the holding device releases the agricultural material by releasing its hold on the agricultural material.

[0008] The holding device may restrict release of the hold on the agricultural material while the work machine is swinging.

[0009] The holding device may release the agricultural material from its hold while flying above the work machine, thereby releasing the agricultural material to the work machine while it is moving.

[0010] When the aircraft reaches a first state in which it is flying within a predetermined distance above a receiving platform provided on the work machine, the holding device may release its hold on the agricultural material and drop the agricultural material onto the receiving platform.

[0011] The holding device may release its hold on the agricultural material when, in the first state, the relative speed between the machine body and the work machine is zero or within a specified range value from zero to a first relative speed.

[0012] In the first state, the airframe may fly while maintaining a direction and speed that are aligned with the direction and speed of travel of the work implement.

[0013] The airframe may arrive above the support platform of the work machine by flying in pursuit of the work machine at a speed faster than the work machine.

[0014] The holding device may restrict the release of the hold of the agricultural material when the work machine is traveling immediately before turning, and may release the hold of the agricultural material when the work machine is traveling after turning.

[0015] The agricultural materials may be seedlings, and the working machine may be a rice transplanter.

[0016] A material transport system according to one aspect of the present invention comprises the agricultural flying device described above and a calculation setting unit that sets a waypoint at which the agricultural flying device will be positioned, wherein the work machine travels along a planned travel route that includes a plurality of parallel straight routes and a turning route connecting the ends of the straight routes, and when the calculation setting unit calculates the waypoint on a straight route portion of the straight route of the planned travel route within a predetermined range to the turning route to the destination, it recalculates and sets the waypoint on the straight route after the turning route.

[0017] In one aspect of the present invention, a material transport method involves an agricultural flying device that flies while holding agricultural material, moving above a working machine that is traveling from one turn to the next, and releasing the agricultural material when it reaches the airspace above the working machine.

[0018] The agricultural flight device may restrict the release of the agricultural material if the work machine is turning.

[0019] The agricultural flying device may release the agricultural material from the holding device while flying above the work machine, thereby releasing the agricultural material to the working machine while it is moving.

[0020] The agricultural flying device may drop the agricultural materials onto a receiving platform provided on the work machine when the agricultural flying device is in a first state in which the agricultural flying device is flying within a predetermined distance above the receiving platform.

[0021] The agricultural flight device may release the agricultural material when, in the first state, the relative speed between the agricultural flight device and the work machine is zero or within a specified range from zero to a first relative speed.

[0022] In the first state, the agricultural flight device may fly while maintaining a direction and speed that are aligned with the direction and speed of the work machine.

[0023] The agricultural flight device may arrive above the platform of the work machine by following the work machine at a speed faster than the work machine.

[0024] The agricultural flying device may not release the agricultural materials to the working machine while it is traveling just before turning if the working machine is traveling just before turning, but may release the agricultural materials to the working machine while it is traveling after turning.

[0025] The material transportation method includes a server, and the work machine travels along a planned travel route that includes a plurality of parallel straight routes and a turning route connecting the ends of the straight routes. The server or the agricultural flight device includes a calculation and setting unit that calculates a waypoint at which the agricultural flight device will be positioned and sets it on the straight route of the planned travel route.If the waypoint is calculated as a straight route portion within a predetermined range of the straight route to the turning route to the destination, the calculation and setting unit may recalculate and set the waypoint on the straight route after the turning route.

[0026] The agricultural materials may be seedlings, and the working machine may be a rice transplanter.

[0027] According to the present invention, materials can be supplied to a work machine quickly and accurately.

[0028] 1 is a schematic diagram of a material transport system. FIG. 2 is a block diagram of a material transport system. FIG. 3 is an overall perspective view of an agricultural flying device. FIG. 4 is a schematic perspective view of a seedling (seedling raising mat). FIG. 5 is a schematic perspective view showing an example of a seedling placement location (e.g., a bank). FIG. 6 is a view of the agricultural flying device reaching above the seedlings (seedling raising mat) at the seedling placement location. FIG. 7 is a view to explain the positional relationship between the seedling holding device and the seedlings (seedling raising mat) when the agricultural flying device descends at the seedling placement location. FIG. 8 is a view of the agricultural flying device with the seedling holding device holding the seedlings (seedling raising mat). FIG. 9 is a view of the agricultural flying device taking off upward while holding the seedlings (seedling raising mat). FIG. 10 is a side view of a rice transplanter. FIG. 11 is a rear view of the seedling supply device and seedling carrying platform. FIG. 12 is a plan view of the seedling supply device and seedling carrying platform. FIG. 13 is a perspective view of the seedling supply platform viewed from above. FIG. 14 is an enlarged perspective view of the left side of the seedling supply platform. FIG. 15 is a perspective view of the seedling supply platform in an inclined position. FIG. 16 is a rear view of the seedling carrying platform and a modified seedling supply device. FIG. 17 is a view to explain the supply of seedlings to a working machine while traveling by the agricultural flying device. FIG. 18 is a view of the agricultural flying device flying outward from the departure point to the waypoint. 1 is a diagram showing the flight state of an agricultural flight device arriving at a waypoint. FIG. 2 is a diagram showing the flight state of an agricultural flight device approaching a moving work machine by following it. FIG. 3 is a diagram showing the flight state of an agricultural flight device reaching the sky above a receiving table. FIG. 4 is a diagram showing the agricultural flight device dropping seedlings while flying with a zero relative speed difference with respect to the rice transplanter. FIG. 5 is a diagram showing the return flight of an agricultural flight device returning to the starting point after dropping seedlings. FIG. 6 is a diagram showing an example of a turning route in the travel path of a work machine being set as a prohibited area for seedling replenishment. FIG. 7 is a diagram showing an example of a straight route portion in the travel path of a work machine just before a turn being set as a prohibited area for seedling replenishment. FIG. 8 is a side view of a work vehicle showing an example of altitude according to stages in the flight path of the agricultural flight device. FIG. 9 is a diagram showing an example of a replenishment progress display image displayed on a mobile device. FIG. 10 is a diagram showing an example of setting an additional waypoint for the agricultural flight device.

[0029] An embodiment of the present invention will be described below with reference to the drawings, in which: Fig. 1 is a schematic diagram of a material handling system; Fig. 2 is a block diagram of the material handling system;

[0030] 1 and 2, the material transport system SY includes a server 70 and an agricultural flight device 5. The agricultural flight device 5 holds agricultural material S (e.g., seedlings), transports the seedlings by flight, and supplies the seedlings to a traveling work machine 1. The agricultural material S is not limited to seedlings, but may also be plants such as vegetable seedlings or cuttings.

[0031] The working machine 1 is, for example, a rice transplanter 10. As shown in FIG. 1 , the rice transplanter 10 includes a vehicle body 11, a prime mover 12, a transmission 13, and a seedling planting device 18. The prime mover 12 and the transmission 13 are mounted on the vehicle body 11. The rice transplanter 10 is, for example, a four-wheel drive vehicle, and power, which is speed-shifted by the transmission 13, is transmitted to left and right front wheels 14F and left and right rear wheels 14R. Therefore, the vehicle body 11 is supported for travel by the left and right front wheels 14F and the left and right rear wheels 14R. The seedling planting device 18 is mounted on the rear of the vehicle body 11. The seedling planting device 18 removes seedlings, which are loaded on a seedling tray 41 mounted on the rear of the vehicle body 11, from the seedling tray 41 and plants them in a field or the like.

[0032] 2, the rice transplanter 10 includes a control device 30 and a storage unit 31. The storage unit 31 is a storage device such as a non-volatile memory, and stores various control programs, various data, etc. The storage unit 31 is, for example, a hard disk drive (HDD) or a solid state drive (SSD).

[0033] The control device 30 is composed of electric and electronic circuits, a processor, a memory, etc. Examples of the processor include a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a DSP (Digital Signal Processor), an FPGA (Field Programmable Gate Array), and an ASIC (Application Specific Integrated Circuit). The control device 30 controls the operation of each part of the rice transplanter 10 by the processor executing a control program. For example, the control device 30 controls the prime mover 12, the transmission 13, etc. The control device 30 controls the traveling system and the working system of the rice transplanter 10 based on operation signals generated when operating tools (operating levers, operating switches, operating volumes, etc.) installed around the driver's seat 15, detection signals from various sensors mounted on the vehicle body 11, etc.

[0034] As shown in FIG. 2, the rice transplanter 10 is equipped with a position detection device 32 (e.g., a positioning device 32A) that detects its own position. The positioning device 32A is provided, for example, on the front side of the rice transplanter 10 (body 11). The positioning device 32A is a device that detects its own position (latitude, longitude) based on data from positioning satellites (positioning satellite systems) such as GPS and Michibiki. Note that the positioning device 32A may have an inertial device such as an acceleration sensor that detects acceleration or a gyro sensor that detects angular velocity, and the position may be corrected using the acceleration and angular velocity detected by the inertial device, or may be corrected using other correction signals, etc., without being limited thereto.

[0035] The rice transplanter 10 is equipped with a periphery monitoring device 33 that monitors the surroundings. For example, an imaging device 33A is used as the periphery monitoring device 33, but it may also be LiDAR (Light Detection and Ranging), ultrasonic sonar, or the like. The imaging device 33A is, for example, a visible light camera, and is capable of capturing images of the surroundings of the rice transplanter 10. The imaging device 33A is disposed in front of the rice transplanter 10, but is not limited to this. For example, the imaging device 33A may be disposed near the driver's seat 15, and may be capable of capturing images of the surroundings of the rice transplanter 10 from the line of sight of the driver seated in the driver's seat 15. The images captured by the imaging device 33A are used for autonomous driving.

[0036] The memory unit 31 stores a predetermined planned travel route L1 for traveling the rice transplanter 10. In the control device 30, a processor executes an automatic steering control program. The control device 30 automatically steers the vehicle body 11 (for example, changes the steering direction of the front wheels 14F) while automatically changing the traveling speed of the vehicle body 11 so that its own position (the position of the vehicle body 11) detected by the positioning device 32A coincides with the planned travel route L1. Note that the control device 30 can also automatically drive the vehicle body 11 so that its position coincides with the planned travel route L1 based on the position of the vehicle body 11, the image captured by the imaging device 33A, and the planned travel route L1 by having the processor execute an automatic driving control program.

[0037] For example, the rice transplanter 10 (working machine 1) is provided with an automatic steering mechanism 17, and in automatic steering mode, the rice transplanter 10 (working machine 1) travels under automatic steering by the automatic steering mechanism 17 so as to align its own position along the planned travel path L1 (more precisely, a straight path L11, which will be described later). In automatic driving mode, the rice transplanter 10 (working machine 1) travels under automatic driving (autonomous driving) by control of the travel system by the control device 30 (including control of the automatic steering mechanism 17) so as to align its own position along the planned travel path L1 (a straight path L11 and a turning path L12, which will be described later).

[0038] The rice transplanter 10 (working machine 1) may be manually driven. When manually driven, an operator sits in the driver's seat 15 and steers with the steering wheel 16. The rice transplanter 10 (working machine 1) may also be automatically driven (automatically steered or driven) as described above. When automatically driven, the rice transplanter 10 (working machine 1) automatically drives based on the vehicle position detected by the positioning device 32A and the planned driving route L1.

[0039] The rice transplanter 10 has a communication device 34. The communication device 34 is a communication module that performs either direct communication or indirect communication with the server 70, and can perform wireless communication using, for example, the IEEE 802.11 series of communication standards such as Wi-Fi (Wireless Fidelity, registered trademark), BLE (Bluetooth (registered trademark) Low Energy), LPWA (Low Power, Wide Area), and LPWAN (Low-Power Wide-Area Network). The communication device 34 can also perform wireless communication using, for example, a mobile phone communication network or a data communication network.

[0040] The storage unit 31 stores information about the rice transplanter 10. The information about the rice transplanter 10 includes the traveling position (latitude, longitude) of the rice transplanter 10 detected by the positioning device 32A, time information indicating the time at that traveling position, and traveling information about the rice transplanter 10 for each traveling position (traveling direction, traveling speed, etc.). The information about the rice transplanter 10 may further include work information about the seedling planting device 18 and status information such as images captured by the imaging device 33A.

[0041] The communication device 34 sequentially transmits information about the rice transplanter 10 stored in the storage unit 31 to the server 70. For example, the communication device 34 transmits information about the rice transplanter 10 to the server 70 periodically (every few seconds or every few hundred milliseconds) and whenever an event occurs. Specifically, since the communication device 34 performs telematics communication, it transmits to the server 70 the position of the rice transplanter 10, travel information about the rice transplanter 10 (travel direction, travel speed, etc.), work information about the seedling planting device 18, and status information such as images captured by the imaging device 33A in association with each other.

[0042] Next, the agricultural flight device 5 will be described. Figure 3 is an overall perspective view of the agricultural flight device. As shown in Figures 1 and 3, the agricultural flight device 5 is, for example, a multicopter 50, which is configured to hold and transport seedlings by flight. The multicopter 50 is an air vehicle (e.g., an unmanned air vehicle) known as a drone.

[0043] Specifically, the multicopter 50 has an airframe 50a, an arm 50b attached to the airframe 50a, a rotor 50c attached to the arm 50b, and a pair of skids 50d attached to the airframe 50a. The rotor 50c is a device that generates lift for flight and includes a rotor that applies rotational force and blades (propellers) that rotate when driven by the rotor.

[0044] The multicopter 50 has an imaging device 50e. The imaging device 50e is, for example, an infrared camera, a visible light camera, or the like, and is capable of capturing images of the surroundings of the multicopter 50.

[0045] The multicopter 50 may include at least one of an angular velocity (gyro) sensor that detects the attitude and movement of the airframe 50a, an acceleration sensor that detects the speed and the like of the airframe 50a, an inertial measurement unit (IMU) that detects the attitude, speed and the like of the airframe 50a, a barometric pressure sensor that detects the altitude of the multicopter 50, an ultrasonic sonar (or an ultrasonic sensor) that detects the positions of surrounding objects, and a magnetic direction sensor that detects the direction, etc. In this embodiment, the multicopter 50 includes, for example, an inertial measurement unit and a magnetic direction sensor.

[0046] The multicopter 50 has a position detection device 50g that detects its own position. The position detection device 50g is a device that detects its own flight position (latitude, longitude, altitude), i.e., the flight position (latitude, longitude, altitude) of the multicopter 50 (airframe 50a) based on data from positioning satellites (positioning satellite systems) such as GPS and Michibiki. The position of the multicopter 50 includes the flight position during flight and the landing position during landing. Note that the position detection device 50g may detect the altitude of the multicopter 50 (airframe 50a) using various sensors, such as an altimeter, ultrasonic sonar, or LiDAR (Light Detection and Ranging), either alone or supplementarily.

[0047] The multicopter 50 includes a memory unit 50h that stores various data, programs, and the like. The memory unit 50h is, for example, a non-volatile storage device such as an HDD or SSD. The memory unit 50h stores information about the multicopter 50 periodically (every few seconds or hundreds of milliseconds) and whenever an event occurs. The information about the multicopter 50 includes the flight position (latitude, longitude, altitude) of the multicopter 50 (airframe 50a), time information indicating the time at that flight position, and flight information (flight direction, flight speed, etc.) of the multicopter 50 for each flight position. The flight direction is detected by a magnetic azimuth sensor, and the flight speed is detected by an inertial measurement unit. The position detection device 50g may calculate the flight direction and flight speed based on the detected multiple flight positions. In addition, the information regarding the multicopter 50 may include status information such as work information indicating whether or not seedlings are being held (work information indicating whether or not they are being held by the holding device 51 described below), the rotation speed of the rotor 50c detected by the rotation speed detection sensor, and the captured image captured by the imaging device 50e.

[0048] The multicopter 50 has a communication device 50i capable of communicating with the server 70. The communication device 50i is a communication module that performs either direct communication or indirect communication with the server 70, and can perform wireless communication using, for example, the IEEE 802.11 series of communication standards such as Wi-Fi (registered trademark), BLE, LPWA, and LPWAN. The communication device 50i can also perform wireless communication using, for example, a mobile phone communication network or a data communication network.

[0049] The communication device 50i transmits information about the multicopter 50 stored in the memory unit 50h to the server 70. That is, the communication device 50i transmits information about the multicopter 50 to the server 70 periodically (every few seconds or several hundred milliseconds) and whenever an event occurs. For example, the communication device 50i performs telematics communication. The communication device 50i associates the flight position of the multicopter 50, flight information (flight direction, flight speed, etc.), work information indicating whether or not seedlings are being held (work information indicating the approaching or separating state of the holding device 51, which will be described later), and status information such as an image captured by the imaging device 50e and a detection status of the detection device 56, which will be described later, and transmits the associated information to the server 70.

[0050] 4 and 5, the seedlings to be transported by the multicopter 50 will be described. Fig. 4 is a schematic perspective view of the seedlings (seedling raising mat).

[0051] The seedlings Se to be transported by the multicopter 50 are paddy rice seedlings, and are transported (transported) to the rice transplanter 10 as a seedling raising mat M containing numerous paddy rice seedlings Se. As shown in FIG. 4 , the seedling raising mat M is a mat-like structure in which numerous seedlings Se are grown (raised) in soil So placed in a shallow tray T that is rectangular in plan view or rectangular in plan view. The seedlings Se root in the soil So in the tray, forming a single unit with the soil So, forming a rectangular shape in plan view. The seedling raising mat M is rectangular in plan view and has long sides Ma and short sides Mb so that it can fit into the material loading section 24 (see FIG. 11 ) of the rice transplanter 10, which will be described later. In the seedling raising mat M, numerous seedlings Se grow with their leaves and stems positioned above their 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 X and the horizontal direction corresponding to the second direction Y). In addition, Figure 4 shows a seedling mat M on which a large number of seedlings Se are arranged vertically and horizontally, with the tray T indicated by a dotted line (virtual line) and the seedling mat M removed from the tray T.

[0052] FIG. 5 is a schematic perspective view showing an example of a seedling placement location (e.g., a levee). As shown in FIG. 5, the seedling placement location is a location where seedling raising mats M are placed before transportation, and is a levee SH around the field F. The seedling placement location may be an alley (farm road) FR around the field F, or a special platform provided near the field F. For example, prior to operation with the rice transplanter 10 (prior to the aerial transportation of the seedlings Se), multiple seedling raising mats M are placed in advance at the seedling placement location (e.g., on the flat ground of the levee SH or the alley (farm road) FR, or on the flat top surface of a special platform). FIG. 5 illustrates the state in which multiple seedling raising mats M are placed at the seedling placement location (on the flat ground of the levee SH).

[0053] 1 and 3, the multicopter 50 has a holding device 51 (seedling holding device) that holds seedlings. The multicopter 50 transports the seedlings by flying with the holding device 51 holding the seedlings. The holding device 51 can also be considered a transport device 51A.

[0054] The holding device 51 of the multicopter 50 clamps at least a portion of the leaves and stems of the seedlings Se. For example, when the seedlings Se are present between the pair of clamping members 52, 53, the holding device 51 brings the pair of clamping members 52, 53 closer to each other to hold the seedlings Se on the seedling raising mat M with the pair of clamping members 52, 53.

[0055] Specifically, the holding device 51 includes a pair of clamping members 52, 53 capable of clamping the leaves or stems of seedlings, and a moving mechanism 54 that changes the distance between the pair of clamping members 52, 53. For example, the moving mechanism 54 includes a first mechanism M1 that brings the pair of clamping members 52, 53 closer together so that the leaves or stems of seedlings can be clamped, and a second mechanism M2 that moves the pair of clamping members 52, 53 apart. The holding device 51 includes a detection device 56 that detects the presence or absence of seedlings Se between the pair of clamping members 52, 53. The detection device 56 is a variety of sensors that detect the presence or absence of seedlings Se, and may be, for example, a photoelectric sensor or a laser sensor.

[0056] Here, we will explain using Figures 6 to 9 the operation of the multicopter 50 from moving to the seedling placement location, holding the seedling Se (seedling mat M) at the seedling placement location, to flying upward while holding the seedling Se (seedling mat M).

[0057] The multicopter 50 flies to the seedling placement location shown in Figure 5 based on the position information indicating the seedling placement location and its own flight position (latitude, longitude, altitude) detected by the position detection device 50g. That is, the multicopter 50 flies so that its own flight position approaches the seedling placement location. The multicopter 50 may also fly along a predetermined route connecting its own flight position and the seedling placement location.

[0058] 6 is a diagram showing the agricultural flying device in a state where it has reached above the seedlings (seedling raising mat) in the seedling placement area. As shown in FIG. 6, the multicopter 50 reaches above the seedlings (seedling raising mat M) in the seedling placement area. The multicopter 50 then flies downward at a position where the holding device 51 overlaps the seedlings Se in a planar view. Specifically, the multicopter 50 flies downward while controlling the attitude of the aircraft 50a based on an image of the seedling raising mat M captured by the imaging device 50e so that the seedling raising mat M is positioned between a pair of skids 50d and the holding device 51 overlaps the seedlings Se in a planar view.

[0059] FIG. 7 is a diagram illustrating the positional relationship between the seedling holding device and the seedlings (seedling raising mat) when the agricultural flight device descends at the seedling placement site. As shown in FIG. 7 , the multicopter 50 descends to a position where the clamping members 52, 53 overlap the seedlings Se in a direction perpendicular to the vertical direction. That is, the agricultural flight device 5 descends to a position where the clamping members 52, 53 (holding members) overlap the seedlings Se in the first direction X or the second direction Y perpendicular to the vertical direction (projected overlap position). Note that the spacing between the skids 50d, 50d in the first direction X is set wider than the size of the seedling raising mat M. Therefore, when the agricultural flight device 5 is flown to a position where the clamping members 52, 53 overlap the seedlings Se in the first direction X or the second direction Y perpendicular to the vertical direction (projected overlap position), the seedlings Se (seedling raising mat M) are positioned between the pair of skids 50d, 50d, as shown in FIG. 7 . Furthermore, when the agricultural flight device 5 is flown to a position where the clamping members 52, 53 overlap the seedlings Se in a direction perpendicular to the vertical direction, each of the pair of plate-like clamping members 52, 53 extending in the second direction Y is positioned on either side of the seedlings Se in the first direction X. That is, the holding device 51 moves downward in the third direction Z with the gap between the pair of clamping members 52, 52, which are separated, corresponding to the vertical direction of the seedlings Se, so that the seedlings Se are positioned between the pair of clamping members 52, 53. In particular, because the clamping portions 52a, 53a of the clamping members 52, 53 are plate-shaped, they enter the gaps between adjacent seedlings Se in the first direction X (between the rows of seedlings Se), and the clamping members 52, 53 (clamping portions 52a, 53a) overlap the seedlings Se projectively in the first direction X.

[0060] 6 is completed, the leaves or stems of the seedlings Se are positioned between the pair of clamping members 52, 53 as described above, and the seedlings Se are then held by the clamping members 52, 53 as shown in Fig. 8. Fig. 8 is a diagram showing the agricultural flying device with the seedling holding device holding the seedlings (seedling raising mat).

[0061] As shown in FIG. 8 , the holding device 51 clamps at least a portion of the leaves and stems of the seedlings Se. That is, when a seedling Se is present between the pair of clamping members 52, 53, the first mechanism M1 brings the pair of clamping members 52, 53 closer to each other, creating a holding state (close state) in which the pair of clamping members 52, 53 hold the seedling Se on the seedling raising mat M. In this embodiment, when the detection device 56 detects the seedling Se (the seedling Se blocks the optical signal from the transmitter 56A, preventing the receiver 56B from receiving the optical signal), the agricultural flight device 5 brings the pair of clamping members 52, 53 closer to each other to clamp the leaves or stems of the seedlings. Specifically, one clamping member 52 approaches the other clamping member 53 and clamps the seedling Se together with the other clamping member 53. That is, the holding device 51 (a pair of clamping members 52, 53) applies a clamping force that resists the weight of the seedlings Se (seedling raising mat M) by pressing the clamping members 52, 53 against at least one of the leaves and stems of the seedlings Se (since the seedlings Se are paddy rice seedlings Se in this embodiment, a bundle of leaves of the seedlings Se) in a direction perpendicular to the up-down direction. This allows the holding device 51 to securely clamp (hold) the seedlings Se (seedling raising mat M).

[0062] 9 shows the agricultural flying device 5 taking off while holding a seedling (seedling raising mat). Then, as shown in FIG. 9, the holding device 51 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), and the agricultural flying device 5 rises, lifting the seedling Se.

[0063] Next, the server 70 shown in Fig. 2 will be described. The server 70 may be, for example, a fixed computer installed at a farmer, farming company, agricultural machinery manufacturer, agricultural service provider, etc., or a portable computer that can be carried by a manager, worker, etc. In this embodiment, the server 70 is a fixed computer.

[0064] The server 70 includes a communication device 71 capable of communicating with the rice transplanter 10 and the multicopter 50. The communication device 71 is a communication module that performs either direct or indirect communication with the rice transplanter 10 and the multicopter 50, and performs wireless communication using, for example, the IEEE 802.11 series of communication standards such as Wi-Fi (registered trademark), BLE, LPWA, and LPWAN. The communication device 71 can also perform wireless communication using, for example, a mobile phone communication network or a data communication network.

[0065] The server 70 is equipped with a remote control device 72 that remotely controls the multicopter 50. The remote control device 72 is composed of electric and electronic circuits, a processor, a memory, etc. The processor is, for example, a CPU, a GPU, a DSP, an FPGA, an ASIC, etc. The server 70 functions as the remote control device 72 when the processor executes a remote control program for the multicopter 50.

[0066] The remote control device 72 transmits a remote control signal to the multicopter 50 via the communication device 71. The multicopter 50 operates in accordance with the remote control signal from the remote control device 72. For example, based on the remote control signal from the remote control device 72, the multicopter 50 heads toward a seedling placement location, holds the seedlings at the seedling placement location, transports them by flight, and supplies the seedlings to the working machine 1 while it is moving. In addition, a receiving platform 90 (seedling receiving platform) is provided on the rear side of the rice transplanter 10 (body 11). The receiving platform 90 is located behind the positioning device 32A on the rice transplanter 10. The multicopter 50 can drop seedlings onto the receiving platform 90 of the moving rice transplanter 10 in accordance with the remote control signal from the remote control device 72.

[0067] When the multicopter 50 transports seedlings to supply to the rice transplanter 10, the imaging device 50e captures an image of the seedling mat (seedlings) at the seedling placement location, moves to a position above the seedling mat (seedlings) based on the captured image of the seedling mat (seedlings), and holds the seedling mat (seedlings) based on the captured image. Furthermore, when the multicopter 50 heads towards the rice transplanter 10 to be supplied, it tracks the rice transplanter 10 based on the captured image of the rice transplanter 10, and drops the seedling mat onto the receiving table 90 of the rice transplanter 10 based on the captured image of the rice transplanter 10.

[0068] The server 70 includes a storage unit 73. The storage unit 73 is a non-volatile storage device, such as an HDD or SSD. The storage unit 73 includes a map data storage unit 73A that stores various data (information). The map data storage unit 73A stores, for example, agricultural map data. The agricultural map data is data in which data related to agriculture is associated with a location. The agricultural data includes field map data, machine data, work data, etc.

[0069] The field map data is map data that associates map data including a pre-registered field with a predetermined planned travel route L1 of the rice transplanter 10 (work implement 1) in the field. The map data includes the outline of the field, the area of ​​the field, the location of the entrance and exit to the field, the location of seedling storage areas prepared around the field, etc. Note that the travel route may be, for example, an actual travel route that the work implement 1 traveled when it was made to match the planned travel route L1.

[0070] Machinery data is various data related to agricultural machinery, such as control data or operation data on the operation and running of agricultural vehicles such as tractors, rice transplanters, transplanters, harvesters such as combines, fertilizer applicators, pesticide sprayers, molding machines, mowers, preparation machines, tillers, etc. in the field.

[0071] The work data is data related to work performed in a field by the work machine 1 (agricultural machine), such as the transplanting amount in the field, the amount of fertilizer applied, the amount of chemicals sprayed, the amount of seeds sown, etc. For example, in the case of work data for the rice transplanter 10 (i.e., data indicating the amount of seedlings transplanted in the field), the transplanting amount of seedlings planted in the field by the seedling planting device 18 is stored as work data. The transplanting amount is the number of rows to be planted individually set for the rice transplanter 10, such as 3, 4, 5, 8, 10, etc. Note that when rice transplanting work is scheduled to be performed by the rice transplanter 10, the memory unit 31 may store the transplanting amount planned to be planted by the seedling planting device 18 as work data.

[0072] The storage unit 31 may also store the work data (transplantation amount) in association with the position (detected position) detected by the positioning device 32 A. The storage unit 31 may also store a position (corrected position) obtained by correcting the position (detected position) detected by the positioning device 32 A in association with the work data.

[0073] Therefore, agricultural map data (seedling planting map data) that associates transplanting amounts with positions can be obtained by performing work using the rice transplanter 10. The rice transplanter 10 may also acquire operating data such as vehicle speed, the amount of operation of the operating tools, and the rotation speed of the prime mover 12 as machine data, and store the machine data in the memory unit 31 in association with the position.

[0074] 1 and 2, the material handling system SY may also include a mobile terminal 61. The mobile terminal 61 includes a display unit 66. The display unit 66 is configured with a liquid crystal monitor, a liquid crystal panel, or the like, and can display various information transmitted from the server 70.

[0075] The server 70 includes a display control unit 74. The server 70 functions as the display control unit 74 by having a processor execute a display control program. The display control unit 74 can control the display of the display unit 66 of the mobile terminal 61 connected to the server 70. For example, the display unit 66 can display an agricultural map transmitted from the server 70 by the display control unit 74, or display the status of seedling supply to the rice transplanter 10 while it is traveling using the multicopter 50 described below.

[0076] Here, the rear configuration of the rice transplanter 10, i.e., the configuration of the seedling planting device 18, etc. will be described in detail. Fig. 10 is a side view of the rice transplanter. Fig. 11 is a rear view of the seedling supply device and seedling loading tray. Fig. 12 is a plan view of the seedling supply device and seedling loading tray. Fig. 13A is a perspective view of the seedling supply tray seen from above. Fig. 13B is an enlarged perspective view of the left side of the seedling supply tray. Fig. 13C is a perspective view of the seedling supply tray in an inclined position.

[0077] As shown in Figure 10, the rice transplanter 10 is equipped with a seedling supply device 20 that supplies seedling raising mats M (also called mat seedlings) to a seedling planting device 18 (seedling loading table 41). The rice transplanter 10 is a transplanting machine that cuts a predetermined number of seedlings from the seedling raising mats M placed on the seedling loading table 41 and plants the cut seedlings in a farm field (paddy field).

[0078] In the following description, the direction of arrow AW1 in Fig. 10 will be referred to as the forward direction (forward of the aircraft body), the direction of arrow AW2 in Fig. 10 as the rearward direction (rearward of the aircraft body), and the direction of arrow AW3 in Fig. 10 as the longitudinal direction (forward-backward direction of the aircraft body). The near side of Fig. 10 will be referred to as the left, and the far side of Fig. 10 as the right. The horizontal direction, which is perpendicular to the longitudinal direction (arrow AW3), will be referred to as the aircraft width direction (see aircraft width direction K1 in Fig. 11).

[0079] As shown in Figure 10, a seedling planting device 18 is provided at the rear of the vehicle body 11. The seedling planting device 18 is connected to the vehicle body 11 via a link mechanism 19 and a connector 28 so that it can be raised and lowered. The seedling planting device 18 is also driven by a hydraulic cylinder 21 so that it can be raised and lowered.

[0080] As shown in Figure 10, the seedling planting device 18 has a seedling loading platform 41 on which a seedling raising mat M is placed, a planting mechanism 22 that cuts a predetermined amount of seedlings from the seedling raising mat M placed on the seedling loading platform 41 and plants them in a field (paddy field), and a float 23 that performs ground leveling of the field. As shown in Figure 10, the seedling loading platform 41 is provided in an inclined shape that transitions forward as it goes upward (a slope that rises in the front).

[0081] As shown in FIG. 11 , the seedling loading table 41 has multiple material loading sections 24 (seedling loading sections) on which seedling raising mats M are placed. The multiple material loading sections 24 are arranged side by side in the width direction K1 of the machine body. The number of material loading sections 24 corresponds to the number of planting rows. The rice transplanter 10 of this embodiment is an eight-row planting rice transplanter 10 having eight material loading sections 24. Partition guides 25 are provided on both sides of the material loading sections 24 in the width direction K1 of the machine body. A seedling raising mat M is placed on each material loading section 24 with its long side Ma aligned with the inclination direction of the seedling loading table 41 and its short side Mb aligned with the width direction K1 of the machine body. Two seedling raising mats M can be placed on each material loading section 24 side by side in the inclination direction of the seedling loading table 41. A vertical feed mechanism 26 having a vertical feed belt is provided below each material loading section 24. The seedling raising mat M on the material loading section 24 can be fed vertically downward along the material loading section 24 by a vertical feed mechanism 26.

[0082] As shown in Figure 10, the seedling tray 41 is supported on the connecting body 28 so as to be movable in the width direction K1 of the machine body by an upper guide portion 27A and a lower guide portion 27B provided on the connecting body 28. The seedling tray 41 is also driven by a lateral feed mechanism 84 (see Figure 11) provided on the connecting body 28 so as to be movable back and forth in the width direction K1 of the machine body.

[0083] The planting mechanisms 22 are arranged at intervals in the width direction K1 of the rice transplanter body, in a number corresponding to the number of rows to be planted. In this embodiment, since the rice transplanter 10 plants eight rows, eight planting mechanisms 22 are provided corresponding to the number of material loading units 24. The planting mechanisms 22 are supported by the connecting body 28. Therefore, the planting mechanisms 22 move relative to the seedling loading table 41. In other words, the seedling loading table 41 moves in the width direction K1 of the rice transplanter body relative to the planting mechanisms 22. The planting mechanisms 22 pick up and plant a predetermined number of seedlings from the lower end of the seedling raising mat M placed on the seedling loading table 41 (material loading unit 24), which moves back and forth in the width direction K1 of the rice transplanter body. More specifically, the planting mechanism 22 rotates around an axis extending in the width direction K1 of the rice transplanter body, picks up a predetermined number of seedlings from the lower end of the seedling raising mat M placed on the material loading unit 24, and plants them in the field. Then, while the seedling loading platform 41 is moving in one direction of the machine body width direction K1, the planting mechanism 22 cuts off a horizontal row of seedlings from the lower end of the seedling mat M. Once the horizontal row of seedlings from the lower end of the seedling mat M has been cut, the seedling mat M is fed vertically by the vertical feed mechanism 26 a distance equivalent to the cut horizontal row, and the seedling loading platform 41 moves in the other direction of the machine body width direction K1 (the opposite direction from the one direction), and the same planting operation as described above is performed. In other words, the seedling loading platform 41 is driven back and forth in the machine body width direction K1 by the width of the seedling mat M, and the seedling mat M is fed vertically each time the seedling loading platform 41 reaches the end of its reciprocating movement.

[0084] As shown in Figures 1 and 11, the rice transplanter 10 is equipped with a receiving table 90 that receives the seedling raising mat M dropped from the multicopter 50. Specifically, as shown in Figures 10 and 11, the seedling supply device 20 that supplies the seedling raising mat M to the seedling loading table 41 has a support bracket 91 attached to the top of the seedling loading table 41 and a seedling supply table 92 supported by the support bracket 91.

[0085] The seedling supply tray 92 may be provided with markers (identification images) at one or more locations. The multicopter 50 controls its flight position when approaching the receiving tray 90 and its flight position when aligning itself directly above the receiving tray 90 based on the position and size of the markers included in the image captured by the imaging device 50e. The seedling supply tray 92 may also be provided with a guidance device that emits a guidance signal at one or more locations. The multicopter 50 may control the flight position based on the guidance signal.

[0086] The seedling supply tray 92 is mounted on the seedling loading tray 41 via a support bracket 91. Mounting the seedling supply tray 92 on the seedling loading tray 41 allows the seedling supply tray 92 (seedling supply device 20) to move back and forth in the width direction K1 of the rice transplanter together with the seedling loading tray 41. In other words, the seedling supply tray 92 (receiving tray 90) can move in the width direction (machine width direction K1) of the rice transplanter 10. As shown in FIGS. 11 and 12 , the receiving tray 90 can move in the width direction (machine width direction K1) of the rice transplanter 10 while remaining positioned on the centerline of the width direction (machine width direction K1) of the rice transplanter 10. In other words, even when the receiving tray 90 is moved in the width direction K1, it remains positioned on the centerline of the width direction of the rice transplanter 10.

[0087] As shown in Figures 10 to 12, the seedling supply tray 92 is where the seedling mat M transported by air by the multicopter 50 is placed. More specifically, the seedling mat M is placed on the seedling supply tray 92 by being dropped by the multicopter 50. The seedling supply tray 92 then sends the placed seedling mat M to the seedling placement tray 41. In other words, the seedling supply tray 92 receives the seedling mat M dropped by the multicopter 50 and sends the received seedling mat M to the seedling placement tray 41. Here, the multicopter 50 drops the seedling mat M during flight and places it on the seedling supply tray 92. When the seedling mat M is dropped from the multicopter 50 onto the seedling supply tray 92, the seedling supply tray 92 (seedling supply tray main body 96) is in a horizontal position P1, as shown in Figures 10 and 11. The multicopter 50 may land on the seedling supply tray 92 and place the seedling raising mat M on the seedling supply tray 92. When the multicopter 50 lands on the seedling supply tray 92, the seedling supply tray 92 (seedling supply tray main body 96) is set to a horizontal position P1.

[0088] As shown in Figure 12, the seedling raising mat M is placed on the seedling supply table 92 so that the long side Ma of the seedling raising mat M is aligned with the front-to-back direction (arrow AW3) and the short side Mb of the seedling raising mat M is aligned with the width direction K1 of the machine body.

[0089] The timing at which the multicopter 50 starts supplying the seedling mat M (hereinafter, referred to as the start timing as appropriate) may be, for example, the point at which a seedling-out sensor mounted on the rice transplanter 10 detects that the seedling mat M should be supplied to the seedling-mounting table 41. The seedling-out sensor is provided on each material-mounting section 24 of the seedling-mounting table 41 and detects when the remaining number of seedlings (remaining material amount) on the seedling-mounting mat M, which is placed on the material-mounting section 24 and from which the seedlings will be cut by the planting mechanism 22, falls below a predetermined level. Note that the seedling-out sensor is not limited to a contact sensor and can have any configuration as long as it can detect the remaining number of seedlings on the seedling-mounting mat M placed on the material-mounting section 24. Furthermore, a detection device composed of a camera and an image diagnostic device may be used to detect when the remaining number of seedlings on the seedling-mounting mat M falls below a predetermined level. In this case, a camera photographs the seedling raising mat M placed on the material loading section 24, and an image diagnostic device analyzes the image of the seedling raising mat M taken by the camera, thereby detecting the remaining number of seedlings on the seedling raising mat M placed (planted) on the material loading section 24.

[0090] Furthermore, as a simpler method for detecting that the remaining number of seedlings on the seedling raising mat M has fallen below a predetermined level, it is possible to simply detect whether or not seedlings on the seedling raising mat M are present within a specific area of ​​the material loading section 24. By performing image analysis to determine that there are no seedlings within the specific area, it may be determined that the remaining number of seedlings is below a certain level and requires replenishment.

[0091] The remaining amount of seedlings on the seedling raising mats M on the material loading sections 24 varies depending on the conditions of the field for each material loading section 24. Therefore, the timing for supplying (replenishing) the seedling raising mats M differs for each material loading section 24.

[0092] The timing to start seedling supply by the multicopter 50 may also be the timing calculated by the server 70. For example, the server 70 may calculate in advance the timing to start seedling supply by the multicopter 50 based on the relationship between the planned travel route L1 of the rice transplanter 10 stored in advance in the memory unit 73, the seedling consumption speed (material consumption speed) on the planned travel route L1 of the rice transplanter 10, and the capacity (initial setting capacity or the current remaining amount) of the seedling raising mat M of the seedling planting device 18.

[0093] The server 70 may also acquire the timing for starting seedling supply from a work plan (seedling planting plan) stored in the memory unit 73. The work plan (seedling planting plan) includes a planned travel route L1 for the rice transplanter 10 and instruction information for seedling supply by the multicopter 50. The instruction information for seedling supply includes the start timing (start time) of seedling supply from the start point of work on the planned travel route L1 and via points WP (latitude, longitude, altitude) set on the planned travel route L1, which will be described later.

[0094] As shown in FIGS. 12 and 13A, the seedling supply tray 92 has a seedling supply tray main body 96, a rail member 97, a slider 98, an adjustment body 99, and a sending body 100.

[0095] As shown in Figures 12 and 13A, the seedling supply tray body 96 is formed from a plate material. The seedling supply tray body 96 is where the seedling raising mat M is supplied and placed via the multicopter 50. The seedling supply tray body 96 has a bottom wall 96a with a vertically facing plate surface, a pair of left and right side walls 96b, 96c extending upward from the left and right ends of the bottom wall 96a, and a front wall 96d extending upward from the front end of the bottom wall 96a. The seedling supply tray body 96 is formed with an open rearward opening. This allows the seedling raising mat M on the seedling supply tray body 96 to be sent rearward from the seedling supply tray body 96. Handles 101 for the operator to grasp are fixed to the front of the left side wall 96b and the front of the right side wall 96c.

[0096] 12, the width W1 of the seedling supply table main body 96 (seedling supply table 92) in the machine body width direction K1 is formed to a width corresponding to the width from one material loading section 24 on one side to the other material loading section 24 on the other side of the multiple material loading sections 24 in the machine body width direction K1. In this embodiment, one side (left part) of the seedling supply table main body 96 (seedling supply table 92) in the machine body width direction K1 protrudes leftward from the seedling loading table 41, and the other side (right part) of the seedling supply table main body 96 (seedling supply table 92) in the machine body width direction K1 protrudes rightward from the seedling loading table 41.

[0097] As shown in Figures 12 and 13A, the rail member 97 is disposed behind the front wall 96d of the seedling supply table main body 96. Specifically, the rail member 97 abuts against the rear surface of the front wall 96d. The rail member 97 is formed of an elongated member that is long in the machine body width direction K1 and is provided from the left side wall 96b to the right side wall 96c. The rail member 97 is fixed to the front wall 96d with bolts or the like.

[0098] As shown in FIG. 12 , a pair of sliders 98 are provided, one on the left and one on the right. The left slider 98 is referred to as a first slider 98A, and the right slider 98 is referred to as a second slider 98B. The first slider 98A and the second slider 98B are supported by rail members 97 so as to be slidable in the width direction K1 of the machine body. Specifically, each slider 98 is formed in the shape of a rectangular block and has a groove 98a (see FIGS. 13A and 13B ) at the front that extends in the width direction K1 of the machine body. The groove 98a is concave and open toward the front. The groove 98a is fitted into the rail members 97 from the rear, so that each slider 98 is slidably supported by the rail members 97.

[0099] As shown in Figure 12, the adjustment bodies 99 are arranged on one side (left side) and the other side (right side) of the seedling supply table 92 (seedling supply table main body 96) in the machine width direction K1. That is, a pair of adjustment bodies 99 are provided, one on the left and one on the right. The left adjustment body 99 is also referred to as the first adjustment body 99A, and the right adjustment body 99 is also referred to as the second adjustment body 99B.

[0100] The first adjustment body 99A and the second adjustment body 99B are movable in the machine body width direction K1, and adjust the position of the seedling raising mat M on the seedling supply table main body 96 (seedling supply table 92) in the machine body width direction K1 by moving in the machine body width direction K1. Specifically, the first adjustment body 99A adjusts the position of the seedling raising mat M in the machine body width direction K1 by moving from one side to the other in the machine body width direction K1, and the second adjustment body 99B adjusts the position of the seedling raising mat M in the machine body width direction K1 by moving from the other side to one side in the machine body width direction K1. The position adjustment of the seedling raising mat M in the machine body width direction K1 by the adjustment body 99 is a position adjustment to align it with one of the multiple material loading sections 24. In other words, the position adjustment of the seedling raising mat M by the adjustment body 99 is a position adjustment to align the seedling raising mat M on the seedling placing table 41 with the material placing section 24 to which the seedling raising mat M is to be supplied (replenished).

[0101] The left and right adjusters 99 are formed of plate material. As shown in FIGS. 12 and 13A, the first adjuster 99A has a side wall 99Aa and a front wall 99Ab. The side wall 99Aa is a strip-shaped plate that is long in the front-to-rear direction (arrow AW3) with its plate surface facing the machine body width direction K1. The side wall 99Aa is provided from the front to the rear end of the seedling supply table main body 96. As shown in FIG. 13B, a guide groove 102 is formed in the side wall 99Aa from near the front end to near the rear end of the side wall 99Aa. A handle 103 that can be gripped by an operator is fixed to the front of the side wall 99Aa.

[0102] The front wall portion 99Ab extends leftward in the width direction of the machine body from the front end of the side wall portion 99a. The front wall portion 99Ab is placed on the rear surface of the first slider 98A and is fixed to the first slider 98A with bolts or the like. Therefore, the first adjustment body 99A is movable together with the first slider 98A in the width direction K1 of the machine body. As shown in FIG. 12 , when the first adjustment body 99A is moved to the left end of its movement range, it is positioned slightly leftward of the left end of the leftmost material loading section 24 of the multiple material loading sections 24.

[0103] As shown in Figures 12 and 13A, the second adjustment body 99B has a side wall portion 99Ba and a front wall portion 99Bb. The side wall portion 99Ba is a strip-like plate that is long in the front-to-rear direction (arrow AW3) with its plate surface facing the machine body width direction K1. The side wall portion 99Ba is provided from the front to the rear end of the seedling supply table main body 96. The side wall portion 99Ba is a portion that pushes the seedling raising mat M on the seedling supply table 92. A handle 104 that can be grasped by the operator is fixed to the front of the side wall portion 99Ba.

[0104] The front wall portion 99Bb extends to the right in the width direction of the machine body from the front end of the side wall portion 99Ba. The front wall portion 99Bb is superimposed on the rear surface of the second slider 98B and is fixed to the second slider 98B with bolts or the like. Therefore, the second adjustment body 99B is movable in the width direction K1 of the machine body together with the second slider 98B. As shown in FIG. 12 , when the second adjustment body 99B is moved to the right end of its movement range, it is located slightly to the right of the right end of the rightmost material loading section 24 of the multiple material loading sections 24.

[0105] By adjusting the position of the seedling raising mat M using the adjustment body 99, the receiving table 90 moves in the width direction of the rice transplanter 10 (machine body width direction K1) and aligns the received seedling raising mat M with the material loading section 24 to be replenished.

[0106] As shown in Figures 12 and 13A, the sender 100 has a front wall 100a and side walls 100b. The front wall 100a is positioned so that its plate surface faces the front-to-rear direction (arrow AW3). The front wall 100a is the part that pushes the seedling raising mat M on the seedling supply table 92. The width of the front wall 100a in the machine body width direction K1 is formed to a width corresponding to the length of the short side Mb of the seedling raising mat M. The front wall 100a is provided with a handle 105 that can be grasped by the operator.

[0107] The side wall 100b extends forward from the left end of the front wall 100a. The plate surface of the side wall 100b faces the machine body width direction K1. The sender body 100 is disposed to the right of the first adjuster body 99A. The side wall 100b of the sender body 100 is superimposed on the right side surface of the side wall portion 99Aa of the first adjuster body 99A.

[0108] As shown in Figure 13B, the side wall 100b of the sending body 100 is attached to the side wall portion 99Aa of the first adjustment body 99A by a pair of front and rear pins 106. The front and rear pins 106 pass through guide grooves 102. The front and rear pins 106 are also movable in the front-rear direction (arrow AW3) along the guide grooves 102. Therefore, the sending body 100 is movable in the front-rear direction (arrow AW3) within a range from the front to the rear of the first adjustment body 99A. The sending body 100 can move the seedling raising mat M, which has been adjusted in the machine body width direction K1, rearward, and send the seedling raising mat M to the material loading section 24.

[0109] In the seedling supply device 20, when it is detected that the remaining number of seedlings in the seedling mat M on the material loading section 24 has fallen below a predetermined level, the seedling mat M is transported by the multicopter 50 and placed on the seedling supply tray 92 (seedling supply tray main body 96) via the multicopter 50. At this time, the seedling supply tray 92 is placed in a horizontal position P1. Once the seedling mat M is placed on the seedling supply tray main body 96, the adjustment body 99 adjusts (corrects) any misalignment of the seedling mat M in the machine body width direction K1, aligning the seedling mat M to a position corresponding to the material loading section 24 to which the seedling mat M should be supplied. Specifically, the first adjustment body 99A is used to move the seedling mat M to the right, and the second adjustment body 99B is used to move the seedling mat M to the left. When the seedling raising mat M is moved by the second adjusting body 99B, the first adjusting body 99A is moved closer to the seedling raising mat M and the sending body 100 is positioned in front of the seedling raising mat M. The control device 30 of the rice transplanter 10 may control the drive mechanism that drives the adjusting body 99 (first adjusting body 99A and second adjusting body 99B) to drive and control the adjusting body 99. The user (operator) may also manually operate the adjusting body 99 (first adjusting body 99A and second adjusting body 99B).

[0110] Next, the seedling supply table 92 is changed in position from a horizontal position P1 to an inclined position P2 and the sending body 100 is moved toward the material loading section 24, so that the seedling raising mat M moves toward the material loading section 24 and is supplied to the material loading section 24.

[0111] The rice transplanter 10 may employ a seedling supply table 117 of a modified seedling supply device 20 shown in Fig. 13D instead of the seedling supply table 92 of the seedling supply device 20 shown in Fig. 11. The multicopter 50 can drop a seedling raising mat M onto the seedling supply table 117 of the modified seedling supply device 20 shown in Fig. 13D. The seedling supply table 117 shown in Fig. 13D corresponds to the receiving table 90.

[0112] 13D, the modified seedling supply device 20 has a support 116 attached to the seedling tray 41 and a seedling supply tray 117 supported by the support 116. In the second embodiment, the seedling supply tray 117 is attached to the seedling tray 41 via the support 116.

[0113] 13D, seedling raising mats M transported by air by a multicopter 50 are also dropped onto the seedling supply tray 117. In the modified example, the seedling supply tray 117 is supported by the support 116 so as to be movable in the width direction K1 of the aircraft body in order to supply the seedling raising mat M on the seedling supply tray 117 to one of the multiple material loading sections 24. In other words, the seedling supply tray 117 is movable in the width direction K1 of the aircraft body in order to align the seedling supply tray 117 with the material loading section 24 to which the seedling raising mat M should be supplied.

[0114] In the modified example, the seedling supply tray 117 moves back and forth together with the seedling loading tray 41 in the width direction K1 of the machine body, and is also movable relative to the seedling loading tray 41 in the width direction K1 of the machine body.

[0115] In a modified example, the seedling supply table 117 is configured to be freely movable in the width direction K1 of the machine body so as to supply seedling raising mats M to the material loading section 24, thereby making it possible to make the seedling supply table 117 smaller and reducing the overall weight of the seedling supply device 20.

[0116] As shown in Figure 13D, the support body 116 has a main frame 118. The main frame 118 is provided from one end (left end) to the other end (right end) of the seedling loading tray 41, and the other end (right end) of the main frame 118 protrudes to the right from the right end of the seedling loading tray 41. The right end of the main frame 118 protrudes to the right from the right end of the seedling loading tray 41 in order to align the chute section 137 (described later) with the material loading section 24 at the right end.

[0117] As shown in Figure 13D, the seedling supply tray 117 has a chute section 137. The width W2 of the seedling supply tray 117 in the body width direction K1 is larger than the width W4 of one of the material loading sections 24 in the body width direction K1. This allows for positional deviation of the seedling mat M from the target loading position when the seedling mat M is dropped from the multicopter 50 and placed on the seedling supply tray 117. The seedling supply tray 117 may be formed to a size that allows the multicopter 50 to land on the seedling supply tray 117. In the illustrated example, the width W2 of the seedling supply tray 117 is larger than the width of three material loading sections 24, but this is not limited to this.

[0118] The chute section 137 is a section that guides the seedling raising mat M pushed out by the sending body 136 to the material loading section 24. The width W3 of the chute section 137 in the machine body width direction K1 is a width that corresponds to one material loading section 24. In other words, the width W3 of the chute section 137 in the machine body width direction K1 is a width that can allow the seedling raising mat M pushed out by the sending body 136 to pass through.

[0119] As described above, the multicopter 50 can drop the seedling raising mat M onto the seedling supply table 117 shown in Figure 13D.

[0120] Here, the supply of seedling mats M (seedlings Se) held by a multicopter 50 (agricultural flight device 5) to a traveling rice transplanter 10 (working machine 1) will be described using Fig. 14. Fig. 14 is a diagram for explaining the supply of seedlings to a traveling working machine by an agricultural flight device.

[0121] 14, the rice transplanter 10 travels so that the vehicle position detected by the positioning device 32A coincides with the planned travel route L1. The planned travel route L1 includes a plurality of parallel straight routes L11 and a turning route L12 connecting the ends of two straight routes L11 on the same side.

[0122] As shown in FIG. 14 , the multicopter 50 flies along a global path. The global path is a path connecting a starting point and a destination point when the multicopter 50 flies automatically (including remote flight and autonomous flight). As shown in FIG. 14 , the global path is a path connecting a seedling placement location and a traveling work machine 1, and is divided into an outbound path (path to seedling supply) and a return path (path back from seedling supply). The outbound path is a path connecting the starting point of the multicopter 50 (e.g., a seedling placement location) to a destination point (broadly speaking, the receiving platform 90 of the traveling work machine 1; narrowly, a waypoint WP). This waypoint WP is defined by the coordinate values ​​through which the multicopter 50 must pass, i.e., the flight position (latitude, longitude, and altitude), and is also called a "waypoint." The outbound path is a path from the destination point back to the starting point.

[0123] In this embodiment, the server 70 generates a global path and stores it in the storage unit 73. For example, the server 70 includes a processing device 77 that performs path planning, and this processing device 77 generates the global path. Generating a global path is sometimes called global path planning or global path design. The server 70 functions as the processing device 77 when a processor executes a path planning calculation program. Note that the multicopter 50 or the mobile terminal 61 may include the processing device, and the global path may be generated in the multicopter 50 or the mobile terminal 61.

[0124] A local path is a path sequentially generated when the multicopter 50 flies automatically (including remote flight and autonomous flight) along the global path. It includes a local path when tracking the rice transplanter 10 from a waypoint (WP) (the "Seedling Supplying" path in FIG. 14 ) or a local path that can avoid obstacles. Generating a local path is sometimes referred to as local path planning or local path design. A local path is sequentially generated based on data acquired by one or more sensing devices (e.g., the imaging device 50e) equipped on the multicopter 50 while the multicopter 50 is flying. A local path may be defined by one or more waypoints (WP) along a portion of the global path. However, if an obstacle is present near the global path, a waypoint (WP) may be set to bypass the obstacle.

[0125] In this embodiment, the processing device 77 of the server 70 generates the global route and the local route, but this is not limiting. The server 70 may be provided with a processing device for the local route in addition to the processing device for the global route. Furthermore, the control device 30 or the multicopter 50 mounted on the work machine 1 may be provided with a processing device for the local route. For example, a management device (e.g., the server 70) that manages agricultural work performed by an agricultural machine (e.g., the work machine 1) may generate the global route, and the control device 30 or the multicopter 50 mounted on the work machine 1 may generate the local route.

[0126] In this embodiment, the server 70 remotely controls the multicopter 50. Specifically, the remote control device 72 of the server 70 remotely controls the multicopter 50 based on the field map data (including the planned travel route L1) and the global route stored in the storage unit 73, and information about the rice transplanter 10 and information about the multicopter 50 sequentially received by the communication device 71.

[0127] The information about the rice transplanter 10 includes the traveling position (latitude, longitude), time, and traveling information (traveling direction, traveling speed, etc.) of the rice transplanter 10 for each traveling position. The information about the multicopter 50 includes the flight position (latitude, longitude, altitude) of the multicopter 50, time, and flight information (flight direction, flight speed, etc.) of the multicopter 50 for each flying position. Therefore, the multicopter 50 operates under the remote control of the server 70.

[0128] As shown in FIG. 14 , the multicopter 50 flies while holding agricultural material S (e.g., seedlings) in a holding device 51, moves to the airspace above the work machine 1 that is traveling from one turn to the next (a process of moving to the airspace above), and releases the agricultural material S by releasing the holding device 51 when it reaches the airspace above the work machine 1 (a release process). The "travel from one turn to the next turn" refers to travel other than a turn (in other words, travel within a steering angle range smaller than the steering angle during a turn), such as straight travel. Straight travel includes, for example, completely straight travel and approximately straight travel. Completely straight travel includes travel that completely matches the planned travel path L1 and autonomous completely straight travel. Approximately straight travel includes travel that generally matches the planned travel path L1 and travel that includes slight meandering travel due to automatic steering along the planned travel path L1.

[0129] For example, the multicopter 50, under the remote control of the server 70, carries a seedling raising mat M (seedlings Se) by flight and supplies the seedling raising mat M to the rice transplanter 10 traveling straight ahead. Specifically, the multicopter 50 drops the seedling raising mat M onto the receiving platform 90 of the rice transplanter 10.

[0130] Figure 16 shows an example in which a turning path within the travel path of the work machine is set as a prohibited area for seedling supply. The memory unit 73 stores the straight path L11 of the planned travel path L1 shown in Figure 16 as a generally permitted area for seedling supply. Therefore, the multicopter 50 supplies seedling mats M (seedlings Se) to the rice transplanter 10 traveling along the straight path L11. When the rice transplanter 10 travels along the straight path L11, not only does the orientation of the rice transplanter 10 remain almost unchanged (only minor adjustments are made to align it with the planned travel path L1), but the seedling planting device 18 does not raise or lower, so there is little fluctuation in the height of the support platform 90 supported by the seedling planting device 18.

[0131] The multicopter 50 restricts (prohibits) the release of the holding device 51 while the work machine 1 is turning (restriction process). For example, the multicopter 50 prohibits the operation of the second mechanism M2 of the movement mechanism 54. That is, the operation of the second mechanism M2 to separate the pair of clamping members 52, 53 is prohibited. In other words, the multicopter 50 does not supply seedling raising mats M to the turning rice transplanter 10. The memory unit 73 stores the turning path L12 of the planned travel path L1 shown in FIG. 16 as a prohibited range for seedling supply. Therefore, the multicopter 50 does not supply seedling raising mats M (seedlings Se) to the rice transplanter 10 traveling along the turning path L12. When the rice transplanter 10 is traveling on the turning path L12, not only does the orientation of the rice transplanter 10 change significantly (the orientation changes by at least 180 degrees), but the seedling planting device 18 is raised just before the start of the turning path L12 and lowered just after the end of the turning path L12, so the receiving platform 90 supported by the seedling planting device 18 also rises and falls. For these reasons, the difficulty of dropping seedlings from the multicopter 50 onto the receiving platform 90 is higher when using the turning path L12 than when using the straight path L11.

[0132] Here, the heights corresponding to the flight path of the multicopter 50 will be described. Fig. 18 is a side view of a work vehicle showing an example of altitudes corresponding to stages in the flight path of the agricultural flight device. The receiving platform 90 of the rice transplanter 10 is at height H1 above ground level, and the positioning device 32A is at height H2 above ground level. As shown in Fig. 18, the flight altitudes of the multicopter 50 include a normal flight height H3, a flight height H4 at the waypoint WP, and a flight height H5 when the seedling mat M is dropped.

[0133] As shown in Figure 18, the normal flight height H3 of the multicopter 50 is the flight altitude on the outbound route (route to seedling supply) and return route (route back from seedling supply) shown in Figure 14. The normal flight height H3 is higher than the height above ground H2 of the positioning device 32A. For example, the normal flight height H3 of the multicopter 50 is the flight altitude in the range of the seedling placement location, the approach section when approaching the waypoint WP, and the departure section when leaving after dropping the seedlings.

[0134] 18 , the flight height H4 of the multicopter 50 at the way point WP is equal to or greater than the height H2 above ground of the positioning device 32A and equal to or less than the normal flight height H3. Note that the flight height H4 at the way point WP may be the same as the height H2 above ground of the positioning device 32A. Furthermore, during the approach section when approaching the way point WP, the multicopter 50 gradually descends from the normal flight height H3 to the flight height H4 as it approaches the way point WP. However, the multicopter 50 may descend directly downward from the normal flight height H3 to the flight height H4 at the start of the approach section, or may descend from the normal flight height H3 to the flight height H4 directly above the way point WP.

[0135] As shown in Figure 18, the flight height H5 of the seedling mat M when dropped is lower than the height H2 above the ground of the positioning device 32A. By subtracting the height H1 above the ground of the receiving platform 90 from the flight height H5 of the multicopter 50, it can be seen that the predetermined distance from the receiving platform 90 to the multicopter 50 directly above is height H6 shown in Figure 18. At height H6, the distance over which the seedling mat M is dropped (falls) onto the receiving platform 90 is short, so the seedling mat M can be conveniently handed over to the receiving platform 90 without being destroyed by the impact of the drop.

[0136] While flying above the work machine 1 (rice transplanter 10), the multicopter 50 releases the agricultural material S (seedling mat M) from the holding device 51 (holding release process) and releases it to the traveling work machine 1 (releasing process). That is, while flying above the work machine 1 (i.e., without landing on the rice transplanter 10), the multicopter 50 supplies the seedling mat M to the rice transplanter 10 traveling straight ahead. By flying in pursuit at a speed faster than that of the rice transplanter 10, the multicopter 50 catches up with the rice transplanter 10 and reaches above the receiving stand 90 of the rice transplanter 10 (acceleration flight process).

[0137] As shown in Figure 18, in a first state in which the multicopter 50 is flying above a receiving platform 90 provided on the rice transplanter 10 and within a predetermined distance (height H6 shown in Figure 18) from the receiving platform 90, the multicopter 50 releases the holding device 51 and drops the agricultural material (seedling mat M) onto the receiving platform 90 (dropping process), thereby supplying the seedling mat M to the rice transplanter 10 traveling straight ahead. Note that the first state may also be when the multicopter 50 is located within a predetermined distance (height H6 shown in Figure 18) from the receiving platform 90 and within a predetermined distance from the ground (flight height H5 (H5 = H1 + H6) shown in Figure 18).

[0138] In the first state shown in Fig. 18, the multicopter 50 flies while maintaining its direction of travel and speed aligned with those of the rice transplanter 10 (maintenance flight process). In the first state shown in Fig. 18, when the relative speed between the multicopter 50 and the rice transplanter 10 is zero or within a specified range from zero to the first relative speed (parallel flight process), the multicopter 50 supplies the seedling mat M to the rice transplanter 10 traveling straight ahead.

[0139] While flying in the first state shown in Figure 18, the multicopter 50 drops the seedling mat M onto the receiving platform 90 by releasing the seedling mat M from the holding device 51.

[0140] The multicopter 50 does not release the seedling raising mat M to the rice transplanter 10 traveling straight ahead immediately before turning (restriction process), and therefore does not replenish the seedling raising mat M. On the other hand, the multicopter 50 replenishes the seedling raising mat M to the receiving table 90 of the rice transplanter 10 by releasing the seedling raising mat M to the rice transplanter 10 traveling straight ahead after turning (releasing process).

[0141] 17 is a diagram showing an example in which a straight-line path portion immediately before a turn in the travel path of the work machine is set as a prohibited area for seedling supply. As shown in FIG. 17, the straight-line path portion L11a immediately before a turn is a path portion within a predetermined range of the straight path L11 of the planned travel path L1 to the destination turning path L12. The memory unit 73 stores the straight-line path portion L11a shown in FIG. 17 as a prohibited area for seedling supply. Therefore, the multicopter 50 does not supply seedling mats M to the rice transplanter 10 traveling straight just before a turn, that is, to the rice transplanter 10 traveling on the straight-line path portion L11a.

[0142] As shown in Fig. 2, the server 70 includes a calculation setting unit 75 that calculates waypoints WP that the multicopter 50 must pass through and sets them on the planned travel route L1. The server 70 functions as the calculation setting unit 75 when the processor executes a waypoint calculation program. The waypoints WP are coordinate values ​​(latitude, longitude, and altitude) on the planned travel route L1 at which the multicopter 50 is to be positioned. As shown in Fig. 14, the calculation setting unit 75 sets the waypoint WP of the multicopter 50 on the straight path L11 of the planned travel route L1 and behind the rice transplanter 10.

[0143] More preferably, as shown in FIG. 17, when a via point WP is calculated on a straight path portion L11a of the straight path L11 within a predetermined range up to the destination turning path L12, the calculation setting unit 75 recalculates and sets the via point WP on the straight path L11 after the turning path L12 (via point setting process). As shown in FIG. 17, the straight path L11 after the turning path L12 refers to the straight path portion L11b that continues from the turning path L12 when the straight path L11 is viewed along the traveling direction of the rice transplanter 10, and does not include the straight path portion L11a close to the next turning path L12. The calculation setting unit 75 sets the via point WP on the straight path L11 immediately after the turning path L12, within the predetermined path on the starting side of the straight path. In other words, the calculation setting unit 75 sets the via point WP within the predetermined path on the starting side of the straight path portion L11b.

[0144] The calculation setting unit 75 calculates the via point WP based on the planned driving route L1, the position and driving information of the rice transplanter 10 (e.g., direction of travel, speed, etc.), the remaining seedlings (remaining material amount) and seedling consumption speed (material consumption speed) of the rice transplanter 10, and the position and flight information of the multicopter 50 (e.g., flight direction, flight speed, etc.), and sets the via point WP on the planned driving route L1.

[0145] The multicopter 50, holding agricultural material S (e.g., seedlings), flies behind the working machine 1 while it is traveling and within the width of the working machine 1, supplying the agricultural material S to the working machine 1 while it is traveling. The multicopter 50 also supplies the agricultural material S to a receiving platform 90 that is provided on the working machine 1 and located on the planned travel path L1 of the working machine 1. Specifically, the multicopter 50 supplies seedling mats M to the traveling rice transplanter 10 via way point WP. As shown in FIG. 14 , way point WP is a position on the planned travel path L1 at which the multicopter 50 can arrive immediately after the rice transplanter 10 has passed.

[0146] In the present embodiment, the server 70 includes the calculation setting unit 75, but is not limited to this. The rice transplanter 10, the multicopter 50, or the mobile terminal 61 may include the calculation setting unit 75.

[0147] Here, the series of operations performed by the multicopter 50 to transport agricultural materials S (seedling mat M) to the rice transplanter 10 will be described using Figures 15A to 15F. Figure 15A is a diagram showing the outbound flight of the agricultural flight device from the departure point to the waypoint. Figure 15B is a diagram showing the flight state after the agricultural flight device has arrived at the waypoint. Figure 15C is a diagram showing the flight state of the agricultural flight device following and approaching a moving work vehicle. Figure 15D is a diagram showing the flight state after the agricultural flight device has reached the airspace above the receiving platform. Figure 15E is a diagram showing the agricultural flight device dropping seedlings while flying with a zero relative speed difference with the rice transplanter. Figure 15F is a diagram showing the return flight of the agricultural flight device returning to the departure point after dropping seedlings.

[0148] 15A, the multicopter 50, holding the seedlings Se (seedling raising mat M) at the starting point (seedling placement location), performs an outward flight (outward flight process) from the starting point toward the waypoint WP. Then, as shown in FIG. 15B, when the multicopter 50 reaches the waypoint WP, it changes direction (turns) at the waypoint WP to face the preceding rice transplanter 10 (turn process).

[0149] 15B and 15C, the multicopter 50 flies while holding the agricultural material S (seedling raising mat M) from the opposite side of the direction of movement of the positioning device 32A associated with the travel of the work machine 1, relative to the travelling work machine 1 equipped with the positioning device 32A, and approaches the work machine 1 from the waypoint WP (approaching flight process). That is, the multicopter 50 performs a following flight (following flight process).

[0150] 15B , the multicopter 50 starts following flight of the working machine 1 from a state in which it is keeping a distance (e.g., third distance D3) in the horizontal direction from the positioning device 32A of the working machine 1 while the working machine 1 is traveling. "Keeping a distance in the horizontal direction" means that the multicopter 50 keeps a distance (third distance D3) from the positioning device 32A of the working machine 1 in a plan view. For example, this includes keeping a distance (third distance D3) from the positioning device 32A behind the working machine 1 and in the traveling direction of the working machine 1.

[0151] 15C, the multicopter 50 flies following the work machine 1 at a speed faster than the traveling speed of the work machine 1, thereby shortening the distance to the work machine 1. For example, in FIG. 15C, the distance between the multicopter 50 and the positioning device 32A is second distance D2, which is closer than third distance D3 (second distance D2<third distance D3).

[0152] 15C , the multicopter 50 flies along the planned travel path L1 from behind the rice transplanter 10, which is traveling based on a predetermined planned travel path L1 and the vehicle position detected by the positioning device 32A, and approaches the rice transplanter 10 (approaching flight process). Specifically, the multicopter 50 follows the rice transplanter 10 from the waypoint WP so as to match the planned travel path L1. The following path along which the multicopter 50 flies after the rice transplanter 10 overlaps with the travel path taken by the rice transplanter 10 along the planned travel path L1 (overlapping flight).

[0153] In other words, when the vehicle 50a transports agricultural materials S to the work machine 1 (rice transplanter 10), the vehicle 50a reaches the sky above the location where the work machine 1 has passed, as shown in Figure 15B, and then moves (flies) from the sky above the location it has reached toward the work machine 1 which is currently in motion, as shown in Figure 15C.

[0154] The multicopter 50 then continues to follow the rice transplanter 10 and reaches a position where the distance from the rice transplanter 10 to the rice transplanter 10 is the first distance D1 (the arrival flight process), as shown in FIG. 15D. In other words, in FIG. 15D, the multicopter 50 catches up with the rice transplanter 10 at a location corresponding to the first distance D1 behind the positioning device 32A (e.g., a position directly above the receiving platform 90, which is the first distance D1 behind the positioning device 32A). The first distance D1 is smaller than the second distance D2. As shown in FIGS. 15A to 15D, the rice transplanter 10 is traveling on the planned travel path L1, and therefore the receiving platform 90 is located on the planned travel path L1.

[0155] 15E, the multicopter 50, in a state (first state) where it is positioned directly above the receiving platform 90 of the traveling rice transplanter 10, flies while maintaining its direction of travel and speed aligned with those of the rice transplanter 10. For example, in FIG. 15E, the multicopter 50 drops the seedling mat M onto the rice transplanter 10 while flying and maintaining a state of catching up with the receiving platform 90, which is a first distance D1 behind the positioning device 32A of the rice transplanter 10. In other words, the multicopter 50 supplies (transports) the seedling mat M to the receiving platform 90 of the rice transplanter 10.

[0156] Then, as shown in Figure 15F, after the multicopter 50 drops the seedling mat M, it ends the follow-up flight and performs a return flight, leaving the rice transplanter 10 and returning to the starting point (seedling placement location).

[0157] Here, the relationship between the multicopter 50 and the receiving area EA of the positioning device 32A will be described. As shown in Figures 15B to 15E and 18, the multicopter 50 flies outside the receiving area EA of the positioning device 32A, following the rice transplanter 10 (outside following flight). Because the multicopter 50 follows the rice transplanter 10 behind the receiving area EA of the positioning device 32A, it does not enter the receiving area EA.

[0158] As shown in Figure 18, the receiving area EA of the positioning device 32A is an inverted cone-shaped area that expands upward when viewed from the outside of the rice transplanter 10 in the horizontal direction (for example, when viewed from the front, back, or side). This receiving area EA is determined by the antenna pattern of the positioning device 32A. Because the positioning device 32A receives signals (radio waves) from positioning satellites in the receiving area EA, it is preferable that no obstacles enter the receiving area EA. If an obstacle is located in the receiving area EA, there is a risk of a radio wave reception error in the positioning device 32A.

[0159] 15B to 15D, the multicopter 50 follows the rice transplanter 10 from the waypoint WP and enters the first state in which it is positioned directly above the receiving table 90 in the seedling supply preparation area AR1. At this time, the multicopter 50 is also positioned behind the receiving area EA and has not entered the receiving area EA.

[0160] In the seedling supply area AR2 shown in Figure 15E, the multicopter 50 is in the first state and is flying while maintaining a relative speed with respect to the rice transplanter 10 of zero or within a specified range of zero to the first relative speed. The multicopter 50 then drops a seedling mat M onto the receiving tray 90 of the rice transplanter 10 at the seedling drop position shown in Figure 15E. At this time, as shown in Figure 18, the multicopter 50 does not enter the receiving area EA of the positioning device 32A. Therefore, because the multicopter 50 is not located in the receiving area EA, radio wave reception errors in the positioning device 32A can be prevented, and seedling supply can be performed appropriately.

[0161] The seedling supply suspension area AR3 is the area of ​​the straight path portion L11a immediately before the turn shown in Figure 17. In this area, dropping of the seedling mat M onto the receiving tray 90 of the rice transplanter 10 is suspended.

[0162] Here, the overall flow of remote control of the multicopter 50 by the server 70 will be described in detail. The remote control device 72 transmits various remote instructions (for example, first to fourth remote instructions) to the multicopter 50. For example, the first remote instruction is an instruction to fly outward toward the waypoint WP. The second remote instruction is an instruction to fly after the rice transplanter 10 traveling from the waypoint WP to catch up with the rice transplanter 10. The third remote instruction is an instruction to drop seedlings (drop materials). The fourth remote instruction is an instruction to fly back to the seedling placement location.

[0163] When the server 70 determines that it is time to start, or when the rice transplanter 10 detects that the remaining number of seedlings in the seedling raising mat M has fallen below a predetermined level, the remote control device 72 transmits a first remote instruction to the multicopter 50. Based on the first remote instruction, the multicopter 50 performs an outbound flight (see FIGS. 14 and 15A) from its current position toward the waypoint WP. When the multicopter 50 arrives at the waypoint WP shown in FIGS. 14 and 15B, it transmits an arrival signal to the server 70 indicating arrival at the waypoint WP.

[0164] When the communication device 71 of the server 70 receives an arrival signal, or when it is determined that the flight position of the multicopter 50, which is sequentially transmitted from the multicopter 50, coincides with the waypoint WP, the remote control device 72 transmits a second remote instruction to the multicopter 50. Based on the second remote instruction, the multicopter 50 performs a follow-up flight to catch up with the traveling rice transplanter 10 from the waypoint WP. As shown in FIGS. 15B to 15D , follow-up flight refers to flight from the waypoint WP to catch up with the traveling rice transplanter 10 and position directly above the receiving platform 90. The multicopter 50 enters a first state in the seedling supply preparation area AR1, where it is located above the receiving platform 90 of the rice transplanter 10 and within a predetermined distance (height H6 shown in FIG. 18 ) from the receiving platform 90. 15E, the multicopter 50 flies so that the relative speed with respect to the rice transplanter 10 is zero or within a specified range from zero to the first relative speed in the seedling supply route in the seedling supply-available area AR2 in the first state. At this time, if the relative speed with respect to the rice transplanter 10 is zero or within a specified range from zero to the first relative speed in the first state, the multicopter 50 transmits a preparation complete signal (READY signal) to the server 70 indicating that preparation for seedling dropping is complete.

[0165] When the communication device 71 receives the preparation completion signal, the remote control device 72 transmits a third remote instruction to the multicopter 50. Based on the third remote instruction, the multicopter 50 releases the holding device 51 from holding the seedling raising mat M (seedlings Se) and drops the seedlings onto the receiving tray 90. The seedling raising mat M has been dropped onto the receiving tray 90 of the rice transplanter 10 at the seedling dropping position shown in Figure 15E. When the multicopter 50 has executed the seedling dropping, it transmits a dropping completion signal to the server 70 indicating that dropping of the seedling raising mat M (seedlings Se) has been completed.

[0166] When the communication device 71 of the server 70 receives the drop completion signal, the remote control device 72 transmits a fourth remote instruction to the multicopter 50. Based on the fourth remote instruction, the multicopter 50 performs a return flight (see Figures 14 and 15F) from its current position back to the seedling placement location.

[0167] 2, the server 70 includes a time calculation unit 76 that calculates the scheduled time for seedling supply (scheduled time for material supply) to the rice transplanter 10. The server 70 functions as the time calculation unit 76 when the processor executes a time calculation program. The time calculation unit 76 calculates the scheduled time for seedling supply to the rice transplanter 10 based on the position and travel information of the rice transplanter 10, the waypoint WP, the position and flight information of the multicopter 50, and the outbound route from the position of the multicopter 50 to the rice transplanter 10 via the waypoint WP.

[0168] The display control unit 74 generates a supply progress display image including the scheduled seedling supply time calculated by the time calculation unit 76. The server 70 transmits the supply progress display image to the mobile terminal 61 via the communication device 71. Upon receiving the supply progress display image, the mobile terminal 61 displays the supply progress display image including the scheduled seedling supply time on the display unit 66.

[0169] 19 is a diagram showing an example of a supply progress display image displayed on a mobile terminal. The display unit 66 displays the supply progress display image as shown in FIG. 19. The supply progress display image includes, but is not limited to, the identification information of the multicopter 50, the scheduled seedling supply time, the status of the multicopter 50, the seedling supply time, and the number of seedling supply attempts.

[0170] The identification information of the multicopter 50 is, for example, an identification code, but may also be a name or the like. The status of the multicopter 50 indicates the situation of the multicopter 50 during the seedling supply flight, and includes, for example, seedling placement location, pre-seedling state, seedling holding state, in outbound flight, waypoint WP reached, in tracking flight, seedlings ready to be dropped, seedlings dropped, in return flight, and finished. This information is sequentially transmitted from the communication device 50i of the multicopter 50 to the server 70, and the server 70 generates the latest supply progress display image. The latest supply progress display image is transmitted from the server 70 to the mobile terminal 61. Therefore, the latest supply progress display image is displayed on the display unit 66 of the mobile terminal 61.

[0171] The display unit 66 shown in Figure 19 shows that the multicopter 50 of "DR01" has already carried out the first seedling supply, and displays the scheduled seedling supply time, status ("Finished" indicating that seedling supply is complete), and actual seedling supply time at that time. The display unit 66 also shows that the multicopter 50 of "DR01" is currently carrying out the second seedling supply, and displays the scheduled seedling supply time and status ("WP reached" indicating that the waypoint WP has been reached). Note that the second seedling supply has not yet been completed, so the actual seedling supply time is not displayed.

[0172] As described above, a user who possesses the mobile terminal 61 can view the supply progress display image on the display unit 66 and know the supply progress, including the scheduled time for seedling supply to the rice transplanter 10 by the multicopter 50. Here, the mobile terminal 61 displays the supply progress display image, but instead of or in addition to this, the server 70 or the display device of the rice transplanter 10 may display the supply progress display image.

[0173] Incidentally, as shown in Figure 20, when a multicopter 50 flying on the outbound route approaches a rice transplanter 10 in motion, it may be necessary to set an additional waypoint WP1 for the multicopter 50. Figure 20 is a diagram showing an example of setting an additional waypoint for an agricultural flight device.

[0174] 20 , when the calculation setting unit 75 determines that there is a point (intersection point CP) where the path (outbound route) of the multicopter 50 from the current flight position toward the way point WP and the travel path of the rice transplanter 10 intersect in a planar view of the field, and that the multicopter 50 will come close to the rice transplanter 10 at the intersection point CP, it sets an additional way point WP1 at a point located a predetermined distance in front of the intersection point CP on the outbound route. The predetermined distance is, for example, a distance at which the multicopter 50 and the rice transplanter 10 do not come into contact with each other.

[0175] Then, when the multicopter 50 flies on the outward route and reaches the additional waypoint WP1, it waits (hovers) at that location until the rice transplanter 10 passes at least the intersection point CP (standby flight). Furthermore, if the server 70 determines that the time when the multicopter 50 resumes the outward route and reaches the destination (i.e., the original waypoint WP) after the rice transplanter 10 passes the intersection point CP is earlier than the time when the rice transplanter 10 passes the waypoint WP, it continues waiting (hovering) the multicopter 50 at the additional waypoint WP1 until the rice transplanter 10 passes the waypoint WP (continued standby flight).

[0176] 20, when the multicopter 50 waits (hovers) at the additional way point WP1, the server 70 may calculate that the arrival point will be shifted by the travel distance equivalent to the waiting time at the additional way point WP1 of the multicopter 50. In other words, when the tracking speed pattern during the following operation of the multicopter 50 is the same, the distance for following the traveling rice transplanter 10 from the way point WP will be longer in the case of waiting than in the case of not waiting (when the additional way point WP1 is not set) depending on the length of the waiting time.

[0177] Furthermore, if the server 70 has a plurality of tracking speed patterns in which the speed increases as the waiting time of the multicopter 50 at the additional waypoint WP1 increases, the server 70 may make the multicopter 50 fly in a tracking speed pattern according to the waiting time. In this case, the distance for following the traveling rice transplanter 10 from the waypoint WP can be made close to or the same as when there is no waiting, even when there is waiting.

[0178] The main characteristic items and effects of the agricultural flight device 5, material transport system SY, and material transport method in the embodiments described above are as follows.

[0179] (Item A1) An agricultural flying device 5 comprising an airframe 50a and a holding device 51 provided on the airframe 50a, wherein the airframe 50a flies while holding agricultural material S in the holding device 51 and moves above a working machine 1 that is traveling from one turn to the next, and when the airframe 50a reaches the airspace above the working machine 1, the holding device 51 releases the agricultural material S by releasing its hold on the agricultural material S.

[0180] According to this configuration, the agricultural flying device 5 supplies agricultural materials S (e.g., seedlings) while the work machine 1 is traveling (e.g., while traveling straight) from after a turn until the next turn, so that the supply of agricultural materials S (e.g., seedlings) to the work machine 1 (hereinafter sometimes referred to as material supply or material transportation as appropriate) can be carried out quickly and accurately.

[0181] (Item A2) The agricultural flying device 5 according to Item A1, wherein the holding device 51 restricts the release of the holding of the agricultural material S while the work machine 1 is turning.

[0182] With this configuration, the agricultural flight device 5 limits (and even prohibits) the supply of materials while the work implement 1 is turning. In other words, the agricultural materials S are supplied while the work implement 1 is traveling other than turning (i.e., traveling straight). Therefore, materials can be supplied to the work implement 1 more quickly and accurately while the work implement 1 is traveling straight than while it is turning.

[0183] (Item A3) An agricultural flying device 5 described in Item A1 or A2, in which the holding device 51 releases the agricultural material S from its hold while flying above the working machine 1, thereby releasing the agricultural material S to the working machine 1 while it is moving.

[0184] With this configuration, the agricultural flying device 5 supplies agricultural materials S to the working machine 1 while flying above the working machine 1, so there is no need to have the agricultural flying device 5 take off and land on the working machine 1, and materials can be supplied to the working machine 1 in a short period of time. In addition, no landing space is required for the working machine 1, and providing a landing space prevents the working machine 1 from becoming larger.

[0185] (Item A4) An agricultural flying device 5 described in any one of items A1 to A3, wherein the holding device 51 releases the hold on the agricultural material S and drops the agricultural material S onto the receiving platform 90 when the aircraft 50a reaches a first state in which it is flying within a predetermined distance above a receiving platform 90 provided on the work machine 1.

[0186] With this configuration, when the agricultural flying device 5 enters the first state, flying within a predetermined distance above the cradle 90, it releases the holding device 51 and drops the agricultural material S onto the cradle 90, allowing the agricultural material S to be dropped above and within a short distance from the cradle 90 of the work machine 1. This reduces the impact on the agricultural material S when dropped onto the cradle 90 of the work machine 1, reducing or preventing damage to the agricultural material S due to the drop. Therefore, the agricultural flying device 5 can properly transfer the agricultural material S to the cradle 90 of the work machine 1 while in flight.

[0187] (Item A5) The agricultural flying device 5 described in Item A4, wherein the holding device 51 releases the holding of the agricultural material S when, in the first state, the relative speed between the aircraft 50a and the work machine 1 is zero or within a specified range value from zero to a first relative speed.

[0188] According to this configuration, when the agricultural flying device 5 is in a first state in which it is located within a predetermined distance above the receiving platform 90 and the relative speed with respect to the working machine 1 is zero or within a specified range value (i.e., a state approaching zero), it supplies agricultural materials S to the working machine 1 traveling straight ahead, so that the agricultural materials S can be accurately delivered to the targeted supply point on the receiving platform 90 of the working machine 1.

[0189] (Item A6) The agricultural flying device 5 described in Item A5, in which the aircraft 50a flies while maintaining its direction of travel and speed aligned with the direction of travel and speed of the work machine 1 in the first state.

[0190] According to this configuration, in the first state in which the agricultural flying device 5 is located within a predetermined distance above the receiving stand 90, the agricultural flying device 5 flies while maintaining its direction of travel and speed aligned with the direction of travel and speed of the working machine 1, thereby enabling seedlings to be stably supplied to the working machine 1 while it is traveling straight ahead.

[0191] (Item A7) An agricultural flying device 5 described in any one of items A4 to A6, in which the aircraft 50a reaches above the support platform 90 of the working machine 1 by flying in pursuit at a speed faster than the working machine 1.

[0192] With this configuration, the agricultural flight device 5 can efficiently catch up with the work machine 1 and reach above the support platform 90 of the work machine 1.

[0193] (Item A8) An agricultural flying device 5 described in any one of items A1 to A7, wherein the holding device 51 restricts the release of the holding of the agricultural material S when the working machine 1 is traveling just before turning, and releases the holding of the agricultural material S when the working machine 1 is traveling after turning.

[0194] According to this configuration, the agricultural flying device 5 does not replenish materials while the working machine 1 is traveling straight just before turning, but instead replenishes materials to the working machine 1 while it is traveling straight after turning.Therefore, materials can be replenished to the working machine 1 while it is traveling straight for a certain period of time or more after turning, and material replenishment can be carried out reliably and stably.

[0195] (Item A9) An agricultural flying device 5 described in any one of items A1 to A8, wherein the agricultural material S is a seedling and the work machine 1 is a rice transplanter 10.

[0196] According to this configuration, the agricultural flying device 5 does not replenish materials while the rice transplanter 10 is turning, but replenishes materials while the rice transplanter 10 is traveling straight, so that materials can be replenished to the rice transplanter 10 quickly and accurately.

[0197] (Item A10) A material transportation system SY comprising an agricultural flight device 5 described in any one of items A1 to A9 and a calculation setting unit that sets a via point at which the agricultural flight device 5 will be positioned, wherein the work machine 1 travels along a planned travel path L1 that includes a plurality of parallel straight paths L11 and a turning path L12 that connects the ends of the straight paths L11, and when the calculation setting unit calculates the via point WP on a straight path portion L11a of the straight path L11 of the planned travel path L1 within a predetermined range to the turning path L12 as the destination, the calculation setting unit recalculates and sets the via point WP on the straight path L11 after the turning path L12.

[0198] With this configuration, the agricultural flight device 5 can avoid supplying materials while the work machine 1 is traveling straight just before turning, and can preferably supply materials to the work machine 1 while traveling straight after turning.

[0199] (Item A11) A material transport method in which an agricultural flying device 5, which flies while holding agricultural material S, moves above a working machine 1 that is traveling from one turn to the next (moving and flying process into the sky), and releases the agricultural material S when it reaches the sky above the working machine 1 (releasing process).

[0200] With this configuration, the agricultural flight device 5 supplies materials while the work machine 1 is traveling (for example, while traveling straight) from after a turn until the next turn, so that materials can be supplied to the work machine 1 quickly and accurately.

[0201] (Item A12) The material transport method described in Item A11, in which the agricultural flight device 5 restricts the release of the agricultural material S if the work machine 1 is turning (restriction process).

[0202] With this configuration, the agricultural flight device 5 restricts the supply of materials while the work implement 1 is turning. In other words, the agricultural materials S are supplied while the work implement 1 is traveling other than turning (i.e., traveling straight). Therefore, materials can be supplied to the work implement 1 more quickly and accurately while the work implement 1 is traveling straight than while it is turning.

[0203] (Item A13) The agricultural flying device 5, while flying above the work machine 1, releases the agricultural material S from the holding device 51 (holding release process), thereby releasing the agricultural material S to the working machine 1 while it is moving (releasing process).This is a material transport method described in Item A12 or A13.

[0204] With this configuration, the agricultural flying device 5 supplies agricultural materials S to the working machine 1 while flying above the working machine 1, so there is no need to have the agricultural flying device 5 take off and land on the working machine 1, and materials can be supplied to the working machine 1 in a short period of time. In addition, no landing space is required for the working machine 1, and providing a landing space prevents the working machine 1 from becoming larger.

[0205] (Item A14) When the agricultural flying device 5 reaches a first state in which it is flying within a predetermined distance above a receiving platform 90 provided on the work machine 1, it drops the agricultural material S onto the receiving platform 90 (dropping process).This is a material transportation method described in any one of items A11 to A13.

[0206] With this configuration, when the agricultural flying device 5 enters the first state, flying within a predetermined distance above the cradle 90, it releases the holding device 51 and drops the agricultural material S onto the cradle 90, allowing the agricultural material S to be dropped above and within a short distance from the cradle 90 of the work machine 1. This reduces the impact on the agricultural material S when dropped onto the cradle 90 of the work machine 1, reducing or preventing damage to the agricultural material S due to the drop. Therefore, the agricultural flying device 5 can properly transfer the agricultural material S to the cradle 90 of the work machine 1 while in flight.

[0207] (Item A15) A material transport method described in Item A14, in which the agricultural flight device 5 releases agricultural material S when, in the first state, the relative speed with the work machine 1 is zero or within a specified range value from zero to the first relative speed (parallel flight process).

[0208] According to this configuration, when the agricultural flying device 5 is in a first state in which it is located within a predetermined distance above the receiving platform 90 and the relative speed with respect to the working machine 1 is zero or within a specified range value (i.e., a state approaching zero), it supplies agricultural materials S to the working machine 1 traveling straight ahead, so that the agricultural materials S can be accurately delivered to the targeted supply point on the receiving platform 90 of the working machine 1.

[0209] (Item A16) In the first state, the agricultural flying device 5 flies while maintaining its direction of travel and speed aligned with the direction of travel and speed of the working machine 1 (maintenance flight process).This is a material transportation method described in Item A15.

[0210] According to this configuration, in the first state in which the agricultural flying device 5 is located within a predetermined distance above the receiving base 90, the agricultural flying device 5 flies while maintaining its direction of travel and speed aligned with the direction of travel and speed of the working machine 1, thereby enabling agricultural materials S to be stably supplied to the working machine 1 while it is traveling straight ahead.

[0211] (Item A17) A material transport method described in any one of items A14 to A16, in which the agricultural flying device 5 reaches above the receiving platform 90 of the working machine 1 by flying in pursuit at a speed faster than the working machine 1 (accelerated flight process).

[0212] With this configuration, the agricultural flight device 5 can efficiently catch up with the work machine 1 and reach above the support platform 90 of the work machine 1.

[0213] (Item A18) The agricultural flight device 5 does not release the agricultural material S to the work machine 1 while it is traveling just before turning (restriction process) if the work machine 1 is traveling just before turning, and releases the agricultural material S to the work machine 1 while it is traveling after turning (releasing process). This is a material transportation method described in any one of items A11 to A15.

[0214] According to this configuration, the agricultural flying device 5 does not replenish materials while the working machine 1 is traveling straight just before turning, but instead replenishes materials to the working machine 1 while it is traveling straight after turning.Therefore, materials can be replenished to the working machine 1 while it is traveling straight for a certain period of time or more after turning, and material replenishment can be carried out reliably and stably.

[0215] (Item A19) A material transportation method described in any one of items A11 to A18, comprising: a server 70; the work machine 1 travels along a planned travel path L1 that includes a plurality of parallel straight paths L11 and a turning path L12 connecting the ends of the straight paths L11; the server 70 or the agricultural flight device 5 comprises a calculation setting unit 75 that calculates a via point WP at which the agricultural flight device 5 will be positioned and sets it on the straight path L11 of the planned travel path L1; and when the calculation setting unit 75 calculates the via point WP on a straight path portion L11a of the straight path L11 within a predetermined range up to the turning path L12 as the destination, the calculation setting unit 75 recalculates and sets the via point WP on the straight path L11 after the turning path L12 (via point setting process).

[0216] With this configuration, the agricultural flying device 5 can avoid replenishing materials while the work machine 1 is traveling straight just before turning, and can preferably replenishing materials to the work machine 1 while traveling straight after turning.

[0217] (Item A20) A material transport method described in any one of items A11 to A19, wherein the agricultural material S is a seedling and the work machine 1 is a rice transplanter 10.

[0218] According to this configuration, the agricultural flying device 5 does not replenish materials while the rice transplanter 10 is turning, but replenishes materials while the rice transplanter 10 is traveling straight, so that materials can be replenished to the rice transplanter 10 quickly and accurately.

[0219] (Item B1) An agricultural flying device 5 comprising an aircraft 50a and a transporting device 51A provided on the aircraft 50a, wherein the aircraft 50a flies while holding agricultural material S and approaches a working machine 1 that is moving and is equipped with a positioning device 32A, from the opposite side to the direction of movement of the positioning device 32A as the working machine 1 moves, and the transporting device 51A supplies the agricultural material S to the working machine 1.

[0220] With this configuration, the agricultural flying device 5 follows the working machine 1 while it is moving and approaches it to supply agricultural materials S (e.g., seedlings) to the working machine 1, so it can approach the working machine 1 while avoiding the area above the positioning device 32A of the working machine 1. This makes it possible to avoid radio wave reception errors in the positioning device 32A due to radio wave interference from the agricultural flying device 5.

[0221] (Item B2) The agricultural flight device 5 described in Item B1, wherein the airframe 50a flies in a manner that follows the working machine 1 while keeping a horizontal distance from the positioning device 32A of the working machine 1 while it is moving.

[0222] With this configuration, the agricultural flying device 5 flies behind the working machine 1 while maintaining a horizontal distance from the positioning device 32A of the working machine 1 while it is traveling, so it can avoid the area above the positioning device 32A of the working machine 1 and approach the working machine 1 at a horizontal distance from the positioning device 32A of the working machine 1. This makes it possible to avoid radio wave reception errors in the positioning device 32A due to radio wave interference from the agricultural flying device 5.

[0223] (Item B3) An agricultural flight device 5 described in item B1 or B2, in which the aircraft 50a flies behind the work machine 1 and catches up with the work machine 1 at a location corresponding to a first distance D1 behind the positioning device 32A.

[0224] With this configuration, the agricultural flight device 5 follows the work machine 1 and catches up to a location corresponding to the first distance D1 behind the positioning device 32A of the work machine 1 (for example, a position directly above the receiving platform 90 that is the first distance D1 behind the positioning device 32A of the work machine 1), allowing it to approach the work machine 1 while avoiding the area above the positioning device 32A of the work machine 1. This prevents radio wave reception errors of the positioning device 32A due to radio wave interference from the agricultural flight device 5.

[0225] (Item B4) An agricultural flying device 5 described in any one of items B1 to B3, in which the aircraft 50a flies along the planned driving path L1 from behind the work machine 1, which is traveling based on a predetermined planned driving path L1 and the vehicle position detected by the positioning device 32A, and approaches the work machine 1.

[0226] With this configuration, the agricultural flight device 5 approaches the work machine 1 by flying from behind the work machine 1 along the planned driving path L1 of the work machine 1, so that the planned driving path L1 of the work machine 1 can be used as the flight path of the agricultural flight device 5, and the agricultural flight device 5 can follow the work machine 1 and approach it along an appropriate flight path.

[0227] (Item B5) An agricultural flight device 5 according to Item B4, in which the following path for flying behind the work machine 1 overlaps with the travel path taken by the work machine 1 along the planned travel path L1.

[0228] With this configuration, the following path of the agricultural flight device 5 overlaps with the travel path already traveled by the work machine 1. In other words, the agricultural flight device 5 flies to follow the travel path of the work machine 1. This allows the agricultural flight device 5 to replenish materials to the work machine 1 by following the actual movement of the work machine 1.

[0229] (Item B6) A material transport system SY comprising an agricultural flying device 5 described in any one of items B1 to B5, wherein the work machine 1 comprises a receiving platform 90 that receives the agricultural materials from the agricultural flying device 5, the positioning device 32A is arranged at a predetermined location on the work machine 1, and the receiving platform 90 is arranged at a first distance D1 behind the positioning device 32A on the work machine 1.

[0230] With this configuration, the agricultural flying device 5 flies to the receiving platform 90 of the work machine 1 and delivers the agricultural material S to the receiving platform 90, but does not reach the positioning device 32A, which is located ahead of the receiving platform 90 on the work machine 1. This makes it possible to avoid radio wave reception errors of the positioning device 32A due to radio wave interference from the agricultural flying device 5, and also allows the agricultural material S to be properly replenished to the work machine 1.

[0231] (Item B7) A material transport system SY described in Item B6, in which the agricultural flight device 5 flies behind the work machine 1 outside the receiving area EA of the positioning device 32A.

[0232] According to this configuration, the agricultural flight device 5 flies behind the work machine 1 outside the receiving area EA (antenna radiation pattern) of the positioning device 32A, thereby preventing the agricultural flight device 5 from entering (invading or entering) the receiving area EA of the positioning device 32A and avoiding radio wave reception errors of the positioning device 32A caused by radio wave interference from the agricultural flight device 5.

[0233] (Item B8) A material transport system SY described in item B6 or B7, in which the work machine 1 travels based on a predetermined planned travel route L1 and the vehicle position detected by the positioning device 32A, the planned travel route L1 being a route including multiple parallel straight routes L11 and a turning route L12 connecting the ends of the straight routes L11, and when the agricultural flight device 5 approaches the work machine 1 while flying toward a waypoint WP set on the planned travel route L1, it sets an additional waypoint WP1 and continues waiting flight at the additional waypoint WP1 until the work machine 1 passes.

[0234] With this configuration, if the agricultural flight device 5 approaches the work machine 1 while flying toward a waypoint WP (e.g., a waypoint) on the planned route L1, it sets an additional waypoint WP1 and continues waiting at the additional waypoint WP1 until the work machine 1 passes. This not only prevents the agricultural flight device 5 from entering the reception area EA of the positioning device 32A while flying toward the waypoint WP on the planned route L1, but also prevents the agricultural flight device 5 from approaching the work machine 1 while it is traveling, thereby preventing the agricultural flight device 5 from colliding with the work machine 1.

[0235] (Item B9) The material transport system SY described in Item B9, in which the agricultural flight device 5 continues waiting flight at the additional waypoint WP1 until the work machine 1 passes the waypoint WP if it determines that the agricultural flight device 5 will reach the waypoint WP before the work machine 1 passes the waypoint WP.

[0236] This configuration prevents the agricultural flight device 5 from reaching the way point WP before the work unit 1 passes through the way point WP. In other words, the agricultural flight device 5 reaches the way point WP after the work unit 1 passes through the way point WP, so it can reliably follow the work unit 1 that has passed through the way point WP.

[0237] (Item B10) A material transport system SY described in any one of items B1 to B9, wherein the agricultural material S is a seedling and the work machine 1 is a rice transplanter 10.

[0238] This configuration allows the agricultural flight device 5 to approach the rice transplanter 10 while avoiding the area above the positioning device 32A of the rice transplanter 10. This prevents radio wave reception errors in the positioning device 32A caused by radio wave interference from the agricultural flight device 5. It also reduces collisions between the agricultural flight device 5 and the positioning device 32A.

[0239] (Item B11) A material transport method in which an agricultural flying device 5 transporting agricultural material S approaches a moving work machine 1 equipped with a positioning device 32A while holding the agricultural material S and flying from the opposite side of the direction of movement of the positioning device 32A as the work machine 1 moves (approaching flight process), and transports the agricultural material S to the work machine 1.

[0240] With this configuration, the agricultural flying device 5 follows the working machine 1 while it is traveling and approaches it to supply agricultural materials S to the working machine 1, so it can approach the working machine 1 while avoiding the area above the positioning device 32A of the working machine 1. This makes it possible to avoid radio wave reception errors in the positioning device 32A caused by radio wave interference from the agricultural flying device 5.

[0241] (Item B12) A material transport method described in Item B12, in which the agricultural flight device 5 flies behind the working machine 1 at a horizontal distance from the positioning device 32A of the working machine 1 while it is moving (following flight process).

[0242] With this configuration, the agricultural flying device 5 flies behind the working machine 1 while maintaining a horizontal distance from the positioning device 32A of the working machine 1 while it is traveling, so it can avoid the area above the positioning device 32A of the working machine 1 and approach the working machine 1 at a horizontal distance from the positioning device 32A of the working machine 1. This makes it possible to avoid radio wave reception errors in the positioning device 32A due to radio wave interference from the agricultural flying device 5.

[0243] (Item B13) The agricultural flight device 5 follows the work machine 1 and catches up with a location corresponding to the first distance D1 behind the positioning device 32A on the work machine 1 (arrival flight process).This is a material transportation method described in Item B11 or B12.

[0244] With this configuration, the agricultural flight device 5 follows the work machine 1 and catches up to a location corresponding to the first distance D1 behind the positioning device 32A of the work machine 1 (for example, a position directly above the receiving platform 90 that is the first distance D1 behind the positioning device 32A of the work machine 1), allowing it to approach the work machine 1 while avoiding the area above the positioning device 32A of the work machine 1. This prevents radio wave reception errors of the positioning device 32A due to radio wave interference from the agricultural flight device 5.

[0245] (Item B14) The work machine 1 travels based on a predetermined planned travel route L1 and the vehicle position detected by the positioning device 32A, and the agricultural flight device 5 flies along the planned travel route L1 from behind the work machine 1 to approach the work machine 1 (approaching flight process).A material transportation method described in any one of items B11 to B13.

[0246] With this configuration, the agricultural flight device 5 approaches the work machine 1 by flying from behind the work machine 1 along the planned driving path L1 of the work machine 1, so that the planned driving path L1 of the work machine 1 can be used as the flight path of the agricultural flight device 5, and the agricultural flight device 5 can follow the work machine 1 and approach it along an appropriate flight path.

[0247] (Item B15) A material transportation method described in Item B14, in which the following path along which the agricultural flight device 5 follows the work machine 1 overlaps (overlapping flight) with the travel path along which the work machine 1 travels along the planned travel path L1.

[0248] With this configuration, the following path of the agricultural flight device 5 overlaps with the travel path already traveled by the work machine 1. In other words, the agricultural flight device 5 flies to follow the travel path of the work machine 1. This allows the agricultural flight device 5 to replenish materials to the work machine 1 by following the actual movement of the work machine 1.

[0249] (Item B16) A material transport method according to item B14 or B15, in which the work machine 1 is equipped with a receiving platform 90 that receives the seedlings from the agricultural flight device 5, the positioning device 32A is positioned at a predetermined location on the work machine 1, and the receiving platform 90 is positioned at the first distance D1 behind the positioning device 32A on the work machine 1.

[0250] With this configuration, the agricultural flying device 5 flies to the receiving platform 90 of the work machine 1 and delivers the agricultural material S to the receiving platform 90, but does not reach the positioning device 32A, which is located ahead of the receiving platform 90 on the work machine 1. This makes it possible to avoid radio wave reception errors of the positioning device 32A due to radio wave interference from the agricultural flying device 5, and also allows the agricultural material S to be properly replenished to the work machine 1.

[0251] (Item B17) A material transport method described in Item B16, in which the agricultural flight device 5 flies behind the work machine 1 outside the receiving area EA of the positioning device 32A (outside following flight).

[0252] According to this configuration, the agricultural flight device 5 flies behind the work machine 1 outside the receiving area EA (antenna radiation pattern) of the positioning device 32A, thereby preventing the agricultural flight device 5 from entering (invading or entering) the receiving area EA of the positioning device 32A and avoiding radio wave reception errors of the positioning device 32A caused by radio wave interference from the agricultural flight device 5.

[0253] (Item B18) The planned travel route L1 is a route that includes multiple parallel straight routes L11 and a turning route L12 that connects the ends of the straight routes L11, and when the agricultural flight device 5 approaches the work machine 1 while flying toward a waypoint WP set on the planned travel route L1, it sets an additional waypoint WP1 and continues a waiting flight at the additional waypoint WP1 until the work machine 1 passes (waiting flight).A material transportation method described in any one of items B14 to B17.

[0254] With this configuration, if the agricultural flight device 5 approaches the work machine 1 while flying toward a waypoint WP (e.g., a waypoint) on the planned route L1, it sets an additional waypoint WP1 and continues waiting at the additional waypoint WP1 until the work machine 1 passes. This not only prevents the agricultural flight device 5 from entering the reception area EA of the positioning device 32A while flying toward the waypoint WP on the planned route L1, but also prevents the agricultural flight device 5 from approaching the work machine 1 while it is traveling, thereby preventing the agricultural flight device 5 from colliding with the work machine 1.

[0255] (Item B19) If the agricultural flight device 5 determines that it will reach the waypoint WP before the work machine 1 passes the waypoint WP, it continues waiting flight at the additional waypoint WP1 until the work machine 1 passes the waypoint WP (continued waiting flight).This is the material transportation method described in Item B18.

[0256] This configuration prevents the agricultural flight device 5 from reaching the way point WP before the work unit 1 passes through the way point WP. In other words, the agricultural flight device 5 reaches the way point WP after the work unit 1 passes through the way point WP, so it can reliably follow the work unit 1 that has passed through the way point WP.

[0257] (Item B20) A material transport method according to any one of items B12 to B21, in which the agricultural material S is a seedling and the work machine 1 is a rice transplanter 10.

[0258] This configuration allows the agricultural flight device 5 to approach the rice transplanter 10 while avoiding the area above the positioning device 32A of the rice transplanter 10. This prevents radio wave reception errors in the positioning device 32A caused by radio wave interference from the agricultural flight device 5. It also reduces collisions between the agricultural flight device 5 and the positioning device 32A.

[0259] (Item C1) An agricultural flying device 5 comprising an aircraft 50a and a transporting device 51A provided on the aircraft 50a, wherein when the aircraft 50a transports agricultural materials S to a work machine 1, the aircraft 50a reaches the airspace above a location that the work machine 1 has passed through, and moves from the airspace above the location that it has reached toward the work machine 1 that is in motion.

[0260] With this configuration, the agricultural flight device 5 can reach the sky above a location where the work machine 1 has passed, and then catch up with the traveling work machine 1 from the sky above the location where it has reached, thereby supplying the work machine 1 with agricultural materials S. This simplifies the behavior of the agricultural flight device 5 from the sky above a location where the work machine 1 has passed, to catching up with the work machine 1 and transporting the materials, thereby enabling stable supply of materials to the work machine 1.

[0261] (Item C2) The agricultural flying device 5 described in Item C1, wherein the transporting device 51A is provided on the work machine 1 and transports the agricultural material S to a receiving platform 90 located on the planned travel path L1 of the work machine 1.

[0262] With this configuration, the agricultural flying device 5 follows the planned travel path L1 of the work machine 1 from within the rear width of the work machine 1 and reaches the receiving platform 90, so that agricultural materials S can be easily replenished onto the receiving platform 90 of the work machine 1.

[0263] (Item C3) The agricultural flying device 5 according to Item C2, wherein the support 90 is movable in the width direction of the work machine 1.

[0264] With this configuration, the receiving platform 90 can be aligned with the agricultural flying device 5 by moving in the width direction of the work machine 1. Therefore, even if the agricultural flying device 5 is misaligned in the width direction of the work machine 1 from the planned travel path L1, agricultural materials S can be replenished onto the receiving platform 90 of the work machine 1 without having to change the position of the agricultural flying device 5.

[0265] (Item C4) An agricultural flying device 5 described in Item C3, in which the receiving platform 90 can move in the width direction of the work machine 1 to align the received agricultural material S with the material loading section 24 to be replenished.

[0266] According to this configuration, the receiving table 90 can move in the width direction of the work machine 1 to align the received agricultural material S with the material loading section 24 to be replenished. Therefore, the receiving table 90 can properly replenish the received agricultural material S with the material loading section 24 to be replenished.

[0267] (Item C5) An agricultural flying device 5 according to Item C2, in which the receiving platform 90 is movable in the width direction while ensuring that it is positioned on the center line of the working machine 1 in the width direction.

[0268] With this configuration, the platform 90 remains positioned on the centerline of the work machine 1 in the width direction, even when moved in the width direction of the work machine 1. The work machine 1 travels with its center in the width direction aligned with the planned travel path L1 of the work machine 1. In other words, the platform 90 remains positioned on the planned travel path L1 of the work machine 1, even when moved in the width direction of the work machine 1. This eliminates the need for the agricultural flight device 5 to continually align itself with the platform 90 as it moves in the width direction of the work machine 1, thereby preventing the flight control of the agricultural flight device 5 from becoming complicated. In other words, the agricultural flight device 5 can fly along the planned travel path L1 and supply agricultural materials S to the platform 90 of the work machine 1, regardless of the movement state of the platform 90.

[0269] (Item C6) The receiving platform 90 is an agricultural flying device 5 described in Item C5, which is equipped with an adjustment body 99 that moves the received seedlings in the width direction on the receiving platform 90 and aligns them with the material loading section 24 to be replenished.

[0270] According to this configuration, the adjuster 99 of the receiving table 90 moves the received agricultural material S in the width direction on the receiving table 90 to align it with the material loading section 24 to be supplied. Therefore, the receiving table 90 can properly supply the received agricultural material S to the material loading section 24 to be supplied.

[0271] (Item C7) A material transportation system SY comprising an agricultural flight device 5 described in any one of items C1 to C6, and a calculation setting unit 75 that sets a via point WP (e.g., a waypoint) on the planned travel path L1 of the work machine 1 and behind the work machine 1.

[0272] With this configuration, the agricultural flight device 5 flies along the planned travel path L1 of the work machine 1 from a waypoint WP behind the work machine 1 so as to catch up with the work machine 1 along the planned travel path L1, simplifying the behavior of the agricultural flight device 5. This allows for stable supply of materials from behind the work machine 1.

[0273] (Item C8) The planned travel route L1 is a route including a plurality of parallel straight routes L11 and a turning route L12 connecting the ends of the straight routes L11, and the calculation setting unit 75 sets the via point WP within a predetermined route on the straight route L11 immediately after the turning route L12 on the starting side of the straight route. This is a material transportation system SY described in Item C7.

[0274] With this configuration, the agricultural flight device 5 begins flight to catch up with the work machine 1 from a waypoint WP set within a predetermined path on the start side of the straight-line path L11 immediately after the work machine 1 turns, to catch up with the work machine 1 and supply materials to the work machine 1 during straight-line travel after the turn. This means that materials can be supplied to the work machine 1 while it is traveling straight for a certain period of time or more after the turn, ensuring reliable and stable supply of materials.

[0275] (Item C9) The material transportation system SY described in Item C8, in which, when the via point WP is calculated on a straight path portion L11a of the straight path L11 within a predetermined range up to the destination turning path L12, the calculation setting unit 75 recalculates and sets the via point WP on the straight path L11 after the turning path L12.

[0276] With this configuration, the agricultural flight device 5 can avoid supplying materials while the work machine 1 is traveling straight just before turning, and can preferably supply materials to the work machine 1 while traveling straight after turning.

[0277] (Item C10) A material transport system SY described in any one of items C7 to C9, wherein the waypoint WP is a position on the planned travel path L1 at which the agricultural flight device 5 can arrive immediately after the work machine 1 passes.

[0278] With this configuration, the waypoint WP is a position on the planned travel path L1 at which the agricultural flight device 5 can arrive immediately after the work machine 1 has passed. In other words, when the agricultural flight device 5 arrives at the waypoint WP, the work machine 1 has already traveled through that waypoint WP. Therefore, the agricultural flight device 5 flies to arrive at the waypoint WP that the work machine 1 has already traveled and catches up with the work machine 1 from behind, allowing the agricultural flight device 5 to stably follow the work machine 1 from behind to replenish materials.

[0279] (Item C11) A material transport system SY described in any one of items C7 to C10, in which the agricultural flight device 5 follows the work machine 1 from the waypoint WP so as to match the planned driving route L1.

[0280] With this configuration, the agricultural flight device 5 flies to follow the planned travel path L1 of the work machine 1. In other words, the path that the agricultural flight device 5 follows to follow the work machine 1 from the waypoint WP overlaps with the planned travel path L1 of the work machine 1. Therefore, the agricultural flight device 5 can replenish materials to the work machine 1 by following along the planned travel path L1 of the work machine 1.

[0281] (Item C12) A material transport system SY described in any one of items C7 to C11, in which the work machine 1 travels by automatic steering or automatic driving so as to position itself along the planned travel route L1.

[0282] With this configuration, the work machine 1 travels along the planned travel path L1 using automatic steering or automatic driving, so even if the work machine 1 deviates left or right from the planned travel path L1, it can autonomously return to the planned travel path L1. This reduces left and right movement of the agricultural flight device 5 while following the work machine 1. This simplifies the behavior of the agricultural flight device 5.

[0283] (Item C13) A material transportation system SY described in any one of items C7 to C12, in which the calculation and setting unit 75 calculates the waypoint WP based on the planned driving route L1, the position and driving information of the work machine 1, the remaining material amount and material consumption rate of the work machine 1, and the position and flight information of the agricultural flying device 5, and sets it on the planned driving route L1.

[0284] According to this configuration, the waypoint WP can be set appropriately.

[0285] (Item C14) A material transport system SY described in any one of items C7 to C13, comprising a server 70, the server 70 comprising a communication device 71 capable of communicating with the work machine 1 and the agricultural flight device 5, the calculation and setting unit 75, and a remote control device 72 that remotely controls the agricultural flight device 5, the agricultural flight device 5 operating in accordance with remote control from the remote control device 72.

[0286] With this configuration, the remote control device 72 of the server 70 remotely controls the agricultural flight device 5, establishing a master-slave relationship in which the server 70 is the master and the agricultural flight device 5 is the slave. This allows the agricultural flight device 5 to conveniently remotely replenish materials to the work machine 1.

[0287] (Item C15) The communication device 71 receives the position and driving information of the work machine 1 and the position and flight information of the agricultural flight device 5, and the remote control device 72 is capable of transmitting to the agricultural flight device 5 via the communication device 71 a first remote instruction for an outbound flight toward the waypoint WP, a second remote instruction for a follow-up flight to catch up with the work machine 1 from the waypoint WP, and a third remote instruction for dropping materials, and the agricultural flight device 5 performs the outbound flight from its current position based on the first remote instruction, performs the follow-up flight based on the second remote instruction, and drops the materials based on the third remote instruction. Material transportation system SY described in item C14.

[0288] With this configuration, the agricultural flight device 5 performs outbound flight from its current position toward waypoint WP on the planned travel route L1, follow-up flight to catch up with the work machine 1 from waypoint WP, and dropping materials onto the working machine 1 while it is traveling, based on various remote instructions (e.g., first to third remote instructions) from the server 70. This allows the agricultural flight device 5 to be remotely controlled reliably and safely.

[0289] (Item C16) The server 70 is a material transportation system SY described in item C14 or C15, which is equipped with a time calculation unit 76 that calculates the scheduled time of material supply to the work machine 1 based on the position and driving information of the work machine 1, the waypoint WP, the position and flight information of the agricultural flight device 5, and the outbound route from the position of the agricultural flight device 5 via the waypoint WP to reach the work machine 1.

[0290] According to this configuration, the agricultural flight device 5 calculates the scheduled material supply time at which it will reach the waypoint WP from its current position, catch up with the work machine 1 from the waypoint WP, and supply materials to the work machine 1, so the server 70 can present the calculated scheduled material supply time to the user, etc.

[0291] (Item C17) A material transport system SY described in any one of items C7 to C16, wherein the agricultural material S is a seedling and the work machine 1 is a rice transplanter 10.

[0292] With this configuration, the agricultural flight device 5 can stably supply materials to the rice transplanter 10.

[0293] (Item C18) A material transport method in which an agricultural flying device 5 flying while holding agricultural material S reaches the sky above a location where a work machine 1 has passed, moves from the sky above the location it has reached toward the work machine 1 which is in motion, and transports the agricultural material S to the work machine 1 which is in motion.

[0294] With this configuration, the agricultural flight device 5 can reach the sky above a location where the work machine 1 has passed, and then catch up with the traveling work machine 1 from the sky above the location where it has reached, thereby supplying the work machine 1 with agricultural materials S. This simplifies the behavior of the agricultural flight device 5 from the sky above a location where the work machine 1 has passed, to catching up with the work machine 1 and transporting the materials, thereby enabling stable supply of materials to the work machine 1.

[0295] For example, in the above items C1 or C18, the agricultural flying device 5 may fly behind and within the width of a working machine 1 while holding agricultural material S, and supply the agricultural material S to the working machine 1 while it is moving. With this configuration, the agricultural flying device 5 flies behind and within the width of a working machine 1 while holding agricultural material S, and supplies the agricultural material S to the working machine 1 while it is moving. This simplifies the behavior of the agricultural flying device 5 from flying behind and within the width of the working machine 1 until it supplies the material. This allows for stable material supply to the working machine 1.

[0296] In the above-described embodiment and variant examples, the multicopter 50 follows the rice transplanter 10 traveling in an automatic driving mode, catches up with the rice transplanter 10, and supplies (transports) the agricultural materials S; however, it may also follow the rice transplanter 10 traveling in a remotely or manually driven mode, catch up with the rice transplanter 10, and supply (transport) the agricultural materials S.

[0297] In the above-described embodiment and modified example, the multicopter 50 flies under remote control by the server 70, but it may also fly under remote control by the rice transplanter 10 or the mobile terminal 61. The rice transplanter 10 or the mobile terminal 61 may include the remote control device 72, the storage unit 73, the calculation setting unit 75, and the time calculation unit 76, which are included in the configuration of the server 70.

[0298] Furthermore, in this embodiment, the multicopter 50 flies under remote control by the server 70, but may also fly autonomously. When the multicopter 50 flies autonomously, it may be configured to include the storage unit 73, calculation setting unit 75, and time calculation unit 76, which are included in the components of the server 70, and to have a control device of the multicopter 50 make decisions corresponding to the first to fourth remote instructions from the remote control device 72 of the server 70.

[0299] Although the present invention has been described above, the embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is defined by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims.

[0300] REFERENCE SIGNS LIST 1 Work machine 5 Agricultural flight device 10 Rice transplanter 24 Material loading section 32A Positioning device 51 Holding device 70 Server 71 Communication device 72 Remote control device 75 Calculation setting section 76 Time calculation section 90 Receiving platform L1 Planned travel route L11 Straight route L12 Turning route S Agricultural material WP Way point WP1 Additional way point

Claims

1. An agricultural flying device comprising an airframe and a holding device attached to the airframe, wherein the airframe flies while holding agricultural material in the holding device, and moves above a working machine that is running from one turn to the next, and when the airframe reaches the airspace above the working machine, the holding device releases its hold on the agricultural material, thereby releasing the agricultural material.

2. The agricultural flying device according to claim 1, wherein the holding device restricts the release of the holding of the agricultural material if the working machine is turning.

3. An agricultural flying device as described in claim 2, wherein the holding device releases the agricultural material while flying above the working machine, thereby releasing the agricultural material to the working machine while it is moving.

4. An agricultural flying device as described in claim 3, wherein the holding device releases its hold on the agricultural material and drops the agricultural material onto the receiving platform when the aircraft enters a first state in which it is flying within a predetermined distance above a receiving platform provided on the work machine.

5. An agricultural flying device as described in claim 4, wherein the holding device releases the hold on the agricultural material when, in the first state, the relative speed between the airframe and the work machine is zero or within a specified range value from zero to a first relative speed.

6. An agricultural flying device as described in claim 5, wherein the aircraft flies while maintaining its direction of travel and speed aligned with the direction of travel and speed of the work machine in the first state.

7. An agricultural flying device as described in any one of claims 4 to 6, wherein the aircraft reaches above the support platform of the work machine by flying in pursuit of the work machine at a speed faster than that of the work machine.

8. An agricultural flying device as described in any one of claims 1 to 5, wherein the holding device restricts the release of the hold on the agricultural material when the working machine is traveling immediately before turning, and releases the hold on the agricultural material when the working machine is traveling after turning.

9. An agricultural flying device according to any one of claims 1 to 5, wherein the agricultural materials are seedlings and the working machine is a rice transplanter.

10. A material transport system comprising: an agricultural flight device as defined in any one of claims 1 to 5; and a calculation and setting unit for setting waypoints at which the agricultural flight device will be positioned; wherein the work machine travels along a planned travel route that includes a plurality of parallel straight routes and a turning route connecting the ends of the straight routes; and wherein the calculation and setting unit, when calculated to have the waypoint on a straight route portion of the planned travel route within a predetermined range up to the turning route at the destination, recalculates and sets the waypoint on the straight route after the turning route.

11. A material transport method in which an agricultural flying device that flies while holding agricultural materials moves above a working machine that is traveling from one turn to the next, and releases the agricultural materials when it reaches the airspace above the working machine.

12. The material transport method according to claim 11, wherein the agricultural flight device restricts the release of the agricultural material if the work machine is turning.

13. A material transport method as described in claim 12, wherein the agricultural flying device, while flying above the work machine, releases the agricultural material from the holding device, thereby releasing the agricultural material to the working machine while it is moving.

14. A material transport method as described in claim 13, wherein the agricultural flying device drops the agricultural materials onto a receiving platform provided on the work machine when the agricultural flying device reaches a first state in which the agricultural flying device is flying within a predetermined distance above the receiving platform.

15. A material transport method as described in claim 14, wherein the agricultural flight device releases the agricultural material when, in the first state, the relative speed between the agricultural flight device and the work machine is zero or within a specified range value from zero to a first relative speed.

16. A material transport method as described in claim 15, wherein the agricultural flight device flies in the first state while maintaining a direction and speed that are aligned with the direction and speed of the work machine.

17. A material transport method according to any one of claims 14 to 16, wherein the agricultural flying device reaches above the platform of the work machine by following the work machine at a speed faster than the work machine.

18. A material transport method as described in any one of claims 11 to 15, wherein the agricultural flight device does not release the agricultural materials to the working machine while it is traveling just before turning if the working machine is traveling just before turning, but releases the agricultural materials to the working machine while it is traveling after turning.

19. A material transport method as described in claim 18, comprising a server, wherein the work machine travels along a planned travel route including a plurality of parallel straight routes and a turning route connecting the ends of the straight routes, the server or the agricultural flight device having a calculation and setting unit that calculates a waypoint at which the agricultural flight device will be positioned and sets it on the straight route of the planned travel route, and when the calculation and setting unit calculates the waypoint on a straight route portion within a predetermined range up to the turning route as the destination of the travel, the calculation and setting unit recalculates and sets the waypoint on the straight route after the turning route.

20. A material transport method according to any one of claims 11 to 15, wherein the agricultural material is a seedling and the working machine is a rice transplanter.

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