Agricultural flying apparatus

Abstract

Provided is an agricultural flying apparatus capable of quickly and smoothly approaching a moving body in motion.　An agricultural flying apparatus (5) comprises: a machine body (50a); a work device (WE) that is provided to the machine body (50a); and a communication device (50i) that acquires, from a moving body (1A) in motion, moving information of the moving body (1A). The communication device (50i) acquires the moving information while the agricultural flying apparatus approaches the moving body (1A) from the side opposite to the moving direction of the moving body (1A). The machine body (50a) reduces the flying speed of the machine body (50a) to a speed for flying side by side with the moving body (1A), on the basis of the moving information.

Description

Agricultural flying device 【0001】 The present invention relates to an agricultural flying device for transporting materials. 【0002】 The transport flying body disclosed in Patent Document 1 flies while holding a seedling tray, and approaches above the seedling tray carrier of the seedling transplanter and drops the seedling tray, thereby supplying the seedling tray to the seedling tray carrier. 【0003】 Japanese Patent Laid-Open Gazette "JP-A-2022-57029" 【0004】 In the transport flying body of Patent Document 1, when the transport flying body approaches a traveling seedling transplanter, it is necessary to detect the traveling state of the traveling body and calculate and specify the traveling information of the traveling body, and it is not possible to approach the traveling body quickly and smoothly while it is traveling. 【0005】 Therefore, in view of the above problems, an object of the present invention is to provide an agricultural flying device that can approach a traveling body quickly and smoothly. 【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 an aspect of the present invention includes an airframe, a working device provided on the airframe, and a communication device that acquires traveling information of a traveling body during traveling from the traveling body. The communication device acquires the traveling information while approaching the traveling body from the side opposite to the traveling direction of the traveling body, and the airframe decelerates the flight speed of the airframe to a speed that flies side by side with the traveling body based on the traveling information. 【0008】 According to the present invention, an agricultural flying device can approach a traveling body quickly and smoothly. 【0009】This is a schematic diagram of a material transport system. This is a block diagram of a material transport system. This is a side view of a rice transplanter. This is a diagram illustrating the supply of seedlings to a moving work machine by an agricultural flying device. This is a rear view of the seedling supply device and seedling stand. This is an overall perspective view of the agricultural flying device. This is a diagram showing an agricultural flying device that has taken off upwards while holding seedlings (seedling mats). This is a side view of a work vehicle showing an example of altitude according to the stages in the flight path of the agricultural flying device. This is a diagram showing an example of driving information of a farm machine. This is a diagram showing another example of driving information of a farm machine. This is a diagram showing the speed change of the agricultural flying device when performing speed coordinated flight with a moving farm machine. This is a flowchart showing an example of the process by which the agricultural flying device acquires driving information from a moving farm machine. This is a flowchart showing an example of coordinated flight control processing with a farm machine. This is a flowchart showing an example of approach flight control processing to a farm machine. This is a flowchart showing an example of material supply flight control processing to a farm machine. This is a flowchart showing an example of departure flight control processing. 【0010】 The following describes one embodiment of the present invention with reference to the drawings. Figure 1 is a schematic diagram of the material transport system SY. Figure 2 is a block diagram of the material transport system SY. 【0011】 As shown in Figures 1 and 2, the material transport system SY comprises a server 70 and an agricultural flying device 5. The agricultural flying device 5 holds agricultural materials S (for example, seedling mats such as seedling mats M) and transports them by flight, supplying the materials S to a moving vehicle 1A (for example, a work machine 1) while it is in motion. 【0012】 Material S is not limited to seedling mats such as seedling mats M, but may also be plant mats on which plants such as vegetable seedlings or scions have been grown. Material S may also be granular, liquid, or seeds contained in a container that can be transported by the agricultural flying device 5. For example, granular formulations include preparations of pesticides processed into granular form. Liquid formulations include liquid fertilizers for improving the soil environment and liquid pesticides for controlling pests and diseases. 【0013】The implement 1 is, for example, a rice transplanter 10. Figure 3 is a side view of the rice transplanter 10. As shown in Figures 1 and 3, the rice transplanter 10 comprises a 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 body 11. The rice transplanter 10 is, for example, four-wheel drive, and the power shifted by the transmission 13 is transmitted to the left and right front wheels 14F and the left and right rear wheels 14R. For this reason, the body 11 is supported so that it can move on the left and right front wheels 14F and the left and right rear wheels 14R. The seedling planting device 18 is mounted at the rear of the body 11. The seedling planting device 18 takes seedlings loaded on a seedling tray 41, which is mounted at the rear of the body 11, from the seedling tray 41 and plants them in a field or the like. 【0014】 As shown in Figure 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, an HDD (Hard Disk Drive) or an SSD (Solid State Drive). 【0015】 The control device 30 is composed of electrical and electronic circuits, a processor, memory, etc. The processor is, for example, a CPU (Central Processing Unit), GPU (Graphics Processing Unit), DSP (Digital Signal Processor), FPGA (Field Programmable Gate Array), and ASIC (Application Specific Integrated Circuit). The control device 30 controls the operation of each part of the rice transplanter 10 by having the processor execute a control program. For example, the control device 30 controls the prime mover 12 and the transmission 13, etc. The control device 30 controls the travel system and work system of the rice transplanter 10 based on operation signals when operating the 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. 【0016】As shown in Figure 2, the rice transplanter 10 is equipped with a position detection device 32 (for example, a positioning device 32A) that detects its own position. The positioning device 32A is, for example, located on the front side of the rice transplanter 10 (vehicle body 11). The positioning device 32A is a device that detects its own position (latitude, longitude) based on data from positioning satellites such as GPS and Michibiki (positioning satellite system). The positioning device 32A may also have inertial devices such as an acceleration sensor to detect acceleration and a gyro sensor to detect angular velocity, and may correct its position using the acceleration and angular velocity detected by the inertial devices, or it may correct its position using other correction signals, etc., and is not limited to these. 【0017】 Furthermore, the rice transplanter 10 can detect its own travel speed. For example, the control device 30 can calculate the travel speed of the rice transplanter 10 based on multiple positional information detected by the positioning device 32A. Alternatively, the rice transplanter 10 may be equipped with an inertial measurement unit (IMU), which may detect the travel speed of the rice transplanter 10. Alternatively, the control device 30 may detect the rotational speed of the front wheels 14F and / or the rear wheels 14R using a detection sensor and calculate the travel speed of the rice transplanter 10 from these rotational speeds. 【0018】 Furthermore, the rice transplanter 10 can detect its own azimuth angle. For example, the control device 30 may acquire the azimuth angle of the rice transplanter 10 (traveling body 1A) based on multiple position information detected by the positioning device 32A. The azimuth angle can be calculated from a straight line connecting the current position information (latitude, longitude) detected by the positioning device 32A and the position information (latitude, longitude) at a previous point in time. Alternatively, the rice transplanter 10 may be equipped with a magnetic compass sensor to detect direction, and the value detected by the magnetic compass sensor may be acquired as the azimuth angle of the rice transplanter 10 (traveling body 1A). 【0019】The rice transplanter 10 is equipped with a surrounding monitoring device 33 for monitoring its surroundings. The surrounding monitoring device 33 may be, for example, an imaging device 33A, but it may also be LiDAR (Light Detection and Ranging), ultrasonic sonar, etc. The imaging device 33A is, for example, a visible light camera and is capable of imaging the area around the rice transplanter 10. The imaging device 33A is located at the front of the rice transplanter 10, but is not limited to this location. For example, the imaging device 33A may be located near the driver's seat 15, allowing the driver seated in the driver's seat 15 to image the area around the rice transplanter 10 from their line of sight. The images captured by the imaging device 33A are used for autonomous operation. 【0020】 Figure 4 is a diagram illustrating the supply of seedlings to the working machine 1 while it is in motion using the agricultural flying device 5. The memory unit 31 stores a pre-set planned route L1 for driving the rice transplanter 10. The control device 30 has a processor that executes an automatic steering control program. The control device 30 automatically changes the driving speed of the vehicle body 11 and steers the vehicle body 11 (for example, changes the steering direction of the front wheels 14F) so that its own position (position of the vehicle body 11) detected by the positioning device 32A matches the planned route L1. In addition, the control device 30 can also perform automatic driving so that the position of the vehicle body 11 matches the planned route L1 based on the position of the vehicle body 11, the image captured by the imaging device 33A, and the planned route L1, by having the processor execute an automatic driving control program. 【0021】 For example, the rice transplanter 10 (working device 1) is equipped with, for example, an automatic steering mechanism 17. In automatic steering mode, the rice transplanter 10 (working device 1) is driven by automatic steering using the automatic steering mechanism 17 so that its position follows the planned travel path L1 (more precisely, the straight-ahead path L11 described later). In automatic driving mode, the rice transplanter 10 (working device 1) is driven by automatic driving (autonomous driving) through control of the driving system by the control device 30 (including control of the automatic steering mechanism 17) so that its position follows the planned travel path L1 (the straight-ahead path L11 and turning path L12 described later). 【0022】The rice transplanter 10 (working device 1) may be operated manually. When operated manually, the operator sits in the driver's seat 15 and steers the rice transplanter 10 by operating the steering wheel 16. Alternatively, the rice transplanter 10 (working device 1) may be operated automatically (automatic steering or automatic driving) as described above. When operated automatically, the rice transplanter 10 (working device 1) operates automatically based on the vehicle position detected by the positioning device 32A and the planned driving route L1. 【0023】 As shown in Figure 2, the rice transplanter 10 has a communication device 34. The communication device 34 is a communication module that communicates with the server 70 either directly or indirectly, and can perform wireless communication using, for example, the IEEE 802.11 series communication standards such as Wi-Fi (Wireless Fidelity, registered trademark), BLE (Bluetooth® Low Energy), LPWA (Low Power, Wide Area), and LPWAN (Low-Power Wide-Area Network). The communication module has a communication chip and / or a communication circuit. The communication device 34 can also perform wireless communication using, for example, a mobile phone network or a data communication network. 【0024】 The memory unit 31 stores information related to the rice transplanter 10. The information related to the rice transplanter 10 includes the travel position (latitude, longitude) of the rice transplanter 10 detected by the positioning device 32A, time information indicating the time at that travel position, and travel information of the rice transplanter 10 for each travel position (travel direction, travel speed, etc.). In addition, the information related to the rice transplanter 10 may also include work information of the seedling planting device 18 and state information such as captured images taken by the imaging device 33A. 【0025】The communication device 34 sequentially transmits information about the rice transplanter 10 stored in the memory unit 31 to the server 70. For example, the communication device 34 transmits information about the rice transplanter 10 periodically (every few seconds, every few hundred milliseconds) and whenever an event occurs to the server 70. Specifically, since the communication device 34 performs telematics communication, it transmits to the server 70 the position of the rice transplanter 10, the travel information of the rice transplanter 10 (travel direction, travel speed, etc.), the work information of the seedling planting device 18, and status information such as captured images taken by the imaging device 33A, in association with each other. 【0026】 Next, the agricultural flying device 5 will be described. Figure 6 is an overall perspective view of the agricultural flying device 5. As shown in Figures 1 and 6, the agricultural flying device 5 is, for example, a multicopter 50, and is configured to hold and transport seedling mats M by flight. The multicopter 50 is an aircraft (for example, an unmanned aircraft) also known as a drone. 【0027】 Specifically, the multicopter 50 includes a body 50a, an arm 50b provided on the body 50a, a rotor 50c provided on the arm 50b, and a pair of skids 50d provided on the body 50a. The rotor 50c is a device that generates lift for flight and includes a rotor that provides rotational force and blades (propellers) that rotate by the drive of the rotor. The rotor 50c includes a rotation speed detection sensor that detects the rotation speed of the rotor. The rotation speed detection sensor detects the rotation speed of the rotor 50c. Alternatively, the rotor 50c may detect the rotation speed of the rotor based on a control signal (drive voltage) that rotates the rotor. 【0028】 The multicopter 50 has an imaging device 50e. The imaging device 50e is, for example, an infrared camera, a visible light camera, etc., and is capable of imaging the area around the multicopter 50. 【0029】The multicopter 50 may be equipped with at least one of the following: an angular velocity (gyro) sensor for detecting the attitude and movement of the aircraft 50a; an acceleration sensor for detecting the speed of the aircraft 50a; an inertial measurement unit (IMU) for detecting the attitude and speed of the aircraft 50a; a barometric pressure sensor for detecting the altitude of the multicopter 50; an ultrasonic sonar (or ultrasonic sensor) for detecting the position of surrounding objects; a LiDAR (Light Detection and Ranging) for measuring objects using laser light; and a magnetic compass sensor for detecting direction. In this embodiment, the multicopter 50 is equipped with, for example, an inertial measurement unit and a magnetic compass sensor. 【0030】 As shown in Figure 2, the multicopter 50 is equipped with a control device 50f that controls various operations of the multicopter 50. The control device 50f is connected to the above-mentioned sensors (magnetic orientation sensor, inertial measurement device, rotation speed detection sensor, etc.), position detection device 50g, communication device 50i, and memory unit 50h. Based on the detection values ​​of the multiple sensors and instructions from the server 70, the control device 50f controls the rotor blades 50c, communication device 50i, memory unit 50h, and work device WE (for example, the holding device 51 described later). The control device 50f is composed of electrical and electronic circuits, a processor, memory, etc. The processor is, for example, a CPU, GPU, DSP, FPGA, and ASIC. The multicopter 50 functions as a control device 50f when the processor executes a control program. 【0031】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), that is, the flight position (latitude, longitude, altitude) of the multicopter 50 (aircraft 50a), based on data from positioning satellites such as GPS and Michibiki (positioning satellite system). Its own position includes the flight position during flight and the landing position during landing. The position detection device 50g detects the flight height (i.e., altitude) of the multicopter 50 (aircraft 50a), but the altitude of the multicopter 50 (aircraft 50a) may also be detected by using various sensors such as an altimeter, ultrasonic sonar, and LiDAR, either alone or in conjunction with other sensors. 【0032】 The multicopter 50 is equipped with a storage unit 50h for storing various data, programs, etc. The storage unit 50h is, for example, a non-volatile storage device, such as an HDD or SSD. The storage unit 50h stores information about the multicopter 50 periodically (every few seconds, every few hundred milliseconds) and each time an event occurs. The information about the multicopter 50 includes the flight position (latitude, longitude, altitude) of the multicopter 50 (aircraft 50a), time information indicating the time at that flight position, flight information of the multicopter 50 for each flight position (flight direction, flight speed, etc.), and the rotation speed of the rotor blades 50c at that flight position. The flight direction is detected by a magnetic direction sensor, and the flight speed is detected by an inertial measuring device. The position detection device 50g may calculate the flight direction and flight speed based on the multiple flight positions it has detected. Furthermore, information regarding the multicopter 50 may include operational information indicating whether or not the seedling mat M is being held (operational information indicating whether or not it is being held by the holding device 51 described later), the rotation speed of the rotor blades 50c detected by the rotation speed detection sensor, and status information such as images captured by the imaging device 50e. 【0033】The multicopter 50 has a communication device 50i that can communicate with the server 70. The communication device 50i is a communication module that can communicate with the server 70 either directly or indirectly, and can perform wireless communication using, for example, the IEEE 802.11 series communication standards such as Wi-Fi®, BLE, LPWA, LPWAN, etc. The communication module has a communication chip and / or a communication circuit. The communication device 50i can also perform wireless communication using, for example, a mobile phone network or a data communication network. 【0034】 The communication device 50i transmits information about the multicopter 50 stored in the memory unit 50h to the server 70. In other words, the communication device 50i transmits information about the multicopter 50 to the server 70 periodically (every few seconds, every few hundred milliseconds) and whenever an event occurs. For example, the communication device 50i performs telematics communication. The communication device 50i transmits to the server 70 the flight position of the multicopter 50, flight information (flight direction, flight speed, etc.), work information indicating whether or not the seedling mat M is being held (work information indicating the separation or approach state of the holding device 51, described later), and status information such as the captured image taken by the imaging device 50e and the detection state of the detection device 56, described later, in association with each other. 【0035】 The seedling mat M, which is to be transported by the multicopter 50, is rectangular in plan view in order to fit into the material loading section 24 (see Figure 5) of the rice transplanter 10, which will be described later. As shown in Figure 3, it has a long side Ma and a short side Mb. The seedling mat M consists of numerous seedlings Se, each of which has grown with its leaves and stem positioned on top of its roots in the soil So. As shown in Figure 4, the seedling storage area is the place where the seedling mat M was placed before transport, for example, the ridge SH around the field F. 【0036】As shown in Figures 1 and 6, the multicopter 50 has a work device WE mounted on the aircraft body 50a. The work device WE is, for example, a holding device 51 (seedling holding device) for holding seedlings. For example, the holding device 51 is located at the bottom of the aircraft body 50a. The multicopter 50 transports seedlings by flying with the holding device 51 holding the seedlings. For example, the work of the work device WE is to replenish the materials S held by the holding device 51 to the moving rice transplanter 10 (mobile body 1A) in a flight state where the relative speed between the aircraft body 50a and the rice transplanter 10 (mobile body 1A) is reduced (first state shown in Figure 8, which will be described later). 【0037】 The holding device 51 grips at least a portion of the leaves and stems of the seedling Se. For example, if a seedling Se is present between a pair of gripping members 52 and 53, the holding device 51 brings the pair of gripping members 52 and 53 closer together, creating a holding state in which the seedling Se in the seedling mat M is held by the pair of gripping members 52 and 53. The holding device 51 also releases the material S (seedling mat M) by separating the pair of gripping members 52 and 53 from the holding state in which the seedling Se in the seedling mat M is held. 【0038】 Specifically, the holding device 51 includes a pair of clamping members 52 and 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 and 53. For example, the moving mechanism 54 includes a first mechanism M1 that brings the pair of clamping members 52 and 53 closer together so that they can clamp the leaves or stems of seedlings, and a second mechanism M2 that separates the pair of clamping members 52 and 53. 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 and 53. The detection device 56 is one of various sensors that detect the presence or absence of seedlings Se, and may include, for example, a photoelectric sensor or a laser sensor. 【0039】 Here, we will describe the actions of the multicopter 50 from moving to the seedling placement area, to taking hold of the seedling mat M at the seedling placement area, and flying upwards. 【0040】The multicopter 50 flies to the seedling placement location shown in FIG. 4 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. The multicopter 50 reaches above the seedling-growing mat M at the seedling placement location shown in FIG. 4 and descends at a position where the holding device 51 overlaps the seedling Se in plan view. 【0041】 The multicopter 50 descends until the clamping members 52 and 53 overlap the seedling Se in a direction orthogonal to the vertical direction. When the descending flight is completed, since the leaf or stem of the seedling Se is located between the pair of clamping members 52 and 53, the pair of clamping members 52 and 53 hold the seedling Se. 【0042】 The holding device 51 clamps at least a part of the leaves and stems of the seedling Se. That is, when the seedling Se exists between the pair of clamping members 52 and 53, the first mechanism M1 moves the pair of clamping members 52 and 53 closer to each other to bring the pair of clamping members 52 and 53 into a holding state (approaching state) of holding the seedling Se on the seedling-growing mat M. 【0043】 As shown in FIG. 7, with the holding device 51 holding at least a part of the leaves and stems of the seedling Se (in this embodiment, the tip side of the leaves of the seedling Se), the agricultural flying device 5 is lifted to lift the seedling Se. 【0044】 Next, the server 70 shown in FIG. 2 will be described. The server 70 is, for example, a fixed computer installed in a farmhouse, farming company, agricultural machinery manufacturer, agricultural service, etc., or a portable computer that can be carried by an administrator, operator, etc. In this embodiment, the server 70 is a fixed computer. 【0045】The server 70 is equipped with 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 communication standards such as Wi-Fi®, BLE, LPWA, LPWAN, etc. The communication module has a communication chip and / or a communication circuit. The communication device 71 can also perform wireless communication using, for example, a mobile phone network or a data communication network. 【0046】 The server 70 is equipped with a remote control device 72 for remotely controlling the multicopter 50. The remote control device 72 consists of electrical and electronic circuits, a processor, memory, etc. The processor is, for example, a CPU, GPU, DSP, FPGA, and ASIC. The server 70 functions as the remote control device 72 by having the processor execute a remote control program for the multicopter 50. 【0047】 The remote control device 72 transmits remote control signals to the multicopter 50 via the communication device 71. The multicopter 50 operates according to the remote control signals from the remote control device 72. For example, based on the remote control signals from the remote control device 72, the multicopter 50 heads towards the seedling storage area, picks up seedlings from the storage area, transports them by flight, and replenishes the seedlings to the moving implement 1. In addition, a receiving platform 90 (seedling receiving platform) is provided on the rear side of the rice transplanter 10 (vehicle body 11), as shown in Figures 1 and 3. 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 according to the remote control signals from the remote control device 72. 【0048】Incidentally, when the multicopter 50 transports seedlings and supplies them to the rice transplanter 10, the imaging device 50e images the seedling mat (seedlings) at the seedling placement location, moves supplementarily to the upper position of the seedling mat based on the captured image of the seedling mat (seedlings), and holds the seedling mat (seedlings) based on the captured image. Further, when the multicopter 50 heads toward the rice transplanter 10 at the supply destination, it tracks the rice transplanter 10 based on the captured image of the rice transplanter 10, or drops the seedling mat onto the receiving base 90 based on the captured image of the receiving base 90 of the rice transplanter 10. 【0049】 The server 70 includes a storage unit 73. The storage unit 73 is a non-volatile storage device, such as an HDD, SSD, etc. 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 as data. Agricultural map data is data in which data related to agriculture and positions are associated. Data related to agriculture includes field map data, machine data, work data, etc. 【0050】 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 (working machine 1) in the field. The map data includes the outer shape of the field, the area of the field, the positions of the entrances and exits of the field, the positions of the seedling placement locations prepared at the peripheral parts of the field, etc. Incidentally, the travel route may be, for example, the actual travel route when the working machine 1 travels so as to match the planned travel route L1. 【0051】 The machine data is various data related to machines for agricultural work, such as control data or operation data for operations such as steering and traveling in the field in agricultural vehicles such as tractors, rice transplanters, transplanters, harvesters such as combines, fertilizer spreaders, chemical sprayers, forming machines, lawn mowers, preparation machines, tillers, etc. 【0052】The work data is data relating to the work performed by the work machine 1 (agricultural machinery) in the field, such as the amount of transplanted seedlings, the amount of fertilizer applied, the amount of pesticide sprayed, and the amount of seeds sown. For example, in the case of work data for the rice transplanter 10 (i.e., data showing the amount of seedlings transplanted in the field), the amount of seedlings transplanted by the seedling planting device 18 in the field is stored as work data. The transplanting amount is the number of planting rows individually set for the rice transplanter 10, for example, 3 rows, 4 rows, 5 rows, 8 rows, 10 rows, etc. The storage unit 31 may also store the amount of seedlings to be planted by the seedling planting device 18 as work data if rice planting work is planned to be performed with the rice transplanter 10. 【0053】 The server 70 includes a display control unit 74. The server 70 functions as a display control unit 74 when a processor executes a display control program. The display control unit 74 can control the display on the display unit 66 of a 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 replenishment to the rice transplanter 10 while it is in motion by the multicopter 50, which will be described later. 【0054】 Here, the rear configuration of the rice transplanter 10, that is, the configuration of the seedling planting device 18 and other components, will be explained using Figures 3 and 5. Figure 5 is a rear view of the seedling supply device 20 and seedling tray 41. 【0055】 As shown in Figure 3, the rice transplanter 10 is equipped with a seedling supply device 20 that supplies a seedling mat M to the seedling planting device 18 (seedling tray 41). The rice transplanter 10 is a transplanting machine that cuts a predetermined amount of seedlings from the seedling mat M placed on the seedling tray 41 and plants the cut seedlings in the field (paddy field). 【0056】 In Figure 3, the direction of arrow AW1 is described as the front (forward of the aircraft), the direction of arrow AW2 is described as the rear (rear of the aircraft), and the direction of arrow AW3 is described as the front-to-back direction (front-to-back direction of the aircraft). Also, the near side of Figure 3 is described as the left, and the far side of Figure 3 is described as the right. Furthermore, the horizontal direction, which is perpendicular to the front-to-back direction (arrow AW3), is described as the aircraft width direction (see aircraft width direction K1 in Figure 5). 【0057】As shown in Figure 3, 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 connecting body 28 so as to be able to move up and down. The seedling planting device 18 is also driven to move up and down by a hydraulic cylinder 21. 【0058】 As shown in Figure 3, the seedling planting device 18 includes a seedling tray 41 on which a seedling mat M is placed, a planting mechanism 22 that cuts a predetermined amount of seedlings from the seedling mat M placed on the seedling tray 41 and plants them in the field (paddy field), and a float 23 that performs leveling of the field surface. As shown in Figure 3, the seedling tray 41 is provided in a sloping shape that moves forward as it goes upward (a forward-sloping shape). 【0059】 As shown in Figure 5, the seedling tray 41 has a plurality of material placement sections 24 (seedling placement sections) arranged in the machine width direction K1 on which seedling mats M are placed. Partition guides 25 are provided on both sides of the material placement section 24 in the machine width direction K1. The seedling mat M is placed in each material placement section 24 with its long side Ma aligned with the inclination direction of the seedling tray 41 and its short side Mb aligned with the machine width direction K1. Two seedling mats M can be placed side by side in the inclination direction of the seedling tray 41 in each material placement section 24. The seedling mats M on the material placement section 24 can be moved vertically downward along the material placement section 24 by a vertical feeding mechanism 26. 【0060】 As shown in Figure 3, the seedling tray 41 is supported by the connecting body 28 so as to be movable in the width direction K1 by the connecting body 28 by the upper guide portion 27A and the lower guide portion 27B provided on the connecting body 28, and is driven to move back and forth in the width direction K1 by the lateral feeding mechanism 84 (see Figure 5) provided on the connecting body 28. 【0061】The planting mechanisms 22 are arranged in a number corresponding to the number of planting rows, spaced apart in the machine width direction K1. In this embodiment, since the rice transplanter 10 is an 8-row planter, eight planting mechanisms 22 are provided, corresponding to the number of material loading sections 24. The planting mechanisms 22 are supported by a connecting body 28. Therefore, the planting mechanisms 22 move relative to the seedling tray 41. In other words, the seedling tray 41 moves in the machine width direction K1 relative to the planting mechanisms 22. The planting mechanisms 22 take out a predetermined amount of seedlings from the lower end of the seedling mat M placed on the seedling tray 41 (material loading section 24) which moves back and forth in the machine width direction K1, and plant them. More specifically, the planting mechanisms 22 rotate around an axis extending in the machine width direction K1, and take out one seedling (a predetermined amount) from the lower end of the seedling mat M placed on the material loading section 24 and plant it in the field. Then, while the seedling tray 41 is moving in one direction in the width direction K1 of the machine body, the planting mechanism 22 cuts off a horizontal row of seedlings at the lower end of the seedling mat M. Once the horizontal row of seedlings at the lower end of the seedling mat M is cut off, the seedling mat M is moved vertically by the vertical feeding mechanism 26 by the amount corresponding to the horizontal row that was cut off, and the seedling tray 41 moves in the other direction in the width direction K1 of the machine body (opposite to the aforementioned one), and the same planting operation as above is performed. In other words, the seedling tray 41 is driven back and forth in the width direction K1 of the machine body by the width of the seedling mat M, and the seedling mat M is moved vertically each time the seedling tray 41 is at the end of its reciprocating movement. 【0062】 As shown in Figures 1 and 5, the rice transplanter 10 is equipped with a receiving platform 90 that receives seedling mats M dropped from the multicopter 50. Specifically, as shown in Figures 3 and 5, the seedling supply device 20 that supplies seedling mats M to the seedling tray 41 has a support bracket 91 attached to the upper part of the seedling tray 41 and a seedling supply tray 92 supported by the support bracket 91. 【0063】The seedling supply stand 92 may be equipped with markers (identification images) at one or more locations. The multicopter 50 controls its flight position when approaching the support stand 90 and its flight position when aligning itself directly above the support stand 90, based on the position and size of the markers included in the image captured by the imaging device 50e. The seedling supply stand 92 may also be equipped with guidance devices that emit guidance signals at one or more locations. The multicopter 50 may control its flight position based on the guidance signals. 【0064】 The seedling supply stand 92 is provided on the seedling tray 41 via a support bracket 91. By providing the seedling supply stand 92 on the seedling tray 41, the seedling supply stand 92 (seedling supply device 20) reciprocates together with the seedling tray 41 in the machine width direction K1. In other words, the seedling supply stand 92 (receiving stand 90) is movable in the lateral direction (machine width direction K1) of the rice transplanter 10. As shown in Figure 5, the receiving stand 90 is movable in the lateral direction (machine width direction K1) while ensuring that it is positioned on the centerline of the lateral direction (machine width direction K1) of the rice transplanter 10. In other words, even when the receiving stand 90 is moved in the machine width direction K1, it is ensured that it is positioned on the centerline of the lateral direction of the rice transplanter 10. 【0065】 As shown in Figures 3 and 5, the seedling supply platform 92 is the area on which the seedling mats M, which have been transported by multicopter 50, are placed. More specifically, the seedling mats M are placed on the seedling supply platform 92 by being dropped from the multicopter 50. The seedling supply platform 92 then sends the placed seedling mats M to the seedling tray 41. In other words, the seedling supply platform 92 receives the seedling mats M dropped by the multicopter 50 and sends these received seedling mats M to the seedling tray 41. Here, the multicopter 50 drops the seedling mats M during flight, placing them on the seedling supply platform 92. When dropping the seedling mats M from the multicopter 50 onto the seedling supply platform 92, the seedling supply platform 92 is in a horizontal position P1, as shown in Figures 3 and 5. 【0066】As shown in Figure 3, the seedling mat M is placed on the seedling supply stand 92 with its long side Ma aligned with the front-to-back direction (arrow AW3), and as shown in Figure 5, with its short side Mb aligned with the machine width direction K1. 【0067】 The timing for starting the supply of seedling mats M to the rice transplanter 10 by the multicopter 50 (hereinafter sometimes referred to as the start timing) may be, for example, the time when a seedling depletion sensor mounted on the rice transplanter 10 detects that seedling mats M should be supplied to the seedling tray 41. The seedling depletion sensor is provided on each material placement section 24 of the seedling tray 41 and is a sensor that detects when the amount of seedlings remaining (material remaining) in the seedling mats M, which are placed on the material placement sections 24 and from which seedlings are cut by the planting mechanism 22, falls below a predetermined level. The seedling depletion sensor can be any configuration, not limited to a contact sensor, as long as it can detect the amount of seedlings remaining in the seedling mats M placed on the material placement sections 24. Alternatively, a detection device consisting of a camera and an image diagnostic device may be used to detect when the amount of seedlings remaining in the seedling mats M falls below a predetermined level. In this case, the camera photographs the seedling mat M placed on the material loading section 24, and the image diagnostic device analyzes the image of the seedling mat M taken by the camera to detect the remaining amount of seedlings in the seedling mat M placed (planted) on the material loading section 24. 【0068】 Furthermore, as a simpler method for detecting when the remaining number of seedlings in the seedling mat M falls below a predetermined level, the system may detect only whether the seedlings in the seedling mat M are present within a specific area of ​​the material placement section 24. By analyzing images to determine only whether there are no seedlings within the specific area, it may be possible to determine that the remaining number of seedlings is below a certain level and may require replenishment. 【0069】 Furthermore, the amount of seedlings remaining in the seedling mat M on the material loading section 24 varies for each material loading section 24 depending on the field conditions. Therefore, the timing of supplying (replenishing) the seedling mat M differs for each material loading section 24. 【0070】Furthermore, the start timing for seedling replenishment by the multicopter 50 may be a timing calculated by the server 70. For example, the server 70 may pre-calculate the start timing for seedling replenishment by the multicopter 50 based on the relationship between the planned travel route L1 of the rice transplanter 10, the seedling consumption rate (material consumption rate) along the planned travel route L1 of the rice transplanter 10, and the capacity of the seedling mat M of the seedling planting device 18 (initial setting capacity, or current remaining amount), which are pre-stored in the memory unit 73. 【0071】 The server 70 may also obtain the start timing for seedling replenishment from the work plan (seedling planting plan) stored in the storage unit 73. The work plan (seedling planting plan) includes the planned travel route L1 of the rice transplanter 10 and instruction information for seedling replenishment by the multicopter 50. The instruction information for seedling replenishment includes the start timing (start time) of seedling replenishment from the start of work on the planned travel route L1 and the target point (latitude, longitude, altitude) set on the planned travel route L1. 【0072】 As shown in Figure 5, the seedling supply stand 92 has a delivery unit 100. The delivery unit 100 is movable in the front-rear direction (arrow AW3), and can move the seedling mat M, which has been adjusted in the machine width direction K1, to the rear and send the seedling mat M to the material loading section 24. 【0073】 In the seedling supply device 20 described above, when it is detected that the remaining amount 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 stand 92 via the multicopter 50. At this time, the seedling supply stand 92 is kept in a horizontal position P1. Once the seedling mat M is placed on the seedling supply stand 92, the adjustment mechanism adjusts (corrects) the misalignment of the seedling mat M in the machine width direction K1, and aligns the seedling mat M to a position corresponding to the material loading section 24 to which the seedling mat M should be supplied. 【0074】 Next, the seedling supply stand 92 is changed from a horizontal position P1 to an inclined position P2, and the dispensing body 100 is moved toward the material loading section 24, causing the seedling mat M to move toward the material loading section 24 and be supplied to the material loading section 24. 【0075】Here, we will explain, using Figure 4, how the multicopter 50 (agricultural flying device 5) is supplying seedling mats M (seedlings Se) to the moving rice transplanter 10 (working machine 1). Figure 4 is a diagram illustrating the supply of seedlings to the moving working machine 1 by the agricultural flying device 5. 【0076】 As shown in Figure 4, the rice transplanter 10 travels in such a way that the vehicle position detected by the positioning device 32A matches the planned travel route L1. The planned travel route L1 includes a plurality of parallel straight paths L11 and a turning path L12 that connects the same-side ends of two straight paths L11. 【0077】 As shown in Figure 4, the multicopter 50 flies along a global path. The global path is the route connecting the departure point and the target point when the multicopter 50 flies automatically (including remote flight and autonomous flight). As shown in Figure 4, the global path is the route connecting the seedling storage area and the working machine 1 that is currently moving, and is divided into an outbound route (the route to replenish the seedlings) and a return route (the route to return from replenishing the seedlings). The outbound route is the route connecting the departure point of the multicopter 50 (for example, the seedling storage area) to the target point (for example, the point above the support platform 90 of the working machine 1 that is currently moving). The return route is the route from the target point back to the departure point. 【0078】 In this embodiment, the server 70 generates global routes and stores them in the storage unit 73. For example, the server 70 is equipped with a processing unit 77 that performs route planning, and this processing unit 77 generates global routes. Generating global routes is sometimes called global path planning or global route design. The server 70 functions as a processing unit 77 by having a processor execute a route planning calculation program. Alternatively, the multicopter 50 or the mobile terminal 61 may be equipped with the above-mentioned processing unit and generate global routes in the multicopter 50 or the mobile terminal 61. 【0079】A local path is a path that is sequentially generated when the multicopter 50 flies automatically (including remote flight and autonomous flight) along a global path, and includes a local path for following and catching up with the rice transplanter 10 from behind (the path shown as "Seedling Replenishment" in Figure 4), or a local path that can avoid obstacles. Generating a local path is sometimes called local path planning or local path design. Local paths are sequentially generated while the multicopter 50 is flying, based on data acquired by one or more sensing devices (e.g., imaging device 50e) on the multicopter 50. 【0080】 In this embodiment, the processing unit 77 of the server 70 generates global routes and local routes, but is not limited to this. The server 70 may also have a processing unit for local routes in addition to the processing unit for global routes. Alternatively, a control device 30 mounted on the work machine 1 or a multicopter 50 may be equipped with a processing unit for local routes. For example, a management device (e.g., server 70) that manages agricultural work by agricultural machinery (e.g., work machine 1) may generate global routes, and a control device 30 or multicopter 50 mounted on the work machine 1 may generate local routes. 【0081】 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 global route stored in the storage unit 73, and information about the rice transplanter 10 and information about the multicopter 50 that are sequentially received by the communication device 71. 【0082】 Information regarding the rice transplanter 10 includes the transplanter's location (latitude, longitude), time, and travel information for each location (travel direction, travel speed, etc.). Information regarding the multicopter 50 includes the multicopter's flight location (latitude, longitude, altitude), time, and flight information for each location (flight direction, flight speed, etc.). Therefore, the multicopter 50 operates according to the remote control of the server 70. 【0083】As shown in Figure 4, the multicopter 50 flies with the material S (e.g., seedling mat M) held by the holding device 51, according to the remote control of the server 70, and approaches the working machine 1 from behind while it is traveling in a straight line (e.g., while traveling along a straight line path L11), moving to a point above the receiving platform 90 (flight process to replenish seedlings: outbound process). Then, according to the remote control of the server 70, as shown in Figure 3, when the multicopter 50 reaches the point above the receiving platform 90 of the working machine 1, it releases the material S by releasing the holding device 51 and drops the material S onto the receiving platform 90 of the rice transplanter 10 (release process: drop process). Then, according to the remote control of the server 70, as shown in Figure 4, after releasing the material S, the multicopter 50 moves from the point above the receiving platform 90 to the starting point (e.g., seedling storage area) (flight process to replenish seedlings: return process). 【0084】 Here, we will explain the altitude corresponding to the flight path of the multicopter 50. Figure 8 is a side view of a work vehicle showing an example of the altitude according to the stages in the flight path of the agricultural flying device 5 (multicopter 50). The support base 90 of the rice transplanter 10 is at a ground height H1, and the positioning device 32A is at a ground height H2. As shown in Figure 8, the flight altitude of the multicopter 50 is a normal flight height H3 and a flight height H5 when dropping the seedling mat M. For example, the control device 50f performs altitude maintenance control to maintain the altitude corresponding to the flight path of the multicopter 50 (normal flight height H3 and flight height H5 when dropping the seedling mat M). 【0085】 As shown in Figure 8, the normal flight altitude H3 of the multicopter 50 is the flight altitude on the outbound journey (route to replenish seedlings) and the return journey (route to replenish seedlings) shown in Figure 4. The normal flight altitude H3 is higher than the ground height H2 of the positioning device 32A. 【0086】When the multicopter 50 is positioned at a predetermined distance behind the rice transplanter 10, it descends from the normal flight height H3 to a flight height H5 as shown in Figure 8, and then performs a pursuit flight to catch up with the rice transplanter 10. Alternatively, when the multicopter 50 is positioned at a predetermined distance behind the rice transplanter 10, it may perform a pursuit flight to catch up with the rice transplanter 10 while descending from the normal flight height H3 to a flight height H5. By pursuing the rice transplanter 10 at a speed faster than the rice transplanter 10, the multicopter 50 catches up with the rice transplanter 10 and reaches above the support platform 90 of the rice transplanter 10 (accelerated flight process). 【0087】 As shown in Figure 8, the flight height H5 when the seedling mat M is dropped is lower than the ground height H2 of the positioning device 32A. By subtracting the ground height H1 of the receiving platform 90 from the flight height H5 of the multicopter 50, it can be seen that the distance from the receiving platform 90 to the multicopter 50 directly above is the height H6 shown in Figure 8. At a height of H6, the distance from which the seedling mat M is dropped to the receiving platform 90 is short, so the seedling mat M can be safely delivered to the receiving platform 90 without being damaged by the impact of the drop. 【0088】 While the multicopter 50 is flying above the implement 1 (rice transplanter 10), it releases the material S (seedling mat M) from the holding device 51 (release step) and drops it onto the moving implement 1 (release step). In other words, the multicopter 50 replenishes the seedling mat M to the moving rice transplanter 10 while flying above the implement 1 (i.e., without landing on the rice transplanter 10). 【0089】 As shown in Figure 8, in the first state, when the multicopter 50 is flying above the support stand 90 provided on the rice transplanter 10 and at a predetermined height (height H6 shown in Figure 8) from the support stand 90, the holding device 51 releases the holding device and drops the material S (seedling mat M) onto the support stand 90 (dropping process), thereby supplying the seedling mat M to the rice transplanter 10 which is moving in a straight line. The first state is the state in which the multicopter 50 is positioned at a predetermined height (height H6 shown in Figure 8) from the support stand 90. In other words, the first state is the state in which the multicopter 50 is positioned at a height from the ground (flight height H5 (H5 = H1 + H6) shown in Figure 8). 【0090】In the first state, where the multicopter 50 is positioned at a height H6 from the support stand 90 shown in Figure 8, it flies while maintaining a state in which its direction of travel and speed are aligned with the direction of travel and speed of the rice transplanter 10 (maintained flight process). In the first state, as shown in Figure 8, when the relative speed of the multicopter 50 with respect to the rice transplanter 10 is zero or within a specified range value from zero to the first relative speed (parallel flight process), the multicopter 50 supplies the seedling mat M to the rice transplanter 10 which is traveling in a straight line. 【0091】 During flight in the first state shown in Figure 8, the multicopter 50 releases the seedling mat M from the holding device 51, thereby dropping the seedling mat M onto the receiving platform 90. 【0092】 Here, the overall flow of remote control of the multicopter 50 by the server 70 will be explained in detail. The remote control device 72 transmits various remote instructions (for example, the first to fourth remote instructions) to the multicopter 50. For example, the first remote instruction is an instruction for the outward flight towards the rice transplanter 10. The second remote instruction is an instruction for a follow flight to catch up with the rice transplanter 10 from a position behind the moving rice transplanter 10. The third remote instruction is an instruction for seedling dropping (material dropping). The fourth remote instruction is an instruction for the return flight to the seedling storage area. 【0093】 The remote control device 72 transmits a first remote instruction to the multicopter 50 when the server 70 determines that it is time to start, or when the rice transplanter 10 detects that the remaining amount of seedlings in the seedling mat M has fallen below a predetermined level. Based on the first remote instruction, the multicopter 50 performs an outbound flight (see Figure 4) from its current position toward the rice transplanter 10. When the multicopter 50 arrives at the position behind the rice transplanter 10 shown in Figure 4, it transmits an arrival signal to the server 70 indicating its arrival at the position behind the rice transplanter 10. 【0094】When the communication device 71 of the server 70 receives an arrival signal, or when the remote control device 72 determines that the flight position of the multicopter 50, which is transmitted sequentially from the multicopter 50, matches the position behind the rice transplanter 10, it transmits a second remote instruction to the multicopter 50. Based on the second remote instruction, the multicopter 50 performs a follow flight to catch up with the rice transplanter 10 from its position behind the moving rice transplanter 10. A follow flight is a flight from its position behind the moving rice transplanter 10 until it catches up with the rice transplanter 10 and is positioned directly above the support stand 90. In the seedling replenishment path, the multicopter 50 enters a first state in which it is positioned above the support stand 90 of the rice transplanter 10 and at a predetermined height (height H6 shown in Figure 8) above the support stand 90. Then, in the seedling supply route shown in Figure 4, the multicopter 50 flies in such a way that in the first state, its relative speed with respect to the rice transplanter 10 is zero or within a specified range from zero to the first relative speed. At this time, if the multicopter 50's 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, it transmits a ready signal (READY signal) to the server 70 indicating that preparations for dropping seedlings are complete. 【0095】 When the communication device 71 receives a ready signal, the remote control device 72 transmits a third remote instruction (material dropping instruction) to the multicopter 50. Based on the third remote instruction, the multicopter 50 releases the holding device 51 from holding the seedling mat M (seedlings Se) and drops the seedlings onto the receiving stand 90. Once the seedling dropping is complete, the multicopter 50 transmits a dropping completion signal to the server 70 indicating that the dropping of the seedling mat M (seedlings Se) is complete. 【0096】 When the communication device 71 of the server 70 receives a 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 Figure 4) from its current position back to the seedling placement site. 【0097】The display control unit 74 of the server 70 may sequentially display information regarding the multicopter 50 on the display unit 66 of the mobile terminal 61. The information regarding the multicopter 50 includes, but is not limited to, identification information of the multicopter 50 and the status of the multicopter 50. 【0098】 The identification information for the multicopter 50 is an identification code for identifying the multicopter 50, but it may also be a name or the like. The status of the multicopter 50 indicates the status of the multicopter 50 during the seedling replenishment flight, and includes, for example, seedling placement location, pre-seedling holding state, seedling holding state, in the outbound flight, reached the rear position of the rice transplanter 10, in the follow flight, ready to drop seedlings, seedlings dropped, in the return flight, and completion. This information is transmitted sequentially from the communication device 50i of the multicopter 50 to the server 70, or generated by the server 70 based on the position information and status information of the rice transplanter 10 and the multicopter 50. The status of the multicopter 50 is transmitted from the server 70 to the mobile terminal 61. Therefore, the status of the multicopter 50 is displayed on the display unit 66 of the mobile terminal 61. 【0099】 Now, as shown in Figure 4, when the multicopter 50 approaches the moving vehicle 1A (in this case, an agricultural machine such as a rice transplanter 10) from behind, it is possible to acquire the movement information of the moving rice transplanter 10 and reflect it in its own flight control (feedback). 【0100】 The communication device 50i acquires driving information from the moving vehicle 1A while the vehicle is in motion. For example, the communication device 50i acquires driving information while approaching the vehicle 1A from the opposite side of the vehicle's direction of travel. 【0101】 Based on the movement information, the aircraft 50a reduces its flight speed to a speed at which it flies alongside the vehicle 1A. For example, the aircraft 50a controls the rotation speed of its rotor blades 50c based on the movement information, thereby approaching the vehicle 1A from the opposite side of its direction of travel and reducing its relative speed with the vehicle 1A. 【0102】Figure 9 shows an example of driving information for an agricultural machine (vehicle 1A). As shown in Figure 9, the driving information includes the driving speed information and position information of vehicle 1A. The driving speed information indicates the driving speed of vehicle 1A. In Figure 9, the driving speed of vehicle 1A is "XX.X (km / h)". The position information indicates the position of vehicle 1A (for example, latitude and longitude). 【0103】 In the case of agricultural machinery travel information as shown in Figure 9, the aircraft 50a controls its rotor blades 50c to match the flight speed of the aircraft 50a to the travel speed of the vehicle 1A indicated by the travel speed information, thereby approaching the vehicle 1A from the opposite side of its travel direction and reducing the relative speed with the vehicle 1A. The multicopter 50 (control device 50f) can determine whether or not it is approaching the vehicle 1A from the opposite side of its travel direction based on the change in the positional relationship between the position information of the vehicle 1A and the position information of the aircraft 50a. 【0104】 Specifically, the aircraft 50a reduces its relative speed by setting its flight speed to match the direction of travel of the vehicle 1A. Figure 10 shows another example of agricultural machinery travel information. As shown in Figure 10, the travel information includes direction information of the vehicle 1A while it is traveling. The direction information is information indicating the azimuth angle of the vehicle 1A. In the case of agricultural machinery travel information as shown in Figure 10, the aircraft 50a reduces its relative speed to the vehicle 1A by controlling its rotor blades 50c so that its flight speed matches the travel speed of the vehicle 1A indicated by the travel speed information, and its direction matches the direction of travel of the vehicle 1A indicated by the direction information. 【0105】 Figure 11 shows the speed change of the agricultural flying device 5 when performing speed-coordinated flight with a moving agricultural machine (rice transplanter 10). As shown in Figure 11, the aircraft 50a decreases its altitude and relative speed towards the work target point. The work target point is above the support base 90 of the rice transplanter 10 and at a predetermined height (height H6 shown in Figure 8) from the support base 90. For example, in the deceleration section shown in Figure 11, the aircraft 50a reduces its relative speed with the agricultural machine (rice transplanter 10). 【0106】 As shown in Figure 11, the flight speed of the aircraft 50a when approaching the rice transplanter 10 (traveling body 1A) from behind is slower than the flight speed of the aircraft 50a when performing work (for example, in the supply section shown in Figure 11). Performing work refers to, for example, dropping the material S (seedling mat M) held by the holding device 51 onto the receiving stand 90 of the rice transplanter 10, but it may be any other work. 【0107】 As shown in Figure 11, the aircraft 50a increases its relative speed after performing its task and moves away from the vehicle 1A. For example, in the acceleration section shown in Figure 11, the aircraft 50a increases its relative speed with the agricultural machine (rice transplanter 10). In this way, a departure flight is performed in which the aircraft 50a increases its speed and moves away from the vehicle 1A. 【0108】 Here, the process by which the agricultural flying device 5 acquires driving information from a moving agricultural machine (rice transplanter 10) will be explained using Figure 12. Figure 12 is a flowchart showing an example of the process by which the agricultural flying device 5 acquires driving information from a moving agricultural machine (rice transplanter 10). 【0109】 For example, the process of acquiring driving information will be explained using the example of when the agricultural flying device 5 performs a tracking flight, positioning itself at a predetermined distance behind a moving rice transplanter 10 and then catching up to the rice transplanter 10. 【0110】 As shown in Figure 12, the agricultural flying device 5 (control device 50f) determines whether or not it is positioned behind the agricultural machine (rice transplanter 10) (S1). For example, if the control device 50f is not positioned at a predetermined distance behind the moving agricultural machine (rice transplanter 10) (No in S1), it increases the flight speed of the aircraft 50a (speed increase) and returns to the process of S1. 【0111】 On the other hand, as shown in Figure 4, when the control device 50f is located at a predetermined distance behind the moving agricultural machine (rice transplanter 10) (Yes in S1), or in Figure 11, when it is positioned behind the rice transplanter 10, it sends a request instruction to the agricultural machine (rice transplanter 10) for travel information (S2). 【0112】 When the agricultural machine (rice transplanter 10) receives a request instruction from the agricultural flying device 5, it transmits the driving information of the agricultural machine shown in Figure 9 or Figure 10 to the agricultural flying device 5 (S3). 【0113】 The agricultural aircraft 5 acquires driving information of the agricultural machinery (rice transplanter 10) while it is in motion (S4). For example, as shown in Figure 4, the communication device 50i of the agricultural aircraft 5 receives driving information from the rice transplanter 10 while it is in motion. In Figure 11, the agricultural aircraft 5 acquires the position and speed of the rice transplanter 10 while it is in motion. Based on the driving information of the rice transplanter 10 that it has received, the agricultural aircraft 5 acquires the driving speed and position indicated by the driving information. 【0114】 Next, the cooperative flight control between the agricultural aircraft 5 and the agricultural machinery (rice transplanter 10) will be explained using Figure 13. Figure 13 is a flowchart showing an example of the cooperative flight control process with the agricultural machinery (rice transplanter 10). 【0115】 As shown in Figure 13, the agricultural flying device 5 performs an approach flight towards the agricultural machine (rice transplanter 10) (S11). The approach flight of the agricultural flying device 5 towards the agricultural machine will be explained in detail using Figure 14. Figure 14 is a flowchart showing an example of the approach flight control process for the agricultural machine (rice transplanter 10). 【0116】 As shown in Figure 14, the agricultural flying device 5 (control device 50f) acquires the driving information of the agricultural machine (rice transplanter 10) (S111). Specifically, the agricultural flying device 5 acquires the driving information of the agricultural machine (rice transplanter 10) through the processing of S2 to S4 in Figure 12. 【0117】 The agricultural flying device 5 (control device 50f) determines whether the flight speed is greater than the agricultural machine's travel speed (S112). For example, the control device 50f determines whether the flight speed detected by the inertial measuring device (i.e., the flight speed of the aircraft 50a) is greater than the travel speed of the rice transplanter 10. 【0118】 If the flight speed of the aircraft 50a is not greater than the travel speed of the rice transplanter 10 (No in S112), the control device 50f increases the flight speed of the aircraft 50a (S113) and returns to the process in S111. 【0119】On the other hand, if the flight speed of the aircraft 50a is greater than the travel speed of the rice transplanter 10 (Yes in S112), the control device 50f enters a deceleration section (S114) and reduces the flight speed of the aircraft 50a (S115). 【0120】 The agricultural aircraft device 5 (control device 50f) determines whether the aircraft body 50a has reached a target position above the moving rice transplanter 10 (S116). If the aircraft body 50a is above the moving rice transplanter 10 and at a predetermined height (height H6 shown in Figure 8) and at a predetermined distance from the support base 90 (Yes in S116), the control device 50f determines that the approach flight to the agricultural machine is complete (S117) and terminates this process. 【0121】 On the other hand, if the control device 50f is above the moving rice transplanter 10 and the machine body 50a has not reached a predetermined distance from the support base 90 to a predetermined height (height H6 shown in Figure 8) (No in S116), it returns to the process in S111. Alternatively, if the control device 50f returns to the process in S114 if No in S116, it may return to the process in S114. 【0122】 Returning to Figure 13, after the process in S11, the agricultural flying device 5 (control device 50f) performs a material supply flight to the agricultural machine (rice transplanter 10) (S12). The material supply flight of the agricultural flying device 5 to the agricultural machine will be explained in detail using Figure 15. Figure 15 is a flowchart showing an example of the material supply flight control process for agricultural machines. 【0123】 As shown in Figure 15, the agricultural flying device 5 (control device 50f) acquires the driving information of the agricultural machine (rice transplanter 10) (S121). Specifically, the agricultural flying device 5 acquires the driving information of the agricultural machine (rice transplanter 10) through the processing of S2 to S4 in Figure 12. 【0124】The agricultural flying device 5 (control device 50f) determines whether the aircraft body 50a is positioned above the moving rice transplanter 10 (S122). If the aircraft body 50a is positioned above the moving rice transplanter 10 and at a predetermined height (height H6 shown in Figure 8) and a predetermined distance from the support base 90 (Yes in S122), the control device 50f determines whether the flight speed and the agricultural machine's travel speed are the same (S123). For example, the control device 50f determines that the flight speed and the agricultural machine's travel speed are the same if the flight speed matches or falls within a predetermined allowable range of the agricultural machine's travel speed, and determines that they are not the same if they are outside the predetermined allowable range. The predetermined allowable range is the median value ± allowable value, with the agricultural machine's travel speed as the median value. Specifically, the predetermined allowable range is the range from the median value minus the negative allowable value to the median value plus the positive allowable value. 【0125】 The control device 50f determines that it is a matching flight section (S125) if the flight speed and the agricultural machine's travel speed are the same (Yes in S123). A matching flight section is a section in which the flight speed of the agricultural flying device 5 (drone speed) and the travel speed of the rice transplanter 10 (rice transplanter speed) are the same, as shown in Figure 11. 【0126】 On the other hand, if the flight speed and the agricultural machine's travel speed are not the same (No in S123), the control device 50f increases or decreases the speed (S124). Specifically, the control device 50f increases the flight speed when the flight speed is lower than the agricultural machine's travel speed, and decreases the flight speed when the flight speed is higher than the agricultural machine's travel speed. 【0127】 After processing in S125, the control device 50f determines whether or not there is a supply order (S126). For example, if the control device 50f has not received a third remote order (supply drop order) from the server 70, it determines that there is no supply order (No in S126) and returns to processing in S121. 【0128】Meanwhile, when the control device 50f receives a third remote instruction (material drop instruction) from the server 70, it determines that there is a replenishment instruction (Yes in S126) and executes the replenishment of material S (S127). In other words, the control device 50f executes the dropping of seedling mats M. The replenishment of material S is carried out in the supply section shown in Figure 11. After the process in S127, the control device 50f terminates this process. 【0129】 Returning to Figure 13, after the process in S12, the agricultural flying device 5 (control device 50f) performs a departure flight to separate from the agricultural machine (rice transplanter 10) (S13). The departure flight of the agricultural flying device 5 will be explained in detail using Figure 16. Figure 16 is a flowchart showing an example of the departure flight control process. 【0130】 As shown in Figure 16, the agricultural flying device 5 (control device 50f) acquires the driving information of the agricultural machine (rice transplanter 10) (S131). Specifically, the agricultural flying device 5 acquires the driving information of the agricultural machine (rice transplanter 10) through the processing of S2 to S4 in Figure 12. 【0131】 The control device 50f increases the altitude and speed of the aircraft 50a (S132), enters the speed-increasing section (S133), and ends this process. For example, the control device 50f raises the aircraft 50a from the flight height H5 at the time of dropping the seedling mat M to the normal flight height H3, then increases the flight speed of the aircraft 50a (speed increase) and moves to the starting point (for example, the seedling storage area) (return flight process for seedling replenishment: return process). In other words, after performing the work, the aircraft 50a increases its relative speed, moves away from the rice transplanter 10 (mobile body 1A), and moves to the starting point (for example, the seedling storage area). 【0132】 The main characteristic features and effects of the agricultural flying device 5 in the embodiments described above are as follows: 【0133】(Item A1) An agricultural flying device 5 comprising an aircraft body 50a, a work device WE provided on the aircraft body 50a, and a communication device 50i that acquires the driving information of a moving vehicle 1A from the vehicle 1A, wherein the communication device 50i acquires the driving information while approaching the vehicle 1A from the opposite side of the vehicle's direction of travel, and the aircraft body 50a reduces its flight speed to a speed at which it flies alongside the vehicle 1A based on the driving information. 【0134】 With this configuration, the agricultural flying device 5 acquires the movement information of the vehicle 1A while approaching the vehicle 1A from the opposite side of its direction of travel. This eliminates the need to detect the movement state of the vehicle 1A and calculate and identify its movement information. Based on the acquired movement information, the aircraft 50a can approach the vehicle 1A from the opposite side of its direction of travel, reducing its relative speed to the vehicle 1A and allowing it to fly alongside the vehicle 1A. In other words, it can approach the vehicle 1A quickly and smoothly. As a result, the agricultural flying device 5 can perform work on the vehicle 1A with high precision. 【0135】 (Item A2) The agricultural flying device 5 according to Item A1, comprising a rotor blade 50c provided on the aircraft body 50a, wherein the aircraft body 50a controls the rotation speed of the rotor blade 50c based on the travel information, thereby approaching the vehicle 1A from the opposite side of the travel direction and reducing the relative speed with the vehicle 1A. 【0136】 With this configuration, the aircraft 50a can quickly approach the vehicle 1A from the opposite side of its direction of travel and reduce its relative speed to the vehicle 1A by controlling the rotation speed of the rotor blades 50c based on the travel information. As a result, the agricultural flying device 5 can perform operations on the vehicle 1A with high precision. 【0137】(Item A3) The agricultural flying device 5 according to Item A2, wherein the driving information includes the driving speed information of the vehicle 1A, and the aircraft 50a controls the rotor blades 50c so as to match the flight speed of the aircraft 50a to the driving speed of the vehicle 1A indicated by the driving speed information, thereby approaching the vehicle 1A from the opposite side of the vehicle's direction of travel and reducing the relative speed with the vehicle 1A. 【0138】 With this configuration, the aircraft 50a controls its rotor blades 50c to match the flight speed of the vehicle 1A, thereby quickly approaching the vehicle 1A from the opposite direction of travel and reducing the relative speed with the vehicle 1A. As a result, the agricultural flying device 5 can perform operations on the vehicle 1A with high precision. 【0139】 (Item A4) The agricultural flying device 5 according to any one of items A1 to A3, wherein the work device WE is a holding device 51 for holding agricultural materials S, and the work of the work device WE is to replenish the agricultural materials S held by the holding device 51 to the moving vehicle 1A in a flight state in which the relative speed between the aircraft body 50a and the vehicle 1A is reduced. 【0140】 This configuration allows for the precise supply of agricultural materials S held by the holding device 51 to the moving vehicle 1A. 【0141】 (Item A5) The agricultural flying device 5 described in any one of items A2 to A4, wherein the aircraft 50a is oriented in the same direction as the traveling body 1A, thereby reducing the relative speed of the aircraft 50a. 【0142】 With this configuration, the agricultural flying device 5 can suitably reduce the relative speed between the aircraft body 50a and the ground unit 1A. 【0143】 (Item A6) The agricultural flying device 5 described in any one of items A2 to A4, wherein the flight speed of the aircraft 50a during work is slower than the flight speed of the aircraft 50a when approaching the vehicle 1A from behind. 【0144】With this configuration, the agricultural flying device 5 can perform work on the vehicle 1A with high precision. 【0145】 (Item A7) The aircraft 50a is an agricultural flying device 5 described in any one of items A2 to A4, which reduces the relative speed while lowering the altitude of the aircraft 50a toward the work target point. 【0146】 With this configuration, the agricultural flying device 5 can approach the moving vehicle 1A precisely. 【0147】 (Item A8) The aircraft 50a increases its relative speed after performing the work and moves away from the vehicle 1A, as described in any one of Items A2 to A4. 【0148】 With this configuration, the agricultural flying device 5 can quickly detach itself from the moving vehicle 1A after performing work on the vehicle 1A while it is moving. 【0149】 (Item A9) The agricultural flying device 5 according to any one of items A3 to A8, wherein the driving information includes the direction information of the driving vehicle 1A while it is moving, and the aircraft 50a controls the rotor blades 50c so that the aircraft 50a's flight speed matches the driving speed of the driving vehicle 1A indicated by the driving speed information, and the direction of the aircraft 50a matches the direction of the driving vehicle 1A indicated by the direction information, thereby approaching the driving vehicle 1A from the opposite side of its direction of travel and reducing the relative speed with the driving vehicle 1A. 【0150】 With this configuration, the aircraft 50a controls the rotor blades 50c so that its flight speed matches the travel speed of the vehicle 1A, and the direction of the aircraft 50a matches the travel direction of the vehicle 1A indicated by the direction information. This allows the aircraft 50a to approach the vehicle 1A from the opposite side of its travel direction and reduce its relative speed to the vehicle 1A quickly and reliably. As a result, the agricultural flying device 5 can perform operations on the vehicle 1A with even greater precision. 【0151】 (Item A10) The agricultural material S is a seedling mat, granules, liquid, or seeds, as described in Item A4, for the agricultural flying device 5. 【0152】This configuration allows for the precise supply of agricultural materials S, such as seedling mats (e.g., seedling mats M), granules, liquids, or seeds, to a moving vehicle 1A. 【0153】 In the embodiment described above, the multicopter 50 follows the rice transplanter 10 which is traveling in automatic mode, catches up to the rice transplanter 10, and replenishes (transports) the materials S. However, it may also follow the rice transplanter 10 which is traveling in remote or manual mode, catch up to the rice transplanter 10, and replenish (transports) the materials S. 【0154】 In the embodiment described above, the multicopter 50 is flown by remote control from the server 70, but it may also be flown by remote control from the rice transplanter 10 or the portable terminal 61. The rice transplanter 10 or the portable terminal 61 only needs to include the remote control device 72 and the storage unit 73, which are components of the server 70. 【0155】 Furthermore, in the above-described embodiment, the multicopter 50 is flown by remote control from the server 70, but it may also fly autonomously. When the multicopter 50 flies autonomously, it is equipped with a remote control device 72, a storage unit 73, and a processing unit 77 from the configuration of the server 70, and the control device 50f of the multicopter 50 performs the decision corresponding to the first to fourth remote instructions from the remote control device 72 of the server 70 and the path generation of the processing unit 77. 【0156】 Having described the present invention above, the embodiments disclosed herein should be considered in all respects to be illustrative and not restrictive. The scope of the present invention is indicated by the claims rather than the foregoing description, and all modifications within the meaning and scope of equivalents of the claims are intended to be included. 【0157】 1. Working machine 1A. Grounding body 5. Agricultural flying device 50a. Airframe 50c. Rotary wing 50i. Communication device 51. Holding device 50f. Control device M. Seedling mat S. Materials WE. Working device

Claims

The aircraft and, A work device provided on the aforementioned machine, It includes a communication device that acquires driving information from a moving vehicle while the vehicle is in motion, The communication device acquires the travel information while approaching the vehicle from the opposite side of the vehicle's travel direction. The aforementioned aircraft is an agricultural flying device that, based on the aforementioned driving information, reduces the flight speed of the aircraft to a speed at which it flies alongside the aforementioned vehicle. 　 The aircraft is equipped with rotor blades, The agricultural flying device according to claim 1, wherein the aircraft controls the rotation speed of the rotor blades based on the travel information, thereby approaching the vehicle from the opposite side of the vehicle's travel direction and reducing the relative speed with the vehicle. 　 The aforementioned driving information includes information on the driving speed of the vehicle, The agricultural flying device according to claim 2, wherein the aircraft controls the rotor blades to match the flight speed of the aircraft to the speed of the vehicle indicated by the vehicle speed information, thereby approaching the vehicle from the opposite side of the vehicle's direction of travel and reducing the relative speed with the vehicle. 　 The aforementioned work device is a holding device for holding agricultural materials, The agricultural flying device according to claim 3, wherein the operation of the work device is to supply agricultural materials held by the holding device to the moving vehicle while the vehicle is in flight with a reduced relative speed between the aircraft and the vehicle. 　 The agricultural flying device according to any one of claims 2 to 4, wherein the aircraft reduces the relative speed by making the aircraft face the same direction as the traveling body and reducing the flight speed of the aircraft. 　 The agricultural flying device according to any one of claims 2 to 4, wherein the flight speed of the aircraft during work is slower than the flight speed of the aircraft when approaching the vehicle from behind. 　 The agricultural flying device according to any one of claims 2 to 4, wherein the aircraft reduces its relative speed while lowering its altitude toward the work target point. 　 The agricultural flying device according to any one of claims 2 to 4, wherein the aircraft increases its relative speed after performing the work and moves away from the vehicle. 　 The aforementioned driving information includes the direction information of the vehicle while it is in motion. The agricultural flying device according to claim 3, wherein the aircraft controls its rotor blades to match the flight speed of the aircraft to the speed of the vehicle indicated by the speed information, and to match the direction of the aircraft to the direction of the vehicle indicated by the direction information, thereby approaching the vehicle from the opposite side of its direction of travel and reducing the relative speed with the vehicle. 　 The agricultural flying device according to claim 4, wherein the agricultural material is a seedling mat, granules, liquid, or seeds.

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