Assistance system and travel assistance method

Abstract

Provided is an assistance system capable of assisting the traveling of a traveling body of which the positioning is unstable.　This assistance system (SY) comprises: a flying body (5A) that has a first positioning device (50g); a traveling body (1A) that has a second positioning device (32A); and an estimation unit (200) that estimates the position of the traveling body (1A) by using the positioning performed by the first positioning device (50g).

Description

Support System and Driving Support Method 【0001】 The present invention relates to a support system and a driving support method for supporting the automatic driving of agricultural machines by utilizing an agricultural flying device that transports materials. 【0002】 The transport flying body disclosed in Patent Document 1 flies while holding a seedling tray, approaches above the seedling tray carrier of the seedling transplanter, and drops the seedling tray to supply the seedling tray to the seedling tray carrier. 【0003】 Japanese Patent Publication "Japanese Unexamined Patent Application Publication No. 2022-57029" 【0004】 The seedling transplanter of the above Patent Document 1 includes a GPS (Global Positioning System) receiver, detects its own position based on a satellite signal from a GPS satellite, and autonomously drives within a field based on the detected own position. However, when the positioning by GPS becomes unstable, the seedling transplanter has trouble with autonomous driving, so it stops by aborting autonomous driving. For this reason, in reality, it is impossible to drive a seedling transplanter (traveling body) with unstable positioning. 【0005】 Therefore, in view of the above problems, an object of the present invention is to provide a support system that can support the driving of a traveling body with unstable positioning. 【0006】 The technical means of the present invention for solving the above technical problems is characterized by the following points. 【0007】 A support system according to an aspect of the present invention includes a flying body having a first positioning device, a traveling body having a second positioning device, and an estimation unit that estimates the position of the traveling body using the positioning by the first positioning device. 【0008】 A support system according to an aspect of the present invention includes a traveling body having a second positioning device and an estimation unit that estimates the position of the traveling body using the positioning by a first positioning device that the flying body has. 【0009】A driving assistance method according to one aspect of the present invention involves an estimation unit that estimates the position of a vehicle having a positioning device and that is moving, using the positioning of an aircraft flying above the vehicle and capable of positioning. 【0010】 According to the present invention, the support system can assist in the movement of a vehicle whose positioning is unstable. 【0011】 This is a schematic diagram of the support system of the first embodiment. This is a block diagram of the support system of the first embodiment. This is a side view of a rice transplanter. This is a diagram illustrating the supply of seedlings to a working machine while it is in motion using 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 the agricultural flying device taking 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 illustrating how to use an aircraft to support the automatic driving of a vehicle with unstable positioning. This is a flowchart of an example of the support process of the first embodiment. This is a flowchart of an example of the support process of a modified example. This is a block diagram of the support system of the second embodiment. This is a flowchart of an example of the support process of the second embodiment. This is a schematic diagram of the support system of the third embodiment. This is a block diagram of the support system of the third embodiment. This is a flowchart of an example of the support process of the third embodiment. 【0012】 The following describes one embodiment of the present invention with reference to the drawings. Figure 1 is a schematic diagram of the support system SY. Figure 2 is a block diagram of the support system SY. 【0013】 As shown in Figures 1 and 2, the support system SY comprises a vehicle 1A and an aircraft 5A, and is a system that uses the aircraft 5A to provide automatic driving support for the vehicle 1A. The vehicle 1A is, for example, a work machine 1. The aircraft 5A is, for example, an agricultural flying device 5. The agricultural flying device 5 carries agricultural materials S (for example, seedling mats such as seedling mats M) by flight and replenishes the materials S to the work machine 1 while it is moving. 【0014】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. 【0015】 Furthermore, the support system SY may include a portable terminal 61, as shown in Figures 1 and 2. The portable terminal 61 includes a display unit 66. The display unit 66 is composed of an LCD monitor, LCD panel, etc., and can display various information transmitted from the aircraft 5A. Since the display unit 66 has a touch panel, it can be operated by the user via touch. 【0016】 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. 【0017】 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). 【0018】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. 【0019】 As shown in Figure 2, the rice transplanter 10 is equipped with a position detection device 32 (for example, a second positioning device 32A) that detects its own position. The second positioning device 32A is, for example, located on the front side of the rice transplanter 10 (vehicle body 11). The second 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 second 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. 【0020】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. 【0021】 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 second 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. 【0022】 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). 【0023】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 second positioning device 32A and the planned driving route L1. 【0024】 As shown in Figure 2, the rice transplanter 10 has a communication device 34. The communication device 34 is a communication module that communicates directly or indirectly with the agricultural aircraft 5, 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. 【0025】 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 second 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. 【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 is equipped with a distance measuring sensor 50k. The distance measuring sensor 50k is, for example, a LiDAR (Light Detection and Ranging) that uses laser light to measure objects, and can detect the distance to objects around the multicopter 50. Note that the distance measuring sensor 50k is not limited to LiDAR, but may also be a millimeter-wave sensor such as a RADAR (Radio Detection and Ranging), an ultrasonic sensor, or a stereo camera. 【0030】 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; 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. 【0031】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 (distance measuring sensor 50k, magnetic direction sensor, inertial measuring device, rotation speed detection sensor, etc.), a first positioning device 50g, a communication device 50i, and a memory unit 50h. The control device 50f controls the rotor blades 50c, the communication device 50i, the memory unit 50h, and the holding device 51 based on the detection values ​​of the multiple sensors (including the distance measuring sensor 50k) and instructions from a mobile terminal 61, etc. 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. 【0032】 The multicopter 50 has a first positioning device 50g that detects its own position. The first positioning 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 first positioning 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. 【0033】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 compass sensor, and the flight speed is detected by an inertial measuring device. The first positioning device 50g may calculate the flight direction and flight speed based on the multiple detected flight positions. 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. 【0034】 The multicopter 50 has a communication device 50i that can communicate with the rice transplanter 10 and the mobile terminal 61. The communication device 50i is a communication module that communicates directly or indirectly with the rice transplanter 10 and the mobile terminal 61, 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 communication network or a data communication network. 【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 2, the multicopter 50 has 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. 【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 Figure 4 based on positional information indicating the seedling placement location and its own flight position (latitude, longitude, altitude) detected by the first positioning device 50g. The multicopter 50 reaches above the seedling mat M at the seedling placement location shown in Figure 4 and descends when the holding device 51 is in a position where it overlaps with the seedling Se in a plan view. 【0041】The multicopter 50 descends until the clamping members 52 and 53 overlap with the seedling Se in a direction perpendicular to the vertical direction. When the descending flight is completed, since the leaf or stem of the seedling Se is positioned between the pair of clamping members 52 and 53, the seedling Se is held by the clamping members 52 and 53. 【0042】 The holding device 51 clamps at least a part of the leaf and stem 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 so that the pair of clamping members 52 and 53 are in a holding state (closed state) of holding the seedling Se on the seedling raising mat M. 【0043】 As shown in FIG. 7, with the holding device 51 holding at least a part of the leaf and stem of the seedling Se (in this embodiment, the tip side of the leaf of the seedling Se), the agricultural flying device 5 is lifted to lift the seedling Se. 【0044】 Here, the rear configuration of the rice transplanter 10, that is, the configuration such as the seedling planting device 18 will be described with reference to FIGS. 3 and 5. FIG. 5 is a rear view of the seedling supply device 20 and the seedling placing table 41. 【0045】 As shown in FIG. 3, the rice transplanter 10 is equipped with a seedling supply device 20 that supplies the seedling raising mat M to the seedling planting device 18 (seedling placing table 41). The rice transplanter 10 is a transplanting machine that cuts a predetermined amount of seedlings from the seedling raising mat M placed on the seedling placing table 41 and plants the cut seedlings in a field (paddy field). 【0046】 The direction of arrow AW1 in FIG. 3 is the front (front of the machine body), the direction of arrow AW2 in FIG. 3 is the rear (rear of the machine body), and the direction of arrow AW3 in FIG. 3 is the front-rear direction (front-rear direction of the machine body). Also, the front side of FIG. 3 is described as the left side, and the back side of FIG. 3 is described as the right side. Further, the horizontal direction, which is perpendicular to the front-rear direction (arrow AW3), is described as the machine body width direction (refer to the machine body width direction K1 in FIG. 5). 【0047】 As shown in FIG. 3, a seedling planting device 18 is provided behind 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. Also, the seedling planting device 18 is driven to be able to move up and down by a hydraulic cylinder 21. 【0048】 As shown in FIG. 3, the seedling planting device 18 includes a seedling placing table 41 on which the 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 placing table 41 and plants them in a field (paddy field), and a float 23 that levels the field surface. As shown in FIG. 3, the seedling placing table 41 is provided in an inclined shape (front-rising inclined shape) that shifts forward as it goes upward. 【0049】 As shown in FIG. 5, the seedling placing table 41 has a plurality of material placing portions 24 (seedling placing portions) arranged in the machine width direction K1 on which the seedling raising mat M is placed. Partition guides 25 are provided on both sides of the material placing portion 24 in the machine width direction K1. On each material placing portion 24, the seedling raising mat M is placed with the long side Ma of the seedling raising mat M aligned with the inclined direction of the seedling placing table 41 and the short side Mb of the seedling raising mat M aligned with the machine width direction K1. On each material placing portion 24, two seedling raising mats M can be placed side by side in the inclined direction of the seedling placing table 41. The seedling raising mat M on the material placing portion 24 can be vertically fed downward along the material placing portion 24 by a vertical feeding mechanism 26. 【0050】 As shown in FIG. 3, the seedling placing table 41 is supported by an upper guide portion 27A and a lower guide portion 27B provided on the connecting body 28 so as to be movable in the machine width direction K1 on the connecting body 28, and is driven to reciprocate in the machine width direction K1 by a lateral feeding mechanism 84 (see FIG. 5) provided on the connecting body 28. 【0051】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. 【0052】 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. 【0053】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. 【0054】 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. 【0055】 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. 【0056】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. 【0057】 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. 【0058】 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. 【0059】 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. 【0060】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. 【0061】 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. 【0062】 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. 【0063】 Here, we will explain, using Figure 4, how the seedling mat M (seedlings Se) held by the multicopter 50 (agricultural flying device 5) is supplied to the moving rice transplanter 10 (working device 1). 【0064】 As shown in Figure 4, the rice transplanter 10 travels such that the vehicle position detected by the second 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. 【0065】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. 【0066】 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 second 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). 【0067】 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 second positioning device 32A. 【0068】 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). 【0069】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 second 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. 【0070】 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). 【0071】 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). 【0072】 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. 【0073】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. 【0074】 Now, as shown in Figure 9, the support system SY of this embodiment can utilize the aircraft 5A to support the automatic driving of the vehicle 1A that is experiencing unstable positioning. Figure 9 is a diagram illustrating how the aircraft 5A is used to support the automatic driving of the vehicle 1A that is experiencing unstable positioning. 【0075】 In the normal operation shown in the upper left of Figure 9, that is, when GPS positioning on the vehicle 1A is stable and the vehicle 1A is operating automatically, the aircraft 5A can transport the materials S by flying automatically while holding them, and can replenish the materials S to the vehicle 1A which is operating automatically. 【0076】 For example, in the previous configuration shown in the upper right of Figure 9, that is, when the GPS positioning of the conventional vehicle 1B becomes unstable (for example, when there is a GPS malfunction), it interferes with autonomous driving, causing the vehicle 1B to stop and cease autonomous driving. Consequently, the conventional aircraft 5B also stops autonomous driving. In other words, autonomous flight is also canceled. 【0077】 In contrast, in the support system SY of this embodiment, shown in the lower right of Figure 9, even if the GPS positioning of the vehicle 1A becomes unstable (for example, during a GPS malfunction), the position of the vehicle 1A is estimated using the positioning by the first positioning device 50g of the aircraft 5A, and the vehicle 1A can continue to operate automatically based on this estimated position. Furthermore, the aircraft 5A can also continue to fly under automatic control. 【0078】 The support system SY includes an estimation unit 200 that estimates the position of the vehicle 1A using positioning by the first positioning device 50g. 【0079】The flying vehicle 5A is equipped with a distance measuring sensor 50k that measures the ground vehicle 1A. For example, the distance measuring sensor 50k acquires relative information indicating the relative position and orientation of the ground vehicle 1A, that is, relative information with respect to the ground vehicle 1A. The relative information includes relative distance information indicating the relative distance from the flying vehicle 5A to the ground vehicle 1A, and relative orientation information indicating the relative orientation in which the ground vehicle 1A is located as seen from the flying vehicle 5A. 【0080】 For example, the aircraft 5A is equipped with an estimation unit 200. The estimation unit 200 calculates the position of the vehicle 1A based on positioning by the first positioning device 50g and relative information (relative position and relative direction) acquired by the distance measuring sensor 50k. For example, the multicopter 50 functions as the estimation unit 200 when the processor executes an estimation calculation program. 【0081】 The vehicle 1A automatically navigates based on its estimated position. The flying vehicle 5A is an agricultural flying device 5. The agricultural flying device 5 performs work above the vehicle 1A. This work may be, for example, dropping materials S (seedling mats M) held by the holding device 51 onto the receiving platform 90 of the rice transplanter 10, but other tasks may also be performed. 【0082】 In the driving support method of this embodiment, the estimation unit 200 (control device 50f) estimates the position of the driving vehicle 1A using the positioning of an aircraft 5A that is flying above the driving vehicle 1A and is capable of positioning. 【0083】 Here, the support process of the first embodiment will be explained using Figure 10. Figure 10 is a flowchart showing an example of the support process of the first embodiment. The support process of the first embodiment shown in Figure 10 shows a support process in which the vehicle 1A performs automatic driving using the estimated position of the vehicle 1A estimated by the aircraft 5A. 【0084】 Here, the aircraft 5A (agricultural flying device 5) is in an automated flight state, positioned behind the moving vehicle 1A (rice transplanter 10) within a predetermined range from which the vehicle 1A can be measured. The aircraft 5A approaches the vehicle 1A (rice transplanter 10) at a predetermined distance behind it, and then performs a tracking flight to catch up with the vehicle 1A (rice transplanter 10). 【0085】As shown in Figure 10, the vehicle 1A (rice transplanter 10) travels in first automatic driving mode (S21). For example, the vehicle 1A (rice transplanter 10) is in automatic driving mode, and as shown in Figure 4, it travels in first automatic driving mode by controlling the driving system (including the control of the automatic steering mechanism 17) by the control device 30 so that its position follows the planned travel path L1. This first automatic driving mode refers to automatic driving when the positioning of the vehicle 1A (agricultural machine) by the second positioning device 32A is stable, or in other words, automatic driving without driving assistance from the aircraft 5A. 【0086】 On the other hand, as shown in Figure 10, the flying body 5A (agricultural flying device 5) calculates position information between the agricultural machine and the flying body 5A (S11). This calculation of position information is performed periodically, at predetermined intervals (e.g., every few seconds, every few hundred milliseconds). For example, the distance measuring sensor 50k of the flying body 5A acquires relative information of the vehicle 1A (agricultural machine) with respect to the flying body 5A. 【0087】 As shown in Figure 10, when the vehicle 1A (agricultural machine) detects unstable positioning (S22), it transmits a notification indicating unstable positioning to the aircraft 5A (S23). 【0088】 The control device 30 determines that positioning is unstable when the received signal strength of the satellite signal at the second positioning device 32A falls below a first determination value indicating unstable positioning. This allows the control device 30 to detect unstable positioning. The control device 30 may also determine that positioning is unstable when the DOP (Dilution Of Precision) value exceeds a predetermined value. The DOP value is a numerical value that represents the degree of deterioration of positioning accuracy; a smaller value indicates higher positioning accuracy, and a larger value indicates lower accuracy. The control device 30 may also determine that positioning is unstable when the communication device 34 receives a signal (notification) indicating unstable positioning. 【0089】When the estimation unit 200 of the aircraft 5A receives a notification from the vehicle 1A (agricultural machine) indicating unstable positioning (S23), it calculates (calculates) the estimated position of the agricultural machine based on the position information calculated in S11 and the positioning result of the aircraft 5A itself (S12). For example, the estimation unit 200 calculates the position (latitude, longitude) of the vehicle 1A based on relative information (relative position and relative direction) acquired by the distance sensor 50k and the positioning result from the first positioning device 50g (position of the aircraft 50a (latitude, longitude)). In other words, the estimation unit 200 calculates an estimated position that indicates the absolute position (latitude, longitude) of the vehicle 1A (agricultural machine). 【0090】 After processing in S12, the aircraft 5A transmits the estimated position of the farm machine to the vehicle 1A (farm machine) via the communication device 50i (S13). 【0091】 The processes S11 to S13 in Figure 10 are executed at predetermined intervals (e.g., several seconds, several hundred milliseconds), so the aircraft 5A sequentially transmits the estimated position of the new farm machine (S14). In Figure 10, the multiple arrows in S14 indicate that the estimated position of the new farm machine is transmitted sequentially. 【0092】 As shown in Figure 10, the vehicle 1A (rice transplanter 10) performs second automatic driving based on the estimated position of the farm machine from the aircraft 5A (S24). Specifically, the vehicle 1A (rice transplanter 10) uses the estimated position of the farm machine as its own position and, as shown in Figure 4, drives in second automatic driving mode by controlling the driving system (including the control of the automatic steering mechanism 17) with the control device 30 so that its own position (i.e., the estimated position of the farm machine) follows the planned driving path L1. This second automatic driving is automatic driving in a state where the positioning by the second positioning device 32A of the vehicle 1A (farm machine) is unstable, or in other words, automatic driving that is supported by driving assistance from the aircraft 5A. That is, the vehicle 1A (rice transplanter 10) uses the estimated position of the farm machine from the aircraft 5A as its own position and performs second automatic driving. 【0093】 Incidentally, as shown in Figure 10, once the vehicle 1A (agricultural machine) confirms that the positioning has stabilized (S25), it transmits a notification to the aircraft 5A indicating that the positioning is stable (S26). 【0094】The control device 30 determines that positioning is stable when the received signal strength of the satellite signal at the second positioning device 32A becomes greater than the first determination value. This allows the control device 30 to confirm that positioning is stable. The control device 30 may also determine that positioning is stable when the DOP value falls below a predetermined value. Furthermore, the control device 30 may determine that positioning is stable when the communication device 34 stops receiving signals (notifications) indicating unstable positioning, or when the communication device 34 receives signals (notifications) indicating stable positioning. 【0095】 When aircraft 5A receives notification S26, it stops calculating the estimated position of the farm machine (S15). 【0096】 Meanwhile, after the processing in S26, the vehicle 1A (agricultural machine) resumes first automatic driving (S27). The vehicle 1A (agricultural machine) switches from second automatic driving to first automatic driving. In other words, the vehicle 1A (rice transplanter 10) drives in first automatic driving mode, using its own position determined by the second positioning device 32A, rather than the estimated position of the agricultural machine from the aircraft 5A, so as shown in Figure 4, by controlling the driving system by the control device 30 (including the control of the automatic steering mechanism 17) to follow the planned driving route L1. 【0097】 In S27, if the deviation between the estimated position of the farm machine from the flying object 5A and its own position determined by the second positioning device 32A is greater than or equal to a threshold, the driving unit 1A (farm machine) may wait to switch to first automatic driving until the deviation falls below the threshold. The driving unit 1A (farm machine) also transmits to the mobile terminal 61 that the deviation is greater than or equal to a threshold to notify the user of the mobile terminal 61. When the user gives a transition instruction, the mobile terminal 61 transmits a transition instruction signal to the driving unit 1A (farm machine). The driving unit 1A (farm machine) may switch to first automatic driving upon receiving the transition instruction signal. 【0098】Furthermore, as the aircraft 5A flies above the vehicle 1A, the first positioning device 50g is positioned above the second positioning device 32A. For example, as shown in Figure 8, when the aircraft 5A is flying at a normal flight altitude H3, the first positioning device 50g of the aircraft 5A is at a higher position than the ground height H2 of the second positioning device 32A of the vehicle 1A. In this case, the first positioning device 50g of the aircraft 5A can receive signals from positioning satellites at a higher position than the second positioning device 32A of the vehicle 1A, and can perform positioning in a better positioning environment than the vehicle 1A. 【0099】 Furthermore, because the aircraft 5A flies above the second positioning device 32A (for example, directly above or in the vicinity of the second positioning device 32A of the vehicle 1A), the positioning of the vehicle 1A using the second positioning device 32A may become unstable. However, since the aircraft 5A flies at a higher position than the vehicle 1A, the positioning of the aircraft 5A using the first positioning device 50g remains stable. Even in cases of unstable positioning of the vehicle 1A due to such instability caused by the aircraft 5A, the positioning of the aircraft 5A using the first positioning device 50g can be utilized for the vehicle 1A whose positioning is unstable, as described above. 【0100】 According to the support system SY of the first embodiment described above, the estimation unit 200 estimates the position of the vehicle 1A using the positioning by the first positioning device 50g when the positioning by the second positioning device 32A is less stable than that by the first positioning device 50g. Therefore, even if the positioning of its own second positioning device 32A is unstable, the vehicle 1A can travel based on the position of the vehicle 1A estimated by the estimation unit 200. Thus, it is possible to support the travel of a vehicle 1A whose positioning is unstable. 【0101】 Furthermore, in the support system SY of the first embodiment, the aircraft 5A is equipped with an estimation unit 200, and the estimation unit 200 of the aircraft 5A calculates the position of the vehicle 1A based on its own position determined by the first positioning device 50g and relative information with respect to the vehicle 1A (information including relative distance and relative direction). Therefore, the aircraft 5A can calculate the position of the vehicle 1A in place of the second positioning device 32A, which has unstable positioning. 【0102】<Modification> Figure 11 is a flowchart showing an example of support processing for a modification. The support processing for the modification shown in Figure 11 shows the support processing when the flying body 5A constantly estimates the estimated position of the ground unit 1A. 【0103】 The modified support process shown in Figure 11 differs from the first embodiment in that it does not include the notification processes S23 and S26 and the process S15 shown in Figure 10. In other words, in the modified support process, the estimated position of the agricultural machine is constantly calculated by the flying unit 5A regardless of whether the positioning by the driving unit 1A (rice transplanter 10) is unstable or not, and the latest estimated position of the agricultural machine is transmitted sequentially to the driving unit 1A (rice transplanter 10). Therefore, the driving unit 1A (rice transplanter 10) can appropriately utilize the latest estimated position of the agricultural machine without notifying the flying unit 5A. 【0104】 As shown in Figure 11, the mobile unit 1A (rice transplanter 10) can receive the estimated position of the agricultural machine even when its own positioning is stable, so it can check in advance the degree of agreement between its own position determined by the second positioning device 32A and the estimated position of the agricultural machine. For this reason, it is possible to stably switch between the first automatic operation and the second automatic operation. 【0105】 The following describes modifications that differ from the first embodiment. 【0106】 As shown in Figure 11, the vehicle 1A (agricultural machine) receives the estimated position of the agricultural machine from the aircraft 5A at predetermined intervals (e.g., several seconds, several hundred milliseconds) (S14) without transmitting the notification (S23) shown in Figure 10 to the aircraft 5A. 【0107】 As shown in Figure 11, when the vehicle 1A (agricultural machine) detects unstable positioning (S22), it performs a second automatic operation based on the estimated position of the agricultural machine from the aircraft 5A, similar to the first embodiment described above (S24). 【0108】 Then, as shown in Figure 11, once the vehicle 1A (agricultural machine) confirms that its positioning has stabilized (S25), it resumes the first automatic operation (S27) without transmitting the notification shown in Figure 10 (S26) to the aircraft 5A. 【0109】As described above, in the modified support system SY, the driving unit 1A (rice transplanter 10) can appropriately utilize the latest estimated position of the agricultural machine without notifying the flying unit 5A in S23 and S26. 【0110】 <Second Embodiment> In the support system SY of the first embodiment described above, the flying body 5A is equipped with the estimation unit 200, as shown in Figure 2. In contrast, the support system SY of the second embodiment differs from the first embodiment in that the driving body 1A (rice transplanter 10) is equipped with the estimation unit 200. 【0111】 Figure 12 is a block diagram of the support system SY of the second embodiment. As shown in Figure 12, in the support system SY of the second embodiment, the mobile body 1A (rice transplanter 10) is equipped with an estimation unit 200. The estimation unit 200 calculates the estimated position of the mobile body 1A, that is, the position of the mobile body 1A, based on positioning and relative information obtained from the first positioning device 50g acquired from the aircraft 5A. For example, the rice transplanter 10 functions as the estimation unit 200 when the processor executes an estimation calculation program. 【0112】 The following describes the contents of the second embodiment, which differs from the first embodiment. 【0113】 Figure 13 is a flowchart showing an example of the support process in the second embodiment. As shown in Figure 13, in the support process of the second embodiment, steps S12A to S12C and S16 are replaced with steps S12A to S12C and S16 in the support process of the first embodiment. For this reason, steps S12A to S12C and S16 in the support process of the second embodiment will be described in detail. 【0114】 As shown in Figure 13, when the aircraft 5A receives a notification from the vehicle 1A (agricultural machine) indicating unstable positioning (S23), it acquires the position information calculated in S11 and the positioning result of the aircraft 5A itself (S12A). 【0115】 The position information calculated in S11 is relative information (relative position and relative direction) of the vehicle 1A (agricultural machine) relative to the aircraft 5A, acquired by the ranging sensor 50k of the aircraft 5A. The positioning result of the aircraft 5A itself is the positioning result of the first positioning device 50g (position of the aircraft 50a (latitude, longitude)). 【0116】 As shown in Figure 13, the aircraft 5A transmits relative information and positioning results to the vehicle 1A (agricultural machine) (S12B). 【0117】 The processes S11, S12A, and S12B in Figure 13 are executed at predetermined intervals (e.g., several seconds, several hundred milliseconds), so the aircraft 5A acquires new relative information and positioning results and transmits them sequentially (S12C). In Figure 13, multiple arrows are shown for S12C to indicate that relative information and positioning results are transmitted sequentially. 【0118】 The vehicle 1A (agricultural machinery) sequentially receives relative information and positioning results. The estimation unit 200 of the vehicle 1A (agricultural machinery) calculates the position (latitude, longitude) of the vehicle 1A based on the received relative information and positioning results. 【0119】 Since steps S24 to S27 are the same as those in the first embodiment described above, their explanation is omitted here. 【0120】 As shown in Figure 13, when the aircraft 5A receives a notification indicating that the positioning is stable (the notification shown in S26), it stops transmitting relative information and positioning results (S16). 【0121】 According to the support system SY of the second embodiment described above, the vehicle 1A is equipped with an estimation unit 200, and the estimation unit 200 of the vehicle 1A calculates its own position based on positioning obtained from the first positioning device 50g acquired from the aircraft 5A and relative information (information including relative distance and relative direction) between the aircraft 5A and the vehicle 1A. In other words, the vehicle 1A can calculate its own position using positioning obtained from the first positioning device 50g acquired from the aircraft 5A and relative information (information including relative distance and relative direction), instead of the second positioning device 32A, which has an unstable positioning system. 【0122】 <Third Embodiment> The support system SY of the third embodiment has a server 70. Figure 14 is a schematic diagram of the support system SY of the third embodiment. Figure 15 is a block diagram of the support system SY of the third embodiment. 【0123】In the first embodiment of the support system SY described above, the flying body 5A is equipped with the estimation unit 200, as shown in Figure 2, and in the second embodiment of the support system SY described above, the driving body 1A (rice transplanter 10) is equipped with the estimation unit 200, as shown in Figure 12. In contrast, the third embodiment of the support system SY differs from the first and second embodiments in that the server 70 is equipped with the estimation unit 200, as shown in Figure 15. 【0124】 First, let me explain server 70. 【0125】 The server 70 shown in Figure 14 is, for example, a fixed computer installed in a farm, farming company, agricultural machinery manufacturer, agricultural service provider, etc., or a portable computer that can be carried by an administrator, worker, etc. In the third embodiment, the server 70 is a fixed computer. 【0126】 As shown in Figure 15, the server 70 is equipped with a communication device 71 capable of communicating with the rice transplanter 10, the multicopter 50, and the mobile terminal 61. 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, and LPWAN. 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. 【0127】 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. 【0128】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 second 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. 【0129】 Furthermore, when the multicopter 50 transports seedlings to replenish the rice transplanter 10, the imaging device 50e captures images of the seedling mat (seedlings) at the seedling placement site, and based on the captured images of the seedling mat (seedlings), it moves to a position above the seedling mat (seedlings) and holds the seedling mat (seedlings) based on the captured images. In addition, when the multicopter 50 is heading towards the rice transplanter 10 to be replenished, it tracks the rice transplanter 10 based on images of the rice transplanter 10, and drops the seedling mat onto the receiving platform 90 based on images of the receiving platform 90 of the rice transplanter 10. 【0130】 The server 70 is equipped with 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. Agricultural map data is data that associates agricultural data with location. Agricultural data includes field map data, machine data, work data, etc. 【0131】The field map data is map data that associates pre-registered field data with a predetermined planned route L1 for the rice transplanter 10 (implementation device 1) in the field. The map data includes the outline of the field, the area of ​​the field, the location of the field entrance and exit, and the location of seedling placement areas prepared around the field. The travel route may, for example, be the actual travel route when the implementation device 1 travels in a manner that matches the planned route L1. 【0132】 Machine data refers to various types of data related to agricultural machinery, such as control data or operational data for operation and driving in the field for agricultural vehicles such as tractors, rice transplanters, transplanters, harvesters such as combine harvesters, fertilizer spreaders, pesticide sprayers, molding machines, mowers, processing machines, tillers, etc. 【0133】 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. 【0134】 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. 【0135】The communication device 34 of the rice transplanter 10 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 images captured by the imaging device 33A, in association with each other. 【0136】 The communication device 50i of the multicopter 50 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. 【0137】 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. 【0138】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. 【0139】 In the third embodiment, the server 70 generates the global route shown in Figure 4 and stores it 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 the global route. Generating a global route 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 the global route in the multicopter 50 or the mobile terminal 61. 【0140】 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. 【0141】In the third 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 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 have 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. 【0142】 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. 【0143】 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. 【0144】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). 【0145】 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. 【0146】 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. 【0147】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. 【0148】 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. 【0149】 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. 【0150】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. 【0151】 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. 【0152】 The server 70 includes an estimation unit 200. For example, the server 70 functions as the estimation unit 200 by having a processor execute an estimation calculation program. When the communication device 71 of the server 70 receives notification that the positioning by the second positioning device 32A is unstable, it transmits the position of the vehicle 1A (agricultural machine) estimated by the estimation unit 200 to the vehicle 1A. 【0153】 Here, the support processing of the third embodiment will be explained using Figure 16. Figure 16 is a flowchart showing an example of the support processing of the third embodiment. 【0154】 As shown in Figure 16, in the support process of the third embodiment, steps S21 to S27 are the same as in the support process of the first embodiment, while steps S111 to S114 and S31 to S34 are different. For this reason, steps S111 to S114 and S31 to S34 in the support process of the third embodiment will be described in detail. 【0155】As shown in Figure 16, the aircraft 5A acquires its own positioning result, that is, position information (the position of the aircraft 50a (latitude, longitude)) from the first positioning device 50g (S111). Then, the aircraft 5A transmits the position information (the position of the aircraft 50a (latitude, longitude)) to the server 70 (S112). 【0156】 As shown in Figure 16, the aircraft 5A calculates position information between the farm machine and the aircraft 5A (S113). This calculation of position information is performed periodically, at predetermined intervals (e.g., every few seconds, every few hundred milliseconds). For example, the ranging sensor 50k of the aircraft 5A acquires relative information of the vehicle 1A (farm machine) with respect to the aircraft 5A. The aircraft 5A then transmits the position information between the farm machine and the aircraft 5A, that is, the relative information of the vehicle 1A (farm machine), to the server 70 (S114). 【0157】 The processes S111 to S114 in Figure 16 are executed at predetermined intervals (for example, several seconds or several hundred milliseconds). 【0158】 The estimation unit 200 of the server 70 calculates (calculates) the estimated position of the vehicle 1A (farm machine) based on the position information of the aircraft 5A itself received in S112 and the position information between the farm machine and the aircraft 5A received in S114 (S31). 【0159】 When the server 70 receives a notification from the vehicle 1A (agricultural machine) indicating unstable positioning (S23), it transmits the estimated position of the vehicle 1A (agricultural machine) calculated in S31 to the vehicle 1A (agricultural machine) via the communication device 71 (S32). The processes S111 to S113, S31 and S32 in Figure 16 are executed at predetermined intervals (e.g., several seconds, several hundred milliseconds), so the server 70 sequentially transmits the estimated position of the new agricultural machine (S33). In Figure 16, the multiple arrows in S33 indicate that the estimated positions of the new agricultural machine are transmitted sequentially. 【0160】 When server 70 receives the notification in S26, it stops transmitting the estimated position of the farm machine (S34). For example, server 70 continues to calculate the estimated position of the farm machine, but stops transmitting the estimated position of the farm machine. 【0161】According to the support system SY of the third embodiment described above, when the server 70 receives notification that the positioning by the second positioning device 32A is unstable, the estimation unit 200 of the server 70 estimates the position of the vehicle 1A, and the communication device 71 of the server 70 transmits the estimated position of the vehicle 1A to the vehicle 1A, thereby supporting the vehicle 1A's movement under the server 70's control. 【0162】 The main characteristic features and effects of the support system SY in the embodiments described above are as follows: 【0163】 (Item A1) A support system SY comprising: an aircraft 5A having a first positioning device 50g; a vehicle 1A having a second positioning device 32A; and an estimation unit 200 that estimates the position of the vehicle 1A using positioning by the first positioning device 50g. 【0164】 With this configuration, the estimation unit 200 estimates the position of the vehicle 1A using the positioning from the first positioning device 50g when the positioning from the second positioning device 32A is less stable than that from the first positioning device 50g. As a result, even if the positioning from its own second positioning device 32A is unstable, the vehicle 1A can travel based on the position of the vehicle 1A estimated by the estimation unit 200. Therefore, it is possible to support the travel of a vehicle 1A whose positioning is unstable. 【0165】 (Item A2) A support system SY comprising a vehicle 1A having a second positioning device 32A, and an estimation unit 200 that estimates the position of the vehicle 1A using positioning by a first positioning device 50g having an aircraft 5A. 【0166】 With this configuration, the estimation unit 200 estimates the position of the vehicle 1A using the positioning from the first positioning device 50g when the positioning from the second positioning device 32A is less stable than that from the first positioning device 50g. Even if the positioning from its own second positioning device 32A is unstable, the vehicle 1A can travel based on the position of the vehicle 1A estimated by the estimation unit 200. Therefore, it is possible to support the travel of the vehicle 1A when its positioning is unstable. 【0167】(Item A3) The support system SY according to item A1 or A2, wherein the flying body 5A flies above the ground vehicle 1A, so that the first positioning device 50g is positioned above the second positioning device 32A. 【0168】 In this configuration, the aircraft 5A may fly above the vehicle 1A, causing the first positioning device 50g to be positioned above the second positioning device 32A. In other words, the second positioning device 32A may be positioned below the first positioning device 50g, causing the positioning of the second positioning device 32A to become unstable. Even if the positioning by the second positioning device 32A becomes temporarily unstable due to its positional relationship with the aircraft 5A, the vehicle 1A's movement can still be appropriately supported. 【0169】 (Item A4) The support system SY described in Item A3, wherein the flying object 5A flies above the second positioning device 32A. 【0170】 With this configuration, the aircraft 5A flies above the second positioning device 32A, which allows for proper support of the vehicle 1A's movement even if the positioning by the second positioning device 32A becomes temporarily unstable. 【0171】 (Item A5) The aircraft 5A is equipped with a range measuring sensor 50k, and the range measuring sensor 50k acquires relative information with the vehicle 1A, as described in any one of Items A1 to A4, the support system SY. 【0172】 With this configuration, the aircraft 5A is equipped with a range-measuring sensor 50k, so the aircraft 5A can suitably acquire relative information (information including relative distance and relative direction) with respect to the ground unit 1A. 【0173】 (Item A6) The support system SY according to any one of items A1 to A5, wherein the flying body 5A is equipped with the estimation unit 200, and the estimation unit 200 calculates the position of the driving body 1A based on the positioning by the first positioning device 50g and the relative information by the distance measuring sensor 50k. 【0174】In this configuration, the estimation unit 200 of the flying unit 5A calculates the position of the vehicle 1A based on its own position determined by the first positioning device 50g and relative information with respect to the vehicle 1A (information including relative distance and relative direction). In other words, the flying unit 5A can calculate the position of the vehicle 1A in place of the second positioning device 32A, which has an unstable positioning system. 【0175】 (Item A7) The support system SY according to any one of items A1 to A5, wherein the driving body 1A is equipped with the estimation unit 200, and the estimation unit 200 calculates the position of the driving body 1A based on the positioning by the first positioning device 50g acquired from the flying body 5A and the relative information. 【0176】 With this configuration, the estimation unit 200 of the vehicle 1A calculates its own position based on the positioning obtained from the first positioning device 50g acquired from the aircraft 5A, and relative information (information including relative distance and relative direction) between the aircraft 5A and the vehicle 1A. In other words, the vehicle 1A can calculate its own position using the positioning obtained from the first positioning device 50g acquired from the aircraft 5A, and relative information (information including relative distance and relative direction), instead of the second positioning device 32A, which has an unstable positioning system. 【0177】 (Item A8) The vehicle 1A is an automated driving system SY according to any one of items A1 to A7, based on its estimated position information. 【0178】 With this configuration, even if the positioning (self-positioning) by the second positioning device 32A is unstable, the vehicle 1A can perform automatic driving based on its estimated position information. Therefore, it is possible to support the automatic driving of the vehicle 1A. 【0179】 (Item A9) The aircraft 5A is an agricultural aircraft 5, and the support system SY is as described in any one of items A1 to A7. 【0180】 With this configuration, the vehicle 1A can use the estimated position of the vehicle 1A obtained from the agricultural flying device 5 to support the vehicle's movement. 【0181】(Item A10) The agricultural flying device 5 is a support system SY described in any one of items A1 to A9 that performs work in the air above the vehicle 1A. 【0182】 With this configuration, the mobile unit 1A can obtain an estimated position from the agricultural flying device 5 performing work above it, and this can assist in the movement of the mobile unit 1A. 【0183】 (Item A11) A support system SY according to any one of items A1 to A5, comprising a server 70, wherein the server 70 comprises the estimation unit 200 and a communication device 71 that, upon receiving notification that the positioning by the second positioning device 32A is unstable, transmits the position of the vehicle 1A estimated by the estimation unit 200 to the vehicle 1A. 【0184】 With this configuration, when the server 70 receives notification that the positioning by the second positioning device 32A is unstable, the estimation unit 200 of the server 70 estimates the position of the vehicle 1A, and the communication device 71 of the server 70 transmits the estimated position of the vehicle 1A to the vehicle 1A, thereby supporting the vehicle 1A's movement under the server 70's control. 【0185】 (Item A12) A driving support method in which the estimation unit 200 estimates the position of a moving vehicle 1A that has a positioning device (second positioning device 32A) using the positioning of an aircraft 5A that is flying above the moving vehicle 1A and is capable of positioning. 【0186】 With this configuration, if the positioning of the vehicle 1A by the second positioning device 32A is less stable than that of the aircraft 5A by the first positioning device 50g, the estimation unit 200 estimates the position of the vehicle 1A using the positioning of the aircraft 5A by the first positioning device 50g. As a result, even if the positioning of its own second positioning device 32A is unstable, the vehicle 1A can travel based on the position of the vehicle 1A estimated by the estimation unit 200. Therefore, it is possible to support the travel of the vehicle 1A when its positioning is unstable. 【0187】In the embodiments and modifications 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. 【0188】 In the embodiments and modifications 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. 【0189】 Furthermore, in the embodiments and modifications described above, 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-making 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. 【0190】 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. 【0191】 1. Work machine 1A. 5. Driving unit. 5. Agricultural flying device 5A. Flying unit 32A. Second positioning device 50g. First positioning device 50i. Communication device 50k. Distance sensor 200. Estimation unit SY. Support system.

Claims

1. A support system comprising: an aircraft having a first positioning device; a vehicle having a second positioning device; and an estimation unit that estimates the position of the vehicle using positioning by the first positioning device.

2. A support system comprising a vehicle having a second positioning device, and an estimation unit that estimates the position of the vehicle using positioning by a first positioning device having an aircraft.

3. The support system according to claim 1, wherein the flying object flies above the ground object so that the first positioning device is positioned above the second positioning device.

4. The support system according to claim 3, wherein the aircraft flies above the second positioning device.

5. The support system according to claim 4, wherein the aircraft is equipped with a range measuring sensor, and the range measuring sensor acquires relative information with respect to the ground vehicle.

6. The support system according to claim 5, wherein the flying object comprises the estimation unit, and the estimation unit calculates the position of the driving object based on the positioning by the first positioning device and the relative information by the distance measuring sensor.

7. The support system according to claim 5, wherein the vehicle comprises the estimation unit, and the estimation unit calculates the position of the vehicle based on the positioning obtained from the aircraft by the first positioning device and the relative information.

8. The support system according to any one of claims 1 to 7, wherein the vehicle performs automatic driving based on its estimated position information.

9. The support system according to any one of claims 1 to 7, wherein the aircraft is an agricultural aircraft.

10. The support system according to claim 9, wherein the agricultural flying device performs work in the air above the vehicle.

11. The support system according to any one of claims 1 to 5, comprising a server, wherein the server comprises an estimation unit and a communication device that, upon receiving notification that positioning by the second positioning device is unstable, transmits the position of the vehicle estimated by the estimation unit to the vehicle.

12. A driving assistance method in which an estimation unit estimates the position of a moving vehicle equipped with a positioning device using the positioning of an aircraft flying above the vehicle and capable of positioning.

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