Flight device

Abstract

Provided is a flight device capable of appropriately suppressing swinging of a work device connected by a cord member.　A flight device (11) comprises: an airframe (12); a plurality of rotors (15) attached to the airframe (12) and capable of changing the altitude of the airframe (12); and a plurality of drive devices (31) each attached to the airframe (12) and capable of changing the relative position of a work device (61) with respect to the airframe (12) by winding and unwinding a cord member (51) connected to the work device (61). The plurality of drive devices (31) execute adjustment processing for winding and / or unwinding the cord member (51) according to the posture of the work device (61) with respect to the airframe (12).

Description

Flying device

[0001] The present invention relates to a flying device.

[0002] The liquid spraying device disclosed in Patent Document 1 has a nozzle for spraying a spraying liquid suspended from a multicopter, a pipe having a first flow path for supplying the spraying liquid held by the multicopter to the nozzle, and a stabilization mechanism for suppressing the swinging of the nozzle when the spraying liquid is ejected from the nozzle.

[0003] Japanese Patent Publication "Japanese Patent Application Laid-Open No. 2022-151626"

[0004] The liquid spraying device of Patent Document 1 can spray the spraying liquid at a position lower than the multicopter by being suspended from the multicopter, and the swinging of the nozzle can be suppressed by a stabilization mechanism including a weight.

[0005] However, when a weight is adopted as the stabilization mechanism, not only does the weight of the entire working device (liquid spraying device) increase, but also if the working device swings, the swinging cannot be converged early.

[0006] The present invention has been made to solve such problems of the prior art, and an object thereof is to provide a flying device that can appropriately suppress the swinging of a working device connected by a string member.

[0007] A flying device according to an aspect of the present invention includes a fuselage, a plurality of rotors attached to the fuselage and capable of changing the altitude of the fuselage, and a plurality of drive devices respectively attached to the fuselage and capable of changing the relative position of the working device with respect to the fuselage by winding and unwinding a string member connected to the working device. The plurality of drive devices execute an adjustment process of winding and / or unwinding the string member according to the posture of the working device with respect to the fuselage.

[0008] According to the above flying device, the swinging of the working device connected by the string member can be appropriately suppressed.

[0009] This is a diagram of the work support system. This is a diagram of the flight device connected to the work device. This is a perspective view of the flight device. This is a front view of the flight device. This is a side view of the flight device. This is a top view of the flight device. This is a bottom view of the flight device. This is a bottom view of the flight device in another example. This is a perspective view showing the drive device. This is a perspective view of the work device. This is a top view of the work device. This is a top view of the work device in another example. This is a diagram of the work path and the flight path. Figure 1 shows the state in which the oscillating work device is at its highest point when the adjustment process is not performed and when the adjustment process is performed. Figure 2 shows the state in which the oscillating work device is at its highest point when the adjustment process is not performed and when the adjustment process is performed. Figure 3 shows the state in which the oscillating work device is at its highest point when the adjustment process is not performed and when the adjustment process is performed. Figure 4 shows the state in which the oscillating work device is at its highest point when the adjustment process is not performed and when the adjustment process is performed. Figure 5 shows the state in which the oscillating work device is at its highest point, both when the adjustment process is not performed and when the adjustment process is performed. Figure 6 shows the state in which the oscillating work device is at its highest point, both when the adjustment process is not performed and when the adjustment process is performed. Figure 7 shows the state in which the oscillating work device is at its highest point, both when the adjustment process is not performed and when the adjustment process is performed. This is an example of the first map (graph) showing the relationship between the control amount of the string member and the tension difference. This is a diagram explaining the sequence of steps in the adjustment process. This is an example of the second map (graph) showing the relationship between the control amount of the string member and the relative acceleration. This is a diagram explaining the sequence of steps in the adjustment process of the first modified example. This is an example of the third map (graph) showing the relationship between the control amount of the string member and the relative velocity. This is a diagram explaining the sequence of steps in the adjustment process of the second modified example.

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. Figure 1 is a configuration diagram of the work support system 1. Figure 2 is a diagram showing the flying device 11 connected to the work device 61. As shown in Figures 1 and 2, the work support system 1 comprises a flying device 11 and a work device 61 connected to the flying device 11 by a rope member 51. As a result, the flying device 11 can fly while suspending the work device 61 or fly while towing the work device 61.

[0011] For the sake of explanation, the direction indicated by arrow D1 in the diagram is referred to as the front, and the direction indicated by arrow D2 is referred to as the rear. Also, the direction indicated by arrow D3 is referred to as the left, and the direction indicated by arrow D4 is referred to as the right. The direction indicated by arrow D5 is referred to as the up, and the direction indicated by arrow D6 is referred to as the down. Furthermore, the horizontal direction, which is perpendicular to the front-back direction, is referred to as the width direction.

[0012] The flying device 11 according to the present invention is an unmanned flying device 11. More specifically, the flying device 11 is a multi-rotor aircraft called a drone. The flying device 11 may be operated by remote control by an operator via wireless or wired communication, or it may be operated by autonomous control without remote control. In this embodiment, for the sake of explanation, the description will focus on the flying device 11 that operates by autonomous control, and a detailed description of the flying device 11 that operates by remote control will be omitted as appropriate.

[0013] Figure 3 is a perspective view of the flying device 11, and Figure 4 is a front view of the flying device 11. Figure 5 is a side view of the flying device 11, Figure 6 is a top view of the flying device 11, and Figure 7 is a bottom view of the flying device 11. As shown in Figures 3 to 7, the flying device 11 comprises a fuselage 12 and a plurality of rotors 15. The fuselage 12 has a main body 13 that supports various devices and equipment of the flying device 11. The fuselage 12 also has a plurality of arms 14 extending from the main body 13. In a plan view, the arms 14 extend away from the main body 13. In a plan view, the plurality of arms 14 extend radially from the main body 13. The arms 14 extend horizontally outward from the main body 13.

[0014] Multiple rotors 15 are attached to the aircraft body 12, allowing the altitude of the aircraft body 12 to be changed. Specifically, each of the multiple rotors 15 is attached to one of the arms 14. The multiple rotors 15 also generate lift to raise the aircraft body 12, thereby controlling the aircraft body 12's attitude. In a plan view, the multiple rotors 15 are arranged at equidistant positions from the center of the aircraft body 12.

[0015] Furthermore, in this embodiment, each rotor 15 performs both lift generation and attitude control, but a plurality of rotors 15 may include a rotor 15 that generates lift and a rotor 15 that performs attitude control separately.

[0016] The rotor 15 has a rotating shaft 16 and blades 17. The rotating shaft 16 is a shaft that rotates due to power transmitted from the first power unit 18. The rotating shaft 16 extends in the vertical direction. The blades 17 are attached to the rotating shaft 16 and generate lift as the rotating shaft 16 rotates.

[0017] The first power unit 18 is a device capable of outputting power. The first power unit 18 also supplies the outputted power to the rotating shaft 16. The first power unit 18 is provided, for example, on each rotor 15. The first power unit 18 has an electric motor 18a that is driven by power supplied from the first battery unit 44. Therefore, the first power unit 18 rotates the rotating shaft 16 with the power output by the driving of the electric motor 18a.

[0018] In the following description, the electric motor 18a of the first power unit 18 will be referred to as the first motor. In this embodiment, the case in which each rotor 15 has a first power unit 18 will be described as an example, but one rotor 15 and other rotors 15 may share one first power unit 18. Furthermore, the first power unit 18 is not limited to an electric motor, but may also be an internal combustion engine such as a gasoline engine provided in the main body 13.

[0019] As shown in Figures 2 to 7, the aircraft 11 is equipped with skids 19. The skids 19 are attached to the lower part of the aircraft body 12. The skids 19 have a plurality of leg members 20 that extend downward from the main body 13. The plurality of leg members 20 touch the ground when the aircraft 11 lands, supporting the aircraft body 12 by floating it above the landing surface (contact surface) such as the ground. The plurality of leg members 20 are spaced apart horizontally. As a result, a space 21 is formed between the plurality of leg members 20 below the main body 13. In addition, the plurality of leg members 20 are attached to the main body 13 at an angle such that the spacing between them widens as they extend downward.

[0020] As shown in Figures 1, 3 to 7, the flight device 11 is equipped with one or more drive devices 31. The drive device 31 is a device capable of winding up and unwinding a string member 51 connected to the work device 61. The drive device 31 is attached to the aircraft body 12, and the relative position of the work device 61 with respect to the aircraft body 12 can be changed by winding up and unwinding the string member 51. The string member 51 is a wire or wire rope made of metal or resin, etc.

[0021] Figure 9 is a perspective view showing the drive unit 31. As shown in Figure 9, the drive unit 31 includes a rotating part 34 and a drum 33 that is rotated by the rotating part 34. The rotating part 34 includes a motor 34a and a reduction mechanism 34b. The motor 34a of the rotating part 34 outputs power to rotate the drum 33. This motor is an electric motor driven by power supplied, for example, from the first battery unit 44. In the following description, the electric motor 34a of the rotating part 34 will be referred to as the second motor.

[0022] The reduction mechanism 34b is a mechanism that reduces the power output by the second motor 34a. The reduction mechanism 34b also transmits the reduced power to the drum 33, causing the drum 33 to rotate. The reduction mechanism 34b includes, for example, multiple gears, which reduce the power output by the second motor 34a.

[0023] The drum 33 is wound around the string member 51 and rotates to wind or unwind the string member 51. The drum 33 has a rotating shaft attached to its center of rotation. Therefore, the drum 33 can rotate by power transmitted from the rotating part 34 in a first rotational direction for winding the string member 51 and in a second rotational direction opposite to the first rotational direction for unwinding the string member 51.

[0024] Furthermore, as shown in Figure 1, the drive unit 31 may have a rotation restricting mechanism. The rotation restricting mechanism is a mechanism that allows rotation in a first rotational direction and can switch between allowing and preventing rotation in a second rotational direction. In other words, the rotation restricting mechanism allows winding of the string member 51 and can switch between allowing and preventing unwinding of the string member 51. The rotation restricting mechanism is a ratchet mechanism that can switch between allowing and preventing rotation in a second rotational direction depending on the supplied power.

[0025] The rotation restricting mechanism comprises a claw member, a biasing member, and a solenoid. The claw member is engageable with a latch gear attached to the drum 33. The biasing member is a biasing spring (spring) that biases the claw member in the direction of engagement with the latch gear. The solenoid is driven by an applied voltage to move the claw member in the opposite direction to the engagement direction, against the biasing spring.

[0026] Therefore, the rotation restricting mechanism allows rotation in the first rotational direction and prevents rotation in the second rotational direction when no voltage is applied to the solenoid and the claw member is engaged with the latch gear by the biasing spring (first state). On the other hand, the rotation restricting mechanism allows rotation in both the first and second rotational directions when the solenoid is driven and the engagement between the claw member and the latch gear is released (second state).

[0027] The drive unit 31 is not limited to the example described above, and may, for example, have one or more pulleys 36 around which the string member 51 is wound. Also, if the second motor 34a is a motor with a brake, the drive unit 31 does not need to have the rotation restricting mechanism described above. In such a case, the motor with a brake is, for example, an electromagnetic motor with a brake, and the armature can be attracted to either a clutch plate or a brake plate, allowing and preventing rotation in the first and second rotation directions.

[0028] The drive units 31 are provided on the aircraft body 12 in a number corresponding to the number of string members 51 that connect the flight device 11 and the work device 61. In this embodiment, the flight device 11 and the work device 61 are connected by a plurality of string members 51, and the flight device 11 is equipped with a plurality of drive units 31. The drive units 31 are attached to the main body 13. In addition, since the flight device 11 in this embodiment is connected to the work device 61 by two string members 51, the flight device 11 is equipped with two drive units 31.

[0029] As shown in Figures 6 and 7, the multiple drive units 31 are arranged at different positions in the horizontal direction. Specifically, of the multiple drive units 31, one drive unit 31L1 is provided on one side in the horizontal direction, and the other drive unit 31R1 is provided on the other side in the horizontal direction. In particular, one drive unit 31L1 is provided on one side (left side) in the width direction. The other drive unit 31R1 is provided on the other side (right side) in the width direction.

[0030] Multiple drive units 31 are arranged such that the string members 51 hanging from each drive unit 31 are at equal intervals. The drive unit 31 in this embodiment is provided with an insertion hole 32a through which the string members 51 that are wound up and unwound by the drive unit 31 are inserted, and the center of the insertion hole 32a is located on a virtual circle O1 centered on a predetermined position of the flight device 11. For example, the center of the virtual circle O1 is the center of gravity of the flight device 11 or a position equidistant from the center of each rotor 15. The drive unit 31 is also attached to the space 21 between the multiple leg members 20.

[0031] In the following description, the drive unit 31L1 attached to the left side of the main body 13 will be referred to as the "first drive unit," and the drive unit 31R1 attached to the right side of the main body 13 will be referred to as the "second drive unit." Furthermore, the string member 51L that the first drive unit 31L1 winds up and unwinds will be referred to as the "first string member," and the string member 51R that the second drive unit 31R1 winds up and unwinds will be referred to as the "second string member."

[0032] In the following description, the focus will be on the case where the flight device 11 is equipped with two drive units 31 and connected to the work device 61 by two string members 51. However, the number of drive units 31 equipped in the flight device 11 is not limited to two; there may be three or four or more. Figure 8 shows a flight device 11 equipped with four drive units 31. In the flight device 11 shown in Figure 8, the four drive units 31 are arranged on the left front, right front, left rear, and right rear of the main body 13, respectively. Therefore, in the modified example shown in Figure 8, the first drive unit 31L1 is located on the left front of the main body 13, and the second drive unit 31R1 is located on the right front of the main body 13. Furthermore, in addition to the first drive unit 31L1 and the second drive unit 31R1, the flight device 11 is equipped with a third drive unit 31L2 and a fourth drive unit 31R2, the third drive unit 31L2 being located at the left rear of the main body 13 and the fourth drive unit 31R2 being located at the right rear of the main body 13.

[0033] As described above, the aircraft 12 can fly with the work device 61 suspended via the string member 51, or fly while towing the work device 61 via the string member 51. In the examples shown in Figures 3 to 8, the drive unit 31 is attached to the main body 13, but its mounting position is not limited to the main body 13, and the drive unit 31 may also be attached to the arm 14.

[0034] As shown in Figure 1, the flight device 11 is equipped with a first control device 41 (control device). The flight device 11 is also equipped with a first storage device 42.

[0035] The first control device 41 includes one or more processors. The first control device 41 is a controller of the aircraft 11 and performs various controls on the aircraft 11. The first control device 41 is communicatively connected to each piece of equipment and device mounted on the aircraft 11. For example, the first control device 41 controls the drive, stop, and rotation speed (lift) of each rotor 15.

[0036] The first control device 41 includes one or more memories (first memories), various analog circuits, various digital circuits, etc. One or more first memories store (remember) software programs and various data to be executed by one or more processors. The first control device 41 can read software programs from one or more first memories using one or more processors and execute various processes based on said software programs. The first control device 41 may also execute various processes based on predetermined logic circuits using one or more processors.

[0037] Processors include, for example, CPUs (Central Processing Units), GPUs (Graphics Processing Units), DSPs (Digital Signal Processors), FPGAs (Field Programmable Gate Arrays), and ASICs (Application Specific Integrated Circuits).

[0038] The first control device 41 may perform various processes through the cooperation of multiple physically separated processors, and its configuration is not limited to the configuration described above. In such a case, the multiple processors are each mounted on one or more computers that are physically separated from the flight device 11, and these processors are connected to each other via a network such as a LAN, WAN, and the Internet.

[0039] Further, the software program may be stored in a first storage device 42 (non-volatile memory such as HDD, SSD, etc.) communicably connected to the first control device 41, or in an external server device connected via the network, and installed in the memory from these.

[0040] The first storage device 42 stores various kinds of information and data regarding the flying device 11 in a readable and writable manner. The first storage device 42 includes a non-volatile memory and the like. The first storage device 42 is communicably connected to the first control device 41, and the first control device 41 can acquire various kinds of information and data stored in the first storage device 42.

[0041] As shown in FIG. 1, the flying device 11 includes a first communication device 43. The first communication device 43 is a communication interface of the flying device 11 and includes a communication circuit. The first communication device 43 communicates with at least the working device 61 wirelessly or wiredly, and inputs / outputs (transmits / receives) various kinds of information, data, signals, etc. The first communication device 43 performs wireless communication, for example, by Bluetooth (registered trademark) Low Energy in the specification of Bluetooth (registered trademark) of the communication standard IEEE802.15.1 series, WiFi (registered trademark) of the communication standard IEEE802.11.n series, etc.

[0042] As shown in FIG. 1, the flying device 11 includes a first battery unit 44 and a first inverter 45. The first battery unit 44 and the first inverter 45 are provided on the airframe 12.

[0043] The first battery unit 44 can store and discharge electricity, and supplies power to each device and each equipment etc. provided in the flying device 11. Examples of the first battery unit 44 include a lithium-ion battery.

[0044] The first inverter 45 controls the power (current and voltage) supplied to each electric motor (first motor 18a, second motor 34a) mounted on the flying device 11. The first inverter 45 is controlled by the first control device 41, and controls the power supplied to each electric motor 18a, 34a.

[0045] As a result, the first control device 41 controls the first inverter 45 to control the rotational speed of each first motor 18a, thereby changing the lift generated by each rotor 15. Therefore, the multiple rotors 15 can change the altitude of the aircraft 12 and change the attitude of the aircraft 12, allowing the aircraft 12 to fly in a desired direction.

[0046] Furthermore, the first control device 41 controls the winding or unwinding of the string members 51 by each drum 33 by controlling the rotation speed and rotation direction of each second motor 34a by controlling the first inverter 45. When the first control device 41 controls the first inverter 45 to wind or unwind the string members 51 by the drive device 31, it applies a voltage to the solenoid part of the rotation regulating mechanism of the drive device 31 and switches to the second state.

[0047] As shown in Figure 1, the flight device 11 is equipped with a displacement detection device 46a that detects the length ΔL (displacement length) of the winding and unwinding of the string member 51. The displacement detection device 46a is a rotation sensor that detects the rotation of the drum 33, pulley 36, etc., of the drive device 31. The rotation sensor is an incremental or absolute rotary encoder, etc. The rotation sensor is connected to the first control device 41 via wired or wireless communication and outputs the detection result (rotation of the drum 33, pulley 36, etc.) to the first control device 41. The first control device 41 can calculate the displacement length ΔL of the string member 51 per predetermined time based on the detection result output from the rotation sensor and calculation formulas pre-stored in the first storage device 42. Therefore, the first control device 41 can obtain the respective displacement lengths ΔL of each string member 51 connecting the flight device 11 and the work device 61. Therefore, the first control device 41 can obtain the current lengths L1 and L2 of each string member 51 (the length from the insertion hole 32a of the drive device 31 to the work device 61).

[0048] As shown in FIG. 1, the flying device 11 includes a tension detection device 46b that detects the tensions T1 and T2 acting on the string member 51. In the present embodiment, the tension detection device 46b is provided in the drive device 31. The tension detection device 46b is a load sensor (such as a load cell) that detects the load acting on a member (such as the drum 33 or the pulley 36) around which the string member 51 is wound as the tensions T1 and T2 act on the string member 51. The tension detection device 46b is communicably connected to the first control device 41 by wire or wirelessly, and outputs the detection result (the load acting on the drum 33, the pulley 36, etc.) to the first control device 41. The first control device 41 can calculate the tensions T1 and T2 acting on the string member 51 based on the detection result output from the tension detection device 46b and the arithmetic formula etc. stored in advance in the first storage device 42. Therefore, the first control device 41 can acquire the tensions T1 and T2 acting on each of the string members 51 that connect the flying device 11 and the working device 61.

[0049] Note that the tension detection device 46b of the present embodiment is provided in each drive device 31, but it is only necessary to be able to detect the tensions T1 and T2 acting on at least each string member 51, and the mounting position thereof is not limited. As the tension detection device 46b attached to the string member 51, a tension meter can be exemplified.

[0050] As shown in FIG. 1, the flying device 11 includes a first inertial measurement device 46c (IMU: Inertial Measurement Unit). The first inertial measurement device 46c detects the attitude etc. of the flying device 11 (the airframe 12). The first inertial measurement device 46c has an acceleration sensor that detects acceleration, a gyro sensor that detects angular velocity, etc. The first inertial measurement device 46c is communicably connected to the first control device 41 by wire or wirelessly, and outputs the detection result (acceleration, angular velocity, etc.) to the first control device 41. The first control device 41 can calculate the attitude (roll angle, pitch angle, yaw angle) and movement (acceleration) of the flying device 11 based on the detection result output from the first inertial measurement device 46c and the arithmetic formula etc. stored in advance in the first storage device 42.

[0051] As shown in Figure 1, the flight device 11 is equipped with an altitude detection device 46d. The altitude detection device 46d detects the altitude of the flight device 11 (aircraft body 12). The altitude detection device 46d is, for example, a barometric pressure sensor. The altitude detection device 46d is connected to the first control device 41 via wired or wireless communication and outputs the detection result (barometric pressure) to the first control device 41. The first control device 41 can calculate the altitude of the flight device 11 based on the detection result output from the altitude detection device 46d and calculation formulas, etc., that are pre-stored in the first storage device 42.

[0052] As shown in Figure 1, the flight device 11 is equipped with a sensing device 46e (first sensing device). The first sensing device 46e is capable of sensing the area around the flight device 11. For example, the first sensing device 46e can sense the horizontal and downward directions of the aircraft body 12.

[0053] The first sensing device 46e includes an optical distance measuring sensor and a signal processing circuit, etc. The optical distance measuring sensor of the first sensing device 46e can be exemplified by a LiDAR (Light Detection and Ranging) sensor.

[0054] A lidar (laser sensor) emits pulsed measurement light (laser beam) millions of times per second from a light source such as a laser diode. This measurement light is reflected by a rotating mirror and scanned horizontally or vertically, projecting it into a predetermined detection range (sensing range, e.g., 360°). The lidar then receives the reflected light from the object using a photodetector. The signal processing circuit detects the distance to the object based on the time from when the lidar emits the measurement light until the reflected light is received (Time of Flight (ToF) method).

[0055] Examples of optical distance measuring sensors for the first sensing device 46e include, in addition to LiDAR, imaging devices such as CCD cameras equipped with CCD (Charge Coupled Devices) image sensors, CMOS cameras equipped with CMOS (Complementary Metal Oxide Semiconductor) image sensors, and ToF cameras. Furthermore, although the above example illustrates a case where the first sensing device 46e has an optical distance measuring sensor, an ultrasonic distance measuring sensor (for example, an airborne ultrasonic sensor such as sonar) may be used instead of an optical distance measuring sensor.

[0056] As shown in Figure 1, the flight device 11 is equipped with a first position detection device 46f. The first position detection device 46f detects positioning information such as data indicated by latitude and longitude, or data indicated by coordinates (X axis, Y axis). The first position detection device 46f receives satellite signals from a satellite positioning system using a GPS antenna and detects its own position using said satellite signals. The first position detection device 46f can, for example, detect its own position (position of the GPS antenna). Therefore, the first position detection device 46f can correct the detected position and detect a predetermined position of the flight device 11. In this embodiment, the first position detection device 46f can detect the central position P1 (aircraft position) of the aircraft body 12. The first position detection device 46f is connected to the first control device 41 via wired or wireless communication and outputs the detection result to the first control device 41. The first control device 41 acquires the aircraft position P1 based on the detection result.

[0057] In this embodiment, the case in which the flight device 11 is equipped with a first position detection device 46f is described as an example. However, if the first control device 41 can estimate the aircraft position P1 based on the sensing results (detected point cloud data) of the first sensing device 46e, the flight device 11 does not need to be equipped with the first position detection device 46f. In such a case, the first control device 41 estimates the aircraft position P1 based on the sensing results (detected point cloud data) of the first sensing device 46e and environmental map information stored in the first storage device 42, etc.

[0058] Next, the work device 61 will be described. The work device 61 is connected to the flying device 11 via a string member 51 and is a device that performs work (for example, agricultural work) in a work area such as a field 100. Different work devices 61 can be connected to the string member 51. Therefore, each work device 61 can be moved by being suspended by the flying device 11, or it can be driven by being towed by the flying device 11. The work device 61 in this embodiment is a work device 61 that can be driven by being towed by the flying device 11.

[0059] Figure 10 is a perspective view of the work device 61. Figure 11 is a plan view of the work device 61. As shown in Figures 10 and 11, the work device 61 comprises a base body 62 and a work section 63. Furthermore, the work device 61 towed by the flying device 11 is equipped with a traveling device 64 that supports the base body 62 so that it can move. In other words, the base body 62 of the work device 61 equipped with the traveling device 64 is a movable vehicle body 62. Note that the work device 61 not towed by the flying device 11 may be equipped with a stand for making contact with the ground surface instead of the traveling device 64.

[0060] The base body 62 supports various devices and equipment of the work device 61. For example, the base body 62 supports the second power unit 66 of the work device 61. The second power unit 66 is a device capable of outputting power, for example, supplying power to the work unit 63 and driving the work unit 63.

[0061] Furthermore, as shown in Figure 2, the tip end (opposite side of the drive device 31) of the string member 51 is connected to the base body 62. The base body 62 is pulled by one or more string members 51, and in this embodiment, it is connected to multiple string members 51. Each string member 51 is connected to a different horizontal position on the work device 61. Specifically, the work device 61 is equipped with a connecting device 65 to which the string members 51 are connected. The connecting devices 65 are provided on the base body 62 in proportion to the number of string members 51 that connect the work device 61 and the flight device 11. In the example shown in Figures 10 and 11, the work device 61 is connected to the flight device 11 by two string members 51, so the work device 61 is equipped with two connecting devices 65.

[0062] As shown in Figures 10 and 11, the multiple connecting devices 65 are arranged such that the string members 51 connected to each connecting device 65 are at equal intervals. In this embodiment, the string members 51 are connected at the center of the connecting device 65, and the center of each connecting device 65 is positioned on a virtual circle O2 centered on a predetermined position of the work device 61. For example, the center of the virtual circle O2 is the center of gravity of the work device 61.

[0063] A first string member 51L, which is wound up and unwound by a first drive unit 31L1, is connected to a connecting device 65L1 (first connecting device) attached to the left side of the base body 62. A second string member 51R, which is wound up and unwound by a second drive unit 31R1, is connected to a connecting device 65R1 (second connecting device) attached to the right side of the base body 62.

[0064] Figure 12 shows an example in which the working device 61 is equipped with four connecting devices 65 and connected to the flying device 11 by four string members 51. In the working device 61 shown in Figure 12, the four connecting devices 65 are located on the left front, right front, left rear, and right rear of the base body 62, respectively. Therefore, in the modified example shown in Figure 12, the first connecting device 65L1 is located on the left front of the base body 62, and the second connecting device 65R1 is located on the right front of the base body 62. In addition, the working device 61 is equipped with a third connecting device 65L2 and a fourth connecting device 65R2 in addition to the first connecting device 65L1 and the second connecting device 65R1, with the third connecting device 65L2 located on the left rear of the base body 62 and the fourth connecting device 65R2 located on the right rear of the base body 62.

[0065] As described above, the base body 62 can be moved by being suspended from the flying device 11 via the string member 51, or it can be driven by being towed by the flying device 11 via the string member 51.

[0066] The work unit 63 is mounted on the base body 62 and performs its work. The work unit 63 performs its work as the base body 62 moves. Examples of the work unit 63 include a cutting unit 63A for cutting weeds and pasture grass, a pesticide spraying unit for spraying pesticides, and a seeding unit for sowing seeds (seeding work). In the example shown in Figures 10 and 11, the work device 61 is a cutting device 61A equipped with a cutting unit 63A as the work unit 63.

[0067] Furthermore, the work device 61 only needs to be able to perform work in the work area by being suspended from or towed by the flying device 11, and the work unit 63 provided by the work device 61 is not limited to the examples described above. For example, the work unit 63 may be a tilling unit for tilling work, a tilling unit for tilling work, a ridging unit for making ridges, a ditching unit for digging ditches, a harvesting unit for harvesting crops, a spreading unit for spreading pasture grass, a grass gathering unit for collecting pasture grass, a shaping unit for shaping pasture grass, a fertilizer spreading unit for spreading fertilizer, etc.

[0068] As shown in Figure 11, the harvesting device 61A of this embodiment includes a pair of harvesting sections 63A arranged spaced apart in the width direction. Each harvesting section 63A has a cutting blade drive shaft 63a and a cutting blade 63c. The cutting blade drive shaft 63a is a shaft that rotates by power transmitted from the second power unit 66. The cutting blade drive shaft 63a extends in the vertical direction. The cutting blade 63c is attached to the cutting blade drive shaft 63a and rotates around its axis of rotation as the cutting blade drive shaft 63a rotates. Specifically, the cutting blade 63c is detachably attached to a cutting blade holder 63b attached to the lower end of the cutting blade drive shaft 63a via fastening members such as bolts.

[0069] The running gear 64 is a device that supports the base body 62 so that it can move. The running gear 64 has a plurality of wheels 64a. In the example shown in Figure 10, the plurality of wheels 64a include a pair of front wheels 64a1 and a pair of rear wheels 64a2. Examples of wheels 64a include wheeled wheels made of tires and crawler-type wheels.

[0070] In the examples shown in Figures 10 and 11, the running gear 64 of the work device 61 (harvesting device 61A) has a total of four wheels 64a, consisting of a pair of front wheels 64a1 and a pair of rear wheels 64a2. However, the number of wheels 64a is not limited to four. The number of wheels 64a of the running gear 64 may be one or more, such as two or three. Furthermore, the running gear 64 may be driven to provide propulsion to the base body 62.

[0071] The second power unit 66 has an electric motor that is driven by power supplied, for example, from the second battery unit 74. In this embodiment, the second power unit 66 includes an electric motor 66b (third motor) that drives the work unit 63. The pair of work units 63 are driven by a common third motor 66b.

[0072] The output shaft of the electric motor 66b (third motor) of the second power unit 66 is directly or indirectly connected to the input shaft of the power supply destination, and transmits the generated power to the supply destination. The output shaft of the electric motor 66b is indirectly connected to the input shaft of the supply destination, for example, via a reduction gear including multiple gears. Therefore, the second power unit 66 can drive the work unit 63. Note that the second power unit 66 is not limited to an electric motor, but may be an internal combustion engine such as a gasoline engine.

[0073] As shown in Figure 1, the work device 61 is equipped with a second control device 71. The work device 61 is also equipped with a second storage device 72.

[0074] The second control device 71 includes one or more processors. The second control device 71 is a controller for the work device 61 and performs various controls related to the work device 61. The second control device 71 is communicatively connected to each piece of equipment and device mounted on the work device 61. For example, the second control device 71 controls the driving, stopping, and rotation speed (propulsion) of each wheel 64a. The second control device 71 also controls the driving, stopping, and rotation speed of the work unit 63.

[0075] The second control device 71 includes one or more memories (second memories), various analog circuits, various digital circuits, etc. One or more second memories store (remember) software programs and various data to be executed by one or more processors. The second control device 71 can read software programs from one or more second memories using one or more processors and execute various processes based on said software programs.

[0076] Furthermore, as described in the first control device 41, the second control device 71 may perform various processes based on predetermined logic circuits using one or more processors. Also, as described in the first control device 41, the second control device 71 may perform various processes by having multiple physically separated processors cooperate with each other, and its configuration is not limited to the configuration described above.

[0077] The second storage device 72 stores various information and data related to the work device 61 in a read-write manner. The second storage device 72 includes non-volatile memory and the like. The second storage device 72 is communicated with the second control device 71, and the second control device 71 can acquire various information and data stored in the second storage device 72.

[0078] As shown in Figure 1, the work device 61 is equipped with a second communication device 73. The second communication device 73 is the communication interface of the work device 61 and includes a communication circuit. The second communication device 73 communicates with at least the flight device 11 (first communication device 43) wirelessly or via wired connection and inputs (transmits and receives) various information, data, and signals. The second communication device 73 performs wireless communication using, for example, Bluetooth® Low Energy in the Bluetooth® specification of the IEEE 802.15.1 series, or Wi-Fi® in the IEEE 802.11.n series.

[0079] As shown in Figure 1, the work device 61 includes a second battery unit 74 and a second inverter 75. The second battery unit 74 and the second inverter 75 are mounted on the base body 62. The second battery unit 74 is capable of storing and discharging power and supplies power to the various devices and equipment of the work device 61. A lithium-ion battery can be exemplified as the second battery unit 74. The second inverter 75 controls the power (current and voltage) supplied to each electric motor 66b (third motor) mounted on the work device 61. The second inverter 75 is controlled by the second control device 71 and controls the power supplied to the third motor 66b.

[0080] As a result, the second control device 71 controls the second inverter 75 to change the rotation speed and / or rotation direction of the third motor 66b, thereby controlling the work performed by each work unit 63.

[0081] As shown in Figure 1, the work device 61 may be equipped with a second inertial measurement unit (IMU). The second inertial measurement unit 76a has an acceleration sensor for detecting acceleration, a gyro sensor for detecting angular velocity, etc. The second inertial measurement unit 76a is connected to the second control device 71 via wired or wireless communication and outputs detection results (acceleration, angular velocity, etc.) to the second control device 71. The second control device 71 can calculate the attitude (roll angle, pitch angle, yaw angle) and movement (acceleration) of the work device 61 based on the detection results output from the second inertial measurement unit 76a and calculation formulas etc. that are pre-stored in the second storage device 72.

[0082] As shown in Figure 1, the work device 61 may be equipped with a second position detection device 76d. The second position detection device 76d detects positioning information such as data indicated by latitude and longitude, or data indicated by coordinates (X axis, Y axis). The second position detection device 76d has the same configuration as the first position detection device 46f. The second position detection device 76d can correct its own detected position and detect a predetermined position of the work device 61. In this embodiment, the second position detection device 76d can detect the central position P2 (device position) of the base body 62. The second position detection device 76d is connected to the second control device 71 via wired or wireless communication and outputs the detection result to the second control device 71. The second control device 71 acquires the device position P2 based on the detection result.

[0083] In this embodiment, the case in which the work device 61 is equipped with a second position detection device 76d will be described as an example. However, if the work device 61 is equipped with a second sensing device 76c capable of sensing the surroundings, the second control device 71 may estimate the device position P2 based on the sensing results (detected point cloud data) of the second sensing device 76c. The second control device 71 estimates the device position P2 based on the sensing results (detected point cloud data) of the second sensing device 76c and environmental map information stored in the second storage device 72, etc.

[0084] Since the second sensing device 76c has the same configuration as the first sensing device 46e, a redundant explanation will be omitted. In such a case, the work device 61 may be equipped with the second sensing device 76c in place of, or in addition to, the second position detection device 76d, and may not be equipped with the second position detection device 76d.

[0085] Figure 13 shows the work path 101 and the flight path 102. In Figure 13, the path 101 (work path) on which the work device 61 moves is shown by a solid line, and the path 102 (flight path) on which the flight device 11 moves is shown by a dashed line. In this embodiment, the first control device 41 acquires the aircraft position P1 and controls the multiple rotors 15 so that the aircraft position P1 moves along the flight path 102, thereby moving the work device 61 along the work path 101.

[0086] The work path 101 is the path that the work device 61 takes when performing work in the work area (field 100). The work path 101 is represented by data such as latitude and longitude, or by coordinates (X axis, Y axis). The work path 101 is predefined by the operator operating a terminal device (a mobile terminal such as a smartphone or PC operated by the operator or manager, a remote device, etc.). The work path 101 includes the work line 101a in which the work device 61 performs its work.

[0087] The work line 101a is the path along which the work device 61 moves and performs work as the flying device 11 moves. The work line 101a is a straight line or a relatively straight line. In this embodiment, the work line 101a is the straight section along which the work device 61 moves in a straight line. The work path 101 includes a plurality of work lines 101a, and each of these work lines 101a extends in a predetermined direction with a predetermined spacing between them. The predetermined direction is, for example, the direction from one end of the field 100 to the other end, and from the other end to the first end.

[0088] The separation width is calculated based on the working width of the work device 61 and the overlap width in the width direction (the width over which the work execution range overlaps when moving between adjacent work lines 101a). In the example shown in Figure 13, a black circle is placed at the start of each work line 101a and a white circle at the end.

[0089] The flight path 102 is the path along which the flying device 11, connected to the working device 61 by a string member 51, flies over the work area (field 100) and moves the working device 61 along the work path 101. The flight path 102 is data indicated by latitude and longitude, or data indicated by coordinates (X axis, Y axis), etc. In addition to latitude and longitude, the flight path 102 may also be data that includes altitude, or data indicated by coordinates (X axis, Y axis, Z axis), etc.

[0090] The flight path 102 is defined based on a work path 101 that is predefined in the terminal equipment. The flight path 102 may be defined in the terminal equipment, or it may be defined in the first control device 41 that has acquired the work path 101 from the terminal equipment via the first communication device 43. For example, the flight path 102 is defined based on the work path 101, with each work line 101a offset by a predetermined length toward the direction of travel of the work device 61. The predetermined length is the horizontal length of the rope member 51 during towing, and is predefined. The flight path 102 is stored (held) in the first memory or the first storage device 42.

[0091] The flight path 102 includes a movement line 102a that moves the work device 61 along the work line 101a, and a connecting line 102b that moves the work device 61 from one work line 101a to another work line 101a.

[0092] The movement line 102a is a path corresponding to the work line 101a, and is a straight or relatively straight path. In this embodiment, the movement line 102a is a straight section in which the flight device 11 moves in a straight line in order to move the work device 61 in a straight line. The flight path 102 includes a plurality of movement lines 102a, and each of these movement lines 102a extends in a predetermined setting direction with a spacing width between them. In the example shown in Figure 13, a black circle is placed at the starting end of each movement line 102a and a white circle is placed at the ending end.

[0093] The connecting line 102b is a path that connects the end of one movement line 102a to the beginning of another movement line 102a. The connecting line 102b includes either a straight section or a rotating section in which the work device 61 (flying device 11) rotates. The connecting line 102b consisting of the rotating section is a path that moves the work device 61 from one work line 101a to another work line 101a while rotating it. The connecting line 102b consisting of the straight section is a path in which the flying device 11 lifts the work device 61 and moves the work device 61 from one work line 101a to another work line 101a. In the example shown in Figure 13, the connecting line 102b consisting of the rotating section is shown.

[0094] The first control device 41 maintains the direction of travel of the flight device 11 when the aircraft position P1 is located on the flight path 102, and changes the direction of travel so that the aircraft position P1 moves closer to the flight path 102 (so that the position deviation approaches zero) when the aircraft position P1 is deviated from the flight path 102 (when the position deviation between the flight path 102 and the aircraft position P1 is greater than a predetermined value).

[0095] Furthermore, if the first position detection device 46f can detect the aircraft heading of the flight device 11 in addition to, or instead of, the aircraft position P1 by, for example, a satellite positioning system, the first control device 41 may change its direction of travel so that the azimuth deviation between the flight path 102 and the aircraft heading 12 approaches zero.

[0096] Furthermore, the first control device 41 may change the altitude of the aircraft 11 (aircraft body 12) and the altitude of the work device 61 based on the flight path 102. For example, when the first control device 41 is moving the aircraft body 12 based on the flight path 102, it controls the multiple rotors 15 and multiple drive units 31 to change the altitude of the work device 61 and move it to the height at which the work device 61 performs work (operational height). Alternatively, when the first control device 41 is moving the aircraft body 12 based on the connection line 102b, it may maintain the work device 61 at the operational height, or it may control the multiple rotors 15 and multiple drive units 31 to change the altitude of the work device 61 and move it to a height at which the work device 61 does not perform work (retraction height).

[0097] The effective height is the height at which the work unit 63 can perform work on the target object. For example, if the work device 61 is a cutting device 61A, the effective height is the height at which the cutting unit 63A can come into contact with pasture grass, etc. If the work device 61 is a spraying device, the effective height is the height at which the pesticide sprayed from the nozzle can be properly applied to the target object such as crops. In particular, when the work device 61 is towed by the flight device 11, the effective height is the height at which the work device 61 makes contact with the ground.

[0098] Furthermore, the retraction height is a height suitable for the movement of the work device 61, where the work unit 63 does not perform work on the target object. For example, if the work device 61 is a harvesting device 61A, the retraction height is a height at which the harvesting unit 63A does not come into contact with obstacles in the field 100, including pasture grass, etc. If the work device 61 is a spraying device, the retraction height is a height at which the nozzle does not come into contact with obstacles in the field 100, including target objects such as crops. In particular, when the work device 61 is towed by the flying device 11, the retraction height is a height at which the work device 61 is separated from the ground.

[0099] The working height and retraction height are included in the device information along with the dimensional information of the work device 61 and are stored in advance in the first memory or first storage device 42. The first control device 41 obtains the device information corresponding to the work device 61 currently connected to the string member 51 from the first memory or first storage device 42. More specifically, the device information is stored in advance in the second storage device 72.

[0100] The operator selects a work device 61 connected to the string member 51 by operating a terminal device that is directly or indirectly connected to the first communication device 43, and the first control device 41 recognizes the selected work device 61. The first communication device 43 also establishes communication with the second communication device 73, obtains device information from the second storage device 72, and stores (retains) the device information in the first memory or the first storage device 42.

[0101] The method by which the first control device 41 recognizes the work device 61 is not limited to this method. Alternatively, an image code containing identification information of the work device 61 may be attached to the upper part of the base body 62 of the work device 61, or a transmitter (beacon) that transmits identification information of the work device 61 may be mounted on the work device 61, and the first control device 41 may be configured to recognize the work device 61 based on this identification information.

[0102] The first control device 41 controls the multiple rotors 15 based on the altitude of the aircraft detected by the altitude detection device 46d, the displacement length detected by the displacement detection device 46a, and other device information. As a result, the first control device 41 changes the altitude of the aircraft 12 and the altitude of the work device 61, and moves the work device 61 to the working height or the evacuation height.

[0103] The first control device 41 moves the work device 61 from the retracted height to the working height when the work device 61 reaches the work start point. The first control device 41 also moves the work device 61 from the working height to the retracted height when the work end point reaches the work end point. The work start point is the point where the work device 61 begins work, and the work end point is the point where the work device 61 finishes (or interrupts) work.

[0104] Therefore, when the first control device 41 maintains the work device 61 at the working height using the movement line 102a and the connecting line 102b, and then moves the work device 61 from the working height to the evacuation height after a series of flights along the flight path 102 has been completed, the start of the flight path 102 becomes the starting point of the work device 61, and the end of the flight path 102 becomes the ending point of the work device 61. Also, when the first control device 41 moves the work device 61 to the working height using the movement line 102a and moves the work device 61 to the evacuation height using the connecting line 102b, the start of each movement line 102a becomes the starting point of the work device 61, and the end of each movement line 102a becomes the ending point of the work device 61.

[0105] The second control device 71 may, based on the instruction signal from the first control device 41, drive the work unit 63 while the work device 61 is moving from the start point of work to the next end point of work, and stop the work unit 63 while the work device 61 is moving from the end point of work to the next start point of work.

[0106] In the above description, the first control device 41 controls multiple rotors 15 based on the flight path 102 and moves the aircraft body 12 to move the work device 61 along the work path 101. However, the first control device 41 may also control multiple rotors 15 based on the work path 101 instead of the flight path 102 to move the aircraft body 12. In such a case, the work device 61 is equipped with a second position detection device 76d, and the first control device 41 obtains the device position P2 of the work device 61, for example, via the first communication device 43 and the second communication device 73, and controls the multiple rotors 15 to move the aircraft body 12 so that the device position P2 moves along the work path 101.

[0107] When the flying device 11 suspends the work device 61 via the rope member 51, the work device 61 may swing relative to the aircraft body 12. In such cases, the work device 61 swings relative to the flying device 11. For example, if the flying device 11 suspending the work device 61 changes (increases or decreases) its horizontal acceleration, the work device 61 may swing relative to the aircraft body 12 due to inertial force. Furthermore, even when the horizontal velocity of the flying device 11 suspending the work device 61 is constant, the work device 61 may swing relative to the aircraft body 12 due to external forces such as air resistance or collisions with obstacles. Moreover, even when the flying device 11 suspending the work device 61 is not moving horizontally (for example, when only changing altitude or hovering), the work device 61 may swing relative to the aircraft body 12 due to external forces such as wind or contact with moving obstacles.

[0108] When the working device 61 swings relative to the machine body 12, the first control device 41 controls the multiple drive devices 31 according to the orientation of the working device 61 relative to the machine body 12, causing each drive device 31 to perform an adjustment process to wind up and / or unwind the string member 51. As a result, the multiple drive devices 31 perform the adjustment process according to the orientation of the working device 61 relative to the machine body 12.

[0109] Furthermore, in the normal state before any adjustment process is performed, the multiple drive units 31 wind up or unwind each string member 51 to maintain the lengths L1 and L2 from the machine body 12 (insertion hole 32a) to the work device 61 (central part of the coupling device 65) at the same length. The adjustment process will be described in detail below.

[0110] Figures 14A to 14G show the state in which the swinging work device 61 is at its highest point, both when the adjustment process is not performed and when the adjustment process is performed. Figures 14A to 14G show the state of the flight device 11 and the work device 61 suspended from the flight device 11 and swinging relative to the aircraft body 12, as seen from the front. The left side of Figures 14A to 14G shows the state when the adjustment process is not performed, and the right side of Figures 14A to 14G shows the state when the adjustment process is performed.

[0111] When the working device 61 is oscillating relative to the machine body 12, the relative acceleration ax and relative velocity vx of the working device 61 with respect to the machine body 12, as well as the tension acting on each string member 51, change moment by moment as a result of the oscillating motion. In particular, when the working device 61 is located at the highest point of the oscillating motion, the relative velocity vx of the working device 61 with respect to the machine body 12 becomes zero, and the centripetal force also becomes zero, so in an ideal state, only gravity acts on the working device 61. Therefore, the restoring force acting on the working device 61 at the highest point can be calculated using the following equation (1).

[0112]

[0113] However, Fx: restoring force m: mass of the work device ax: horizontal relative acceleration of the work device with respect to the machine body T1: tension acting on the first string member (first tension) θ1: angle between the imaginary line extending horizontally and the first string member (first angle) T2: tension acting on the second string member (second tension) θ2: angle between the imaginary line extending horizontally and the second string member (second angle)

[0114] According to the above formula (1), by changing the first angle θ1 and / or the second angle θ2 and bringing the relative horizontal acceleration ax closer to zero, the restoring force can be reduced and the oscillation of the work device 61 relative to the machine body 12 can be suppressed. Accordingly, in the adjustment process, the first control device 41 has at least one of the drive devices 31 wind up or unwind the string member 51, bringing the first angle θ1 and / or the second angle θ2 closer to zero or π to π / 2, and bringing the relative horizontal acceleration ax closer to zero.

[0115] The following describes the winding and unwinding of the string members 51 of each drive unit 31 during the adjustment process. Although a detailed explanation will be omitted, whether or not each drive unit 31 winds and unwinds the string members 51 during the adjustment process can be determined based on the spacing between the multiple string members 51 connecting the flight device 11 and the work device 61, the length L of each string member 51, the horizontal attitude of the work device 61 (roll angle and / or pitch angle), and a calculation formula defined from simultaneous equations using the Pythagorean theorem and the law of cosines.

[0116] In Figures 14A to 14C, the spacing between the multiple string members 51 connecting the flight device 11 and the work device 61 increases as you move from the aircraft body 12 side towards the work device 61 side. That is, each string member 51 extends in a direction that separates it from the aircraft body 12 side towards the work device 61 side. Specifically, in Figures 14A to 14C, the virtual circle O1 passing through the insertion hole 32a of each drive device 31 is larger than the virtual circle O2 passing through the center of each connecting device 65, such that the drive devices 31 are arranged on the aircraft body 12 and the connecting devices 65 are arranged on the base body 62.

[0117] As shown in the left diagram of Figures 14A to 14C, when the working device 61 is swinging relative to the aircraft body 12, the working device 61 tilts its attitude in the direction of the swing as it swings from its lowest point (directly below the flight device 11) to its highest point (away from directly below the flight device 11). That is, as the working device 61 swings horizontally to one side from its lowest point, the working device 61 tilts to that side. Also, as the working device 61 swings horizontally to the other side from its lowest point, the working device 61 tilts to the other side.

[0118] In the adjustment process, when the working device 61 swings to one side relative to the aircraft body 12, at least the first drive unit 31L1 winds up the first string member 51L. On the other hand, when the working device 61 swings to the other side relative to the aircraft body 12, at least the second drive unit 31R1 winds up the second string member 51R. As a result, when the working device 61 is at its highest point, both the first angle θ1 and the second angle θ2 approach π / 2 compared to when no adjustment process is performed. This reduces the restoring force acting on the working device 61 at its highest point. It also suppresses the tilt of the working device 61 associated with the swing. In other words, it suppresses fluctuations in the horizontal attitude (roll angle and / or pitch angle) of the swinging working device 61.

[0119] As shown in Figures 14A and 14B, in the adjustment process, if the working device 61 is swinging to one side relative to the aircraft body 12, the multiple drive devices 31 of the flight device 11 may unwind the second string member 51R, making the length L2 of the second string member 51R (second string length: length from the insertion hole 32a of the second drive device 31R1 to the center of the second connecting device 65R1) longer than the length L1 of the first string member 51L (first string length: length from the insertion hole 32a of the first drive device 31L1 to the center of the first connecting device 65L1). On the other hand, in the adjustment process, if the working device 61 is swinging to the other side relative to the aircraft body 12, the multiple drive devices 31 of the flight device 11 may unwind the first string member 51L, and the length L1 (first string length) of the first string member 51L may be made longer relative to the length L2 (second string length) of the second string member 51R. This further suppresses the tilt of the working device 61 with respect to the horizontal direction that occurs with the swinging.

[0120] Furthermore, as shown in Figure 14C, in the adjustment process, if the working device 61 is swinging to one side relative to the aircraft body 12, the second driving device 31R1 may wind up the second string member 51R. On the other hand, in the adjustment process, if the working device 61 is swinging to the other side relative to the aircraft body 12, the first driving device 31L1 may wind up the first string member 51L. As a result, when the working device 61 is at its highest point, both the first angle θ1 and the second angle θ2 approach π / 2 more closely than when no adjustment process is performed. This further reduces the restoring force acting on the working device 61 when it is at its highest point.

[0121] In such a case, during the adjustment process, when the working device 61 of the flight device 11 is swinging to one side relative to the aircraft body 12, the multiple drive devices 31 of the flight device 11 may set the winding amount of the first string member 51L of the first drive device 31L1 to be greater than the winding amount of the second string member 51R of the second drive device 31R1, so that the length L2 (second string length) of the second string member 51R is longer than the length L1 (first string length) of the first string member 51L. On the other hand, during the adjustment process, when the working device 61 of the flight device 11 is swinging to the other side relative to the aircraft body 12, the multiple drive devices 31 of the flight device 11 may set the winding amount of the second string member 51R of the second drive device 31R1 to be greater than the winding amount of the first string member 51L of the first drive device 31L1, so that the length L1 (first string length) of the first string member 51L is longer than the length L2 (second string length) of the second string member 51R. This suppresses the horizontal tilt of the work device 61 caused by the swinging motion, while further reducing the restoring force acting on the work device 61 at its highest point.

[0122] In Figures 14D to 14F, the spacing between the multiple string members 51 connecting the flight device 11 and the work device 61 decreases as you move from the aircraft body 12 side towards the work device 61 side. That is, each string member 51 extends in a direction that brings them closer together as you move from the aircraft body 12 side towards the work device 61 side. Specifically, in Figures 14D to 14F, the virtual circle O1 passing through the insertion hole 32a of each drive device 31 is smaller than the virtual circle O2 passing through the center of each connecting device 65, such that each drive device 31 is positioned on the aircraft body 12 and the connecting device 65 is positioned on the base body 62.

[0123] As shown in the left diagram of Figures 14D to 14F, when the working device 61 is swinging relative to the aircraft body 12, as the working device 61 swings from its lowest point (directly below the flight device 11) towards its highest point (away from directly below the flight device 11), it tilts its attitude toward the opposite side of the swing direction. That is, as the working device 61 swings to one side horizontally from its lowest point, the working device 61 tilts toward the other side. Also, as the working device 61 swings to the other side horizontally from its lowest point, the working device 61 tilts toward the one side.

[0124] In the adjustment process, when the working device 61 swings to one side relative to the aircraft body 12, at least the second driving device 31R1 winds up the second string member 51R. On the other hand, when the working device 61 swings to the other side relative to the aircraft body 12, at least the first driving device 31L1 winds up the first string member 51L. As a result, when the working device 61 is at its highest point, both the first angle θ1 and the second angle θ2 approach π / 2 more closely than when no adjustment process is performed. This reduces the restoring force acting on the working device 61 at its highest point. It also suppresses the tilt of the working device 61 associated with the swing. In other words, it suppresses fluctuations in the horizontal attitude (roll angle and / or pitch angle) of the swinging working device 61.

[0125] As shown in Figures 14D and 14E, in the adjustment process, if the working device 61 is swinging to one side relative to the aircraft body 12, the first drive unit 31L1 may unwind the first string member 51L, making the length L1 (first string length) of the first string member 51L even longer than the length L2 (second string length) of the second string member 51R. On the other hand, in the adjustment process, if the working device 61 is swinging to the other side relative to the aircraft body 12, the second drive unit 31R1 may unwind the second string member 51R, making the length L2 (second string length) of the second string member 51R even longer than the length L1 (first string length) of the first string member 51L. This further suppresses the tilt of the working device 61 with respect to the horizontal direction that occurs with the swinging.

[0126] Furthermore, as shown in Figure 14F, during the adjustment process, if the working device 61 is swinging to one side relative to the aircraft body 12, the first drive unit 31L1 may wind up the first string member 51L. On the other hand, during the adjustment process, if the working device 61 is swinging to the other side relative to the aircraft body 12, the second drive unit 31R1 may wind up the second string member 51R. As a result, when the working device 61 is at its highest point, both the first angle θ1 and the second angle θ2 approach π / 2 more closely than when no adjustment process is performed. This further reduces the restoring force acting on the working device 61 when it is at its highest point.

[0127] In such a case, during the adjustment process, when the working device 61 of the flight device 11 is swinging to one side relative to the aircraft body 12, the multiple drive devices 31 of the flight device 11 may set the winding amount of the second string member 51R of the second drive device 31R1 to be greater than the winding amount of the first string member 51L of the first drive device 31L1, so that the length L1 (first string length) of the first string member 51L is longer than the length L2 (second string length) of the second string member 51R. On the other hand, during the adjustment process, when the working device 61 of the flight device 11 is swinging to the other side relative to the aircraft body 12, the multiple drive devices 31 of the flight device 11 may set the winding amount of the first string member 51L of the first drive device 31L1 to be greater than the winding amount of the second string member 51R of the second drive device 31R1, so that the length L2 (second string length) of the second string member 51R is longer than the length L1 (first string length) of the first string member 51L. This suppresses the horizontal tilt of the work device 61 caused by the swinging motion, while further reducing the restoring force acting on the work device 61 at its highest point.

[0128] In Figure 14G, the spacing between the multiple string members 51 connecting the flight device 11 and the work device 61 is the same from the aircraft body 12 side to the work device 61 side. That is, each string member 51 extends in parallel. Specifically, in Figure 14G, each drive device 31 is positioned on the aircraft body 12 and the connecting device 65 is positioned on the base body 62 such that the virtual circle O1 passing through the insertion hole 32a of each drive device 31 is the same as the virtual circle O2 passing through the center of each connecting device 65.

[0129] As shown in the left diagram of Figure 14G, when the working device 61 is swinging relative to the aircraft body 12, the working device 61 maintains a horizontal attitude while swinging from its lowest point (directly below the flight device 11) to its highest point (away from directly below the flight device 11).

[0130] In the flight device 11 shown in Figure 14G, when the working device 61 is swinging relative to the aircraft body 12, the adjustment process causes the first drive unit 31L1 and the second drive unit 31R1 to each wind up the string members 51 by the same length, regardless of the direction of swing. As a result, when the working device 61 is at its highest point, both the first angle θ1 and the second angle θ2 approach π / 2 compared to when no adjustment process is performed. This further reduces the restoring force acting on the working device 61 when it is at its highest point.

[0131] Next, the execution of the adjustment process will be explained. The first control device 41 controls, for example, the multiple drive devices 31 in accordance with the tension acting on each string member 51, and causes the adjustment process to be executed. For this reason, the multiple drive devices 31 execute the adjustment process in accordance with the tensions T1 and T2 acting on each string member 51.

[0132] As described above, if the spacing between the multiple string members 51 connecting the flight device 11 and the work device 61 increases or decreases from the aircraft body 12 side to the work device 61 side, that is, if the string members 51 do not extend parallel to each other, the swinging work device 61 will tilt its attitude as it moves from the lowest point to the highest point. As a result, the tension acting on each string member 51 changes as the distance between the position where each string member 51 is connected to the work device 61 (the center of each connecting device 65) and the center of gravity of the work device 61 changes.

[0133] More specifically, as shown in Figures 14A to 14C, when the spacing between each string member 51 increases from the machine body 12 side toward the work device 61 side, as the work device 61 swings to one side relative to the machine body 12, and the work device 61 tilts to that side, the tension T1 (first tension) acting on the first string member 51L increases, and the tension T2 (second tension) acting on the second string member 51R decreases. On the other hand, as the work device 61 swings to the other side relative to the machine body 12, and the work device 61 tilts to that side, the first tension T1 decreases, and the second tension T2 increases.

[0134] Furthermore, as shown in Figures 14D to 14F, if the spacing between each string member 51 decreases as it moves from the machine body 12 side toward the work device 61 side, when the work device 61 swings to one side relative to the machine body 12 and tilts to the other side, the first tension T1 decreases and the second tension T2 increases. On the other hand, when the work device 61 swings to the other side relative to the machine body 12 and tilts to one side, the first tension T1 increases and the second tension T2 decreases.

[0135] As described above, if the string members 51 are not extending parallel to each other, the difference between the first tension T1 and the second tension T2 increases as the working device 61 moves from the lowest point to the highest point. Therefore, the first control device 41 can recognize the swinging motion and position of the working device 61 based on the difference between the tensions T1 and T2 acting on each string member 51. For this reason, when the difference TD between the tensions T1 and T2 acting on each string member 51 falls below a predetermined value, the first control device 41 assumes that the swinging working device 61 is located towards the lowest point and initiates adjustment processing by the multiple drive devices 31.

[0136] Specifically, the first control device 41 calculates the difference TD (tension difference) between tensions T1 and T2 based on the detection results of each tension detection device 46b. The first control device 41 determines whether the tension difference TD is greater than or equal to a predetermined first threshold TD1. If the first control device 41 determines that the tension difference TD is greater than or equal to the first threshold TD1, it waits for the adjustment process by each drive device 31 to be executed until the tension difference TD becomes less than a second threshold TD2, which is smaller than the first threshold TD1. The first threshold TD1 and the second threshold TD2 are values ​​predetermined in the first storage device 42 and may be changed as appropriate using terminal equipment that is directly or indirectly connected to the first communication device 43 for communication.

[0137] The first control device 41 controls each drive device 31 to start the adjustment process when the tension difference TD falls below the second threshold TD2. Therefore, the multiple drive devices 31 start the adjustment process when the difference TD between the tensions T1 and T2 acting on each string member 51 falls below a predetermined value (second threshold TD2).

[0138] In the adjustment process, the first control device 41 increases the control amount L for the length of winding and / or unwinding of the string members 51 as the difference TD t of tensions T1 and T2 acting on each string member 51 increases. As a result, the multiple drive devices 31 increase the control amount in the adjustment process as the difference TD t of tensions T1 and T2 acting on each string member 51 increases. The control amount is the target value ΔL for the length over which the drive device 31 winds or unwinds each string member 51. In other words, the control amount is the target value ΔL of the displacement length based on the lengths L1 and L2 of each string member 51 immediately before the adjustment process begins.

[0139] Figure 15 is an example of a first map M1 (graph) showing the relationship between the control amount of the string member 51 and the tension difference TD. The first map M1 is pre-stored in the first memory device 42. In the adjustment process, if either the first drive device 31L1 or the second drive device 31R1 winds up the string member 51 and the other unwinds it, the first map M1 may be common to both winding and unwinding, or it may be defined separately. Furthermore, the first map M1 may be defined for each current length L1, L2 of the string member 51.

[0140] The first control device 41 refers to the first map M1 stored in the first storage device 42 and obtains a control amount corresponding to the calculated tension difference TD. Based on the tension acting on each string member 51, the first control device 41 determines which string member 51 to wind up. The first control device 41 controls each drive device 31 to wind up the string member 51 of the first string member 51L and the second string member 51R that has a greater tension acting on it. The first control device 41 also controls each drive device 31 to unwind the string member 51 of the first string member 51L and the second string member 51R that has a smaller tension acting on it.

[0141] Furthermore, the first control device 41 may control each drive device 31 to wind up the string member 51 with the smaller tension than the first string member 51L, instead of winding up the string member 51 with the smaller tension than the second string member 51R, by a control amount that is predeterminedly smaller than the control amount for the string member 51 with the larger tension. In addition, the first control device 41 does not have to control each drive device 31 to wind up or wind up the string member 51 with the smaller tension.

[0142] As a result, the first control device 41 uses the acquired control amount as a target value ΔL, and controls the first inverter 45 and each drive device 31 based on the target value ΔL and the detection result of the displacement detection device 46a.

[0143] Furthermore, if the working device 61 is equipped with a second inertial measuring device 76a, etc., and the first control device 41 can acquire the attitude of the working device 61, the first control device 41 may limit the control amount of each string member 51 and control each drive device 31 according to the attitude of the working device 61 relative to the machine body 12. For example, the first control device 41 may limit the attitude of the working device 61 to a range where it is not parallel to the machine body 12.

[0144] Specifically, the first control device 41 acquires the current attitude of the aircraft 12 based on the detection result of the first inertial measuring device 46c. The first control device 41 acquires the detection result of the second inertial measuring device 76a via the first communication device 43 and the second communication device 73, and acquires the current attitude of the work device 61. When the attitude of the work device 61 approaches parallel to the aircraft 12, the first control device 41 corrects the control amount acquired from the first map M1 to decrease.

[0145] As a result, the first control device 41 provides feedback on the attitude of the work device 61 relative to the machine body 12, and causes each drive device 31 to perform adjustment processing within a range where the attitude of the work device 61 is not parallel to the machine body 12.

[0146] The first control device 41 determines whether the tension difference TD is less than the first threshold TD1 when the working device 61 is at its highest point. The first control device 41 determines whether the working device 61 is at its highest point when the tension difference TD changes from an increasing trend to a decreasing trend, or based on the device position P2 detected by the second position detection device 76d. In such cases, if the first control device 41 determines that the tension difference TD is greater than or equal to the first threshold TD1, it controls each drive device 31 to continue the adjustment process. On the other hand, if the first control device 41 determines that the tension difference TD is less than the first threshold TD1, it controls each drive device 31 to terminate the adjustment process. When the first control device 41 has finished the adjustment process, it sets the control amount to zero and returns the length L of each string member 51 to the length L before the start of the adjustment process.

[0147] Note that the first map M1 shown in Figure 15 is just an example, and the controlled amount may increase in an upward-convex curve as the tension difference TD becomes greater than the second threshold TD2. Alternatively, the controlled amount may increase in a downward-convex curve as the tension difference TD becomes greater than the second threshold TD2.

[0148] Furthermore, in the embodiment described above, the first control device 41 obtains the control amount for the adjustment process by referring to a predefined first map M1, but the first map M1 or the control amount obtained from the first map M1 may be corrected according to the length L of each string member 51 before the execution of the adjustment process.

[0149] Furthermore, the first control device 41 may calculate the control amount based on a predetermined calculation formula. In this case, the first control device 41 acquires, for example, the length L of each string member 51, the distance between each string member 51 and the machine body 12, the distance between each string member 51 and the work device 61, the center of gravity position of the work device 61, and the attitude of the work device 61 relative to the machine body 12, and calculates the control amount that minimizes the restoring force at the uppermost point based on a calculation formula defined from simultaneous equations using the Pythagorean theorem and the law of cosines.

[0150] The following describes the flow of the adjustment process in the work support system 1. Figure 16 is a diagram illustrating the flow of the adjustment process. Each step in Figure 16 is executed by the first control device 41 according to the software program stored in the first memory or first storage device 42.

[0151] First, the first control device 41 determines whether the tension difference TD is greater than or equal to the first threshold TD1 (S1). Specifically, the first control device 41 obtains the difference TD (tension difference) between each tension T1 and T2. It obtains the detection results of each tension detection device 46b, calculates the tension difference TD of each tension T1 and T2 obtained from the detection results, and determines whether the tension difference TD is greater than or equal to the first threshold TD1.

[0152] If the first control device 41 determines that the tension difference TD is less than the first threshold TD1 (S1: No), it terminates the series of processes. On the other hand, if the first control device 41 determines that the tension difference TD is greater than or equal to the first threshold TD1 (S1: Yes), it determines whether the current tension difference TD is less than the second threshold TD2 (S2). If the current tension difference TD is greater than or equal to the second threshold TD2 (S2: No), the first control device 41 returns to the step before S2, and if the current tension difference TD is less than the second threshold TD2 (S2: Yes), it controls each drive device 31 to start the adjustment process (S3).

[0153] The first control device 41 acquires a control amount corresponding to the current tension difference TD (S4). Specifically, the first control device 41 refers to the first memory or the first map M1 stored in the first control device 41 to acquire a control amount corresponding to the tension difference TD. The first control device 41 also determines whether the attitude of the work device 61 is parallel to the machine body 12 (S5).

[0154] If the first control device 41 determines that the posture of the work device 61 is not parallel to the machine body 12 (S5: No), it controls each drive device 31 with the control amount acquired in step S4 and executes the adjustment process (S6). On the other hand, if the first control device 41 determines that the posture of the work device 61 is parallel to the machine body 12 (S5: Yes), it corrects the acquired control amount to a smaller value (S7). The first control device 41 then controls each drive device 31 with the corrected control amount and executes the adjustment process (S8).

[0155] When the first control device 41 performs the adjustment process in step S6 or step S7, it determines whether the working device 61 is in the highest position (S9). If the first control device 41 determines that the working device 61 is not in the highest position (S9: No), it returns to the process in step S4. On the other hand, if the first control device 41 determines that the working device 61 is in the highest position (S9: Yes), it determines whether the tension difference TD is greater than or equal to the first threshold TD1 (S10).

[0156] If the first control device 41 determines that the tension difference TD is greater than or equal to the first threshold TD1 (S10: Yes), it returns to the process in step S4. On the other hand, if the first control device 41 determines that the tension difference TD is less than the first threshold TD1 (S10: No), it controls each drive device 31 to terminate the execution of the adjustment process (S11).

[0157] <First Modification> In the above-described embodiment, the case in which the multiple drive devices 31 perform adjustment processing according to the tension acting on each string member 51 was explained, but the multiple drive devices 31 may also perform adjustment processing according to other parameters. For example, the first control device 41 controls the multiple drive devices 31 to perform adjustment processing according to the horizontal relative acceleration ax of the work device 61 with respect to the machine body 12. Therefore, the multiple drive devices 31 perform adjustment processing according to the horizontal relative acceleration ax of the work device 61 with respect to the machine body 12.

[0158] Specifically, regardless of the spacing between the multiple string members 51 connecting the flight device 11 and the work device 61, when the work device 61 swings from the lowest point to the highest point, the horizontal relative acceleration ax of the work device 61 with respect to the aircraft body 12 increases towards the lowest point. On the other hand, when the work device 61 swings from the highest point to the lowest point, the horizontal relative acceleration ax of the work device 61 with respect to the aircraft body 12 decreases towards the lowest point. In other words, the horizontal relative acceleration ax of the work device 61 is maximum when it is located at the highest point, and minimum (zero) when it is located at the lowest point.

[0159] Therefore, as the distance between the position where each string member 51 and the work device 61 are connected (the central part of each connecting device 65) and the center of gravity of the work device 61 changes, the relative acceleration ax in the horizontal direction changes. Accordingly, in the first modified example, when the relative acceleration ax in the horizontal direction falls below a predetermined level, the first control device 41 controls the multiple drive devices 31 to start the adjustment process.

[0160] Specifically, the first control device 41 calculates the horizontal relative acceleration ax of the work device 61 with respect to the machine body 12 based on the detection results of the first inertial measuring device 46c and the detection results of the second inertial measuring device 76a. The first control device 41 determines whether the absolute value of the horizontal relative acceleration ax is greater than or equal to a predetermined third threshold ax1. If the first control device 41 determines that the absolute value of the horizontal relative acceleration ax is greater than or equal to the third threshold ax1, it waits for each drive device 31 to perform adjustment processing until the absolute value of the horizontal relative acceleration ax falls below a fourth threshold ax2, which is smaller than the third threshold ax1. The third threshold ax1 and the fourth threshold ax2 are values ​​predetermined in the first storage device 42 and may be changed as appropriate using terminal equipment that is directly or indirectly connected to the first communication device 43 for communication.

[0161] The first control device 41 controls each drive unit 31 and starts adjustment processing when the absolute value of the relative acceleration ax in the horizontal direction falls below the fourth threshold ax2. Therefore, when the absolute value of the relative acceleration ax in the horizontal direction falls below a predetermined value (fourth threshold ax2), the multiple drive units 31 start adjustment processing.

[0162] In the adjustment process, the first control device 41 increases the control amount ΔL of the length ΔL used to wind and / or unwind the string member 51 as the relative horizontal acceleration ax increases. As a result, the multiple drive devices 31 increase the control amount as the relative horizontal acceleration ax increases during the adjustment process.

[0163] Figure 17 is an example of a second map M2 (graph) showing the relationship between the controlled amount of the string member 51 and the relative acceleration ax. The second map M2 is pre-stored in the first memory device 42. In the adjustment process, if either the first drive device 31L1 or the second drive device 31R1 winds up the string member 51 and the other unwinds it, the second map M2 may be common to both winding and unwinding, or it may be defined separately.

[0164] The first control device 41 refers to the second map M2 stored in the first storage device 42 and obtains a control amount corresponding to the calculated horizontal relative acceleration ax. Based on the direction (vector) of the relative acceleration ax, the first control device 41 can recognize in which direction the work device 61 is swinging. Therefore, the first control device 41 determines which string member 51 to wind up according to the direction of the swing of the work device 61.

[0165] As a result, the first control device 41 uses the acquired control amount as a target value ΔL, and controls the first inverter 45 and each drive device 31 based on the target value ΔL and the detection result of the displacement detection device 46a.

[0166] In addition, in the first modified example, the first control device 41 may also control each drive device 31 by limiting the control amount of each string member 51 according to the posture of the work device 61 relative to the machine body 12.

[0167] The first control device 41 determines whether the absolute value of the horizontal relative acceleration ax is less than the third threshold ax1 when the work device 61 is at its highest point. The first control device 41 determines whether the work device 61 is at its highest point when the absolute value of the horizontal relative acceleration ax changes from an increasing trend to a decreasing trend, or based on the device position P2 detected by the second position detection device 76d. In such cases, if the first control device 41 determines that the absolute value of the horizontal relative acceleration ax is greater than or equal to the third threshold ax1, it controls each drive device 31 to continue the adjustment process. On the other hand, if the first control device 41 determines that the absolute value of the horizontal relative acceleration ax is less than the third threshold ax1, it controls each drive device 31 to terminate the adjustment process. When the first control device 41 has finished the adjustment process, it sets the control amount to zero and returns the lengths L1 and L2 of each string member 51 to their lengths before the start of the adjustment process.

[0168] Note that the second map M2 shown in Figure 17 is just one example, and the controlled variable may increase in an upward-convex curve as the horizontal relative acceleration ax becomes greater than the fourth threshold ax2. Alternatively, the controlled variable may increase in a downward-convex curve as the horizontal relative acceleration ax becomes greater than the fourth threshold ax2.

[0169] Furthermore, in the embodiment described above, the first control device 41 obtains the control amount for the adjustment process by referring to a predefined second map M2, but the second map M2 or the control amount obtained from the second map M2 may be corrected according to the lengths L1 and L2 of each string member 51 before the execution of the adjustment process. In addition, the first control device 41 may calculate the control amount based on a predetermined calculation formula.

[0170] The following describes the flow of the adjustment process for the first modified example in the work support system 1. Figure 18 is a diagram illustrating the flow of the adjustment process for the first modified example. Each step in Figure 18 is executed by the first control device 41 according to a software program stored in the first memory or first storage device 42.

[0171] First, the first control device 41 determines whether the absolute value of the horizontal relative acceleration ax is greater than or equal to the third threshold ax1 (S21). The first control device 41 obtains the detection results of the first inertial measuring device 46c and the second inertial measuring device 76a, calculates the horizontal relative acceleration ax obtained from the detection results, and determines whether the absolute value of the horizontal relative acceleration ax is greater than or equal to the third threshold ax1.

[0172] If the first control device 41 determines that the absolute value of the horizontal relative acceleration ax is less than the third threshold ax1 (S21: No), it terminates the series of processes. On the other hand, if the first control device 41 determines that the absolute value of the horizontal relative acceleration ax is greater than or equal to the third threshold ax1 (S21: Yes), it determines whether the current absolute value of the horizontal relative acceleration ax is less than the fourth threshold ax2 (S22). If the current absolute value of the horizontal relative acceleration ax is greater than or equal to the fourth threshold ax2 (S22: No), the first control device 41 returns to the step before S22, and if the current absolute value of the horizontal relative acceleration ax is less than the fourth threshold ax2 (S22: Yes), it controls each drive device 31 to start the adjustment process (S23).

[0173] The first control device 41 acquires a control variable corresponding to the current horizontal relative acceleration ax (S24). Specifically, the first control device 41 refers to the first memory or the second map M2 stored in the first control device 41 to acquire a control variable corresponding to the horizontal relative acceleration ax. The first control device 41 also determines whether the attitude of the work device 61 is parallel to the machine body 12 (S25).

[0174] If the first control device 41 determines that the posture of the work device 61 is not parallel to the machine body 12 (S25: No), it controls each drive device 31 with the control amount acquired in step S24 and executes the adjustment process (S26). On the other hand, if the first control device 41 determines that the posture of the work device 61 is parallel to the machine body 12 (S25: Yes), it corrects the acquired control amount to a smaller value (S27). The first control device 41 then controls each drive device 31 with the corrected control amount and executes the adjustment process (S28).

[0175] The first control device 41 determines whether the work device 61 is at its highest point (S29). If the first control device 41 determines that the work device 61 is not at its highest point (S29: No), it returns to the process in step S24. On the other hand, if the first control device 41 determines that the work device 61 is at its highest point (S29: Yes), it determines whether the absolute value of the horizontal relative acceleration ax is greater than or equal to the third threshold ax1 (S30).

[0176] If the first control device 41 determines that the absolute value of the relative acceleration ax in the horizontal direction is greater than or equal to the third threshold ax1 (S30: Yes), it returns to the process in step S24. On the other hand, if the first control device 41 determines that the absolute value of the relative acceleration ax in the horizontal direction is less than the third threshold ax1 (S30: No), it controls each drive device 31 to terminate the execution of the adjustment process (S31).

[0177] <Second Modification> The first control device 41 may also control a plurality of drive devices 31 to perform adjustment processing according to the horizontal relative speed vx of the work device 61 with respect to the machine body 12. Therefore, the plurality of drive devices 31 perform adjustment processing according to the horizontal relative speed vx of the work device 61 with respect to the machine body 12.

[0178] Specifically, regardless of the spacing between the multiple string members 51 connecting the flight device 11 and the work device 61, when the work device 61 swings from the highest point to the lowest point, the horizontal relative velocity vx of the work device 61 with respect to the aircraft body 12 increases as it moves toward the lowest point. On the other hand, when the work device 61 swings from the lowest point to the highest point, the horizontal relative velocity vx of the work device 61 with respect to the aircraft body 12 decreases as it moves toward the highest point. In other words, the horizontal relative velocity vx of the work device 61 is maximum when it is located at the lowest point, and minimum (zero) when it is located at the highest point.

[0179] Therefore, as the distance between the position where each string member 51 and the work device 61 are connected (the central part of each connecting device 65) and the center of gravity of the work device 61 changes, the relative horizontal velocity vx changes. Accordingly, in the second modified example, when the relative horizontal velocity vx exceeds a predetermined level, the first control device 41 controls the multiple drive devices 31 to start the adjustment process.

[0180] Specifically, the first control device 41 calculates the amount of change per predetermined time in the relative position of the work device 61 with respect to the machine body 12, based on the detection result of the first position detection device 46f (position of the machine body 12, machine body position P1) and the detection result of the second position detection device 76d (position of the work device 61, device position P2). Based on this, the first control device 41 calculates the horizontal relative velocity vx of the work device 61 with respect to the machine body 12. The first control device 41 determines whether the horizontal relative velocity vx is greater than or equal to a predetermined fifth threshold vx1. If the first control device 41 determines that the horizontal relative velocity vx is greater than or equal to the fifth threshold vx1, it controls each drive device 31 to start the adjustment process.

[0181] The fifth threshold vx1 is a value predefined in the first storage device 42 and may be modified as appropriate using terminal equipment directly or indirectly connected to the first communication device 43 for communication.

[0182] In the adjustment process, the first control device 41 increases the control amount ΔL of the length ΔL for winding and / or unwinding the string member 51 as the relative horizontal speed vx decreases. Specifically, the first control device 41 uses the relative horizontal speed vx when the working device 61 is at its lowest point as a reference (reference speed vx2), and increases the control amount as the relative speed vx decreases. The first control device 41 determines whether the working device 61 is at its lowest point when the relative horizontal speed vx changes from an increasing trend to a decreasing trend, or based on the device position P2 detected by the second position detection device 76d. As a result, the multiple drive devices 31 increase the control amount as the relative speed vx decreases during the adjustment process. That is, the multiple drive devices 31 maximize the control amount when the relative speed vx becomes zero during the adjustment process.

[0183] Figure 19 is an example of a third map M3 (graph) showing the relationship between the controlled amount of the string member 51 and the relative velocity vx. The third map M3 is pre-stored in the first storage device 42. In the adjustment process, if either the first drive device 31L1 or the second drive device 31R1 winds up the string member 51 and the other unwinds it, the third map M3 may be common to both winding and unwinding, or it may be defined separately.

[0184] The first control device 41 refers to the third map M3 stored in the first storage device 42 and obtains a control amount corresponding to the calculated horizontal relative velocity vx. The third map M3 is defined according to each reference velocity vx2, and the control amount increases as the relative velocity vx decreases from the reference velocity vx2. The first control device 41 can also recognize in which direction the working device 61 is swinging based on the position of the machine body 12 (machine body position P1) and the position of the working device 61 (device position P2). Therefore, the first control device 41 determines which string member 51 to wind up according to the direction of swing of the working device 61.

[0185] As a result, the first control device 41 uses the acquired control amount as a target value ΔL, and controls the first inverter 45 and each drive device 31 based on the target value ΔL and the detection result of the displacement detection device 46a.

[0186] In the second modified example, the first control device 41 may also control each drive device 31 by limiting the control amount of each string member 51 according to the posture of the work device 61 relative to the machine body 12.

[0187] The first control device 41 determines whether the relative horizontal velocity vx is less than the fifth threshold vx1 when the work device 61 is at its lowest point. The first control device 41 determines whether the work device 61 is at its lowest point when the relative horizontal velocity vx changes from an increasing trend to a decreasing trend, or based on the device position P2 detected by the second position detection device 76d. In such cases, if the first control device 41 determines that the relative horizontal velocity vx is greater than or equal to the fifth threshold vx1, it controls each drive device 31 to continue the adjustment process. On the other hand, if the first control device 41 determines that the relative horizontal velocity vx is less than the fifth threshold vx1, it controls each drive device 31 to terminate the adjustment process. When the first control device 41 has finished the adjustment process, it sets the control amount to zero and returns the lengths L1 and L2 of each string member 51 to their lengths before the start of the adjustment process.

[0188] Note that the third map M3 shown in Figure 19 is just one example, and the controlled variable may increase in an upward-convex curve as the relative horizontal velocity vx decreases. Alternatively, the controlled variable may increase in a downward-convex curve as the relative horizontal velocity vx decreases.

[0189] Furthermore, in the embodiment described above, the first control device 41 obtains the control amount for the adjustment process by referring to a predetermined third map M3, but the third map M3 or the control amount obtained from the third map M3 may be corrected according to the length L of each string member 51 before the execution of the adjustment process. In addition, the first control device 41 may calculate the control amount based on a predetermined calculation formula.

[0190] The following describes the flow of the adjustment process for the second modified example in the work support system 1. Figure 20 is a diagram illustrating the flow of the adjustment process for the second modified example. Each step in Figure 20 is executed by the first control device 41 according to the software program stored in the first memory or first storage device 42.

[0191] First, the first control device 41 determines whether the horizontal relative velocity vx is greater than or equal to the fifth threshold vx1 (S41). The first control device 41 obtains the detection results from the first inertial measuring device 46c and the second inertial measuring device 76a, calculates the horizontal relative velocity vx obtained from the detection results, and determines whether the horizontal relative velocity vx is greater than or equal to the fifth threshold vx1.

[0192] If the first control device 41 determines that the relative horizontal velocity vx is less than the fifth threshold vx1 (S41: No), it terminates the series of processes. On the other hand, if the first control device 41 determines that the relative horizontal velocity vx is greater than or equal to the fifth threshold vx1 (S41: Yes), it controls each drive device 31 to start the adjustment process (S42). At this time, the first control device 41 acquires the relative horizontal velocity vx as the reference velocity vx2 and stores (retains) it in the first memory or first storage device 42.

[0193] The first control device 41 acquires a control variable corresponding to the current horizontal relative velocity vx (S43). Specifically, the first control device 41 refers to the first memory or the third map M3 stored in the first control device 41 and corresponding to the reference velocity vx2, and acquires a control variable corresponding to the horizontal relative velocity vx. The first control device 41 also determines whether the attitude of the work device 61 is parallel to the machine body 12 (S44).

[0194] If the first control device 41 determines that the posture of the work device 61 is not parallel to the machine body 12 (S44: No), it controls each drive device 31 with the control amount acquired in step S43 and performs the adjustment process (S45). On the other hand, if the first control device 41 determines that the posture of the work device 61 is parallel to the machine body 12 (S44: Yes), it corrects the acquired control amount to a smaller value (S46). The first control device 41 then controls each drive device 31 with the corrected control amount and performs the adjustment process (S47).

[0195] The first control device 41 determines whether the work device 61 is at its lowest point (S48). If the first control device 41 determines that it is not at its lowest point (S48: No), it returns to the process in step S43. On the other hand, if the first control device 41 determines that the work device 61 is at its lowest point (S48: Yes), it determines whether the relative horizontal velocity vx is greater than or equal to the fifth threshold vx1 (S49).

[0196] If the first control device 41 determines that the relative horizontal velocity vx is greater than or equal to the fifth threshold vx1 (S49: Yes), it returns to the process in step S43. At this time, the first control device 41 acquires the relative horizontal velocity vx as the reference velocity vx2 and stores (retains) it in the first memory or first storage device 42. On the other hand, if the first control device 41 determines that the relative horizontal velocity vx is less than the fifth threshold vx1 (S49: No), it controls each drive device 31 to terminate the execution of the adjustment process (S50).

[0197] In the above description, the first control device 41 was described as starting the adjustment process based on the tension difference TD, the relative horizontal acceleration ax, and the relative horizontal velocity vx, but the conditions for starting the adjustment process are not limited to these. For example, the first control device 41 may start the adjustment process when it controls the multiple rotors 15 to start moving the horizontal position of the machine body 12.

[0198] Furthermore, the above description described the case in which the flight device 11 is connected to the work device 61 by two string members 51 (first string member 51L, second string member 51R). However, if the flight device 11 is connected to the work device 61 by three or more string members 51, the first control device 41 can simply decompose the oscillation direction of the work device 61 relative to the aircraft body 12 into the X direction and the Y direction, and define the control amount for each drive device 31.

[0199] Furthermore, although this embodiment has mainly described the case in which the flight device 11 operates by autonomous control, if the flight device 11 can be operated by remote control, the flight device 11 may perform adjustment processing based on remote control by the remote device. The remote device is an input interface that can accept operations by an operator and is a device that transmits information (instructions) regarding the control of the flight device 11 wirelessly or via wire. The first control device 41 receives the information transmitted from the remote device via the first communication device 43 and controls the multiple rotors 15 and drive devices 31, etc., and can operate the position, altitude, speed, direction of movement, attitude of the flight device 11, winding or unwinding of the string members 51 by each drive device 31 (altitude of the work device 61), etc. In such a case, the first control device 41 switches between enabling and disabling the adjustment processing according to the operation of the remote device. For this reason, when the adjustment processing is enabled, the first control device 41 performs the adjustment processing by the series of processes described above, and does not perform the adjustment processing when the adjustment processing is disabled.

[0200] A preferred embodiment of the present invention provides the flying device 11 described in the following items.

[0201] (Item 1) A flight device 11 comprising an aircraft body 12, a plurality of rotors 15 attached to the aircraft body 12 and capable of changing the altitude of the aircraft body 12, and a plurality of drive devices 31 each attached to the aircraft body 12 and capable of changing the relative position of the work device 61 with respect to the aircraft body 12 by winding and unwinding a string member 51 connected to the work device 61, wherein the plurality of drive devices 31 perform adjustment processing to wind and / or unwind the string member 51 according to the attitude of the work device 61 with respect to the aircraft body 12.

[0202] According to the flight device 11 described in item 1, even if the work device 61 swings and its attitude changes, the multiple drive devices 31 adjust according to the attitude of the work device 61, thereby appropriately changing the relative position of the work device 61 with respect to the flight device 11. This shortens the period during which the work device 61 swings, allowing for smooth changes in the relative position of the work device 61 by the drive devices 31 and smooth operation by the work device 61.

[0203] (Item 2) The flight device 11 according to Item 1, wherein the spacing between the multiple string members 51 increases or decreases as they move from the aircraft body 12 side towards the work device 61 side.

[0204] According to the flight device 11 related to item 2, the direction of the tension of each string member 51 can be changed by winding or unwinding the string member 51. Therefore, by appropriately changing the restoring force of the oscillating work device 61 during the adjustment process, the oscillating of the work device 61 can be suppressed relatively early.

[0205] (Item 3) The spacing between the multiple string members 51 increases from the machine body 12 side toward the work device 61 side, and the multiple drive devices 31 include a first drive device 31L1 that winds up and unwinds up the first string member 51L which is provided on one horizontal side of the machine body 12 and connected to the one side of the work device 61, and a second drive device 31 that winds up and unwinds up the second string member 51R which is provided on the other horizontal side of the machine body 12 and connected to the other side of the work device 61 The flight device 11 according to item 2, which includes R1, wherein in the adjustment process, when the working device 61 is swinging to one side relative to the aircraft body 12, the first drive device 31L1 winds up the first string member 51L and the second drive device 31R1 unwinds up the second string member 51R, and when the working device 61 is swinging to the other side relative to the aircraft body 12, the first drive device 31L1 unwinds up the first string member 51L and the second drive device 31R1 winds up the second string member 51R.

[0206] According to the flight device 11 related to item 3, by performing an adjustment process and changing the lengths L1 and L2 of the string members 51, the direction of the tension when the work device 61 is swinging to one side or the other can be made closer to the vertical direction. Therefore, by reducing the restoring force acting on the work device 61, the swinging of the work device 61 can be suppressed relatively early.

[0207] (Item 4) The spacing between the multiple string members 51 decreases as they move from the machine body 12 side toward the work device 61 side, and the multiple drive devices 31 include a first drive device 31L1 that winds up and unwinds up the first string member 51L which is provided on one horizontal side of the machine body 12 and connected to the one side of the work device 61, and a second drive device 31 that winds up and unwinds up the second string member 51R which is provided on the other horizontal side of the machine body 12 and connected to the other side of the work device 61 The flight device 11 according to item 2, which includes R1, and wherein in the adjustment process, when the working device 61 is swinging to one side relative to the aircraft body 12, the first drive device 31L1 unwinds the first string member 51L and the second drive device 31R1 winds up the second string member 51R, and when the working device 61 is swinging to the other side relative to the aircraft body 12, the first drive device 31L1 winds up the first string member 51L and the second drive device 31R1 unwinds the second string member 51R.

[0208] According to the flight device 11 in item 4, by performing an adjustment process and changing the lengths L1 and L2 of the string members 51, the direction of the tension when the work device 61 is swinging to one side or the other can be made closer to the vertical direction. As a result, by reducing the restoring force acting on the work device 61, the swinging of the work device 61 can be suppressed relatively early.

[0209] (Item 5) The flight device 11 according to any one of items 1 to 4, wherein the multiple drive devices 31 perform the adjustment process according to the tensions T1 and T2 acting on each string member 51.

[0210] According to the flight device 11 related to item 5, when the working device 61 swings and the attitude of the working device 61 changes, the tensions T1 and T2 acting on each string member 51 change in accordance with the swing. Therefore, each drive device 31 can perform adjustment processing according to the magnitude of the tensions T1 and T2, i.e., the attitude of the working device 61.

[0211] (Item 6) The flight device 11 described in Item 5, wherein the multiple drive devices 31 start the adjustment process when the difference TD between the tensions T1 and T2 acting on each string member 51 falls below a predetermined value.

[0212] According to the flight device 11 related to item 6, as the oscillating work device 61 moves from the highest point to the lowest point, the difference TD of the tensions T1 and T2 acting on each string member 51 decreases, and the relative acceleration ax of the work device 61 with respect to the aircraft body 12 decreases. Therefore, the multiple drive devices 31 can start the adjustment process from a state where the difference TD of the tensions T1 and T2 is less than a predetermined value and the relative acceleration ax is relatively small. For this reason, by starting the adjustment process from a state where the relative acceleration ax is relatively small, it is possible to reliably reduce the relative acceleration ax when the relative acceleration ax becomes large.

[0213] (Item 7) The flight device 11 according to Item 6, wherein in the adjustment process, the control amount of the length ΔL for winding and / or unwinding the string member 51 increases as the difference TD between the tensions T1 and T2 acting on each string member 51 increases.

[0214] According to the flying device 11 related to item 7, as the oscillating work device 61 moves from the lowest point to the highest point, the difference TD between the tensions T1 and T2 acting on each string member 51 increases, and the relative acceleration ax of the work device 61 increases. Therefore, by gradually increasing the control amount as the relative acceleration ax increases, the relative acceleration ax when the work device 61 is at its highest point can be reliably reduced.

[0215] (Item 8) The flight device 11 according to any one of Items 1 to 7, wherein the multiple drive devices 31 perform the adjustment process according to the horizontal relative acceleration ax of the work device 61 with respect to the aircraft body 12.

[0216] According to the flight device 11 related to item 8, when the working device 61 swings and the attitude of the working device 61 changes, the relative horizontal acceleration ax changes in accordance with the swing. Therefore, each drive device 31 can perform adjustment processing according to the magnitude of the relative acceleration ax, i.e., the attitude of the working device 61.

[0217] (Item 9) The flight device 11 according to Item 8, wherein the multiple drive devices 31 start the adjustment process when the relative acceleration ax falls below a predetermined level.

[0218] According to the flight device 11 related to item 9, the multiple drive devices 31 can start the adjustment process from a state where the relative acceleration ax is relatively small. Therefore, as the oscillating work device 61 moves from the highest point to the lowest point, the relative acceleration ax of the work device 61 with respect to the aircraft body 12 decreases. By starting the adjustment process from a state where the relative acceleration ax is relatively small, the relative acceleration ax can be reliably reduced when the work device 61 oscillates towards the highest point and the relative acceleration ax becomes large.

[0219] (Item 10) The flight device 11 according to Item 9, wherein in the adjustment process, the control amount of the length ΔL for winding and / or unwinding the string member 51 increases as the relative acceleration ax increases.

[0220] According to the flight device 11 related to item 10, by gradually increasing the control amount as the relative acceleration ax of the work device 61 increases, the relative acceleration ax when the work device 61 is at its highest point can be reliably reduced.

[0221] (Item 11) The flight device 11 according to any one of items 1 to 10, wherein the multiple drive devices 31 perform the adjustment process according to the horizontal relative speed vx of the work device 61 with respect to the aircraft body 12.

[0222] According to the flight device 11 in item 11, when the work device 61 swings and the attitude of the work device 61 changes, the horizontal relative velocity vx of the work device 61 with respect to the aircraft body 12 changes in accordance with the swing. Therefore, each drive device 31 can perform adjustment processing according to the magnitude of the relative velocity vx, i.e., the attitude of the work device 61.

[0223] (Item 12) The flight device 11 according to Item 11, wherein in the adjustment process, the control amount of the length ΔL for winding and / or unwinding the string member 51 is increased as the relative speed vx decreases.

[0224] According to the flight device 11 related to item 12, as the oscillating work device 61 moves from the lowest point to the highest point, the relative velocity vx decreases and the relative acceleration ax of the work device 61 increases. Therefore, by gradually increasing the control amount as the relative velocity vx decreases, the relative acceleration ax when the work device 61 is at its highest point can be reliably reduced.

[0225] (Item 13) The flight device 11 described in Item 12, wherein the multiple drive devices 31 maximize the control amount when the relative speed vx becomes zero during the adjustment process.

[0226] According to the flight device 11 in item 13, when the oscillating work device 61 is at its highest point and the relative velocity vx is zero, the relative acceleration ax of the work device 61 is at its maximum. Therefore, the relative acceleration ax when the work device 61 is at its highest point can be reduced more reliably.

[0227] 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.

[0228] 11: Flight device 12: Airframe 15: Rotor 31: Drive device 31L1: First drive device 31R1: Second drive device 51: String member 51L: First string member 51R: Second string member 61: Working device T1: First tension (tension) T2: Second tension (tension) ax: Relative acceleration vx: Relative velocity

Claims

1. A flight device comprising: an aircraft; a plurality of rotors attached to the aircraft and capable of changing the altitude of the aircraft; and a plurality of drive units, each attached to the aircraft and capable of changing the relative position of the work device with respect to the aircraft by winding and unwinding a string member connected to the work device, wherein the plurality of drive units perform adjustment processing to wind and / or unwind the string member according to the attitude of the work device with respect to the aircraft.

2. The flight device according to claim 1, wherein the spacing between the multiple string members increases or decreases as they move from the aircraft side towards the work device side.

3. The spacing between the plurality of string members increases from the aircraft side toward the work device side, and the plurality of drive devices include: a first drive device that winds up and unwinds up a first string member provided on one horizontal side of the aircraft and connected to the one side of the work device; and a second drive device that winds up and unwinds up a second string member provided on the other horizontal side of the aircraft and connected to the other side of the work device, wherein in the adjustment process, when the work device is swinging toward one side relative to the aircraft, the first drive device winds up the first string member and the second drive device unwinds up the second string member; and when the work device is swinging toward the other side relative to the aircraft, the first drive device unwinds up the first string member and the second drive device winds up the second string member.

4. The spacing between the plurality of string members decreases as they move from the aircraft side toward the work device side, and the plurality of drive devices include: a first drive device that winds up and unwinds up a first string member provided on one horizontal side of the aircraft and connected to the one side of the work device; and a second drive device that winds up and unwinds up a second string member provided on the other horizontal side of the aircraft and connected to the other side of the work device, wherein in the adjustment process, when the work device swings toward one side relative to the aircraft, the first drive device unwinds up the first string member and the second drive device winds up the second string member; and when the work device swings toward the other side relative to the aircraft, the first drive device winds up the first string member and the second drive device unwinds up the second string member, as described in claim 2.

5. The flight device according to any one of claims 1 to 4, wherein the plurality of drive devices perform the adjustment process according to the tension acting on each string member.

6. The flight device according to claim 5, wherein the plurality of drive devices start the adjustment process when the difference in tension acting on each string member falls below a predetermined level.

7. The flight device according to claim 6, wherein, in the adjustment process, the control amount for the length of winding and / or unwinding of the string members is increased as the difference in tension acting on each string member increases.

8. The flight device according to any one of claims 1 to 4, wherein the plurality of drive devices perform the adjustment process in accordance with the horizontal relative acceleration of the work device with respect to the aircraft body.

9. The flight device according to claim 8, wherein the plurality of drive devices start the adjustment process when the relative acceleration falls below a predetermined level.

10. The flight device according to claim 9, wherein, in the adjustment process, the control amount for the length of winding and / or unwinding of the string member is increased as the relative acceleration increases.

11. The flight device according to any one of claims 1 to 4, wherein the plurality of drive devices perform the adjustment process according to the horizontal relative speed of the work device with respect to the aircraft body.

12. The flight device according to claim 11, wherein, in the adjustment process, the control amount of the length for winding and / or unwinding the string member increases as the relative speed decreases.

13. The flight device according to claim 12, wherein the plurality of drive devices maximize the control amount when the relative speed becomes zero during the adjustment process.

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