Flight device

Abstract

Provided is a flight device capable of landing in a stable posture.　A flight device (11) comprises: an airframe (12); a skid (19) attached to a lower part of the airframe (12); a plurality of rotors (15) attached to the airframe (12); and a drive device (31) attached to the airframe (12) and capable of changing a relative position of a work device (61) with respect to the airframe (12), by winding and unwinding a string member (51) connected to the work device (61). The plurality of rotors (15) is configured so that when the work device (61) is positioned above the lower end of the skid (19) by the drive device (31), contact of the skid (19) with a contact surface (G) is permitted as the altitude of the airframe (12) is changed. The plurality of rotors (15) is moreover configured so that when the work device (61) is positioned below the lower end of the skid (19) by the drive device (31), contact of the skid (19) with a contact surface (G) is restricted as the altitude of the airframe (12) is changed.

Description

Flying device

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

[0002] The agricultural multicopter disclosed in Patent Document 1 includes a main body, a plurality of arms attached to the main body, rotors attached to the arms and generating lift, and a working device attached to the lower part of the main body and performing work related to agriculture. Further, the liquid spraying device disclosed in Patent Document 2 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 swing of the nozzle when the spraying liquid is ejected from the nozzle.

[0003] Japanese Patent Laid-Open Publication "JP-A-2018-30560" Japanese Patent Laid-Open Publication "JP-A-2022-151626"

[0004] In the agricultural multicopter of Patent Document 1, agricultural work can be performed by the working device. Further, the liquid spraying device of Patent Document 2 can spray the spraying liquid at a position lower than the multicopter by being suspended from the multicopter.

[0005] However, when a working device is suspended from a multicopter, the landing of the multicopter may be hindered by the working device.

[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 land in a stable posture.

[0007] An aircraft according to one aspect of the present invention comprises an aircraft body, skids attached to the lower part of the aircraft body, a plurality of rotors attached to the aircraft body and capable of changing the altitude of the aircraft body, and a drive device attached to the aircraft body and capable of changing the relative position of the work device with respect to the aircraft body by winding and unwinding a string member connected to the work device, wherein the plurality of rotors are permitted to make contact with the ground surface of the skids when the altitude of the aircraft body is changed by the drive device when the work device is positioned above the lower end of the skids, and are restricted from making contact with the ground surface of the skids when the altitude of the aircraft body is changed by the drive device when the work device is positioned below the lower end of the skids.

[0008] According to the above-mentioned flight device, a stable landing is possible.

[0009] This is a diagram illustrating the configuration of the work support system. This is a diagram showing 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 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 diagram showing the storage state in which the work device is stored in the storage space. This is a diagram showing the removal state in which the work device is taken out of the storage space. This is a diagram illustrating the sequence of landing control steps. This is the first diagram showing the state in which the flight device changes altitude according to its relative position to the work device. This is the second diagram showing the state in which the flight device changes altitude according to its relative position to the work device. This is a diagram illustrating the sequence of first maintenance control steps. This is a diagram illustrating the sequence of second maintenance control steps. This is a diagram showing the state in which the swing angle of the leg members is changed according to the work device. This is a diagram illustrating the sequence of landing control steps in a 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 operated by remote control, and a detailed description of the flying device 11 operated by autonomous 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 down when the aircraft 11 lands, supporting the aircraft body 12 by floating it above the landing surface (contact surface G) 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 8 is a perspective view showing the drive unit 31. As shown in Figure 8, 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. The motor 34a is an electric motor driven by power supplied, for example, from a 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, 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 drive units 31 are attached to the main body 13. Furthermore, since the flight device 11 in this embodiment is connected to the work device 61 by four string members 51, the flight device 11 is equipped with four drive units 31. In the following description, the drive unit 31L1 attached to the left front of the main body 13 may be referred to as the "first drive unit," and the drive unit 31R1 attached to the right front of the main body 13 may be referred to as the "second drive unit." Also, the drive unit 31L2 attached to the left rear of the main body 13 may be referred to as the "third drive unit," and the drive unit 31R2 attached to the right rear of the main body 13 may be referred to as the "fourth drive unit."

[0029] As shown in Figures 6 and 7, the 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 positioned 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.

[0030] 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 6, 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.

[0031] 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.

[0032] 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 driving, stopping, and rotation speed (lift) of each rotor 15 in response to control information (instructions) from the remote device 81.

[0033] 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.

[0034] 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).

[0035] 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.

[0036] Furthermore, the software program may be stored in a first storage device 42 (non-volatile memory such as an HDD or SSD) that is communicably connected to the first control device 41, or in an external server device connected via the network, and then installed into the memory from there.

[0037] The first storage device 42 stores various information and data related to the flight device 11 in a read-write manner. The first storage device 42 includes non-volatile memory and the like. The first storage device 42 is communicatively connected to the first control device 41, and the first control device 41 can acquire various information and data stored in the first storage device 42.

[0038] As shown in Figure 1, the flight device 11 is equipped with a first communication device 43. The first communication device 43 is the communication interface of the flight device 11 and includes a communication circuit. The first communication device 43 communicates with at least the remote device 81 wirelessly or via a wired connection and inputs (sends and receives) various information, data, and signals. For this reason, the first communication device 43 serves as both an input interface for receiving information output from the remote device 81 and an output interface for outputting information to the remote device 81. The first communication device 43 may communicate directly with the remote device 81, or it may communicate indirectly with the remote device 81 via an external server device or the like, and its communication path is not limited. Furthermore, the first communication device 43 in this embodiment can also communicate directly or indirectly with the work device 61. The first communication device 43 is, for example, based on the Bluetooth® Low Energy specification in the IEEE 802.15.1 series of communication standards, and the IEEE 802.11. Wireless communication is performed using the n-series Wi-Fi (registered trademark), etc.

[0039] As shown in Figure 1, the flight device 11 includes a first battery unit 44 and a first inverter 45. The first battery unit 44 and the first inverter 45 are installed in the aircraft body 12.

[0040] The first battery unit 44 is capable of storing and discharging energy and supplies power to various devices and equipment of the flight device 11. A lithium-ion battery can be an example of the first battery unit 44.

[0041] The first inverter 45 controls the power (current and voltage) supplied to each electric motor (first motor 18a, second motor 34a) mounted on the flight device 11. The first inverter 45 is controlled by the first control device 41, which controls the power supplied to each electric motor 18a, 34a.

[0042] 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 force generated by each rotor 15. For this reason, the plurality of rotors 15 can fly the aircraft 12 in a desired direction by changing the altitude of the aircraft 12 and also changing the attitude of the aircraft 12.

[0043] Further, the first control device 41 controls the first inverter 45 to control the rotational speed and rotational direction of each second motor 34a, thereby controlling the winding or unwinding of the string member 51 by each drum 33. When the first control device 41 controls the first inverter 45 to wind and unwind the string member 51 by the driving device 31, a voltage is applied to the solenoid portion of the rotation restricting mechanism of the driving device 31 to switch to the second state.

[0044] As shown in FIG. 1, the flying device 11 includes a relative position detection device 46a that detects the relative position of the working device 61 with respect to the aircraft 12. In the present embodiment, the relative position detection device 46a is a displacement amount detection device that detects the relative position of the working device 61 with respect to the aircraft 12 by detecting the length (displacement length) of winding and unwinding of the string member 51. The displacement amount detection device 46a is a rotation sensor that detects the rotation of a drum 33, a pulley 36, or the like included in the driving device 31. The rotation sensor is an incremental or absolute rotary encoder or the like. The rotation sensor is communicably connected to the first control device 41 by wire or wirelessly, and outputs a 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 of the string member 51 per predetermined time based on the detection result output from the rotation sensor and an arithmetic formula or the like stored in advance in the first storage device 42. Therefore, the first control device 41 can acquire the respective displacement lengths of each string member 51 that connects the flying device 11 and the working device 61.

[0045] As a result, the first control device 41 can obtain the length of the string members 51 from each drive unit 31 to the work device 61 based on each displacement length, and obtain the relative position of the work device 61 with respect to the machine body 12. In other words, by obtaining the length of the string members 51 from each drive unit 31 to the work device 61, the first control device 41 can obtain length information L1 (separation length) from the work device 61 to the drive unit 31. In this embodiment, the separation length L1 is the length of the work device 61 from the upper end of the connecting device 65 to the lower end of the insertion hole 32a of the drive unit 31. Therefore, the displacement amount detection device 46a can indirectly detect the relative position of the work device 61 with respect to the machine body 12 based on the displacement amount of the string members 51.

[0046] The relative position detection device is not limited to the displacement detection device 46a, but may also be a distance detection device 46e that directly detects the relative distance to the work device 61 using a distance measuring sensor. The distance measuring sensor is provided in the space 21 between each leg member 20 in the lower part of the main body 13 and senses downwards from the main body 13. In this case, the distance detection device 46e includes an optical distance measuring sensor and a signal processing circuit, etc. An example of the optical distance measuring sensor in the distance detection device 46e is LiDAR (Light Detection and Ranging).

[0047] The lidar (laser sensor) emits pulsed measurement light (laser light) millions of times per second from a light source such as a laser diode, and reflects this measurement light with a rotating mirror, scanning it horizontally or vertically and projecting it downwards onto the main unit 13. The lidar then receives the reflected light from the object being measured using a light-receiving element. The signal processing circuit detects the distance to the object (working device 61) based on the time from when the lidar emits the measurement light until the reflected light is received (Time of Flight (ToF) method).

[0048] As the optical distance measurement sensor of the distance detection device 46e, in addition to lidars, imaging devices such as a CCD camera equipped with a CCD (Charge Coupled Devices) image sensor, a CMOS (Complementary Metal Oxide Semiconductor) camera equipped with a CMOS image sensor, and a ToF camera can be exemplified. Also, in the above example, the case where the distance detection device 46e has an optical distance measurement sensor was exemplified. However, instead of the optical distance measurement sensor, an acoustic distance measurement sensor (for example, an air ultrasonic sensor such as a sonar) may be used.

[0049] As shown in FIG. 1, the flying device 11 includes an inertial measurement device 46c (IMU: Inertial Measurement Unit). The inertial measurement device 46c detects the attitude and the like of the flying device 11 (airframe 12). The inertial measurement device 46c includes an acceleration sensor that detects acceleration, a gyro sensor that detects angular velocity, and the like. The inertial measurement device 46c is communicably connected to the first control device 41 by wire or wirelessly, and outputs detection results (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 results output from the inertial measurement device 46c and arithmetic expressions and the like pre-stored in the first storage device 42.

[0050] As shown in FIG. 1, the flying device 11 includes an altitude detection device 46d. The altitude detection device 46d detects the altitude of the flying device 11 (airframe 12). The altitude detection device 46d is, for example, a pressure sensor. The altitude detection device 46d is communicably connected to the first control device 41 by wire or wirelessly, and outputs a detection result (atmospheric pressure) to the first control device 41. The first control device 41 can calculate the altitude of the flying device 11 based on the detection result output from the altitude detection device 46d and arithmetic expressions and the like pre-stored in the first storage device 42.

[0051] 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 used to perform 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 devices 61 shown in Figures 9 and 10 are work devices 61 that can be driven by being towed by the flying device 11.

[0052] Figure 9 is a perspective view of the work device 61. Figure 10 is a plan view of the work device 61. As shown in Figures 9 and 10, 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 G instead of the traveling device 64.

[0053] 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.

[0054] Furthermore, as shown in Figure 2, the tip end (opposite side of the drive unit 31) of the string member 51 is connected to the base body 62. The base body 62 is connected to 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 connecting devices 65 to which the string members 51 are connected. The connecting devices 65 are provided on the base body 62 in a number corresponding to the number of string members 51 that connect the work device 61 and the flight device 11. In this embodiment, since the work device 61 is connected to the flight device 11 by four string members 51, the work device 61 is equipped with four connecting devices 65.

[0055] A string member 51, which is wound up and unwound by a first drive unit 31L1, is connected to a coupling device 65L1 (first coupling device) attached to the left front of the base body 62. A string member 51, which is wound up and unwound by a second drive unit 31R1, is connected to a coupling device 65R1 (second coupling device) attached to the right front of the base body 62. A string member 51, which is wound up and unwound by a third drive unit 31L2, is connected to a coupling device 65L2 (third coupling device) attached to the left rear of the base body 62. A string member 51, which is wound up and unwound by a fourth drive unit 31R2, is connected to a coupling device 65R2 (fourth coupling device) attached to the right rear of the base body 62.

[0056] As shown in Figures 9 and 10, the multiple coupling devices 65 are arranged such that the string members 51 connected to each coupling device 65 are at equal intervals. In this embodiment, the coupling devices 65 are connected at the center, and the centers of each coupling device 65 are positioned on a virtual circle O2 centered on a predetermined position on the work device 61. For example, the center of the virtual circle O2 is the center of gravity of the work device 61. Thus, the base body 62 can be moved by being suspended from the flying device 11 via the string members 51, or by being towed by the flying device 11 via the string members 51.

[0057] 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 work unit for sowing seeds (seeding work). In the examples shown in Figures 9 and 10, the work device 61 is a cutting device 61A equipped with a cutting unit 63A as the work unit 63.

[0058] 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 may be a tilling unit for tilling work, a tilling unit for tilling work, a ridging unit for making ribs, 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.

[0059] As shown in Figure 10, 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.

[0060] The running gear 64 is a device that supports the base body 62 (vehicle body) so that it can move. The running gear 64 has a plurality of wheels 64a. In the example shown in Figure 9, the plurality of wheels 64a include a pair of front wheels 64a1 and a pair of rear wheels 64a2. The pair of front wheels 64a1 are provided at the front of the base body 62, spaced apart in the width direction, and support the front of the base body 62 so that it can move. The pair of rear wheels 64a2 are provided at the rear of the base body 62, spaced apart in the width direction, and support the rear of the base body 62 so that it can move. Examples of wheels 64a include wheeled wheels made of tires and crawler-type wheels.

[0061] In the examples shown in Figures 9 and 10, the running gear 64 of the working 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, and may be two or three.

[0062] Furthermore, the running gear 64 may be driven to impart thrust to the base body 62. Specifically, each wheel 64a of the running gear 64 is driven by power supplied from the second power unit 66 to impart thrust to the base body 62. In this embodiment, all wheels 64a of the running gear 64 are driven by power supplied from the second power unit 66.

[0063] The second power unit 66 has electric motors 66a and 66b that are driven by power supplied, for example, from the second battery unit 74. In this embodiment, the second power unit 66 includes a plurality of electric motors 66a (third motors) that supply power to each wheel 64a of the running gear 64. In other words, the second power unit 66 has a plurality of third motors 66a corresponding to each wheel 64a, and each wheel 64a is driven independently by the corresponding third motor 66a.

[0064] Furthermore, the second power unit 66 includes an electric motor 66b (fourth motor) that drives the work unit 63. The pair of work units 63 are driven by a common fourth motor 66b.

[0065] The output shafts of each electric motor (third motor 66a, fourth motor 66b) of the second power unit 66 are directly or indirectly connected to the input shafts of the power supply destinations, respectively, and the generated power is transmitted to the destinations. The output shafts of the electric motors 66a and 66b are indirectly connected to the input shafts of the power supply destinations, for example, via a reduction gear including multiple gears. Therefore, the second power unit 66 can drive the running gear 64 and the working unit 63.

[0066] In this embodiment, each wheel 64a of the running gear 64 is driven independently by each third motor 66a of the second power unit 66, and each work unit 63 is driven by a common fourth motor 66b. However, one wheel 64a and another wheel 64a may share a single third motor 66a, or the second power unit 66 may have multiple fourth motors 66b corresponding to each work unit 63. Furthermore, the second power unit 66 is not limited to electric motors, but may also be an internal combustion engine such as a gasoline engine.

[0067] As shown in Figure 1, the work device 61 is equipped with a second control device 71 (control device). The work device 61 is also equipped with a second storage device 72.

[0068] 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 on 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 in response to control information (instructions) from the remote device 81. The second control device 71 also controls the driving, stopping, and rotation speed of the work unit 63.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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 a wired connection and inputs (transmits and receives) various information, data, and signals. The second communication device 73 may also be able to communicate directly with the remote device 81 or indirectly via the flight device 11, etc. 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, Wi-Fi® in the IEEE 802.11.n series, etc.

[0073] 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.

[0074] The second battery unit 74 is capable of storing and discharging energy and supplies power to the various devices and equipment of the work apparatus 61. A lithium-ion battery can be an example of the second battery unit 74.

[0075] The second inverter 75 controls the power (current and voltage) supplied to each electric motor (third motor 66a, fourth motor 66b) mounted on the work device 61. The second inverter 75 is controlled by the second control device 71 and controls the power supplied to each electric motor 66, 66b.

[0076] As a result, the second control device 71 controls the second inverter 75 to control the rotation speed and rotation direction of each third motor 66a, thereby changing the magnitude and direction of the thrust generated by each wheel 64a. Therefore, the multiple wheels 64a can impart thrust to the base body 62, allowing the base body 62 to move in the desired direction.

[0077] Furthermore, the second control device 71 controls the operation of each work unit 63 by controlling the second inverter 75 to change the rotation speed and / or rotation direction of the fourth motor 66b.

[0078] As shown in Figure 1, the work support system 1 is equipped with a remote device 81. The remote device 81 is an input interface that can accept operations from an operator and is a device that transmits information (instructions) regarding the control of the flight device 11 wirelessly or via wired connection. As shown in Figure 1, the remote device 81 includes an operating device 82, a third control device 83, a third communication device 84, a display device 85, and a notification device 86.

[0079] The operating device 82 includes physical switches such as a joystick, push switches, and slider switches, and accepts operations from the operator. The operating device 82 can accept operations such as the position, altitude, speed, direction of movement, and attitude of the flight device 11, and winding or unwinding of the string members 51 by each drive device 31 (altitude of the work device 61). If the display device 85, which will be described later, has an operable touch panel, the operating device 82 may be a display image shown on the display device 85.

[0080] The third control device 83 includes one or more processors. The third control device 83 is a controller of the remote device 81 and performs various controls on the remote device 81. The third control device 83 is communicatively connected to each device and equipment mounted on the remote device 81. For example, the third control device 83 controls the third communication device 84 to transmit information regarding the control of the flight device 11 received by the operating device 82 to the first communication device 43.

[0081] The third control device 83 includes one or more memories (third memories), various analog circuits, various digital circuits, etc. One or more third memories store (remember) software programs and various data to be executed by one or more processors. The third control device 83 can read software programs from one or more third memories by one or more processors and execute various processes based on said software programs.

[0082] Furthermore, as described in the first control device 41, the third control device 83 may perform various processes based on predetermined logic circuits using one or more processors. Also, as described in the first control device 41, the third control device 83 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.

[0083] As shown in Figure 1, the work device 61 is equipped with a third communication device 84. The third communication device 84 is the communication interface for the remote device 81 and includes a communication circuit. The third communication device 84 communicates with at least the flight device 11 (first communication device 43) wirelessly or via wire, and inputs and outputs (sends and receives) various information, data, and signals. The third communication device 84 may also communicate directly with the work device 61 or indirectly via the flight device 11, etc. The third communication device 84 performs wireless communication using, for example, Bluetooth® Low Energy in the Bluetooth® specification of the IEEE 802.15.1 series, Wi-Fi® in the IEEE 802.11.n series, etc.

[0084] The display device 85 is composed of a display unit such as a liquid crystal display. The display device 85 is controlled by the third control device 83 and displays various information about the flight device 11 and the work device 61. For example, the display device 85 displays information about the flight device 11 acquired by the third control device 83 via the third communication device 84 and the first communication device 43.

[0085] The notification device 86 is a device that notifies workers by outputting sound, light, etc. Examples of the notification device 86 include a speaker that outputs sound and a lamp that outputs light. The notification device 86 is controlled by the third control device 83 and notifies by outputting voice from the speaker, a warning sound, or by lighting or flashing a lamp, etc. Note that the notification device 86 only needs to be able to notify by outputting sound, light, etc., and the display device 85 may also serve as the notification device 86.

[0086] Figure 11 shows the working device 61 in the storage space 21. Figure 12 shows the working device 61 being removed from the storage space 21. As shown in Figure 11, the working device 61 can be stored in the space 21 between the leg members 20. Specifically, the width W2 of the working device 61 is smaller than the length W1 between the leg members 20. More specifically, there is a section between the front and rear of the working device 61 where the width is shorter than the length W1 between the leg members 20. Therefore, each drive unit 31 winds up the string member 51 and brings the working device 61 closer to the machine body 12, allowing it to be stored in the space 21 (storage space) between the working devices 61.

[0087] In the following description, as shown in Figure 11, the first control device 41 controls each drive device 31 so that each drive device 31 winds up the string member 51 and stores the work device 61 in the storage space 21, and the state in which the work device 61 is positioned above the lower end of the skid 19 (the lower end of the leg member 20) is referred to as the "stored state". Therefore, in the stored state, it is sufficient that the work device 61 is stored in the storage space 21 in the vertical direction, but it is not necessary that it is stored in either the front-to-back direction or the width direction.

[0088] On the other hand, the state in which at least a portion of the working device 61 in the vertical direction is not stored in the storage space 21, and the working device 61 is located below the lower end of the skid 19 (the lower end of the leg member 20), is called the "retrieval state." Therefore, in the retrieved state, at least the working device 61 is not stored in the storage space 21 in the vertical direction, but may be stored in at least one of the front-to-back and width directions.

[0089] As described above, the first control device 41 controls the winding or unwinding of the string members 51 by each drive device 31 to change the relative position of the work device 61 with respect to the machine body 12, and can switch between a stored state in which the work device 61 is stored in the space 21 (storage space) between the leg members 20, and an unloaded state in which the work device 61 is taken out of the storage space 21 and suspended or towed below the lower end of the skid 19.

[0090] The first control device 41 controls each device and equipment based on whether the work device 61 is in a retracted state or an extended state. Specifically, for example, the first control device 41 controls the landing of the aircraft 11 by the multiple rotors 15 (landing control) based on whether the work device 61 is in a retracted state or an extended state. In this case, when the work device 61 is positioned above the lower end of the skid 19 by the drive device 31 (retracted state), the multiple rotors 15 are allowed to touch down on the contact surface G of the skid 19 (landing of the aircraft 11) when the altitude of the aircraft 12 is changed. On the other hand, when the work device 61 is positioned below the lower end of the skid 19 by the drive device 31 (extended state), the multiple rotors 15 are restricted from touching down on the contact surface G of the skid 19 (landing of the aircraft 11) when the altitude of the aircraft 12 is changed.

[0091] More specifically, the first control device 41 determines whether the work device 61 is in a stored state or an extended state based on device information relating to the work device 61 connected to the string member 51 and the relative position of the work device 61 with respect to the machine body 12 detected by the relative position detection devices 46a and 46e. Device information is defined for each work device 61. The device information also includes, for example, height information H1 (first height information) from the lower end of the work device 61 (for example, the lower end of the traveling device 64) to the upper end of the connecting device 65. Therefore, in this embodiment, the first control device 41 determines whether the work device 61 is in a stored state or an extended state based on the first height information H1 and the separation length L1 (height information from the work device 61 to the drive device 31).

[0092] Device information is pre-stored in the first memory or first storage device 42, and the first control device 41 obtains 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, device information is pre-stored in the second storage device 72.

[0093] For example, a worker can select a work device 61 connected to the string member 51 by operating a remote device 81 or other terminal equipment (such as a smartphone or PC used by a worker or manager, or a remote control) 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.

[0094] 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 affixed to the upper part of the vehicle 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.

[0095] When the first control device 41 acquires the first height information H1 included in the device information, it calculates the length L2 (determined length, L2 = H + L1) from the lower end of the work device 61 to the drive device 31 from the sum of the first height information H1 and the separation length L1, as shown in Figures 11 and 12. If the first control device 41 determines that the determined length L2 is less than or equal to a predetermined determination threshold L3 (L2 ≤ L3), it determines that the work device 61 is positioned above the lower end of the skid 19 by the drive device 31 and that the work device 61 is in the stored state. On the other hand, if the first control device 41 determines that the determined length L2 exceeds the determination threshold L3 (L2 > L3), it determines that the work device 61 is positioned below the lower end of the skid 19 and that the work device 61 is in the unloaded state.

[0096] The determination threshold L3 is defined based on, for example, the height from the lower end of the skid 19 to the drive unit 31, and in this embodiment, it is the height from the lower end of the skid 19 to the drive unit 31. In particular, the determination threshold L3 is the height from the lower end of the leg member 20 to the lower end of the insertion hole 32a of the drive unit 31.

[0097] The determination threshold L3 only needs to be defined as being less than or equal to the height from the lower end of the skid 19 to the drive unit 31, and its length is not limited to the height from the lower end of the skid 19 to the drive unit 31. In this embodiment, the first control device 41 calculates the length L2 (determination length) from the lower end of the work device 61 to the drive unit 31 and compares the determination length L2 with the determination threshold L3 to determine whether it is in the stored state or the unloaded state, but the determination method is not limited to the method described above.

[0098] For example, if the device information has a pre-stored separation length (storage separation length) corresponding to the storage state, the first control device 41 determines that the work device 61 is in the storage state if it determines that the separation length L1 obtained from the detection results of the relative position detection devices 46a and 46e is less than or equal to the storage separation length, and determines that the work device 61 is in the retrieval state if it determines that the separation length L1 exceeds the storage separation length.

[0099] When the first control device 41 determines that the work device 61 is in the retracted state, it allows the altitude of the flying device 11 to drop below a predetermined level and the skids 19 to touch down on the ground surface G (landing of the flying device 11) in response to the operation of the remote device 81. For this reason, when the work device 61 is in the retracted state, if the remote device 81 instructs the flying device 11 to land (for example, if the target altitude of the flying device 11 is the altitude at which the skids 19 will touch down), the first control device 41 reduces the rotational speed of the multiple rotors 15 based on the altitude of the flying device 11 detected by the altitude detection device 46d. The multiple rotors 15 reduce the altitude of the flying device 11 and cause the skids 19 to touch down on the ground surface G.

[0100] On the other hand, if the first control device 41 determines that the working device 61 is in the extended state, it controls the operation of the remote device 81 to lower the altitude of the flying device 11 and prevent the skids 19 from touching the ground surface G (landing of the flying device 11). For this reason, even if the remote device 81 instructs the flying device 11 to land when the working device 61 is in the retracted state, the first control device 41 does not reduce the rotation speed of the multiple rotors 15 below a predetermined level, and the multiple rotors 15 do not allow the skids 19 to touch the ground surface G. For example, even if the remote device 81 instructs the flying device 11 to land when the working device 61 is in the retracted state, the first control device 41 maintains the rotation speed of the multiple rotors 15, and the multiple rotors 15 do not allow the skids 19 to touch the ground surface G.

[0101] At this time, when the multiple rotors 15 change the altitude of the aircraft body 12 and the skids 19 make contact with the ground surface G, if the working device 61 is located below the lower end of the skids 19 (retracted state), the drive unit 31 may rewind the string member 51 and move the working device 61 above the lower end of the skids 19 (storage state). In other words, when the working device 61 is in the storage state and the remote control device 81 instructs the aircraft to land, the first control device 41 controls each drive unit 31 to rewind the string member 51 and switch the working device 61 from the retracted state to the storage state.

[0102] Each drive unit 31 winds up the string member 51, and when the first control device 41 determines that the determination length L2 has become less than or equal to a predetermined determination threshold L3, it reduces the rotation speed of the multiple rotors 15 based on the altitude of the aircraft 11 detected by the altitude detection device 46d, in response to a landing instruction from the remote device 81. As a result, the multiple rotors 15 reduce the altitude of the aircraft 11 and cause the skids 19 to touch the ground surface G.

[0103] The following describes the sequence of landing control steps. Figure 13 is a diagram illustrating the sequence of landing control steps. Each step in Figure 13 is executed by the first control device 41 according to a software program stored in the first memory or first storage device 42.

[0104] First, the first control device 41 checks whether or not the aircraft 11 has been instructed to land (S1). In this embodiment, the first control device 41 checks whether or not the remote device 81 has instructed the aircraft 11 to land via the first communication device 43. For example, the first control device 41 determines that it will instruct the aircraft 11 to land if the target altitude of the aircraft 11 included in the instruction from the remote device 81 is the altitude at which the skid 19 will touch down.

[0105] When the first control device 41 confirms that the aircraft 11 has been instructed to land (S1: Yes), it determines whether the work device 61 is in the retracted state (S2). Specifically, the first control device 41 determines whether the work device 61 is in the retracted state based on the device information relating to the work device 61 connected to the string member 51 and the relative position of the work device 61 with respect to the aircraft 12 detected by the relative position detection devices 46a and 46e. For example, the first control device 41 obtains first height information H1 from the device information and calculates the length L2 (determined length) from the lower end of the work device 61 to the drive device 31 from the sum of the first height information H1 and the separation length L1 detected by the relative position detection devices 46a and 46e.

[0106] The first control device 41 checks whether the determination length L2 is less than or equal to the determination threshold L3. If the determination length L2 is less than or equal to the determination threshold L3 (L2 ≤ L3), it determines that the work device 61 is in the stored state. On the other hand, if the determination length L2 exceeds the determination threshold L3 (L2 > L3), the first control device 41 determines that the work device 61 is in the unloaded state.

[0107] When the first control device 41 determines that the work device 61 is in the retracted state (S2: Yes), it lands the aircraft 12 (flight device 11) in response to a landing instruction from the remote device 81 (S3). That is, the first control device 41 controls the multiple rotors 15 based on the instruction from the remote device 81, and by reducing the rotational speed of the multiple rotors 15, it lowers the altitude of the aircraft 12. As a result, the flight device 11 lands on the ground surface G.

[0108] Meanwhile, when the first control device 41 determines that the work device 61 is in the unloaded state (S2: No), it controls each drive device 31 to wind up the string member 51 and switches the work device 61 from the unloaded state to the stored state (S4). Once the first control device 41 has switched the work device 61 to the stored state (S4), it returns to the process of step S2 and lands the flying device 11 in step S3.

[0109] As a result, when the working device 61 is retracted, the skids 19 are allowed to make contact with the ground surface G when the altitude of the aircraft body 12 is changed, and when the working device 61 is extended, the skids 19 are restricted from making contact with the ground surface G when the altitude of the aircraft body 12 is changed.

[0110] In the landing control shown in Figure 13, after step S4, the process returns to step S2. However, after the first control device 41 switches the working device 61 to the retracted state, the multiple rotors 15 may maintain their rotation speed and the aircraft 12 may hover and wait until the remote control device 81 issues another landing instruction.

[0111] Furthermore, in step S4, the first control device 41 switches the work device 61 to the retracted state. However, it may switch to the retracted state only if a predetermined condition is met, and not switch to the retracted state if the condition is not met, and repeat the process of step S4 until the condition is met. For example, the first control device 41 uses the detection result of the inertial measuring device 46c to determine that the attitude of the machine body 12 is horizontal as the execution condition for step S4. In this case, if the work device 61 is provided with another measuring device for detecting its attitude, the first control device 41 may, in place of or in addition to the above execution condition, use the attitude of the work device 61 being horizontal as the execution condition for step S4.

[0112] Furthermore, in the example described above, even if the aircraft 11 is instructed to land by the remote control 81 when the working device 61 is in the retracted state, the case was explained in which the multiple rotors 15 maintain their rotational speed and the skids 19 do not touch the ground surface G. However, the multiple rotors 15 only need to maintain the altitude of the working device 61 above a predetermined altitude, as long as the lower end of the working device 61 does not touch the ground surface G. For example, the multiple rotors 15 maintain the altitude of the working device 61 above the height H3 (operating height) at which the working device 61 performs its work.

[0113] The effective height H3 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 H3 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 H3 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 H3 is the height at which the work device 61 makes contact with the ground surface G.

[0114] The effective height H3 is information indicating the height of, for example, the work section 63, and is included in the device information. The effective height H3 indicates the height of a predetermined position of the work section 63 (for example, the upper end, the center in the vertical direction, or the lower end). In such a case, the device information includes height information H2 (second height information) from the predetermined position of the work section 63 to the connecting device 65. In this embodiment, the second height information H2 indicates the height from the predetermined position of the work section 63 to the upper end of the connecting device 65.

[0115] The effective height H3 is pre-stored in the first memory or first storage device 42. Therefore, the effective height H3 is included in the device information together with the first height information H1, is acquired from the second storage device 72 by the first control device 41, and is stored (held) in the first memory or first storage device 42. The effective height H3 may be changed as appropriate using a remote device 81 or the like.

[0116] When the work device 61 is in the retrieval state, the first control device 41 controls the separation length L1 or the altitude of the flight device 11 based on the sum of the second altitude information H2 and the effective altitude H3, in order to maintain the altitude of the work device 61 at or above the effective altitude H3. In particular, during landing control, the first control device 41 controls the drive device 31 to maintain the altitude of the work device 61 at or above the effective altitude H3.

[0117] As a result, when the working device 61 is in the stowed position, if the flight device 11 is instructed to land by the operation of the remote device 81, the first control device 41 will reduce the rotational speed of the multiple rotors 15, and when the altitude of the working device 61 reaches the effective height H3, the drive device 31 will rewind the string member 51, thereby preventing the altitude of the working device 61 from falling below the effective height H3. Furthermore, the first control device 41 can prevent the lower end of the working device 61 from touching the ground surface G.

[0118] Furthermore, in the above-described embodiment, the first control device 41 performed landing control based on whether the working device 61 was in a stored state or an extended state, that is, according to the relative position of the working device 61 with respect to the aircraft body 12. However, the first control device 41 may also control multiple rotors 15 according to the relative position and change the altitude of the aircraft body 12. In other words, the multiple rotors 15 may change the altitude of the aircraft body 12 according to the relative position changed by the drive device 31. Also, the multiple rotors 15 change the altitude of the working device 61 according to the working device 61 connected to the string member 51.

[0119] In such a case, the first control device 41 can switch to a first maintenance mode in which it controls a plurality of rotors 15 according to the separation length L1 to change the altitude of the aircraft body 12 so that the work device 61 maintains a predetermined altitude. The first control device 41 switches to the first maintenance mode in response to instructions from the remote device 81. In the first maintenance mode, the first control device 41 maintains the altitude of the work device 61 at a predetermined altitude by automatically changing the altitude of the flight device 11 without changing the altitude of the flight device 11 in response to instructions from the remote device 81. In the first maintenance mode, the first control device 41 maintains the altitude of the work device 61 at the effective height H3.

[0120] In the first maintenance mode, the first control device 41 obtains the effective height H3 and second height information H2 from the first memory or first storage device 42, and calculates the target altitude of the flying device 11 that corresponds to the current separation length L1 and makes the altitude of the work device 61 the effective height H3 based on the sum of the effective height H3, the second height information H2, and the separation length L1. Once the first control device 41 has calculated the target altitude of the flying device 11, it controls the multiple rotors 15 to change the altitude of the flying device 11 to the target altitude and maintains the altitude of the work device 61 at the effective height H3.

[0121] Therefore, if the separation length L1 increases while the flying device 11 is moving with the work device 61 suspended, the flying device 11 can increase its altitude to maintain the altitude of the work device 61 at the effective altitude H3 (see Figure 14). On the other hand, if the separation length L1 decreases while the flying device 11 is moving with the work device 61 suspended, the flying device 11 can decrease its altitude to maintain the altitude of the work device 61 at the effective altitude H3 (see Figure 15). As a result, even if the separation length L1 changes unexpectedly, the multiple rotors 15 can change the altitude of the aircraft 12 according to the relative position changed by the drive unit 31.

[0122] In the above-described embodiment, the first control device 41 in the first maintenance mode changes the altitude of the aircraft 12 to maintain the altitude of the work device 61 at the effective altitude H3. However, the output interface (first communication device 43) may output a notification signal to the notification device 86 if the altitude of the work device 61, based on the altitude and relative position of the aircraft 12, is less than a predetermined threshold (effective altitude H3) defined for each work device 61. For example, if the first control device 41 in the first maintenance mode changes the altitude of the flight device 11 (aircraft 12) to the target altitude based on the altitude detected by the altitude detection device 46d, and the altitude of the aircraft 12 falls below the target altitude, it controls the first communication device 43 to output a notification signal to the remote device 81.

[0123] When the third control device 83 of the remote device 81 receives a notification signal via the third communication device 84 and the first communication device 43, it controls the notification device 86 to notify the worker that the altitude of the work device 61 is lower than the effective height H3. For example, if the notification device 86 is a speaker, the speaker will output the message, "The altitude of the work device is lower than the effective height," in voice. Alternatively, if the display device 85 also functions as the notification device 86, the above message may be displayed as an image.

[0124] The following describes the sequence of operations for the first maintenance control. Figure 16 is a diagram illustrating the sequence of operations for the first maintenance control. Each step in Figure 16 is executed by the first control device 41 according to a software program stored in the first memory or first storage device 42. First, the first control device 41 checks whether the current mode is the first maintenance mode (S11). If the first control device 41 confirms that the current mode is the first maintenance mode (S11: Yes), it obtains the effective height H3 and the second height information H2 from the first memory or first storage device 42, and calculates the target altitude of the flight device 11 that corresponds to the current separation length L1 and where the altitude of the work device 61 is the effective height H3, based on the sum of the effective height H3, the second height information H2, and the separation length L1 (S12).

[0125] When the first control device 41 calculates the target altitude (S12), it controls the multiple rotors 15 to change the altitude of the flight device 11 to the target altitude and changes the altitude of the work device 61 to the actual height H3 (S13).

[0126] Furthermore, the first control device 41 confirms whether the altitude of the aircraft 12 detected by the altitude detection device 46d is equal to or greater than the target altitude (S14). If the first control device 41 confirms that the altitude of the aircraft 12 is less than the target altitude (S14: No), it controls the first communication device 43 to output a notification signal to the remote device 81 (S15). As a result, the third control device 83 controls the notification device 86 to notify the operator that the altitude of the work device 61 is lower than the effective height H3.

[0127] In the first maintenance control described using Figure 16, the first control device 41 controlled the altitude of the machine body 12 so that the altitude of the work device 61 was equal to the effective height H3 corresponding to the work device 61. However, the altitude of the machine body 12 may also be controlled so that the work device 61 is at or above a predetermined altitude other than the effective height H3 (second maintenance control). In the second maintenance control, the first control device 41 controls the drive unit 31 in accordance with the work device 61 connected to the string member 51, changing its relative position. The first control device 41 also controls the multiple rotors 15 in accordance with the relative position to change the altitude of the machine body 12, thereby maintaining the work device 61 at or above an altitude where it does not touch the ground surface G.

[0128] Specifically, the first control device 41 can switch to a second maintenance mode, which performs a second maintenance control in place of or in addition to the first maintenance mode. The first control device 41 switches to the second maintenance mode in response to instructions from the remote device 81.

[0129] When the first control device 41 is in the second maintenance mode, the drive device 31 winds up or unwinds up the string member 51 in accordance with the work device 61 connected to the string member 51. Specifically, the device information includes the maximum value of the separation length L1 associated with each work device 61, and the first control device 41 controls the drive device 31 based on the maximum value of the separation length L1. When the first control device 41 obtains device information from the first memory or the first control device 41, it refers to the maximum value included in the device information and controls the drive device 31 so that the separation length L1 detected by the relative position detection devices 46a and 46e is less than or equal to the maximum value. In other words, when the first control device 41 controls the drive device 31 to wind up or unwind the string member 51 in response to an instruction from the remote device 81, if the separation length L1 reaches the maximum value, it stops winding up or unwinding the string member 51 against the instruction from the remote device 81.

[0130] In the second maintenance mode, the first control device 41 controls the altitude of the flight device 11 to maintain the altitude of the work device 61 at zero or above, based on the sum of the separation length L1 and the second height information H2. Specifically, the first control device 41 in the second maintenance mode acquires the second height information H2 from the first memory or first storage device 42, and calculates the altitude of the aircraft 12 (minimum altitude) at which the altitude of the work device 61 is zero or above, based on the sum of the second height information H2 and the separation length L1. If the target altitude of the flight device 11 is at or above the minimum altitude, the first control device 41 controls the multiple rotors 15 based on the target altitude, and if the target altitude of the flight device 11 is below the minimum altitude, it controls the multiple rotors 15 based on the minimum altitude, thereby maintaining the altitude of the work device 61 at zero or above.

[0131] In the example described above, the first control device 41 in the second maintenance mode controlled the altitude of the flight device 11 based on the sum of the separation length L1 and the second height information H2. However, it is sufficient that the altitude of the work device 61 is maintained at zero or higher. For this reason, the first control device 41 in the second maintenance mode may control the altitude of the flight device 11 based on the sum of the maximum value and the second height information H2. In such a case, the device information may include the sum of the maximum value and the second height information H2 in advance.

[0132] Furthermore, in the embodiment described above, the first control device 41 in the second maintenance mode changes the altitude of the aircraft 12 to maintain the altitude of the work device 61 at zero or higher. However, the output interface (first communication device 43) may, similar to the first maintenance mode, output a notification signal to the notification device 86 when the altitude of the work device 61, based on the altitude of the aircraft 12 and its relative position, is less than a predetermined threshold (effective height H3) defined for each work device 61.

[0133] The following describes the sequence of operations for the second maintenance control. Figure 17 is a diagram illustrating the sequence of operations for the second maintenance control. Each step in Figure 17 is executed by the first control device 41 according to a software program stored in the first memory or first storage device 42. First, the first control device 41 checks whether or not an instruction has been given for the drive device 31 to unwind the string member 51 (S21). In this embodiment, the first control device 41 checks whether or not an instruction has been given for the drive device 31 to unwind the string member 51 from the remote device 81 via the first communication device 43.

[0134] When the first control device 41 confirms that the drive device 31 has been instructed to unwind the string member 51 (S21: Yes), it obtains device information from the first memory or first storage device 42, refers to the maximum value contained in the device information, and unwinds the string member 51 by the drive device 31 within a range less than or equal to the maximum value (S22).

[0135] If the drive unit 31 has not issued an instruction to unwind the string member 51 (S21: No), the first control device 41 checks whether the current mode is the second maintenance mode (S23). If the first control device 41 confirms that the current mode is the second maintenance mode (S23: Yes), it obtains the second height information H2 from the first memory or the first storage device 42 and calculates the minimum height based on the sum of the second height information H2 and the separation length L1 (S24).

[0136] When the first control device 41 calculates the minimum altitude (S24), it checks whether the target altitude of the flight device 11 based on the instructions of the remote device 81 is equal to or greater than the minimum altitude (S25). If the target altitude of the flight device 11 based on the instructions of the remote device 81 is equal to or greater than the minimum altitude (S25: Yes), the first control device 41 controls the multiple rotors 15 and changes the altitude of the work device 61 based on the target altitude of the flight device 11 based on the instructions of the remote device 81 (S26).

[0137] On the other hand, if the target altitude of the flight device 11 based on the instructions of the remote control device 81 is below the minimum altitude (S25: No), the first control device 41 controls the multiple rotors 15 based on the minimum altitude instead of the target altitude of the flight device 11 based on the instructions of the remote control device 81, and changes the altitude of the work device 61 (S27).

[0138] Furthermore, the first control device 41 confirms whether the altitude of the aircraft 12 detected by the altitude detection device 46d is equal to or greater than the target altitude (S28). If the first control device 41 confirms that the altitude of the aircraft 12 is less than the target altitude (S28: No), it controls the first communication device 43 to output a notification signal to the remote device 81 (S29). As a result, the third control device 83 controls the notification device 86 to notify the operator that the altitude of the work device 61 is lower than the effective height H3.

[0139] Figure 18 shows a state in which the swing angle of the leg member 20 is changed in accordance with the work device 61. As shown in Figure 18, if the skid 19 has an angle changing device 22 that changes the swing angle of the leg member 20, the first control device 41 may control the angle changing device 22 in accordance with the work device 61 connected to the string member 51 and change the swing angle of the leg member 20. In the modified example shown in Figure 18, the leg member 20 is pivotably attached to the machine body 12, and the swing angle is changed by the angle changing device 22. The angle changing device 22 changes the swing angle of the leg member 20 in accordance with the work device 61 connected to the string member 51.

[0140] In the example shown in Figure 18, each leg member 20 is pivotably mounted around a pivot axis extending in the front-rear direction. Specifically, the base end (upper end) of each leg member 20 is pivotably mounted to a bracket attached to the outside in the width direction of the lower part of the aircraft body 12.

[0141] The angle changing device 22 is driven by a motor 22a and changes the swing angle of each leg member 20. The motor 22a (fifth motor) of the angle changing device 22 is an electric motor driven by power supplied from, for example, the first battery unit 44. A servo motor can also be exemplified as the fifth motor 22a. The first control device 41 drives the fifth motor 22a by changing the digital signal (pulse) output to the fifth motor 22a, and the angle changing device 22 can change the swing angle of the leg members 20 to a desired angle.

[0142] As a result, the angle changing device 22 can be modified to increase the swing angle, thereby widening the separation width between the pair of leg members 20, increasing the horizontal size of the space 21 below the aircraft body 12, and decreasing its vertical size. On the other hand, the angle changing device 22 can be modified to decrease the swing angle, thereby narrowing the separation width between the pair of leg members 20, decreasing the horizontal size of the space 21 below the aircraft body 12, and increasing its vertical size.

[0143] In this embodiment, the target angle of the swing angle of each leg member 20 to be changed by the angle changing device 22 is included in the device information. Therefore, the device information is obtained from the first memory or first storage device 42, and the target angle included in the device information is referenced to control the angle changing device 22 based on the target angle. As a result, the first control device 41 can control the angle changing device 22 in accordance with the work device 61 connected to the string member 51 and change the swing angle of the leg member 20.

[0144] Furthermore, the first control device 41 only needs to change the swing angle of the landing gear member 20 to the target angle when the aircraft 11 is about to land. For this reason, in the modified landing control shown in Figure 19, if the first control device 41 determines in step S1 that the aircraft 11 is instructed to land (S1: Yes), it controls the angle changing device 22 to change the swing angle of the landing gear member 20 to the target angle (S5).

[0145] Furthermore, if the first control device 41 determines in step S1 that landing of the flight device 11 has not been instructed (S1: No), it checks whether the separation length L1 is less than or equal to the determination threshold L3 and determines whether the work device 61 is located directly below the skid 19 (S6). Specifically, if the first control device 41 determines that the separation length L1 detected by the relative position detection devices 46a and 46e is less than or equal to the determination threshold L3 (L1 ≤ L3), it determines that the upper end of the work device 61 is located above or above the lower end of the skid 19, and that the work device 61 is located directly below the skid 19. On the other hand, if the first control device 41 determines that the separation length L1 exceeds the determination threshold L3 (L1 > L3), it determines that the upper end of the work device 61 is located below the lower end of the skid 19, and that the work device 61 is not located directly below the skid 19.

[0146] If the first control device 41 determines in step S6 that the working device 61 is positioned directly below the skid 19 (S6: Yes), it controls the angle changing device 22 to change the swing angle of the leg member 20 to the target angle (S7). On the other hand, if the first control device 41 determines in step S6 that the working device 61 is not positioned directly below the skid 19 (S6: No), it changes the swing angle of the leg member 20 to the maximum value (S8) and returns to the process of step S1.

[0147] Therefore, in this modified example, when the remote control 81 does not instruct the aircraft 11 to land, and when the upper end of the work device 61 is positioned below the lower end of the skid 19, the swing angle of the leg member 20 becomes the maximum value, and the separation width of the leg member 20 becomes the maximum value. Also, when the remote control 81 instructs the aircraft 11 to land, and when the upper end of the work device 61 is positioned above the lower end of the skid 19, the angle changing device 22 adjusts the swing angle of the leg member 20 to the target angle corresponding to the work device 61. As a result, the work device 61 can be stored in the storage space 21.

[0148] A preferred embodiment of the present invention provides the flying device 11 described in the following items.

[0149] (Item 1) An aircraft 11 comprising: an aircraft body 12; skids 19 attached to the lower part of the 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 drive device 31 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 rotors 15 are permitted to touch the ground surface G when the altitude of the aircraft body 12 is changed when the altitude of the aircraft body 12 is changed, when the work device 61 is positioned above the lower end of the skids 19 by the drive device 31, and the touch of the skids 19 with the ground surface G when the altitude of the aircraft body 12 is changed is restricted when the altitude of the aircraft body 12 is changed when the altitude of the aircraft body 12 is changed.

[0150] According to the flight device 11 described in item 1, when the skid 19 touches down on the ground surface G, it is possible to prevent the working device 61 from coming into contact with the ground surface G. As a result, the flight device 11 can make stable contact with the ground surface G.

[0151] (Item 2) The flight device 11 according to Item 1, wherein when the plurality of rotors 15 change the altitude of the aircraft body 12 and the skids 19 make contact with the ground surface G, if the working device 61 is located below the lower end of the skids 19, the drive device 31 winds up the string member 51 and moves the working device 61 above the lower end of the skids 19.

[0152] According to the flight device 11 in item 2, even when the working device 61 is located below the lower end of the skid 19, the drive unit 31 moves the working device 61, so that the flight device 11 can quickly and stably make contact with the ground contact surface G.

[0153] (Item 3) The flight device 11 according to Item 1 or 2, wherein the multiple rotors 15 change the altitude of the aircraft 12 according to the relative positions changed by the drive device 31.

[0154] According to the flight device 11 described in item 3, the altitude of the work device 61 can be kept constant. Therefore, even if the drive device 31 winds up or unwinds the string member 51 and the relative position changes, the working altitude of the work device 61 can be kept constant.

[0155] (Item 4) The string member 51 is capable of connecting different work devices 61 to the flight device 11 according to any one of items 1 to 3.

[0156] According to the flight device 11 in item 4, even when different working devices 61 are connected to the string member 51, stable ground contact can be achieved on the setting surface.

[0157] (Item 5) The flight device 11 described in Item 4, wherein the drive device 31 winds up or unwinds up the string member 51 in accordance with the work device 61 connected to the string member 51, thereby changing the relative position.

[0158] According to the flight device 11 related to item 5, the relative position can be changed to one that is suitable for each work device 61.

[0159] (Item 6) The flight device 11 according to Item 4 or 5, wherein the multiple rotors 15 change the altitude of the working device 61 in accordance with the working device 61 connected to the string member 51.

[0160] According to the flight device 11 described in item 6, even when different work devices 61 are attached, an altitude suitable for each work device 61 can be maintained. Therefore, the working altitude of the work devices 61 can be appropriately maintained.

[0161] (Item 7) An aircraft 11 according to any one of items 4 to 6, which has an output interface that outputs a notification signal to a notification device 86 when the altitude of the aircraft 12 and the altitude of the work device 61 based on the relative position are less than a predetermined threshold defined for each work device 61.

[0162] According to the flight device 11 in item 7, the notification device 86 can provide notification when the altitude of the work device 61 becomes relatively low, so the worker can easily understand that the altitude of the work device 61 has decreased.

[0163] (Item 8) The skid 19 comprises a leg member 20 that is pivotably attached to the aircraft body 12, and an angle changing device 22 that changes the pivot angle of the leg member 20, wherein the angle changing device 22 changes the pivot angle of the leg member 20 in accordance with the work device 61 connected to the string member 51, the aircraft 11 according to any one of items 4 to 7.

[0164] According to the flight device 11 related to item 8, it is possible to make stable contact with the ground surface G in accordance with the work device 61 connected to the string member 51.

[0165] 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.

[0166] 11: Flight device 12: Airframe 15: Rotor 19: Skid 20: Landing gear 22: Angle change device 31: Drive device 51: Tether 61: Working device 86: Notification device G: Ground contact surface

Claims

1. An aircraft comprising: an aircraft body; skids attached to the lower part of the aircraft body; a plurality of rotors attached to the aircraft body and capable of changing the altitude of the aircraft body; and a drive device attached to the aircraft body and capable of changing the relative position of the work device with respect to the aircraft body by winding and unwinding a string member connected to the work device, wherein the plurality of rotors are permitted to make contact with the ground surface when the altitude of the aircraft body is changed, when the work device is positioned above the lower end of the skids by the drive device, and are restricted from making contact with the ground surface when the altitude of the aircraft body is changed, when the work device is positioned below the lower end of the skids by the drive device.

2. The flight device according to claim 1, wherein the drive device, when the plurality of rotors change the altitude of the aircraft and the skids make contact with the ground surface, and the working device is located below the lower end of the skids, winds up the string member and moves the working device above the lower end of the skids.

3. The flight device according to claim 1, wherein the plurality of rotors change the altitude of the aircraft in accordance with the relative positions changed by the drive device.

4. The flight device according to any one of claims 1 to 3, wherein different work devices can be connected to the string member.

5. The flight device according to claim 4, wherein the drive device winds up or unwinds the string member in accordance with the work device connected to the string member, thereby changing the relative position.

6. The flight device according to claim 4, wherein the plurality of rotors change the altitude of the working device in accordance with the working device connected to the string member.

7. The aircraft according to claim 4, further comprising an output interface that outputs a notification signal to a notification device when the altitude of the aircraft and the altitude of the work device based on the relative position are less than a predetermined threshold defined for each work device.

8. The aircraft according to claim 4, wherein the skid comprises a leg member that is pivotably attached to the aircraft body, and an angle changing device that changes the pivot angle of the leg member, the angle changing device changing the pivot angle of the leg member in accordance with the work device connected to the string member.

Images