Takeoff / landing device for flying devices, farming machine

Abstract

The present invention makes it possible for various flying devices to land.　A takeoff / landing device (91) for a flying device (3) comprises a first support part (92A) that can support at least a portion of the flying device (3) and a second support part (92B) that can support at least a portion of the flying device (3) and, with the first support part (92A), is to support the flying device (3) to allow the flying device (3) to take off and land. The first support part (92A) and the second support part (92B) are separated in the horizontal direction, and the space between the first support part (92A) and the second support part (92B) is unobstructed in the vertical direction.

Description

Take-off and landing device of flying device and agricultural machinery

[0001] The present invention relates to a take-off and landing device of a flying device and an agricultural machinery.

[0002] The agricultural machinery disclosed in Patent Document 1 includes a traveling vehicle body, a connecting device capable of connecting a working device to the traveling vehicle body, and a take-off and landing station where an unmanned aerial vehicle can take off and land. The take-off and landing station has an arm that contacts the skid between the skids of the unmanned aerial vehicle to restrict the horizontal movement of the skid.

[0003] Japanese Patent Laid-Open Publication "JP-A-2022-104734"

[0004] The take-off and landing station (take-off and landing device) disclosed in Patent Document 1 requires relatively little mounting space and can reliably land an unmanned aerial vehicle (flying device). However, in order for the flying device to land on the take-off and landing device, a space for the arm to enter is required between a plurality of legs of the skid.

[0005] The present invention has been made to solve such problems of the prior art, and an object thereof is to provide a take-off and landing device and an agricultural machinery capable of landing various flying devices.

[0006] The take-off and landing device of a flying device according to one aspect of the present invention includes a first support portion capable of supporting at least a part of the flying device, and a second support portion capable of supporting at least a part of the flying device and supporting the flying device together with the first support portion so as to be able to take off and land. The first support portion and the second support portion are arranged at a distance in the horizontal direction, and the space between the first support portion and the second support portion communicates in the vertical direction.

[0007] The take-off and landing device of the flying device may include a support structure for attaching the first support portion and the second support portion to the agricultural machinery.

[0008] An agricultural machinery according to one aspect of the present invention includes a take-off and landing device, a traveling body capable of traveling, and a working device to which the support structure is attached and which is connected to the traveling body.

[0009] With the above-mentioned landing and takeoff equipment and agricultural machinery, various flying devices can be landed.

[0010] This is a block diagram of the work system. This is a schematic side view showing an example of agricultural machinery. This is a perspective view showing an example of agricultural materials. This is a schematic side view of the work device. This is a schematic top view of the work device. This is a schematic front view of the work device. This is a schematic rear view of the work device. This is a schematic front view showing the work device moving in the width direction of the aircraft. This is a front view showing the flight device. This is a side view showing the flight device. This is a top view showing the flight device. This is a perspective view showing the flight device landing on multiple support points. This is a side view showing the flight device landing on multiple support points. This is a top view showing the flight device landing on multiple support points. This is a rear view showing the flight device landing on multiple support points. This is a front view showing the guided part being guided by the guide. This is a rear view showing a first modified example of the guide. This is a perspective view showing a second modified example of the guide. This is a rear view showing a third modified example of the guide. This is a top view showing the take-off and landing device at the drop position. This is a rear view showing the take-off and landing device at the drop position. This is a diagram illustrating an example of a series of flows for supplying agricultural materials in the work system.

[0011] The following describes one embodiment of the present invention with reference to the drawings. Figure 1 is a block diagram of the work system 1. The work system 1 comprises an agricultural machine 2 and an aerial device 3. The agricultural machine 2 is a machine that performs work using agricultural materials 4. The aerial device 3 is capable of transporting agricultural materials 4, and the agricultural machine 2 can receive agricultural materials 4 from the aerial device 3. As a result, in the work system 1, the agricultural machine 2 is supplied with agricultural materials 4 from the aerial device 3 and can continuously perform work using the supplied agricultural materials 4. First, the agricultural machine 2 will be described.

[0012] In the following explanation, the direction indicated by arrow X1 in the diagram is forward, the direction indicated by arrow X2 is backward, the direction indicated by arrow Y1 is left, the direction indicated by arrow Y2 is right, the direction indicated by arrow Z1 is upward, and the direction indicated by arrow Z2 is downward. Also, the direction perpendicular to the vertical direction is called the horizontal direction, and the horizontal direction perpendicular to the front-rear direction is sometimes called the aircraft width direction (left-right direction). Furthermore, in the following explanation, a certain direction within the horizontal direction is sometimes called one side of the horizontal direction, and the opposite direction (reverse direction) of that one side of the horizontal direction is called the other side of the horizontal direction.

[0013] <About Agricultural Machinery 2> Figure 2 is a schematic side view showing an example of agricultural machinery 2. In this embodiment, agricultural machinery 2 will be described using a rice transplanter 2A that plants seedlings 4a (seedling mats 4A) as agricultural material 4 as an example. Furthermore, in the following description, agricultural machinery 2 will be described using a rice transplanter 2A equipped with a driver's seat 13 and operated by manual operation by an operator seated in the driver's seat 13 as an example.

[0014] As shown in Figure 2, the agricultural machine 2 is equipped with a traveling body 11. The traveling body 11 is a vehicle body that can move. The agricultural machine 2 is also equipped with a working device 21. The working device 21 is a device connected to the traveling body 11. The working device 21 is capable of performing work. In this embodiment, the working device 21 is located behind the traveling body 11.

[0015] The vehicle 11 has a body 12. The body 12 supports various devices and equipment of the agricultural machine 2. The body 12 is provided with a driver's seat 13. Around the driver's seat 13 (for example, in front), there are operating devices 14 for operating each device and equipment of the agricultural machine 2. The operating devices 14 accept manual operation by an operator. For example, the operating devices 14 include a steering device (steering wheel, steering column, and power steering mechanism, etc.) for steering the vehicle 11.

[0016] As shown in Figures 1 and 2, the agricultural machine 2 is equipped with a first power unit 15. The first power unit 15 is a device that generates power. The first power unit 15 is mounted on the machine body 12. In this embodiment, the first power unit 15 has a prime mover 16 and a transmission 17.

[0017] The prime mover 16 is a power source that outputs power (rotational driving force). The prime mover 16 is composed of, for example, a diesel engine. As another example, the prime mover 16 may be composed of another internal combustion engine such as a gasoline engine, or an electric motor, etc. The prime mover 16 is supported at the front of the machine body 12.

[0018] The transmission 17 is a device that changes the speed of the power (rotational driving force) output from the prime mover 16. The transmission 17 can switch the rotational driving force output from the prime mover 16 by changing the speed. The transmission 17 can switch the direction of travel of the vehicle 11 (forward and reverse).

[0019] Furthermore, the transmission 17 transmits the power generated by the prime mover 16 to the work device 21. Specifically, the transmission 17 drives the output shaft 17a (PTO shaft) with the power generated by the prime mover 16, and transmits the power to the work device 21 via the output shaft 17a.

[0020] The transmission 17 includes an HST (Hydro Static Transmission), multiple gears for transmitting power, a shifter for changing the connection of the gears, and a clutch for switching between transmitting and disconnecting power. The transmission 17 is located at the rear of the machine body 12, behind the prime mover 16.

[0021] As shown in Figure 2, the agricultural machine 2 is equipped with a traveling device 18. The traveling device 18 is a device that provides propulsion to the traveling body 11 (machine body 12). The traveling device 18 supports the machine body 12 so that it can move. The traveling device 18 provides propulsion to the machine body 12 by being driven. The traveling device 18 is driven by power generated by the first power unit 15.

[0022] In this embodiment, the running gear 18 is driven by power transmitted from the transmission 17 to provide thrust to the machine body 12. Therefore, the running speed of the running gear 18 is changed when the transmission 17 switches the rotational driving force. Furthermore, the running gear 18 can switch between forward and reverse movement by changing the rotational direction of the rotational driving force transmitted from the transmission 17.

[0023] The running gear 18 has one or more wheels 19. In this embodiment, the running gear 18 has multiple wheels 19, and these multiple wheels 19 are spaced apart in the front-rear direction or width direction. The running gear 18 has a pair of wheels 19F (front wheels) that support the front side of the running body 11, and a pair of wheels 19R (rear wheels) that support the rear side of the running body 11.

[0024] A pair of front wheels 19F are supported by first drive cases located on both sides of the transmission 17 in the width direction of the machine body, so as to be steerable and rotatable. A pair of rear wheels 19R are supported by a second drive case located below the rear of the machine body 12, so as to be rotatable. Thus, the machine body 12 is supported so as to be able to move by the pair of front wheels 19F and the pair of rear wheels 19R.

[0025] As shown in Figure 2, the agricultural machine 2 is equipped with a coupling device 20. The coupling device 20 is a device that connects the work device 21 to the traveling body 11. The coupling device 20 is located at the rear of the machine body 12. This allows the coupling device 20 to connect the work device 21 to the rear of the machine body 12. The coupling device 20 is composed of, for example, parallel links and is capable of raising and lowering the connected work device 21. The coupling device 20 is operated by a drive actuator 20a, which raises and lowers the connected work device 21. The drive actuator 20a is, for example, a hydraulic actuator (e.g., a hydraulic cylinder) and is driven by hydraulic fluid discharged from a hydraulic pump that is operated by power output from the prime mover 16. Note that the drive actuator 20a is not limited to a hydraulic actuator and may be an electric actuator (e.g., an electric cylinder).

[0026] The work device 21 is a device that performs work using agricultural materials 4. In this embodiment, the work device 21 is connected to the machine body 12 (traveling body 11) via a coupling device 20. Therefore, the work device 21 is driven to move up and down by the drive actuator 20a of the coupling device 20.

[0027] The work device 21 has a connecting body 22. The connecting body 22 is connected to the connecting device 20 and is a structure that supports each device and equipment of the work device 21. The work device 21 also has a material receiving body 31 and a work unit 41. The material receiving body 31 is a structure that receives agricultural materials 4 supplied from an external source (for example, the flying device 3). The material receiving body 31 can hold the agricultural materials 4. Therefore, the material receiving body 31 can also be called a material holder that holds the agricultural materials 4. The work unit 41 is a device that performs work using the agricultural materials 4 received by the material receiving unit 32. That is, the work unit 41 is also a device that performs work using the agricultural materials 4 held by the material receiving body 31 (work holder).

[0028] The following describes the working device 21 in detail using the rice transplanter 2A as an example. In this embodiment, the agricultural machine 2 will be described using the 8-row rice transplanter 2A as an example. The rice transplanter 2A performs planting work using a seedling mat 4A as agricultural material 4. Figure 3 is a perspective view showing an example of agricultural material 4. As shown in Figure 3, the seedling mat 4A is a mat-shaped agricultural material 4 in which seedlings 4a are grown by sowing rice seeds in a seedbed (growing soil, seedling mat, etc.) laid at the bottom of a seedling tray, covering them with soil, and irrigating. Each of the many seedlings 4a in the seedling mat 4A has grown with its leaves and stems positioned on top of its roots in the soil. When placed on a horizontal surface, the seedling mat 4A is formed in a rectangular shape in plan view. Therefore, the seedling mat 4A has a shape with a long side 4b1 and a short side 4b2.

[0029] Figure 4 is a schematic side view of the work device 21, and Figure 5 is a schematic top view of the work device 21. Figure 6 is a schematic front view of the work device 21, and Figure 7 is a schematic rear view of the work device 21. As shown in Figure 6, the connecting body 22 has a first connecting body 22A and a second connecting body 22B. The first connecting body 22A is connected to the rear end of the connecting device 20. The second connecting body 22B also serves as a transmission device that transmits power output from the prime mover 16 to various parts of the work device 21.

[0030] Specifically, the second connecting body 22B includes a first transmission case 23, a connecting frame 24, and a second transmission case 25. The first transmission case 23 is connected to the first connecting body 22A. The first transmission case 23 houses a part of the power transmission system to which power output from the prime mover 16 is transmitted.

[0031] The connecting frame 24 is a member that connects the first transmission case 23 and the second transmission case 25. The connecting frame 24 is a long frame material (square timber) that extends in the width direction of the machine body. The connecting frame 24 is connected to the lower part of the first transmission case 23.

[0032] The second transmission case 25 is connected to the connecting frame 24. The second transmission case 25 houses a part of the power transmission system that transmits power to the work section 41. The number of second transmission cases 25 is provided in proportion to the number of planting rows. In this embodiment, since the agricultural machine 2 is an 8-row rice transplanter 2A, the second connecting body 22B has four second transmission cases 25. The second transmission cases 25 extend rearward from the connecting frame 24.

[0033] As shown in Figures 4 and 6, the second connecting body 22B has one or more guide sections 26. The guide sections 26 support the material receiving body 31 so that it can move in the machine width direction. Examples of members constituting the guide section 26 include rails and rollers that extend in the machine width direction. In the example shown in Figures 4 and 6, the second connecting body 22B has a first guide section 26A that supports the lower part of the material receiving body 31. The first guide section 26A is a rail (sliding rail) that extends in the machine width direction. The first guide section 26A is supported by the second transmission case 25. As shown in Figure 7, a seedling outlet 27 is formed in the first guide section 26A (sliding rail). The number of seedling outlets 27 is provided according to the number of planting rows. In this embodiment, since the agricultural machine 2 is an 8-row rice transplanter 2A, eight seedling outlets 27 are formed.

[0034] Furthermore, in the examples shown in Figures 4 and 6, the second connecting body 22B has a second guide portion 26B that supports the upper part of the material receiving body 31. The second guide portion 26B includes one or more rollers 28. In the example shown in Figure 6, the second guide portion 26B has a plurality of rollers 28 and a roller support portion 29 that supports the plurality of rollers 28.

[0035] The roller support section 29 supports multiple rollers 28 spaced apart in the width direction of the machine body. The roller support section 29 extends upward from the connecting frame 24. The roller support section 29 supports multiple rollers 28 above the first transmission case 23. The rollers 28 are mounted on the roller support section 29 so as to be rotatable around a rotation axis that extends in a direction intersecting the width direction of the machine body.

[0036] The material receiving body 31 is on which agricultural materials 4 are placed and is capable of holding said agricultural materials 4. The material receiving body 31 is provided extending in the width direction of the machine body 12. When the agricultural machine 2 is a rice transplanter 2A, the material receiving body 31 is a seedling tray. As shown in Figure 4, the material receiving body 31 is provided in a sloping shape that transitions to the rear as it goes from top to bottom (a downward sloping shape).

[0037] The material receiving unit 31 has one or more material receiving sections 32. As shown in Figures 5 and 7, the material receiving unit 31 has multiple material receiving sections 32. Each material receiving section 32 is capable of receiving agricultural materials 4 supplied from an external source (e.g., the flying device 3). Each material receiving section 32 is capable of holding agricultural materials 4. Therefore, the material receiving section 32 can also be called a material holding section for holding agricultural materials 4.

[0038] The material receiving sections 32 are arranged in a line in the width direction of the machine body. When the agricultural machine 2 is a rice transplanter 2A, the number of material receiving sections 32 is provided in proportion to the number of planting rows. In this embodiment, since the agricultural machine 2 is an 8-row rice transplanter 2A, the material receiving body 31 has eight material receiving sections 32 (seedling receiving sections).

[0039] The material receiving section 32 places agricultural materials 4 in a downward-sloping position. Partition guides 33 are provided on both sides of the material receiving section 32 in the machine width direction. In each material receiving section 32, the agricultural materials 4 (seedling mats 4A) are placed with their long side 4b1 aligned with the inclination direction of the material receiving body 31. In other words, in each material receiving section 32, the agricultural materials 4 (seedling mats 4A) are placed with their short side 4b2 aligned with the machine width direction. Multiple agricultural materials 4 can be placed in each material receiving section 32 in a line in the inclination direction of the material receiving body 31. In this embodiment, two seedling mats 4A can be placed in each material receiving section 32 in a line in the inclination direction of the material receiving body 31.

[0040] As shown in Figures 5 to 7, a vertical feeding mechanism 34 is provided at the bottom of each material receiving section 32. The vertical feeding mechanism 34 is a mechanism that, when driven, vertically feeds the agricultural materials 4 on the material receiving section 32 downwards. For example, the vertical feeding mechanism 34 is driven by power from a power transmission system to which power output from the prime mover 16 is transmitted.

[0041] As shown in FIG. 6, the vertical feed mechanism 34 has a vertical feed shaft 35 and a vertical feed rotor 36. The vertical feed shaft 35 is arranged to extend in the machine body width direction. In the present embodiment, the vertical feed shaft 35 extends from the first transmission case 23 to the other side (right side) in the machine body width direction. The vertical feed shaft 35 is transmitted with power from the power transmission system in the first transmission case 23 and is rotationally driven around its axis.

[0042] By rotationally driving the vertical feed rotor 36, the agricultural material 4 on the material receiving portion 32 is vertically fed downward along the inclination direction of the material receiving body 31. The vertical feed rotor 36 has a belt body 36a (vertical feed belt) constituted by a wide rubber belt and a drive shaft 36b for rotationally driving the belt body 36a. The drive shaft 36b is transmitted with power from the vertical feed shaft 35 to rotationally drive the belt body 36a. Thereby, the belt body 36a can vertically feed the agricultural material 4 on the material receiving portion 32 downward along the inclination direction of the material receiving body 31 by rotationally driving.

[0043] The material receiving body 31 is provided so as to be movable in the machine body width direction with respect to the machine body 12. FIG. 8 is a schematic front view showing the state where the working device 21 moves in the machine body width direction. As shown in FIGS. 4, 6 to 8, the material receiving body 31 has one or a plurality of guided portions 37. The guided portion 37 is a portion that is supported so as to be movable in the machine body width direction with respect to the connecting body 22 (guide portion 26). Examples of the members constituting the guided portion 37 include rails and rollers extending in the machine body width direction.

[0044] In the example shown in FIGS. 4, 6, and 8, the material receiving body 31 has a first guided portion 37A. The first guided portion 37A is supported by the first guide portion 26A so as to be movable in the machine body width direction. The first guided portion 37A is a rail (sliding rail) extending in the machine body width direction. The first guided portion 37A is attached to the lower part of the material receiving body 31. For this reason, the first guided portion 37A is attached between the material receiving body 31 and the machine body 12 side (the first guide portion 26A side).

[0045] In the examples shown in FIGS. 4, 6, and 8, the material receiving body 31 has a second guided portion 37B. The second guided portion 37B is supported by the second guide portion 26B so as to be movable in the machine body width direction. The second guided portion 37B is a rail (sliding rail) extending in the machine body width direction. The second guided portion 37B is attached to the upper part of the material receiving body 31. Therefore, the second guided portion 37B is attached between the material receiving body 31 and the machine body 12 side (the second guide portion 26B side).

[0046] Further, as shown in FIGS. 6 and 8, a cross-feed mechanism 38 provided in the working device 21 is connected to the material receiving body 31. The cross-feed mechanism 38 is a mechanism that moves the material receiving body 31 in the machine body width direction by driving. For example, the cross-feed mechanism 38 is driven by transmitting power from a power transmission system to which the power output from the prime mover 16 is transmitted.

[0047] The cross-feed mechanism 38 has a cross-feed shaft 39 and a moving member 40. The cross-feed shaft 39 is arranged to extend in the machine body width direction. In the present embodiment, the cross-feed shaft 39 extends from the first transmission case 23 toward one side (left side) in the machine body width direction. The cross-feed shaft 39 is transmitted with power from the power transmission system in the first transmission case 23 and is rotationally driven around its axis. A spiral groove is formed on the cross-feed shaft 39.

[0048] The moving member 40 is attached to the cross-feed shaft 39 and is moved in the machine body width direction by the cross-feed shaft 39. Further, the moving member 40 is connected to the material receiving body 31 and can move the material receiving body 31 in the machine body width direction. Specifically, the moving member 40 is attached to the spiral groove formed on the cross-feed shaft 39 and moves in the machine body width direction along the spiral groove as the cross-feed shaft 39 is rotationally driven.

[0049] As described above, the material receiving body 31 is provided so as to be movable in the width direction relative to the connecting body 22. In other words, the material receiving body 31 is also provided so as to be movable in the width direction relative to the machine body 12. In the above description, the guide portion 26 and the guided portion 37 were described as examples of a structure (support structure) that supports the material receiving body 31 so as to be movable in the width direction relative to the connecting body 22, but the support structure is not limited to the guide portion 26 and the guided portion 37 as described above. That is, the support structure of the work device 21 only needs to be a structure that allows the material receiving body 31 to be moved in the width direction relative to the connecting body 22 (machine body 12), and its configuration is not particularly limited.

[0050] As shown in Figures 4, 5, and 7, the rice transplanter 2A has a planting mechanism as a working unit 41. The working unit 41 is a mechanism that plants seedlings 4a taken from agricultural materials 4 placed on a material receiving unit 31 into the field (paddy field). The number of working units 41 is provided in proportion to the number of planting rows. In this embodiment, since the agricultural machine 2 is an 8-row rice transplanter 2A, the working device 21 has 8 working units 41. The working units 41 are arranged in a row with spacing in the width direction of the machine body.

[0051] The work section 41 is supported by the connecting body 22. Specifically, each work section 41 is attached to both sides of the second transmission case 25 in the machine width direction. Therefore, the work section 41 is fixedly attached to the connecting body 22 in the machine width direction and moves relative to the movement of the material receiving body 31 in the machine width direction. In other words, the material receiving body 31 can move in the machine width direction relative to the work section 41. At this time, the work section 41 moves within the range from one end to the other in the machine width direction of the material receiving body 32. That is, the work section 41 moves in the machine width direction between a pair of partition guides 33 provided at both ends of the material receiving body 32.

[0052] The work unit 41 takes out a predetermined amount of seedlings 4a from the agricultural material 4 (seedling mat 4A) placed on the material receiving unit 31 (material receiving unit 32) which moves back and forth in the width direction of the machine body, and plants them. The work unit 41 takes out a predetermined amount of seedlings 4a from the lower end of the seedling mat 4A through the seedling removal opening 27 formed in the first guide unit 26A.

[0053] In detail, the working unit 41 rotates around an axis extending in the width direction of the machine body, and takes out one seedling (a predetermined amount) of seedlings 4a from the lower end of the seedling mat 4A and pushes it into the field (paddy field surface) to plant them. At this time, the lateral feeding mechanism 38 moves the material receiving body 31 to one side in the width direction of the machine body. While the material receiving body 31 is moving to one side in the width direction of the machine body, the working unit 41 cuts off a horizontal row of seedlings 4a from the lower end of the seedling mat 4A. Once the working unit 41 has cut off a horizontal row of seedlings 4a from the lower end of the seedling mat 4A, the vertical feeding mechanism 34 feeds the seedling mat 4A vertically by the amount corresponding to the horizontal row that was cut off. The lateral feeding mechanism 38 then moves the material receiving body 31 to the other side in the width direction of the machine body, and the working unit 41 performs the same planting operation as described above.

[0054] As described above, the material receiving unit 31 moves back and forth in the machine width direction relative to the machine body 12 (connecting unit 22) by the width of the seedling mat 4A (agricultural material 4). In addition, the seedling mat 4A (agricultural material 4) is moved vertically each time the material receiving unit 31 is positioned at the end of its back-and-forth movement.

[0055] The control system of agricultural machine 2 will be described below, mainly using Figure 1. As shown in Figure 1, agricultural machine 2 is equipped with a first control device 51. Agricultural machine 2 is also equipped with a first storage device 52.

[0056] The first control device 51 includes one or more processors. The first control device 51 is a controller for the agricultural machine 2 and performs various controls related to the agricultural machine 2. The first control device 51 is communicated with each device and equipment mounted on the agricultural machine 2 via an in-vehicle network such as CAN, ISOBUS, LIN, or FlexRay. Therefore, the first control device 51 can control each of these devices and equipment. For example, the first control device 51 can control the first power unit 15. Specifically, the first control device 51 controls the rotational speed of the prime mover 16 and controls the lifting and lowering of the work device 21 by controlling the drive actuator 20a.

[0057] The first control device 51 includes one or more memories, various analog circuits, various digital circuits, etc. One or more memories store (remember) software programs and various data to be executed by one or more processors. The first control device 51 can read software programs from one or more memories using one or more processors and execute various processes based on said software programs. The first control device 51 may also execute various processes based on predetermined logic circuits using one or more processors.

[0058] 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).

[0059] The first control device 51 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 physically separated from the agricultural machine 2, and these processors are connected to each other via a network such as an in-vehicle network, LAN, WAN, and the Internet.

[0060] Furthermore, the software program may be stored in a first storage device 52 that is communicatively connected to the first control device 51, or in an external server device connected via the network, and then installed into the memory from there.

[0061] The first storage device 52 is a device capable of storing information. The first storage device 52 includes non-volatile memory such as an HDD (Hard Disk Drive) or SSD (Solid State Drive). The first storage device 52 is connected to the first control device 51 in a communication manner, and the first control device 51 stores various information in the first storage device 52 and retrieves information stored in the first storage device 52.

[0062] As shown in Figure 1, the agricultural machine 2 may be equipped with a first communication device 53. The first communication device 53 is the communication interface of the agricultural machine 2 and includes a communication circuit. The first communication device 53 can communicate with other communication devices and inputs (sends and receives) various information, data, and signals. The first communication device 53 can communicate directly or indirectly with, for example, the aircraft 3. The first communication device 53 performs wireless communication using a mobile phone network, a data communication network, Bluetooth® Low Energy in the Bluetooth® specification of the IEEE 802.15.1 series of communication standards, Wi-Fi® in the IEEE 802.11.n series of communication standards, etc.

[0063] As shown in Figure 1, the agricultural machine 2 may be equipped with a first sensing device 54. The first sensing device 54 is a device that senses the environment around the agricultural machine 2. The first control device 51 can detect workers, obstacles, etc., around the agricultural machine 2 based on the sensing results of the first sensing device 54. The first control device 51 may also estimate the position of the agricultural machine 2 based on the sensing results (detected point cloud data) and environmental map information stored in the first storage device 52, etc.

[0064] The first sensing device 54 includes an optical distance measuring sensor and a signal processing circuit, etc. Examples of the optical distance measuring sensor of the first sensing device 54 include imaging devices such as a LiDAR (Light Detection and Ranging) or CCD (Charge Coupled Devices) image sensor equipped in a CCD camera, a CMOS (Complementary Metal Oxide Semiconductor) image sensor equipped in a CMOS camera, and a ToF camera. In the above example, the case in which the first sensing device 54 has an optical distance measuring sensor was illustrated, but instead of an optical distance measuring sensor, an acoustic distance measuring sensor (for example, an airborne ultrasonic sensor such as sonar) may be used.

[0065] As shown in Figure 1, the agricultural machine 2 may be equipped with a first positioning device 55. The first positioning device 55 is a device that performs positioning (position detection) of the agricultural machine 2. The first positioning device 55 receives satellite signals from a satellite positioning system using a GNSS antenna or GPS antenna and performs positioning of the agricultural machine 2 using said satellite signals. The first positioning device 55 is provided on the front side of the traveling body 11. Specifically, the first positioning device 55 is attached to a frame body 12a provided on the front of the machine body 12. The first positioning device 55 is provided in the center of the machine body 12 in the width direction of the machine body 12.

[0066] In this embodiment, the first control device 51 will be described as acquiring the position of the agricultural machine 2 based on the positioning result of the first positioning device 55 (positioned position). However, the first control device 51 may also acquire the position of the agricultural machine 2 based on the sensing result of the first sensing device 54 (estimated position).

[0067] As shown in Figure 1, the agricultural machine 2 is equipped with a state detection device 56 that detects the state of each part of the agricultural machine 2. The state detection device 56 is communicatively connected to the first control device 51, and the first control device 51 can perform various controls and processes based on the detection results of the state detection device 56.

[0068] An example of a state detection device 56 is a material detection device 57. The material detection device 57 is a sensor for detecting whether or not the agricultural materials 4 held in the material receiving body 31 should be replenished. The material detection device 57 is provided, for example, in the material receiving section 32 of the material receiving body 31. The material detection device 57 also detects the remaining amount of agricultural materials 4 held in the material receiving section 32. For example, the material detection device 57 is composed of a contact sensor. Based on the detection result of the material detection device 57, the first control device 51 determines that if the remaining amount of agricultural materials 4 held in the material receiving section 32 is below a predetermined level, it should replenish the materials in the material receiving section 32.

[0069] The material detection device 57 only needs to be able to detect the remaining amount of agricultural materials 4 held in the material receiving unit 32, and may use a sensor other than a contact sensor. For example, if the first sensing device 54 can sense the material receiving unit 31, the first sensing device 54 may also serve as a support detection device. The first control device 51 may determine whether or not to replenish the agricultural materials 4 based on whether or not agricultural materials 4 are present in a specific area of ​​the material receiving unit 32.

[0070] With the above configuration, when the first control device 51 determines that the remaining amount of agricultural materials 4 held in the material receiving unit 31 (material receiving section 32) has fallen below a predetermined amount, it requests the flight device 3 to replenish the agricultural materials 4 via the first communication device 53. The first control device 51 transmits a request signal to the flight device 3 directly or indirectly from the first communication device 53 to request the flight device 3 to replenish the agricultural materials 4.

[0071] When the first communication device 53 communicates indirectly with the flight device 3, the first communication device 53 performs wireless communication via a server device. For example, the request signal includes location information of the agricultural machine 2. In addition to the location information of the agricultural machine 2, the request signal may also include information that identifies the material receiving unit 32 where the remaining amount of agricultural materials 4 is below a predetermined level.

[0072] <About the flying device 3> The flying device 3 is an unmanned, flyable device capable of transporting agricultural materials 4. The flying device 3 can move independently of the agricultural machinery 2 and can replenish the agricultural machinery 2 with the transported agricultural materials 4. More specifically, the flying device 3 is a multi-rotor drone. Figure 9 is a front view of the flying device 3, Figure 10 is a side view of the flying device 3, and Figure 11 is a top view of the flying device 3.

[0073] As shown in Figures 9 to 11, the flight device 3 comprises a main body 61, a plurality of rotors 63, and a holding device 77. The main body 61 supports various devices and equipment of the flight device 3. A plurality of support arms 62 are connected to the main body 61, extending from the main body 61. The support arms 62 extend away from the main body 61 in a plan view. The plurality of support arms 62 extend radially from the main body 61 in a plan view. The support arms 62 extend horizontally outward from the main body 61.

[0074] Multiple rotors 63 are attached to the main body 61. The multiple rotors 63 can change the altitude of the main body 61. Specifically, the multiple rotors 63 can generate thrust by being driven. Therefore, the flight device 3 can move the main body 61 in a predetermined direction or change the altitude of the main body 61 using the multiple rotors 63.

[0075] Specifically, each of the multiple rotors 63 is attached to a support arm 62. The multiple rotors 63 also generate lift to levitate the main body 61 and control its attitude. In a plan view, the multiple rotors 63 are arranged at equidistant positions from the center of the main body 61.

[0076] Furthermore, in this embodiment, each rotor 63 performs both lift generation and attitude control, but a plurality of rotors 63 may include a rotor 63 that generates lift and a rotor 63 that performs attitude control separately.

[0077] The rotor 63 has a rotating shaft 64 and blades 65. The rotating shaft 64 is a shaft that rotates due to power transmitted from the second power unit 66. The rotating shaft 64 extends in the vertical direction. The blades 65 are attached to the rotating shaft 64 and generate lift as the rotating shaft 64 rotates.

[0078] As shown in Figure 1, the flight device 3 is equipped with a second power unit 66. The second power unit 66 is a device capable of outputting power. The second power unit 66 includes one or more rotary motors 67 (electric motors), and generates power (rotational driving force) with these one or more rotary motors 67. These rotary motors 67 generate power to drive (rotate) the rotating shaft 64, and this power is transmitted to the rotating shaft 64. In this embodiment, the second power unit 66 includes a plurality of rotary motors 67 corresponding to each rotating shaft 64, and each of these rotating shafts 64 can be driven independently by its corresponding rotary motor 67.

[0079] As shown in Figures 9 to 11, the flight device 3 is equipped with skids 68. The skids 68 are attached to the lower part of the main body 61. The skids 68 have a plurality of leg members 69 that extend downward from the main body 61.

[0080] Multiple leg members 69 are provided on the main body 61. When the aircraft 3 lands, the multiple leg members 69 make contact with the ground, supporting the main body 61 by floating it above the landing surface. The multiple leg members 69 are also arranged at horizontal distances from each other. The multiple leg members 69 are provided on one horizontal side and the other horizontal side of the main body 61.

[0081] In this embodiment, the multiple leg members 69 are arranged spaced apart in the left-right direction. The multiple leg members 69 are provided in pairs on the left side of the lower part of the main body 61 and on the right side of the lower part of the main body 61. In the following description, the left leg member 69 may be referred to as the first leg member 69A, and the right leg member 69 may be referred to as the second leg member 69B. In this embodiment, the separation distance D2 of the multiple leg members 69 of the flight device 3 increases from the top to the bottom. In other words, the separation distance D2 of the multiple leg members 69 decreases from the bottom to the top.

[0082] The holding device 77 is a device capable of holding agricultural materials 4. The holding device 77 is located below the main body 61. Therefore, the holding device 77 can hold agricultural materials 4 at the lower part of the main body 61. The holding device 77 is provided between the skids 68 (multiple leg members 69). The flight device 3 transports agricultural materials 4 by flying with the holding device 77 holding the agricultural materials 4. The holding device 77 will be described in detail below, using the case where the agricultural materials 4 are seedling mats 4A as an example.

[0083] The holding device 77 grips at least a portion of the agricultural material 4 (seedling mat 4A) and holds the agricultural material 4. The holding device 77 can also be switched between a holding state in which the agricultural material 4 is held and a release state in which the agricultural material 4 is released. The holding device 77 can grip at least a portion of the leaves and stems of the seedlings 4a. The holding device 77 has a pair of gripping members 78 and a moving mechanism 79.

[0084] For example, the holding device 77 has a plurality of pairs of clamping members 78. Each pair of clamping members 78 is, for example, a plate-shaped member, and is arranged so that its plate surface faces left to right. Therefore, each pair of clamping members 78 includes a clamping member 78A (first clamping member) on one side (left side) in the horizontal direction and a clamping member 78B (second clamping member) on the other side (right side) in the horizontal direction. The holding device 77 holds the agricultural material 4 with its long side 4b1 facing front to back. That is, the holding device 77 holds the agricultural material 4 with its short side 4b2 facing left to right.

[0085] The moving mechanism 79 is a mechanism that can move a pair of clamping members 78 in the approaching and separating directions. The moving mechanism 79 brings the pair of clamping members 78 closer together and switches the holding device 77 to the holding state. The moving mechanism 79 also separates the pair of clamping members 78 and switches the holding device 77 to the released state.

[0086] The moving mechanism 79 includes a first mechanism that brings a pair of clamping members 78 closer together to allow clamping of the leaves or stems of the seedling 4a, and a second mechanism that separates the pair of clamping members 78. The first and second mechanisms have a drive actuator 79a. The drive actuator 79a is, for example, an electric motor or an electric cylinder. Alternatively, the first and second mechanisms may have a biasing member such as a spring instead of a drive actuator 79a, and may be held and / or released by a biasing force from the biasing member.

[0087] As shown in Figure 1, the flying device 3 has a second control device 81. The flying device 3 also has a second storage device 82. The second control device 81 is a processing circuit that includes one or more processors. The second control device 81 is the controller of the flying device 3 and performs various controls related to the flying device 3. The second control device 81 is communicated with each piece of equipment and device mounted on the flying device 3. For example, the second control device 81 controls the drive, stop, and rotation speed (lift) of each rotor 63. The second control device also controls the movement mechanism 79 to control the switching between the held state and the released state of the holding device 77.

[0088] The second control device 81 includes one or more memories, various analog circuits, various digital circuits, etc. One or more memories store (remember) software programs and various data to be executed by one or more processors. The second control device 81 can read software programs from one or more memories using one or more processors and execute various processes based on said software programs.

[0089] Furthermore, as described in the first control device 51, the second control device 81 may perform various processes based on predetermined logic circuits using one or more processors. Also, as described in the first control device 51, the second control device 81 may perform various processes by having multiple physically separated processors cooperate with each other, and its configuration is not limited to the above-described configuration.

[0090] The second storage device 82 stores various types of information and data in a read-write manner. The second storage device 82 includes non-volatile memory such as an HDD or SSD. The second storage device 82 is communicated with the second control device 81, and the second control device 81 can acquire various types of information and data stored in the second storage device 82.

[0091] As shown in Figure 1, the flying device 3 is equipped with a second communication device 83. The second communication device 83 is the communication interface of the flying device 3 and includes a communication circuit. The second communication device 83 can communicate with other communication devices and inputs (sends and receives) various information, data, and signals. The second communication device 83 can communicate directly or indirectly with the agricultural machine 2 (first communication device 53). The second communication device 83 performs wireless communication via a mobile phone network, a data communication network, Bluetooth® Low Energy in the Bluetooth® specification of the IEEE 802.15.1 series, Wi-Fi® in the IEEE 802.11.n series, etc.

[0092] As shown in Figure 1, the flying device 3 is equipped with a second sensing device 84. The second sensing device 84 is a device that senses the environment around and below the flying device 3. The second sensing device 84 can sense at least the area in front of and below the main body 61. In this embodiment, the second sensing device 84 can sense the area around and below the main body 61. The second control device 81 can detect agricultural machinery 2, workers, obstacles, etc., based on the sensing results of the second sensing device 84. The second control device 81 may also estimate the position of the flying device 3 based on the sensing results (detected point cloud data) and environmental map information stored in the second storage device 82, etc.

[0093] The second sensing device 84 includes an optical distance measuring sensor and a signal processing circuit, etc. Examples of the optical distance measuring sensor in the second sensing device 84 include imaging devices such as LiDAR, CCD cameras, CMOS cameras, and ToF cameras. While the above example illustrates the case where the second sensing device 84 has an optical distance measuring sensor, an acoustic distance measuring sensor may be used instead.

[0094] As shown in Figure 1, the flight device 3 may be equipped with a second positioning device 85. The second positioning device 85 is a device that performs positioning of the flight device 3 (detection of the position of the flight device 3). The second positioning device 85 receives satellite signals from a satellite positioning system using a GNSS antenna or GPS antenna and performs positioning of the flight device 3 using said satellite signals. In this embodiment, the second control device 81 will be described as acquiring the position of the flight device 3 (positioned position) based on the positioning results of the second positioning device 85 as the position of the flight device 3. Alternatively, the second control device 81 may acquire the position of the flight device 3 (estimated position) based on the sensing results of the second sensing device 84 as the position of the flight device 3.

[0095] As shown in Figure 1, the flight device 3 may be equipped with an attitude detection device 86 and an altitude detection device 87. The attitude detection device 86 is a device that detects the attitude of the flight device 3. The attitude detection device 86 is an inertial measurement unit (IMU) that includes, for example, an acceleration sensor and a gyroscope. The attitude detection device 86 detects the tilt information (roll angle, pitch angle, and yaw angle) of the flight device 3. The altitude detection device 87 detects the altitude of the flight device 3. The altitude detection device 87 is, for example, a barometric pressure sensor.

[0096] Furthermore, the flight device 3 is equipped with a material detection device 88. The material detection device 88 is provided on the holding device 77 and detects the presence or absence of agricultural materials 4 (seedlings 4a of the seedling mat 4A) between the pair of clamping members 78. The material detection device 88 is a type of sensor that detects the presence or absence of seedlings 4a, and examples include photoelectric sensors and laser sensors.

[0097] With the above configuration, when the second communication device 83 receives a request signal and / or information based on the request signal from the first communication device 53, the second control device 81 transports the agricultural materials 4 based on the request signal, etc. For example, the flying device 3 heads towards the location where the agricultural materials 4 are stored (material storage area), picks up the agricultural materials 4 placed in the material storage area, and transports them by flight. The material storage area is the place where the agricultural materials 4 (seedling mats 4A) are placed before transport, and an example of this is the ridge surrounding a field.

[0098] When the flying device 3 holds the agricultural materials 4 with the holding device 77, it moves from the material storage area to the agricultural machine 2. At this time, the second control device 81 approaches the agricultural machine 2 from above based on the position of the agricultural machine 2 included in the request signal, and the position of the agricultural machine 2 newly received from the agricultural machine 2 after receiving the request signal. When the flying device 3 approaches the agricultural machine 2 from above, it performs a replenishment operation (replenishment operation) to replenish the agricultural materials 4 being transported to the agricultural machine 2 based on the sensing results of the second sensing device 84 and the relative distance between the agricultural machine 2 and itself. During the replenishment operation, the flying device 3 lands on the agricultural machine 2 and transfers the agricultural materials 4 while it is landed. At this time, the agricultural machine 2 may be moving or stopped.

[0099] <About the Takeoff and Landing Device 91> As shown in Figure 2, the agricultural machine 2 is equipped with a takeoff and landing device 91. The takeoff and landing device 91 is a landing station on which the flying device 3 can land. The flying device 3, which transports agricultural materials 4 to the agricultural machine 2, can land on the takeoff and landing device 91 of the agricultural machine 2 and transfer the agricultural materials 4 to the agricultural machine 2 while landed on the takeoff and landing device 91. The takeoff and landing device 91 will be described in detail below.

[0100] As shown in Figure 2, the takeoff and landing gear 91 is equipped with a plurality of support parts 92. Each of the plurality of support parts 92 can work together to support the aircraft 3 so that it can take off and land. The takeoff and landing gear 91 is also equipped with a support structure 94. The support structure 94 is a structure that provides fixed support for the plurality of support parts 92.

[0101] Figure 12 is a perspective view showing the aircraft 3 landed on multiple support sections 92, and Figure 13 is a side view showing the aircraft 3 landed on multiple support sections 92. Figure 14 is a plan view showing the aircraft 3 landed on multiple support sections 92, and Figure 15 is a rear view showing the aircraft 3 landed on multiple support sections 92. As shown in Figures 12 to 15, the multiple support sections 92 are formed from rectangular plate materials that are long in the front-rear direction and are arranged so that the plate surfaces face up and down. The length of the multiple support sections 92 in the front-rear direction is longer than the length of the skids 68 of the aircraft 3 in the front-rear direction. The multiple support sections 92 include a first support section 92A and a second support section 92B arranged side by side in the width direction of the aircraft. In other words, the take-off and landing device 91 comprises a first support section 92A and a second support section 92B.

[0102] As shown in Figures 5 to 8, the first support portion 92A and the second support portion 92B are arranged spaced apart in the aircraft width direction. The first support portion 92A is located on one side (left side) in the aircraft width direction. The second support portion 92B is located on the other side (right side) in the aircraft width direction.

[0103] As shown in Figures 12 to 15, the first support section 92A is capable of supporting at least a portion of the flight device 3. The first support section 92A supports one side of the flight device 3 in the horizontal direction (left-right direction) so that it can take off and land. When the flight device 3 lands on the first support section 92A, the flight device 3 lands on the first support section 92A by the landing gear members 69 touching the first support section 92A. Specifically, when the flight device 3 lands on the first support section 92A, either the first landing gear member 69A or the second landing gear member 69B touches the first support section 92A. Figures 12 to 15 illustrate the state in which the first landing gear member 69A of the flight device 3 is in contact with the first support section 92A. Therefore, the first support section 92A supports one side (left side) of the flight device 3 in the width direction so that it can take off and land.

[0104] Furthermore, the second support section 92B is capable of supporting at least a part of the flight device 3 and, together with the first support section 92A, supports the flight device 3 so that it can take off and land. The second support section 92B supports the other side of the flight device 3 in the horizontal direction (left and right direction) so that it can take off and land. When the flight device 3 lands on the second support section 92B, the flight device 3 lands on the second support section 92B by the landing gear member 69 touching the second support section 92B. Specifically, when the flight device 3 lands on the second support section 92B, the other of either the first landing gear member 69A or the second landing gear member 69B touches the second support section 92B. Figures 12 to 14 illustrate the state in which the second landing gear member 69B of the flight device 3 is in contact with the second support section 92B.

[0105] As shown in Figures 14 and 15, the first support section 92A and the second support section 92B are arranged horizontally separated. The first support section 92A and the second support section 92B are connected vertically. A passage section E1 is formed between the first support section 92A and the second support section 92B. The passage section E1 is a region (space) from above to below the first support section 92A and the second support section 92B through which agricultural materials 4 dropped from the flying device 3 that has landed on the first support section 92A and the second support section 92B can pass. The separation distance D1 between the first support section 92A and the second support section 92B will be described in detail below. The positional relationship between the first support section 92A and the second support section 92B and the flying device 3 that has landed on the first support section 92A and the second support section 92B will also be described in detail below.

[0106] As shown in Figure 15, the separation distance D1 between the first support portion 92A and the second support portion 92B is longer than the horizontal (left-right) length L1 of the pair of clamping members 78 of the holding device 77. In this embodiment, the separation distance D1 between the first support portion 92A and the second support portion 92B is longer than the length L1 from the left side surface of the first clamping member 78A at the left end to the right side surface of the second clamping member 78B at the right end.

[0107] Therefore, as shown in Figures 14 and 15, when the flight device 3 lands on the first support section 92A and the second support section 92B such that the horizontal (left-right) center of the flight device 3 coincides with the horizontal (width direction) center of the first support section 92A and the second support section 92B, one end of the holding device 77 in the horizontal (left-right) direction (the left side of the first clamping member 78A at the left end) is located further inward (to the right) in the width direction than the other end of the first support section 92A in the width direction of the aircraft. In other words, the other end of the first support section 92A in the width direction of the aircraft (the right end) is located further outward (to the left) in the width direction than one end of the holding device 77 in the horizontal (left-right) direction (the left side of the first clamping member 78A at the left end).

[0108] Similarly, the other horizontal end of the holding device 77 (the right side of the second clamping member 78B at the right end) is located further inward (to the left) in the width direction than one end of the second support portion 92B in the width direction of the machine body (the left end). In other words, one end of the second support portion 92B in the width direction of the machine body (the left end) is located further outward (to the right) in the width direction than the other horizontal (left-right) end of the holding device 77 (the right side of the second clamping member 78B at the right end).

[0109] Therefore, when the flying device 3 lands on the first support section 92A and the second support section 92B, the holding device 77 of the flying device 3 is located between the first support section 92A and the second support section 92B, and the first support section 92A and the second support section 92B are connected from below toward the lower part of the holding device 77.

[0110] As shown in Figure 15, the separation distance D1 between the first support portion 92A and the second support portion 92B is longer than the horizontal (left-right) length L2 of the agricultural material 4 held by the holding device 77. In this embodiment, the holding device 77 of the flight device 3 holds the agricultural material 4 in a direction in which the long side 4b1 of the agricultural material 4 faces the front-rear direction.

[0111] Therefore, the separation distance D1 between the first support part 92A and the second support part 92B is longer than the length of the shorter side (length of the shorter side 4b2) of the agricultural material 4 in the horizontal direction. In this embodiment, the separation distance D1 between the first support part 92A and the second support part 92B is shorter than the length of the longer side (length of the longer side 4b1) of the agricultural material 4 in the horizontal direction. However, the separation distance D1 between the first support part 92A and the second support part 92B only needs to be longer than the length of the agricultural material 4 in the horizontal direction (left-right direction), and may also be longer than the length of the longer side (length of the longer side 4b1) of the agricultural material 4 in the horizontal direction.

[0112] As shown in Figures 14 and 15, when the flying device 3 lands on the first support section 92A and the second support section 92B such that the horizontal (left-right) center of the flying device 3 coincides with the horizontal (width direction) center of the first support section 92A and the second support section 92B, one end (left end) of the agricultural material 4 held by the holding device 77 in the horizontal (left-right) direction is located further inward (to the right) in the width direction than the other end (right end) of the first support section 92A in the width direction of the aircraft. In other words, the other end (right end) of the first support section 92A in the width direction of the aircraft is located further outward (to the left) in the width direction than one end (left end) of the agricultural material 4 held by the holding device 77 in the horizontal (left-right) direction.

[0113] Similarly, the other end (right end) of the agricultural material 4 held by the holding device 77 in the horizontal direction (left-right direction) is located further inward (to the left) in the width direction than one end (left end) of the second support part 92B in the width direction of the machine body. In other words, one end (left end) of the second support part 92B in the width direction of the machine body is located further outward (to the right) in the width direction than the other end (right end) of the agricultural material 4 held by the holding device 77 in the horizontal direction (left-right direction).

[0114] Therefore, when the flying device 3 holding the agricultural materials 4 lands on the first support section 92A and the second support section 92B, the agricultural materials 4 are positioned between the first support section 92A and the second support section 92B, and the space between the first support section 92A and the second support section 92B is connected from below toward the agricultural materials 4. For this reason, a passage section E1 is formed between the first support section 92A and the second support section 92B.

[0115] As shown in Figure 15, the separation distance D1 between the first support portion 92A and the second support portion 92B is longer than the separation distance D2 between the multiple leg members 69. The separation distance D1 between the first support portion 92A and the second support portion 92B is longer than the length of the shortest portion (upper end) of the separation distance D2 between the multiple leg members 69. In this embodiment, the separation distance D1 between the first support portion 92A and the second support portion 92B is longer than the length of the longest portion (lower end) of the separation distance D2 between the multiple leg members 69.

[0116] Therefore, as shown in Figures 14 and 15, when the flight device 3 lands on the first support section 92A and the second support section 92B such that the horizontal (left-right) center of the flight device 3 coincides with the horizontal (width direction) center of the first support section 92A and the second support section 92B, one of the leg members 69 (first leg member 69A) in the horizontal (left-right) direction is located further inward (to the right) in the width direction than the other end (right end) of the first support section 92A in the width direction of the aircraft. In other words, the other end (right end) of the first support section 92A in the width direction of the aircraft is located further outward (to the left) in the width direction than one of the leg members 69 (first leg member 69A) in the horizontal (left-right) direction.

[0117] Similarly, the other leg member 69 (second leg member 69B) in the horizontal direction (left-right direction) is located further inward (to the left) in the width direction than one end (left end) of the second support portion 92B in the width direction of the aircraft. In other words, one end (left end) of the second support portion 92B in the width direction of the aircraft is located further outward (to the right) in the width direction than the other leg member 69 (second leg member 69B) in the horizontal direction (left-right direction).

[0118] Therefore, when the flight device 3 lands on the first support section 92A and the second support section 92B, a space E2 between the multiple leg members 69 is located between the first support section 92A and the second support section 92B, and the first support section 92A and the second support section 92B communicate with each other from below toward the space E2 between the multiple leg members 69.

[0119] The separation distance D1 between the first support portion 92A and the second support portion 92B is longer than the horizontal (left-right) length L3 of the main body 61. In this embodiment, the separation distance D1 between the first support portion 92A and the second support portion 92B is longer than the left-right length L3 of the main body 61.

[0120] Therefore, as shown in Figures 14 and 15, when the flight device 3 lands on the first support section 92A and the second support section 92B such that the horizontal (left-right) center of the flight device 3 coincides with the horizontal (width direction) center of the first support section 92A and the second support section 92B, one end (left end) of the main body 61 in the horizontal (left-right) direction is located further inward (to the right) in the width direction than the other end (right end) of the first support section 92A in the width direction of the aircraft. In other words, the other end (right end) of the first support section 92A in the width direction of the aircraft is located further outward (to the left) in the width direction than one end (left end) of the main body 61 in the horizontal (left-right) direction.

[0121] Similarly, the other horizontal end (right end) of the main body 61 is located further inward (to the left) in the width direction than one end (left end) of the second support part 92B in the width direction of the aircraft. In other words, one end (left end) of the second support part 92B in the width direction of the aircraft is located further outward (to the right) in the width direction than the other horizontal (left-right) end (right end) of the main body 61.

[0122] Therefore, when the flying device 3 lands on the first support section 92A and the second support section 92B, the main body 61 is positioned between the first support section 92A and the second support section 92B, and the space between the first support section 92A and the second support section 92B is connected from below towards the space below the main body 61.

[0123] As shown in Figures 12 to 14, a guide portion 93 is provided on either the first support portion 92A, the second support portion 92B, or the plurality of leg members 69. In the example shown in Figures 12 to 14, the guide portion 93 is provided on the first support portion 92A and the second support portion 92B. The guide portion 93 is provided on the upper part (top surface) of the first support portion 92A and the second support portion 92B. Specifically, a pair of guide portions 93 are provided on the front and rear of each of the first support portion 92A and the second support portion 92B.

[0124] The guide sections 93A (first guide sections) provided on the first support section 92A are arranged side by side in the front-rear direction. The pair of first guide sections 93A may be arranged close together in the front-rear direction or spaced apart in the front-rear direction. Similarly, the guide sections 93B (second guide sections) provided on the second support section 92B are arranged side by side in the front-rear direction. The pair of second guide sections 93B may be arranged close together in the front-rear direction or spaced apart in the front-rear direction. In this embodiment, the distance between the pair of first guide sections 93A in the front-rear direction and the separation distance between the pair of second guide sections 93B in the front-rear direction are shorter than the separation distance between the first guide section 93A and the second guide section 93B in the width direction of the aircraft body.

[0125] The guide unit 93 guides the flight device 3 to a predetermined position when it lands on the first support unit 92A and the second support unit 92B. The predetermined position is, for example, the position where the horizontal (left-right) center of the flight device 3 coincides with the horizontal (width direction) center of the first support unit 92A and the second support unit 92B. Alternatively, the predetermined position is the position where the horizontal (front-back) center of the flight device 3 coincides with the horizontal (front-back) center of the first support unit 92A and the second support unit 92B. Hereinafter, the predetermined position may be referred to as the landing position.

[0126] The guide section 93 guides the aircraft 3 to a predetermined position (landing position) by contacting the other of either the first support section 92A, the second support section 92B, or the multiple leg members 69. In other words, as the aircraft 3 lands on the first support section 92A and the second support section 92B, the guide section 93 slides against the other of either the first support section 92A, the second support section 92B, or the multiple leg members 69, guiding the aircraft 3 to the landing position.

[0127] The guide portion 93 has a recess 93a whose cross-sectional area decreases as it approaches either the first support portion 92A, the second support portion 92B, or the plurality of leg members 69. The plurality of leg members 69 have guided portions 72 formed thereon that are guided by the guide portion 93. Figure 16 is a front view showing how the guided portions 72 are guided by the guide portion 93.

[0128] When the guide portion 93 is provided on the first support portion 92A and the second support portion 92B, the direction in which the multiple leg members 69 approach each other as viewed from the first support portion 92A and the second support portion 92B is downward. For this reason, as shown in Figures 12 and 16, the guide portion 93 has a recess 93a formed therein, the cross-sectional area of ​​which decreases as it goes downward. Specifically, the hole area of ​​the recess 93a gradually decreases as it goes downward. For example, the hole diameter in the left-right and front-back directions of the recess 93a decreases as it goes downward.

[0129] In the examples shown in Figures 12 and 16, the recess 93a is formed in a tapered shape (frustoconical shape) where the hole area gradually increases from the top to the bottom. In addition, a through hole 93b is formed in the center of the guide portion 93, penetrating in the vertical direction. The through hole 93b is, for example, a roughly circular hole.

[0130] As shown in Figures 9 to 16, the leg member 69 has a vertical member 70 and a lower member 71. The vertical member 70 is the portion that extends downward from the main body 61. A pair of vertical members 70 are provided in the center of the main body 61 in the front-rear direction. The lower member 71 is provided at the lower end of the vertical member 70. The guided portion 72 is formed on the leg member 69 and may also serve as the ground contact portion 76 that contacts the ground surface. The guided portion 72 also serves as the ground contact portion 76 when it constitutes the lower end of the leg member 69. In this embodiment, the guided portion 72 extends from the lower member 71 and also serves as the ground contact portion 76.

[0131] Furthermore, if the lower end of the guided portion 72 is located above the lower member 71, the guided portion 72 does not constitute the lower end of the leg member 69 and does not also serve as the ground contact portion 76.

[0132] The guided portion 72 extends outward in the left-right direction from the lower end of the leg member 69 and is formed by bending or curving downward in the middle. The guided portion 72 includes a first portion 73 extending outward in the left-right direction from the lower member 71, a second portion 74 extending in the vertical direction, and a connecting portion 75 connecting the first portion 73 and the second portion 74. The second portion 74 constitutes the lower end of the leg member 69. The lower end of the second portion 74 fits into the through hole 93b of the guide portion 93. For example, the cross-sectional shape of the lower end of the second portion 74 is substantially circular, and its radial size is smaller than the diameter of the through hole 93b. Alternatively, the lower end of the second portion 74 may be substantially hemispherical, rising downward.

[0133] The guided portions 72 are formed on the leg members 69 in a number corresponding to the guide portions 93 provided on the support portions 92 (first support portion 92A and second support portion 92B). In this embodiment, a pair of guided portions 72 are formed on each leg member 69, spaced apart in the front-rear direction.

[0134] As shown in Figure 15, the length L4 between the second portion 74 of the first leg member 69A and the second portion 74 of the second leg member 69B is the same length L5 between the centers of the recess 93a in the width direction of the aircraft (centers of the through holes 93b). As shown in Figure 13, the length L6 between the second portions 74 of a pair of guided portions 72 provided on one leg member 69 is the same length L7 between the centers of the recess 93a in the front-rear direction (centers of the through holes 93b). The vertical length L8 of the second portion 74 is greater than or equal to the depth L9 of the recess 93a. In this embodiment, the vertical length L8 of the second portion 74 is longer than the depth L9 of the recess 93a.

[0135] As described above, when the aircraft 3 lands on the landing gear 91, if the second portion 74 of the guided portion 72 is misaligned with the horizontal center of the corresponding guide portion 93 (recess 93a) (see upper diagram of Figure 16), as the aircraft 3 descends, the lower end of the second portion 74 slides against the guide portion 93 (recess 93a) and is guided to the horizontal center (see lower diagram of Figure 16). In the example shown in Figure 16, the aircraft 3 lands shifted to the left of the landing position (predetermined position). In this case, the second portion 74 of the guided portion 72 of each leg member 69 slides against the left side surface of the recess 93a. Therefore, as the aircraft 3 descends, the second portion 74 moves to the right along the inclined surface of the recess 93a. As a result, when the flying device 3 lands on the first support section 92A and the second support section 92B, the guide section 93 (recess 93a) slides against the multiple leg members 69, thereby guiding the landing flying device 3 to the landing position.

[0136] In the above-described embodiment, the case in which guide portions 93 are provided on both the first support portion 92A and the second support portion 92B was explained as an example. However, it is sufficient for two or more guide portions 93 to be provided on both the first support portion 92A and the second support portion 92B. For example, a pair of guide portions 93 may be provided on the first support portion 92A, and no guide portions 93 may be provided on the second support portion 92B. Alternatively, one guide portion 93 may be provided on both the first support portion 92A and the second support portion 92B.

[0137] Furthermore, the shape of the recess 93a is not limited to a tapered shape. For example, the recess 93a may be formed in a substantially hemispherical shape that curves downward (see Figure 17). It is also preferable that the recess 93a is formed in a shape where the distance between the left and right sides decreases as it curves downward. For example, the recess 93a may be formed in a substantially V-shape or a partially arc-shaped (half-moon shape, kamaboko shape) cross-section when viewed from the front (see Figure 18, which shows a modified example in which the cross-sectional shape is substantially V-shaped).

[0138] Furthermore, although the above-described embodiment explained using the example where the guide portion 93 is provided on the first support portion 92A and the second support portion 92B, and the guided portion 72 is formed on a plurality of leg members 69, as shown in Figure 19, the guide portion 172 may also be provided on a plurality of leg members 69. In such a case, the first support portion 92A and the second support portion 92B may have a protrusion 193 formed thereon together with the guide portion 172 to guide the flight device 3 to a predetermined position (landing position).

[0139] When the guide portion 172 is formed on multiple leg members 69, the direction of approach between the first support portion 92A and the second support portion 92B as viewed from the multiple leg members 69 is upward. For this reason, as shown in Figure 19, the guide portion 172 is formed with a recess 172a whose cross-sectional area decreases as it goes upward. Specifically, the hole area of ​​the recess 172a gradually decreases as it goes upward. For example, the hole diameter of the recess 172a decreases in the left-right and front-back directions as it goes upward. In the example shown in Figure 19, the recess 172a is formed in a tapered shape (frustoconical shape) in which the hole area gradually widens from the bottom to the top.

[0140] The shape of the recess 172a is not limited to a tapered shape, but may be other shapes. For example, the recess 172a may be formed in a substantially hemispherical shape that is recessed upwards. Alternatively, the recess 172a may be formed in a partially arc-shaped (half-moon shape, kamaboko shape) cross-section when viewed from the front.

[0141] Furthermore, as shown in Figure 19, the protrusions 193 formed on the first support portion 92A and the second support portion 92B are parts that extend upward. For example, the protrusions 193 are rod-shaped (axial) parts that extend upward from the first support portion 92A and the second support portion 92B.

[0142] Therefore, when the flight device 3 lands on the takeoff and landing device 91, if the protrusion 193 is misaligned with the horizontal center of the corresponding guide portion 172 (recess 172a), the upper end of the protrusion 193 slides against the guide portion 172 (recess 172a), and as the flight device 3 descends, it is guided towards the horizontal center.

[0143] The support structure 94 is a structure that attaches a plurality of support parts 92 (first support part 92A and second support part 92B) to the agricultural machine 2. The support structure 94 is attached to the working device 21. The support structure 94 supports the first support part 92A and the second support part 92B on the upper part of the material receiving body 31. As a result, the take-off and landing device 91 is positioned on the upper part of the material receiving body 31 (material receiving part 32). For this reason, the take-off and landing device 91 is positioned behind the traveling body 11. Consequently, the take-off and landing device 91 is positioned at a distance from the first positioning device 55 in the front-rear direction (horizontal direction).

[0144] As shown in Figure 8, the support structure 94 is fixed in its relative position to the machine body 12 in the width direction of the machine body and is attached to the work device 21. That is, the support structure 94 is attached to the work device 21 on the side of the connecting body 22 that is closer to the material receiving body 31. Specifically, the support structure 94 is attached to the side of the connecting body 22 that is closer to the guided portion 37. For example, the support structure 94 is attached to the connecting body 22. In this embodiment, the support structure 94 is attached to the second connecting body 22B.

[0145] As shown in Figures 2, 4 to 8, the support structure 94 supports the first support portion 92A and the second support portion 92B above the material receiving body 31. The support structure 94 fixes the relative positions of the first support portion 92A and the second support portion 92B. Alternatively, the support structure 94 may support the first support portion 92A and the second support portion 92B so that they are movable in the width direction of the machine body. The support structure 94 will be described in detail below.

[0146] As shown in Figures 4 to 8, the support structure 94 has a mounting portion 95. The mounting portion 95 is the part that is attached to the work device 21. The mounting portion 95 supports the other parts of the support structure 94. The mounting portion 95 is attached to the second connecting body 22B.

[0147] For example, the mounting portion 95 includes a first mounting portion 95A attached to the second transmission case 25. In the example shown in Figures 4 to 8, the first mounting portion 95A is attached to each of the second transmission cases 25. The first mounting portion 95A is a frame material extending upward from the second transmission case 25. The first mounting portion 95A extends upward, passing behind the first guide portion 26A and the first guided portion 37A.

[0148] Furthermore, the mounting portion 95 includes a second mounting portion 95B attached to the second guide portion 26B. In the example shown in Figures 4 to 8, the second mounting portion 95B is attached to both ends of the roller support portion 29 of the second guide portion 26B in the machine width direction. The second mounting portion 95B is a frame material extending upward from the second guide portion 26B (roller support portion 29). The second mounting portion 95B extends upward from the second guide portion 26B. More specifically, the second mounting portion 95B extends beyond the top of the material receiving body 31 from the second guide portion 26B.

[0149] As shown in Figures 4, 5, and 7, the support structure 94 has a rail mechanism 96. The rail mechanism 96 directly or indirectly supports the support portion 92 (first support portion 92A and second support portion 92B). The rail mechanism 96 is composed of elongated members and is arranged extending in the width direction of the machine body. The rail mechanism 96 is supported by the mounting portion 95. In this embodiment, the rail mechanism 96 has a pair of rail members 97 and 98 (sliding rails).

[0150] The pair of rail members 97 and 98 are arranged extending in the width direction of the machine body. Furthermore, the pair of rail members 97 and 98 are spaced apart in the front-rear direction and / or the up-down direction. Of the pair of rail members 97 and 98, one rail member 97 (the first rail member) is supported by the first mounting portion 95A. The first rail member 97 is connected to the upper end of the first mounting portion 95A.

[0151] Of the pair of rail members 97 and 98, the other rail member 98 (the second rail member) is supported by the second mounting portion 95B. The second rail member 98 is connected to the rear end of the second mounting portion 95B.

[0152] As shown in Figures 4, 5, and 7, the support structure 94 has a support frame 101. The support frame 101 supports the support parts 92 (first support part 92A and second support part 92B). The support frame 101 fixes the relative positions of the first support part 92A and the second support part 92B. The support frame 101 supports the first support part 92A and the second support part 92B separated horizontally (in the aircraft width direction). The support frame 101 supports the first support part 92A on one side (left side) in the aircraft width direction. The support frame 101 supports the second support part 92B on the other side (right side) in the aircraft width direction. The support frame 101 supports the first support part 92A and the second support part 92B at the same height. That is, the first support part 92A and the second support part 92B are supported on the same plane.

[0153] Furthermore, the support frame 101 is supported so as to be movable in the width direction of the machine body relative to the rail mechanism 96. In other words, the rail mechanism 96 supports the support frame 101 so as to be movable in the width direction of the machine body. The support frame 101 is attached to the rail mechanism 96 via a sliding member so as to be movable in the width direction of the machine body. The support frame 101 has a first mounting frame portion 102, a second mounting frame portion 103, and a connecting frame portion 104.

[0154] The first mounting frame portion 102 is a frame material attached to the first rail member 97. The first mounting frame portion 102 is arranged extending in the width direction of the machine body, and one or more sliding members are attached to its lower part. As a result, the first mounting frame portion 102 is supported so as to be movable in the width direction of the machine body relative to the first rail member 97.

[0155] The second mounting frame portion 103 is a frame material attached to the second rail member 98. The second mounting frame portion 103 is arranged extending in the width direction of the machine body, and one or more sliding members are attached to its lower part. As a result, the second mounting frame portion 103 is supported so as to be movable in the width direction of the machine body relative to the second rail member 98.

[0156] The connecting frame section 104 is a frame material that supports the support section 92 (first support section 92A and second support section 92B). The connecting frame section 104 supports the support section 92 at its upper part. In this embodiment, the support frame 101 has a pair of connecting frame sections 104. The pair of connecting frame sections 104 are spaced apart in the width direction of the machine body.

[0157] Each of the pair of connecting frame sections 104 supports either the first support section 92A or the second support section 92B. The pair of connecting frame sections 104 connect the first mounting frame section 102 and the second mounting frame section 103. Of the pair of connecting frame sections 104, the connecting frame section 104A (first connecting frame section) on one side (left side) in the aircraft width direction supports the first support section 92A. Of the pair of connecting frame sections 104, the connecting frame section 104B (second connecting frame section) on the other side (right side) in the aircraft width direction supports the second support section 92B.

[0158] The connecting frame portion 104 extends upward from the first mounting frame portion 102, bends forward midway, and reaches the second mounting frame portion 103. More specifically, the connecting frame portion 104 extends beyond the top of the material receiving body 31 from the first mounting frame portion 102, passes over the material receiving body 31, and reaches the second mounting frame portion 103.

[0159] As shown in Figures 2, 4 to 8, the support frame 101 may have a transfer device 106. The transfer device 106 is a device that moves the support section 92 (first support section 92A and second support section 92B) in the machine width direction. In this embodiment, the transfer device 106 moves the support frame 101 in the machine width direction. The transfer device 106 has a transfer actuator 107. The transfer device 106 moves the support frame 101 in the machine width direction by the power generated by the transfer actuator 107. The transfer actuator 107 is controlled by the first control device 51. Examples of the transfer actuator 107 include hydraulic actuators and electric actuators. In this embodiment, the transfer device 106 has an electric motor as the transfer actuator 107. The transfer actuator 107 is fixedly attached to, for example, the rail mechanism 96.

[0160] In this embodiment, the transfer device 106 includes a transfer shaft 108 and a transfer member 109. The transfer shaft 108 is arranged extending in the width direction of the machine body and is powered by a transfer actuator 107 (electric motor) to rotate around its axis. A helical groove is formed on the transfer shaft 108.

[0161] The transfer member 109 is attached to the transfer shaft 108 and is moved in the width direction of the machine by the transfer shaft 108. The transfer member 109 is also connected to the support frame 101 and can move the support frame 101 in the width direction of the machine. Specifically, the transfer member 109 is attached to a helical groove formed in the transfer shaft 108 and moves in the width direction of the machine along the helical groove as the transfer shaft 108 is rotated.

[0162] The first control device 51 can change the direction of movement of the support frame 101 (transfer member 109) by changing the direction of rotational drive of the transfer actuator 107. For example, when the transfer actuator 107 is rotated in one direction, the transfer member 109 is transferred to one side (left side) in the machine width direction, and the support frame 101 is moved to the same side (left side) in the machine width direction. Also, when the transfer actuator 107 is rotated in another direction, the transfer member 109 is transferred to the other side (right side) in the machine width direction, and the support frame 101 is moved to the same side (right side) in the machine width direction.

[0163] The first control device 51 moves the aircraft 3, which has landed on the landing and takeoff device 91, to a drop position (supply position) where agricultural materials 4 are dropped to each material receiving unit 32. Based on the detection results of one or more detection devices, the first control device 51 calculates the position of the support frame 101 (transfer member 109) in the aircraft width direction in the work device 21.

[0164] For example, as shown in Figure 1, the agricultural machine 2 is equipped with a first position detection device 110. The first position detection device 110 is a device that detects the position of the material receiving body 31 in the machine width direction on the working device 21. The first position detection device 110 is connected to a first control device 51 in a communicative manner and can output the detection result to the first control device 51. Examples of the first position detection device 110 include a magnetostrictive displacement sensor, a contact sensor, etc. Based on the detection result output from the first position detection device 110, the first control device 51 calculates the position of the material receiving body 31 in the machine width direction on the working device 21.

[0165] The first position detection device 110 is not limited to the example described above, and is only required to be able to detect the position of the material receiving body 31 in the machine width direction on the work device 21. For example, the first position detection device 110 may detect the rotation of the rotation drive of the transverse feed shaft 39, and the first control device 51 may calculate the position of the material receiving body 31 in the machine width direction on the work device 21 based on the rotation speed and rotation direction of the transverse feed shaft 39.

[0166] Furthermore, as shown in Figure 1, the agricultural machine 2 is equipped with a second position detection device 111. The second position detection device 111 is a device that detects the position of the support frame 101 (transfer member 109) in the machine width direction in the working device 21. The second position detection device 111 is connected to the first control device 51 in a communicative manner and can output the detection result to the first control device 51. Examples of the second position detection device 111 include a magnetostrictive displacement sensor, a contact sensor, etc. Based on the detection result output from the second position detection device 111, the first control device 51 calculates the position of the support frame 101 (transfer member 109) in the machine width direction in the working device 21.

[0167] The second position detection device 111 is not limited to the example described above, and is only required to be able to detect the position of the support frame 101 in the machine width direction of the work device 21. For example, the second position detection device 111 may detect the rotation of the rotational drive of the transfer shaft 108, and the first control device 51 may calculate the position of the support frame 101 (transfer member 109) in the machine width direction of the work device 21 based on the rotational speed and rotational direction of the transfer shaft 108.

[0168] The first control device 51 calculates the position of the support frame 101 relative to the material receiving body 31 based on the position of the material receiving body 31 in the machine width direction and the position of the support frame 101 in the machine width direction of the work device 21. This allows the first control device 51 to calculate the relative position of the support section 92 (first support section 92A and second support section 92B) and each material receiving section 32.

[0169] As a result, the first control device 51 controls the transfer device 106 (transfer actuator 107) based on the detection results of the first position detection device 110 and the second position detection device 111, thereby changing the position of the support section 92 (first support section 92A and second support section 92B) in the aircraft width direction, and moving it to a drop position (supply position) where agricultural materials 4 are dropped from the aircraft 3 that has landed on the support section 92 (first support section 92A and second support section 92B) to each material receiving section 32. The drop positions corresponding to each material receiving section 32 are stored in advance in the first storage device 52. Therefore, the first control device 51 can move the support section 92 (first support section 92A and second support section 92B) to a drop position corresponding to a material receiving section 32 where the remaining amount of agricultural materials 4 held is below a predetermined amount.

[0170] Furthermore, as shown in Figures 1, 4, 5, and 7, the takeoff and landing gear 91 may also have a first guide 112 and a second guide 113. The first guide 112 and the second guide 113 are arranged to be separated horizontally.

[0171] The first guide 112 is a member that extends downward from the first support portion 92A. In this embodiment, the first guide 112 has a first inclined surface 112a that transitions to the other side (right side) in the width direction of the machine body as it moves from the top to the bottom. The first inclined surface 112a is formed in a straight line when viewed from the front. The first inclined surface 112a is inclined with respect to the vertical direction. The angle of inclination of the first inclined surface 112a with respect to the vertical direction is acute. The relative position of the first guide 112 with respect to the first support portion 92A is fixed. For example, the first guide 112 is attached to the support frame 101.

[0172] The second guide 113 is a member that extends downward from the second support portion 92B. In this embodiment, the second guide 113 has a second inclined surface 113a that transitions to one side (the left side) in the width direction of the machine body as it moves from the top to the bottom. The second inclined surface 113a is formed in a straight line when viewed from the front. The second inclined surface 113a is inclined with respect to the vertical direction. The angle of inclination of the second inclined surface 113a with respect to the vertical direction is acute. The second guide 113 is fixed in relative position to the second support portion 92B. For example, the second guide 113 is attached to the support frame 101.

[0173] As described above, the first inclined surface 112a and the second inclined surface 113a are closer together as you move from the top to the bottom. The first inclined surface 112a and the second inclined surface 113a are further apart as you move from the bottom to the top. That is, the separation distance D3 between the first guide 112 (first inclined surface 112a) and the second guide 113 (second inclined surface 113a) is shorter as you move from the top to the bottom. In other words, the separation distance D3 between the first guide 112 (first inclined surface 112a) and the second guide 113 (second inclined surface 113a) is longer as you move from the bottom to the top.

[0174] The first guide 112 and the second guide 113 may be attached to the first support portion 92A and the second support portion 92B.

[0175] The following will explain in detail the positional relationship between the landing gear 91 and the material receiving section 32 at the drop position. Figure 20 is a plan view showing the landing gear 91 at the drop position, and Figure 21 is a rear view showing the landing gear 91 at the drop position. As shown in Figure 20, the drop position is the position where the horizontal (aircraft width direction) center of the first support section 92A and the second support section 92B coincides with the horizontal (left-right direction) center of the predetermined material receiving section 32. Specifically, the drop position is the position where the horizontal (aircraft width direction) center of the first support section 92A and the second support section 92B coincides with the horizontal (left-right direction) center of the partition guides 33 of the predetermined material receiving section 32.

[0176] As shown in Figure 20, the separation distance D1 between the first support section 92A and the second support section 92B is longer than the separation distance D3 between the partition guides 33 of the material receiving section 32. Therefore, when the landing and takeoff device 91 is positioned at a drop position, the first support section 92A is positioned on one horizontal side (left side) of the material receiving section 32 in a plan view. Specifically, the first support section 92A is positioned on one horizontal side (left side) of the material receiving section 32, relative to one horizontal end (left end) of the material receiving section 32. More specifically, the first support section 92A is positioned on one horizontal side (left side) of the material receiving section 32, relative to one horizontal side (left side) of the partition guide 33. More specifically, the other end (right end) of the first support section 92A in the horizontal direction (left-right direction) is located one side (left side) of the material receiving section 32's partition guide 33 in the horizontal direction (left-right direction) relative to the partition guide 33 on one side (left side).

[0177] Furthermore, the second support portion 92B is positioned on the other horizontal side (right side) of the material receiving portion 32 in a plan view. Specifically, the second support portion 92B is located on the other horizontal side (right side) of the material receiving portion 32, beyond the other horizontal end (right end) of the material receiving portion 32. More specifically, the second support portion 92B is located on the other horizontal side (right side) of the material receiving portion 32, beyond the partition guide 33 on the other horizontal side (right side) of the material receiving portion 32. More specifically, the left end of the second support portion 92B in the horizontal direction (left side) is located on the other horizontal side (right side) of the material receiving portion 32, beyond the partition guide 33 on the other horizontal side (right side) of the material receiving portion 32.

[0178] Based on the above, when the takeoff and landing device 91 is in a position to drop the materials, and the flying device 3 holding the agricultural materials 4 lands at the landing position of the takeoff and landing device 91, the first support section 92A and the second support section 92B are in communication from the top of the material receiving section 32 upwards.

[0179] As shown in Figures 20 and 21, when the takeoff and landing device 91 is in a drop position, the first guide 112 extends from the first support portion 92A toward one horizontal side (left side) of the material receiving portion 32. Specifically, the first inclined surface 112a moves from below the first support portion 92A toward the other horizontal side (right side) and reaches above the partition guide 33 on one horizontal side (left side). The lower end of the first inclined surface 112a is separated vertically from the partition guide 33.

[0180] Furthermore, the second guide 113 extends from the second support portion 92B toward the other horizontal side (right side) of the material receiving portion 32. Specifically, the second inclined surface 113a moves from below the second support portion 92B toward one horizontal side (left side) and reaches above the partition guide 33 on the other horizontal side (right side). The lower end of the second inclined surface 113a is separated vertically from the partition guide 33.

[0181] From the above, the first inclined surface 112a and the second inclined surface 113a approach the material receiving section 32 from the first support section 92A and the second support section 92B. The first inclined surface 112a and the second inclined surface 113a move further apart from the material receiving section 32 towards the first support section 92A and the second support section 92B. That is, the separation distance D3 between the first guide 112 (first inclined surface 112a) and the second guide 113 (second inclined surface 113a) decreases as you move from the first support section 92A and the second support section 92B towards the material receiving section 32. In other words, the separation distance D3 between the first guide 112 (first inclined surface 112a) and the second guide 113 (second inclined surface 113a) increases as you move from the material receiving section 32 towards the first support section 92A and the second support section 92B.

[0182] Therefore, when the take-off and landing device 91 is in a drop position, and the flight device 3 lands at the landing position of the take-off and landing device 91, one end (left end) of the agricultural material 4 held by the holding device 77 in the horizontal direction (left-right direction) is located on the other side (right side) of the material receiving section 32 in the horizontal direction (left-right direction) than one end (left end) of the material receiving section 32 in the horizontal direction. Specifically, one end (left end) of the agricultural material 4 held by the holding device 77 in the horizontal direction (left-right direction) is located on the other side (right side) of the partition guide 33 on one side (left side) of the material receiving section 32 in the horizontal direction (left-right direction). More specifically, the other end (right end) of one end (left end) in the horizontal direction (left-right direction) of the agricultural material 4 held by the holding device 77 is located on the other side (right side) of the partition guide 33 on one side (left side) of the material receiving section 32 in the horizontal direction (left-right direction).

[0183] Furthermore, the other end (right end) of the agricultural material 4 held by the holding device 77 in the horizontal direction (left-right direction) is located one side (left) of the other end (right end) of the material receiving section 32 in the horizontal direction (left-right direction). Specifically, the other end (right end) of the agricultural material 4 held by the holding device 77 in the horizontal direction (left-right direction) is located one side (left) of the partition guide 33 on the other side (right side) of the material receiving section 32 in the horizontal direction (left-right direction). More specifically, the other end (right end) of the agricultural material 4 held by the holding device 77 in the horizontal direction (left-right direction) is located one side (left) of the other end (right end) of the agricultural material 4 held by the holding device 77 in the horizontal direction (left-right direction) is located one side (left) of the partition guide 33 on the other side (right side) of the material receiving section 32 in the horizontal direction (left-right direction).

[0184] Based on the above, when the take-off and landing device 91 is in a position to drop the materials, and the flying device 3 holding the agricultural materials 4 lands at the landing position of the take-off and landing device 91, the first support section 92A and the second support section 92B communicate from the top of the material receiving section 32 toward the bottom of the agricultural materials 4.

[0185] Furthermore, when the takeoff and landing device 91 is positioned at a drop position, and the flight device 3 lands at the landing position of the takeoff and landing device 91, the first support section 92A and the second support section 92B communicate from the upper part of the material receiving section 32 toward the lower part of the holding device 77. Also, the first support section 92A and the second support section 92B communicate from the upper part of the material receiving section 32 toward the space E2 between the multiple leg members 69. Also, the first support section 92A and the second support section 92B communicate from the upper part of the material receiving section 32 toward the space beneath the main body 61.

[0186] Figure 22 is a diagram illustrating an example of a series of steps for supplying agricultural materials 4 in the work system 1. Each step in Figure 22 is executed by the first control device 51 according to a software program stored in the memory or first storage device 52, or by the second control device 81 according to a software program stored in the memory or second storage device 82. The first control device 51 determines whether the remaining amount of agricultural materials 4 held in the material receiving body 31 (material receiving unit 32) has fallen below a predetermined amount (S1). If the first control device 51 determines that the remaining amount of agricultural materials 4 held in any of the material receiving units 32 has fallen below a predetermined amount (S1: Yes), it requests the aircraft 3 to replenish the agricultural materials 4 via the first communication device 53 (S2). The first communication device 53 transmits a request signal to the aircraft 3 directly or indirectly.

[0187] When the second communication device 83 receives a request signal and / or information based on the request signal from the first communication device 53, the flying device 3 transports the agricultural materials 4 based on the request signal, etc. (S3). The flying device 3 heads toward the location where the agricultural materials 4 are stored (material storage area), picks up the agricultural materials 4 that are placed in the material storage area, and transports them by flight. Based on the position of the agricultural machine 2 included in the request signal, and the position of the agricultural machine 2 newly received from the agricultural machine 2 after receiving the request signal, the flying device 3 approaches the agricultural machine 2 from above.

[0188] When the flying device 3 approaches the agricultural machine 2 (S4: Yes), it lands on the takeoff and landing device 91 (S5). Based on the sensing results of the second sensing device 84 and the relative distance between itself and the agricultural machine 2, the flying device 3 aligns itself with the takeoff and landing device 91 and lands on the takeoff and landing device 91. At this time, the second control device 81 notifies the agricultural machine 2 that the flying device 3 has landed on it. The second communication device 83 transmits a landing signal to the first communication device 53, for example, indicating that it has landed on the takeoff and landing device 91.

[0189] When the first control device 51 recognizes that the aircraft 3 has landed on the takeoff and landing device 91 (S6: Yes), it controls the transfer device 106 to move the support units 92 (first support unit 92A and second support unit 92B) to the drop position corresponding to the material receiving unit 32 when the remaining amount of agricultural materials 4 falls below a predetermined level (S7). When the first control device 51 receives a landing signal and recognizes that the aircraft 3 has landed on the takeoff and landing device 91, it moves the support units 92 (first support unit 92A and second support unit 92B) to the drop position. At this time, if the lateral feed mechanism 38 is moving the material receiving unit 31 in the aircraft width direction, the first control device 51 controls the transfer device 106 in synchronization with the movement of the material receiving unit 31. As a result, the takeoff and landing device 91 is maintained at the drop position of the material receiving unit 32 which is moving in the aircraft width direction. Furthermore, when the first control device 51 moves the take-off and landing device 91 to the drop position, it instructs the flight device 3 to replenish the agricultural materials 4. The first communication device 53 transmits, for example, a start signal to the second communication device 83 indicating the start of dropping the agricultural materials 4.

[0190] When the second control device 81 recognizes that the support section 92 (first support section 92A and second support section 92B) has moved to the drop position (S8: Yes), it controls the holding device 77 to drop the agricultural materials 4 (S9). When the second control device 81 receives a start signal and recognizes that the take-off and landing device 91 has moved to the drop position, it switches the holding device 77 to the release state. The agricultural materials 4 dropped from the holding device 77 pass through the passage section E1 between the first support section 92A and the second support section 92B, and pass between the first guide 112 and the second guide 113. The agricultural materials 4 are placed on the material receiving section 32 while being guided by the first guide 112 and the second guide 113.

[0191] When the second control device 81 drops the agricultural materials 4 (S9), it controls the multiple rotors 63 to take off from the landing gear 91 (S10). At this time, the second control device 81 notifies the agricultural machine 2 that it is taking off. The second communication device 83 transmits, for example, a takeoff signal to the first communication device 53 indicating that it has taken off from the landing gear 91. As a result, the first control device 51 can recognize that the aircraft 3 has taken off from the landing gear 91 and that the replenishment of agricultural materials 4 has been completed.

[0192] The sequence of steps for supplying agricultural materials 4, as described using Figure 22, is merely an example and is not limited thereto. For example, the second control device 81 may determine whether or not it is located at the drop position based on the sensing results of the second sensing device 84, and if it determines that it is located at the drop position, it may automatically drop the agricultural materials 4 from the holding device 77.

[0193] (Regarding other variations) In the above-described embodiment, the case in which the agricultural material 4 is a seedling mat 4A and the agricultural machine 2 is a rice transplanter 2A was explained as an example. However, the agricultural material 4 is not limited to a seedling mat 4A, and the agricultural machine 2 is not limited to a rice transplanter 2A. For example, the agricultural material 4 may be a plant mat (a mat on which plants such as vegetable seedlings and scions have been grown). The agricultural material 4 may also be a fluid solid (granular material, etc.) or a liquid. Examples of granular agricultural material 4 include granular preparations and seeds. Granular preparations include preparations in which pesticides and fertilizers have been processed into granules. Liquid agricultural material 4 includes liquid pesticides and liquid fertilizers. When the agricultural material 4 is a solid such as a granular material or a liquid, the flying device 3 transports these agricultural materials 4 in a container or the like. Other examples of agricultural machinery 2 include vegetable transplanters, fertilizer spreaders, seeders, pesticide spreaders, and sprayers that perform operations using any of these agricultural materials 4.

[0194] In the embodiment described above, the case in which the agricultural machine 2 is operated by manual operation by an operator seated in the driver's seat 13 was explained. However, the agricultural machine 2 may also be operated by remote operation control, in which an operator at a remote location manually operates a remote control device. Furthermore, the agricultural machine 2 may also be operated by automatic operation control, in which it autonomously drives and steers without manual operation by an operator, or by automatic steering control, in which it autonomously steers without manual operation by an operator. Note that when the agricultural machine 2 is operated by automatic operation control, remote operation control, etc., it does not need to be equipped with a driver's seat 13, an operating device 14, etc.

[0195] In the embodiment described above, the case in which the work device 21 is positioned behind the traveling body 11 (machine body 12) was explained, but the position of the work device 21 is not limited to behind the traveling body 11 (machine body 12). For example, the work device 21 may be positioned in front of the traveling body 11 (machine body 12), to the left of the traveling body 11 (machine body 12), or to the right of the traveling body 11 (machine body 12).

[0196] In the above-described embodiment, the case was explained in which the flying device 3 replenishes (transports) agricultural materials 4 in response to a request (request signal) from the agricultural machinery 2. However, a work plan (planting plan) may be defined in advance in a server device or the like, and the replenishment (transportation) of agricultural materials 4 may be performed based on that work plan. Alternatively, an operator may request the flying device 3 to replenish (transport) agricultural materials 4 by operating a predetermined input interface, and the trigger for starting the replenishment operation is not particularly limited.

[0197] In the embodiment described above, the case in which the support structure 94 is attached to the work device 21 was explained, but the support structure 94 may also be attached to the traveling body 11.

[0198] In the embodiment described above, a case was described in which the agricultural machine 2 is equipped with a single take-off and landing device 91, but the agricultural machine 2 may be equipped with multiple take-off and landing devices 91. In such a case, it is sufficient that multiple support frames 101 supporting each take-off and landing device 91 are supported by a common rail mechanism 96.

[0199] In the above-described embodiment, the case in which the takeoff and landing device 91 is provided with a pair of support parts 92 was explained as an example, but the takeoff and landing device 91 only needs to have at least two support parts 92, a first support part 92A and a second support part 92B. For this reason, the takeoff and landing device 91 may have three support parts 92 or even five support parts 92. Furthermore, the first support part 92A and the second support part 92B only need to be spaced apart at least in the horizontal direction (left-right direction in this embodiment) and communicate in the vertical direction, and the first support part 92A and the second support part 92B may be offset in the front-rear direction.

[0200] A preferred embodiment of the present invention provides a takeoff and landing device 91 for an aircraft 3 and an agricultural machine 2 as described in the following items.

[0201] (Item 1) A takeoff and landing device 91 for an aircraft 3, comprising a first support portion 92A capable of supporting at least a part of the aircraft 3, and a second support portion 92B capable of supporting at least a part of the aircraft 3 and supporting the aircraft 3 together with the first support portion 92A so that it can take off and land, wherein the first support portion 92A and the second support portion 92B are arranged to be separated horizontally, and the first support portion 92A and the second support portion 92B are in communication in the vertical direction.

[0202] According to the takeoff and landing device 91 related to item 1, since the first support part 92A and the second support part 92B are in vertical communication, various aircraft 3 can land.

[0203] (Item 2) The take-off and landing device 91 for the flying device 3 according to Item 1, wherein the flying device 3 is capable of transporting agricultural materials 4, the first support portion 92A supports one horizontal side of the flying device 3 so as to be able to take off and land, the second support portion 92B supports the other horizontal side of the flying device 3 so as to be able to take off and land, and a pass-through portion E1 is formed between the first support portion 92A and the second support portion 92B, extending from above to below the first support portion 92A and the second support portion 92B, through which the agricultural materials 4 dropped from the flying device 3 that has landed on the first support portion 92A and the second support portion 92B can pass.

[0204] According to the landing and takeoff device 91 in item 2, if the aircraft 3 is landed on the landing and takeoff device 91 and drops agricultural materials 4, the dropped agricultural materials 4 can be passed through the passage section E1 and dropped below the landing and takeoff device 91. Therefore, the aircraft 3 can directly transfer the dropped agricultural materials 4 below the landing and takeoff device 91 without being obstructed by the landing and takeoff device 91.

[0205] (Item 3) The takeoff and landing device 91 of the flight device 3 according to Item 2, comprising a main body 61, a plurality of rotors 63 attached to the main body 61 and capable of changing the altitude of the main body 61, and a holding device 77 capable of holding the agricultural material 4 at the lower part of the main body 61, wherein the separation distance D1 between the first support portion 92A and the second support portion 92B is longer than the horizontal length L2 of the agricultural material 4 held by the holding device 77.

[0206] According to the landing and takeoff device 91 in item 3, when the aircraft 3 is landed on the landing and takeoff device 91 and agricultural materials 4 are dropped from the holding device 77, the agricultural materials 4 can pass through the passage section E1 without coming into contact with the first support section 92A and the second support section 92B. Therefore, the aircraft 3 can directly transfer the dropped agricultural materials 4 to the area below the landing and takeoff device 91 without being obstructed by the landing and takeoff device 91.

[0207] (Item 4) The takeoff and landing device 91 of the flight device 3 according to Item 2 or 3, comprising a main body 61, a plurality of rotors 63 attached to the main body 61 and capable of changing the altitude of the main body 61, and a plurality of leg members 69 provided on the main body 61 and arranged horizontally apart from each other, wherein the separation distance D1 between the first support portion 92A and the second support portion 92B is longer than the separation distance D2 between the plurality of leg members 69.

[0208] According to the take-off and landing device 91 in item 4, when the aircraft 3 is landed on the first support section 92A and the second support section 92B, the space between the leg members 69 of the aircraft 3 and the space between the first support section 92A and the second support section 92B can be connected in the vertical direction. Therefore, for example, even when the aircraft 3 is holding agricultural materials 4 etc. between the leg members 69, contact between the first support section 92A and the second support section 92B and the agricultural materials 4 etc. can be suppressed.

[0209] (Item 5) The takeoff and landing device 91 of the flight device 3 according to any one of Items 2 to 4, wherein the flight device 3 comprises a main body 61 and a plurality of rotors 63 attached to the main body 61 and capable of changing the altitude of the main body 61, and the separation distance D1 between the first support portion 92A and the second support portion 92B is longer than the horizontal length L3 of the main body 61.

[0210] According to the takeoff and landing device 91 in item 5, when the flight device 3 is landed on the first support section 92A and the second support section 92B, the main body 61 can be connected to the space between the first support section 92A and the second support section 92B in the vertical direction. Therefore, regardless of the shape of the main body 61, contact between the main body 61 and the first support section 92A and the second support section 92B can be suppressed.

[0211] (Item 6) The takeoff and landing device 91 for the flight device 3 according to any one of items 2 to 5, wherein the flight device 3 comprises a main body 61, a plurality of rotors 63 attached to the main body 61 and capable of changing the altitude of the main body 61, and a holding device 77 capable of holding the agricultural materials 4 at the lower part of the main body 61, and when the flight device 3 lands on the first support part 92A and the second support part 92B, the holding device 77 of the flight device 3 is located between the first support part 92A and the second support part 92B, and the first support part 92A and the second support part 92B are communicating from below toward the lower part of the holding device 77.

[0212] According to the take-off and landing device 91 in item 6, when the flight device 3 is landed on the first support section 92A and the second support section 92B, the main body 61, the holding device 77 of the flight device 3, and the space between the first support section 92A and the second support section 92B can be connected in the vertical direction. Therefore, regardless of the shape of the holding device 77, contact between the holding device 77 and the first support section 92A and the second support section 92B can be suppressed.

[0213] (Item 7) The takeoff and landing device 91 for the flight device 3 according to any one of items 1 to 6, wherein the flight device 3 comprises a main body 61, a plurality of rotors 63 attached to the main body 61 and capable of changing the altitude of the main body 61, and a plurality of leg members 69 provided on the main body 61 and each spaced apart horizontally, and a guide portion 93, 172 is provided on either the first support portion 92A and the second support portion 92B or the plurality of leg members 69 for guiding the flight device 3 to a predetermined position when the flight device 3 lands on the first support portion 92A and the second support portion 92B.

[0214] According to the takeoff and landing device 91 in item 7, the guide units 93 and 172 guide the aircraft 3 to land, thereby enabling the aircraft 3 to land reliably at the desired position on the first support unit 92A and the second support unit 92B.

[0215] (Item 8) The take-off and landing device 91 of the flight device 3 according to Item 7, wherein the guide portions 93, 172 guide the flight device 3 to the predetermined position by contacting the other of the first support portion 92A and the second support portion 92B and the plurality of leg members 69.

[0216] According to the takeoff and landing device 91 in item 8, the flight device 3 can be reliably landed at the desired position on the first support section 92A and the second support section 92B with a relatively simple configuration.

[0217] (Item 9) The takeoff and landing device 91 of the flight device 3 according to Item 8, wherein the guide portions 93 and 172 have recesses 93a and 172a formed therein, the cross-sectional area of ​​which decreases as one of the first support portion 92A and the second support portion 92B and the plurality of leg members 69 approaches the other.

[0218] According to the landing and takeoff device 91 in item 9, the aircraft 3 can be guided to a desired position as it lands. Therefore, there is no need to provide a separate power source to land the aircraft 3 at the desired position, and the cost of introducing the landing and takeoff device 91 can be reduced.

[0219] (Item 10) A takeoff and landing device 91 for an aircraft 3 according to any one of items 1 to 9, comprising a support structure 94 for attaching the first support portion 92A and the second support portion 92B to the agricultural machine 2.

[0220] According to the landing and takeoff device 91 related to item 10, various flying devices 3 can land, thereby further enhancing the cooperation between the flying devices 3 and agricultural machinery 2.

[0221] (Item 11) An agricultural machine 2 comprising the take-off and landing device 91 described in Item 10, a drivable vehicle 11, and a work device 21 to which the support structure 94 is attached and which is connected to the vehicle 11.

[0222] According to the agricultural machinery 2 related to item 11, it is possible to realize agricultural machinery 2 that produces the aforementioned unique effects.

[0223] (Item 12) The flying device 3 comprises a main body 61, a plurality of rotors 63 attached to the main body 61 and capable of changing the altitude of the main body 61, and a holding device 77 capable of holding agricultural materials 4 at the lower part of the main body 61, the working device 21 comprises a material receiving unit 32 that receives the agricultural materials 4 supplied from the holding device 77, and a working unit 41 that performs work using the agricultural materials 4 received by the material receiving unit 32, and the take-off and landing device 91 is positioned above the material receiving unit 32, the agricultural machine 2 as described in Item 11.

[0224] According to the agricultural machinery 2 related to item 12, if the flying device 3 is landed on the takeoff and landing device 91 and agricultural materials 4 are dropped from the holding device 77, the dropped agricultural materials 4 can be passed through the passage section E1 and dropped into the material receiving section 32 below the takeoff and landing device 91. Therefore, the flying device 3 can directly transfer the dropped agricultural materials 4 to the material receiving section 32 below the takeoff and landing device 91 without being obstructed by the takeoff and landing device 91.

[0225] (Item 13) The agricultural machine 2 as described in Item 12, wherein the first support portion 92A is located on one horizontal side of the material receiving portion 32 in a plan view, the second support portion 92B is located on the other horizontal side of the material receiving portion 32 in a plan view, and the first support portion 92A and the second support portion 92B are in communication from the top of the material receiving portion 32 upwards.

[0226] According to the agricultural machinery 2 related to item 13, when the flying device 3 is landed on the takeoff and landing device 91, agricultural materials 4 can be dropped from the holding device 77 and reliably handed over to the material receiving unit 32.

[0227] (Item 14) When the flying device 3 lands on the first support section 92A and the second support section 92B, the agricultural machine 2 according to Item 13 is such that the first support section 92A and the second support section 92B are in communication from the upper part of the material receiving section 32 toward the lower part of the holding device 77.

[0228] According to the agricultural machinery 2 related to item 14, if the flying device 3 is landed on the take-off and landing device 91 and the agricultural materials 4 are dropped from the holding device 77, they can be handed over to the material receiving unit 32 more reliably.

[0229] (Item 15) The agricultural machine 2 according to Item 14, wherein the takeoff and landing device 91 has a first guide 112 extending from a first support portion 92A toward one horizontal side of the material receiving portion 32, and a second guide 113 extending from a second support portion 92B toward the other horizontal side of the material receiving portion 32, and the separation distance between the first guide 112 and the second guide 113 decreases as it moves from the first support portion 92A and the second support portion 92B toward the material receiving portion 32.

[0230] According to the agricultural machinery 2 related to item 15, if the flying device 3 is landed on the takeoff and landing device 91 and agricultural materials 4 are dropped from the holding device 77, even if a horizontal force due to wind or other disturbances acts on the agricultural materials 4 dropped from the holding device 77, the first guide 112 and the second guide 113 can more reliably transfer the agricultural materials 4 to the material receiving unit 32.

[0231] 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.

[0232] 2: Agricultural machinery 3: Flying device 4: Agricultural materials 11: Driving body 21: Working device 32: Material receiving section 41: Working section 61: Main body 63: Rotor 69: Leg member 77: Holding device 91: Takeoff and landing device 92A: First support section 92B: Second support section 93: Guide section 93a: Recess 94: Support structure 112: First guide 113: Second guide 172: Guide section 172a: Recess D1: Separation distance D2: Separation distance E1: Passing section L2: Length L3: Length

Claims

1. A takeoff and landing device for an aircraft, comprising: a first support portion capable of supporting at least a part of the aircraft; and a second support portion capable of supporting at least a part of the aircraft and supporting the aircraft together with the first support portion so that it can take off and land, wherein the first support portion and the second support portion are arranged to be separated horizontally, and the first support portion and the second support portion are in communication in the vertical direction.

2. The take-off and landing device for an aircraft, according to claim 1, wherein the aircraft is capable of transporting agricultural materials, the first support portion supports one horizontal side of the aircraft so as to be able to take off and land, the second support portion supports the other horizontal side of the aircraft so as to be able to take off and land, and a pass-through portion is formed between the first support portion and the second support portion, extending from above the first support portion and the second support portion downward, through which the agricultural materials dropped from the aircraft that has landed on the first support portion and the second support portion can pass.

3. The takeoff and landing device for an aircraft according to claim 2, comprising: a main body; a plurality of rotors attached to the main body and capable of changing the altitude of the main body; and a holding device capable of holding the agricultural materials at the lower part of the main body, wherein the distance between the first support and the second support is longer than the horizontal length of the agricultural materials held by the holding device.

4. The takeoff and landing device for an aircraft, according to claim 2, comprising a main body, a plurality of rotors attached to the main body and capable of changing the altitude of the main body, and a plurality of leg members provided on the main body and arranged horizontally apart, wherein the distance between the first support and the second support is longer than the distance between the plurality of leg members.

5. The takeoff and landing device for the aircraft according to claim 2, comprising a main body and a plurality of rotors attached to the main body and capable of changing the altitude of the main body, wherein the distance between the first support and the second support is longer than the horizontal length of the main body.

6. The takeoff and landing device for an aircraft according to claim 2, wherein the aircraft comprises a main body, a plurality of rotors attached to the main body and capable of changing the altitude of the main body, and a holding device capable of holding the agricultural materials at the lower part of the main body, and when the aircraft lands on the first support and the second support, the holding device of the aircraft is located between the first support and the second support, and the first support and the second support are in communication from below toward the lower part of the holding device.

7. The takeoff and landing device for an aircraft, according to claim 1, comprising: a main body; a plurality of rotors attached to the main body and capable of changing the altitude of the main body; and a plurality of leg members provided on the main body and arranged horizontally apart from each other, wherein a guide portion is provided on either the first support portion, the second support portion, or the plurality of leg members for guiding the aircraft to a predetermined position when the aircraft lands on the first support portion or the second support portion.

8. The takeoff and landing device for an aircraft according to claim 7, wherein the guide portion guides the aircraft to the predetermined position by contacting the other of the first support portion, the second support portion, and the plurality of leg members.

9. The takeoff and landing device for an aircraft according to claim 8, wherein the guide portion is formed in a recess whose cross-sectional area decreases as it approaches either the first support portion, the second support portion, or the plurality of leg members.

10. The takeoff and landing device for an aircraft according to any one of claims 1 to 9, further comprising a support structure for attaching the first support portion and the second support portion to an agricultural machine.

11. An agricultural machine comprising: a take-off and landing device according to claim 10; a drivable vehicle; and a work device to which the support structure is attached and connected to the vehicle.

12. The agricultural machine according to claim 11, wherein the flying device comprises a main body, a plurality of rotors attached to the main body and capable of changing the altitude of the main body, and a holding device capable of holding agricultural materials at the lower part of the main body, the working device comprises a material receiving unit that receives the agricultural materials supplied from the holding device, and a working unit that performs work using the agricultural materials received by the material receiving unit, and the take-off and landing device is arranged above the material receiving unit.

13. The agricultural machine according to claim 12, wherein the first support portion is positioned on one side of the material receiving portion in the horizontal direction in a plan view, the second support portion is positioned on the other side of the material receiving portion in the horizontal direction in a plan view, and the first support portion and the second support portion are in communication from the top of the material receiving portion upward.

14. The agricultural machine according to claim 13, wherein when the flying device lands on the first support and the second support, the first support and the second support are in communication from the upper part of the material receiving section toward the lower part of the holding device.

15. The agricultural machine according to claim 14, wherein the takeoff and landing device has a first guide extending from a first support portion toward one horizontal side of the material receiving portion, and a second guide extending from a second support portion toward the other horizontal side of the material receiving portion, and the separation distance between the first guide and the second guide decreases as you move from the first support portion and the second support portion toward the material receiving portion.

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