Agricultural machine

Abstract

The present invention facilitates replenishment of an agricultural material from a flying device.　An agricultural machine (2) comprises: a machine body (12); a receiving part (96) capable of receiving an agricultural material (4) from a flying device (3), or on which the flying device (3) holding the agricultural material (4) can land; a material holder (31) provided so as to be movable in the machine body width direction with respect to the machine body (12) and capable of holding the agricultural material (4) received from the receiving part (96) or from the flying device (3) that has landed on the receiving part (96); and working units (41) that perform work using the agricultural material (4) held by the material holder (31). The receiving part (96) is supported by the material holder (31) and moves in a direction opposite to the direction in which the material holder (31) moves in the machine body width direction.

Description

Agricultural machinery

[0001] The present invention relates to agricultural machinery.

[0002] The automatic seedling transplanter disclosed in Patent Document 1 includes a vehicle body frame, a seedling tray carrier provided on the vehicle body frame, a front and rear seedling planting device that takes out seedlings from the seedling tray from the seedling tray carrier and plants them in a furrow, and a transport aircraft that transports the seedling tray and approaches above the seedling tray carrier to drop the seedling tray onto the seedling tray carrier.

[0003] The rice transplanter disclosed in Patent Document 2 includes a seedling planting device supported at the rear of the machine body and a transmission mechanism that transmits the power of the power source mounted on the machine body to the seedling planting device. The seedling planting device has a seedling stage that is driven to laterally feed along the left - right direction.

[0004] Japanese Patent Publication "JP - A - 2022 - 57029", Japanese Patent Publication "JP - A - 2023 - 92317"

[0005] There is a desire to adopt a configuration in which agricultural materials are dropped from a transport aircraft (flying device) as in Patent Document 1 to supply agricultural materials to an agricultural machine such as the rice transplanter (agricultural machine) in Patent Document 2. However, in the agricultural machine of Patent Document 1, the seedling tray carrier is fixedly attached to the vehicle body frame. When the seedling stage (receiving part) is driven to laterally feed along the left - right direction as in the agricultural machine of Patent Document 2, it becomes difficult to align the positions of the flying device and the receiving part.

[0006] The present invention has been made to solve such problems of the prior art, and an object thereof is to provide an agricultural machine that can easily supply agricultural materials from a flying device.

[0007] An agricultural machine according to one aspect of the present invention includes an aircraft body, a receiving portion capable of receiving agricultural materials from an aircraft or on which an aircraft holding the agricultural materials can land, a material holder provided so as to be movable in the width direction of the aircraft body with respect to the aircraft body and capable of holding the agricultural materials from the receiving portion or the aircraft that has landed on the receiving portion, a work portion that performs work using the agricultural materials held by the material holder, and the receiving portion is supported by the material holder and moves in the direction opposite to the movement of the material holder in the width direction of the aircraft body.

[0008] According to the above agricultural machinery, agricultural materials can be easily supplied from the aircraft.

[0009] 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 machine. This is a perspective view showing the flight device. This is a schematic side view of the replenishment support device. This is a schematic top view of the replenishment support device. This is a schematic top view showing agricultural machinery when the receiving part is in the receiving position. This is a schematic top view showing agricultural machinery in motion. This is a schematic rear view showing a replenishment support device in the replenishment position. This is a diagram illustrating an example of a series of steps for supplying agricultural materials in the work system. This is a schematic top view of the replenishment support device in the first modified example. This is a diagram illustrating an example of a series of steps for supplying agricultural materials in the work system of the first modified example. This is a schematic top view of the replenishment support device in the second modified example. This is a diagram illustrating an example of a series of steps for supplying agricultural materials in the work system of the second modified example.

[0010] 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.

[0011] 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-to-back direction is sometimes called the aircraft width direction (left-to-right direction).

[0012] <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.

[0013] 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.

[0014] The vehicle 11 has a body 12. In other words, the agricultural machine 2 is equipped with a body 12. The body 12 supports various devices and equipment that the agricultural machine 2 is equipped with. The body 12 is equipped 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 that the agricultural machine 2 is equipped with. 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.

[0015] 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.

[0016] 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.

[0017] 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).

[0018] 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.

[0019] 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.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] 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.

[0024] 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).

[0025] 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. On the other hand, the relative position of the work device 21 in the machine body width direction with respect to the machine body 12 is fixed.

[0026] 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 holder 31 and a work unit 41. The material holder 31 is a structure that holds agricultural materials 4. The material holder 31 can also receive agricultural materials 4 supplied from an external source (e.g., the flight device 3). Therefore, the material holder 31 can also be called a material receiver that receives agricultural materials 4. The work unit 41 is a device that performs work using the agricultural materials 4 held by the material holder 32.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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 holder 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 holder 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.

[0033] 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 holder 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.

[0034] 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.

[0035] The material holder 31 is on which agricultural materials 4 are placed and is capable of holding said agricultural materials 4. The material holder 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 holder 31 is a seedling stand. As shown in Figure 4, the material holder 31 is provided in a sloping shape that transitions to the rear as it goes from top to bottom (a rearward sloping shape).

[0036] The material holder 31 has one or more material holding sections 32. As shown in Figures 5 and 7, the material holder 31 has multiple material holding sections 32. Each material holding section 32 can hold agricultural materials 4. Each material holding section 32 can also receive agricultural materials 4 supplied from an external source (e.g., the flight device 3). Each material holding section 32 can hold agricultural materials 4. Therefore, each material holding section 32 can also be called a material receiving section that receives agricultural materials 4.

[0037] The material holding 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 holding 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 holder 31 has eight material holding sections 32 (seedling holders).

[0038] The material holding section 32 holds agricultural materials 4 in a downward-sloping position. Partition guides 33 are provided on both sides of the material holding section 32 in the machine width direction. In each material holding section 32, the agricultural materials 4 (seedling mats 4A) are placed with their long side 4b1 aligned with the inclination direction of the material holding body 31. In other words, in each material holding 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 holding section 32 in a line in the inclination direction of the material holding body 31. In this embodiment, two seedling mats 4A can be placed in each material holding section 32 in a line in the inclination direction of the material holding body 31.

[0039] As shown in Figures 5 to 7, a vertical feeding mechanism 34 is provided at the bottom of each material holding section 32. The vertical feeding mechanism 34 is a mechanism that, when driven, vertically feeds the agricultural materials 4 on the material holding 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.

[0040] As shown in Figure 6, the vertical feed mechanism 34 includes a vertical feed shaft 35 and a vertical feed rotating body 36. The vertical feed shaft 35 is arranged to extend in the machine width direction. In this embodiment, the vertical feed shaft 35 extends from the first transmission case 23 to the other side (right side) in the machine width direction. The vertical feed shaft 35 receives power from the power transmission system in the first transmission case 23 and is rotationally driven around its axis.

[0041] The vertical feed rotating body 36 rotates to vertically feed the agricultural materials 4 on the material holding section 32 downward along the inclination direction of the material holder 31. The vertical feed rotating body 36 has a belt body 36a (vertical feed belt) made of a wide rubber belt and a drive shaft 36b that rotates the belt body 36a. The drive shaft 36b rotates the belt body 36a by receiving power from the vertical feed shaft 35. As a result, the belt body 36a rotates to vertically feed the agricultural materials 4 on the material holding section 32 downward along the inclination direction of the material holder 31.

[0042] The material holder 31 is provided so as to be movable in the width direction of the machine body 12. Figure 8 is a schematic front view showing the working device 21 moving in the width direction of the machine body. As shown in Figures 4, 6 to 8, the material holder 31 has one or more guided portions 37. The guided portions 37 are parts that are supported so as to be movable in the width direction of the machine body relative to the connecting body 22 (guide portion 26). Examples of members constituting the guided portions 37 include rails and rollers that extend in the width direction of the machine body.

[0043] In the examples shown in FIGS. 4, 6, and 8, the material holding 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 holding body 31. Therefore, the first guided portion 37A is attached between the material holding body 31 and the machine body 12 side (the first guide portion 26A side).

[0044] In the examples shown in FIGS. 4, 6, and 8, the material holding 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 holding body 31. Therefore, the second guided portion 37B is attached between the material holding body 31 and the machine body 12 side (the second guide portion 26B side).

[0045] Also, as shown in FIGS. 6 and 8, a cross-feed mechanism 38 provided in the working device 21 is connected to the material holding body 31. The cross-feed mechanism 38 is a mechanism that moves the material holding body 31 in the machine body width direction by driving. In particular, the cross-feed mechanism 38 reciprocates the material holding body 31 in the machine body width direction. Thereby, the material holding body 31 is reciprocally movable in the machine body width direction. 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.

[0046] 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 in the cross-feed shaft 39.

[0047] The moving member 40 is attached to the lateral feed shaft 39 and is moved in the machine width direction by the lateral feed shaft 39. Further, the moving member 40 is connected to the material holding body 31 and can move the material holding body 31 in the machine width direction. Specifically, the moving member 40 is attached to a spiral groove formed in the lateral feed shaft 39 and moves in the machine width direction along the spiral groove as the lateral feed shaft 39 is rotationally driven.

[0048] As described above, the material holding body 31 is provided so as to be movable in the machine width direction with respect to the connecting body 22. That is, it can be said that the material holding body 31 is also provided so as to be movable in the machine width direction with respect to the machine body 12. In the above description, the guide portion 26 and the guided portion 37 have been described as an example of a structure (support structure) for supporting the material holding body 31 so as to be movable in the machine width direction with respect 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 working device 21 may be any structure that can move the material holding body 31 in the machine width direction with respect to the connecting body 22 (machine body 12), and its configuration is not particularly limited.

[0049] As shown in FIGS. 4, 5, and 7, the rice transplanter 2A has a planting mechanism as the working portion 41. The working portion 41 is a mechanism for planting the seedlings 4a taken out from the agricultural materials 4 placed on the material holding body 31 in a field (paddy field). The working portion 41 is provided in a number corresponding to the number of planting rows. In the present embodiment, since the agricultural machine 2 is an 8-row rice transplanter 2A, the working device 21 has eight working portions 41. The working portions 41 are arranged side by side at intervals in the machine width direction.

[0050] 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 holder 31 in the machine width direction. In other words, the material holder 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 holder 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 holder 32.

[0051] The work unit 41 takes out a predetermined amount of seedlings 4a from the agricultural material 4 (seedling mat 4A) placed on the material holder 31 (material holder 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.

[0052] 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 seedling 4a from the lower end of the seedling mat 4A and pushes it into the field (paddy field surface) to plant it. At this time, the lateral feeding mechanism 38 moves the material holder 31 to one side in the width direction of the machine body. While the material holder 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 holder 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.

[0053] As described above, the material holder 31 is moved back and forth in the machine width direction relative to the machine body 12 (connecting body 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 holder 31 is positioned at the end of its back-and-forth movement.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 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).

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] In this embodiment, the first control device 51 will be described as acquiring the position of the agricultural machine 2 based on the positioning results of the first positioning device 55 (positioned position) as the position of the agricultural machine 2. Alternatively, the first control device 51 may acquire the position information of the center in the width direction of the traveling body 11 (machine body 12) as the position of the agricultural machine 2. However, the first control device 51 may also acquire the position of the agricultural machine 2 based on the sensing results of the first sensing device 54 (estimated position) as the position of the agricultural machine 2.

[0066] 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.

[0067] 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 holder 31 should be replenished. The material detection device 57 is provided, for example, in the material holding section 32 of the material holder 31. The material detection device 57 also detects the remaining amount of agricultural materials 4 held in the material holding 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, if the first control device 51 determines that the remaining amount of agricultural materials 4 held in the material holding section 32 is below a predetermined level, it determines that materials should be replenished in the material holding section 32.

[0068] The material detection device 57 only needs to be able to detect the remaining amount of agricultural material 4 held in the material holding section 32, and may use a sensor other than a contact sensor. For example, if the first sensing device 54 can sense the material holder 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 material 4 based on whether or not agricultural material 4 is present in a specific area of ​​the material holding section 32.

[0069] With the above configuration, when the first control device 51 determines that the remaining amount of agricultural materials 4 held in the material holder 31 (material holding 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.

[0070] 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 holding unit 32 where the remaining amount of agricultural materials 4 is below a predetermined level.

[0071] <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 aircraft called a drone. Figure 9 is a front view of the flying device 3.

[0072] As shown in Figure 9, 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.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] As shown in Figure 9, 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.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] 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. 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.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] 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.

[0096] 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 an operation to replenish the agricultural materials 4 being transported to the agricultural machine 2 (replenishment operation) based on the sensing results of the second sensing device 84 and the relative distance between the agricultural machine 2 and itself.

[0097] For example, during a replenishment operation, the flying device 3 may drop agricultural materials 4 onto the agricultural machine 2 while flying, thereby transferring the agricultural materials 4. Alternatively, during a replenishment operation, the flying device 3 may land on the agricultural machine 2 and transfer the agricultural materials 4 while it is landed. At this time, the agricultural machine 2 may be moving using the running gear 18. Alternatively, the agricultural machine 2 may be stopped with the running gear 18 not operating.

[0098] For the sake of explanation, the following description will focus on the case where a flying device 3, while in flight, drops agricultural materials 4 onto a moving agricultural machine 2, and the agricultural materials 4 are then transferred.

[0099] <About the replenishment support device 91> As shown in Figure 2, the agricultural machine 2 is equipped with a receiving part 96. The receiving part 96 is capable of receiving agricultural materials 4 from the flying device 3. The receiving part 96 is supported by the material holder 31. The receiving part 96 can also move in the direction opposite to the movement of the material holder 31 in the width direction of the machine. As shown in Figure 1, the agricultural machine 2 is equipped with a drive device 100. The drive device 100 is a device that moves the receiving part 96 in the direction opposite to the movement of the material holder 31 in the width direction of the machine. The receiving part 96 and the drive device 100 are supported by a support structure 92 attached to the material holder 31. The receiving part 96, the drive device 100, and the support structure 92 constitute at least a part of the replenishment support device 91 that transfers agricultural materials 4 from the flying device 3 to the material holder 31. Figure 10 is a schematic side view of the replenishment support device 91, and Figure 11 is a schematic plan view of the replenishment support device 91. The following will mainly describe the replenishment support device 91 using Figures 4 to 8, 10, and 11, and will provide a detailed explanation of the receiving section 96 and the drive device 100.

[0100] As shown in Figures 4 to 8, the support structure 92 is attached to the material holder 31. The support structure 92 is a structure that supports the work unit 41 so that it can move in the width direction of the machine body. The support structure 92 supports the receiving portion 96 above the material holder 31. In this way, the receiving portion 96 is attached to the material holder 31 (working device 21). The receiving portion 96 is also supported above the material holder 31. In this embodiment, the receiving portion 96 is located above the material holder 31 and on the front side of the material holder 31. Alternatively, the receiving portion 96 may be located above the material holder 31 and on the rear side of the material holder 31.

[0101] As shown in Figures 4 to 8, the support structure 92 is fixed in its relative position to the material holder 31 in the machine width direction and is attached to the work device 21. That is, the support structure 92 is attached to the work device 21 on the material holder 31 side of the connecting body 22. Specifically, the support structure 92 is attached to the guided portion 37 side of the connecting body 22. For example, the support structure 92 is directly attached to the material holder 31. However, the support structure 92 does not have to be directly attached to the material holder 31; for example, it may be attached to the guided portion 37.

[0102] As shown in Figures 4 to 8, 10, and 11, the support structure 92 has a mounting portion 93. The mounting portion 93 is the part that is attached to the material holder 31. The mounting portion 93 supports other parts of the support structure 92. For example, the mounting portion 93 includes a first mounting portion 93A attached to one end (left end) of the material holder 31 in the machine width direction. The first mounting portion 93A extends from the lower end to the upper end at the left end of the material holder 31. The first mounting portion 93A is a plate-shaped member that extends upward from the left end of the material holder 31. The first mounting portion 93A extends upward from the material holder 31.

[0103] Furthermore, the mounting portion 93 includes a second mounting portion 93B attached to the other end (right end) of the material holder 31 in the machine width direction. The second mounting portion 93B extends from the lower end to the upper end at the right end of the material holder 31. The second mounting portion 93B is a plate-shaped member that extends upward from the right end of the material holder 31. The second mounting portion 93B extends upward from the material holder 31.

[0104] As shown in Figures 4 to 8, 10, and 11, the support structure 92 has a rail mechanism 94. The rail mechanism 94 directly or indirectly supports the receiving portion 96. The rail mechanism 94 is composed of elongated members and is arranged extending in the width direction of the machine body. The rail mechanism 94 is supported by the mounting portion 93. In this embodiment, the rail mechanism 94 has a pair of rail members 95 (sliding rails).

[0105] The pair of rail members 95 are arranged extending in the width direction of the machine body. Furthermore, the pair of rail members 95 are spaced apart in the front-rear direction and / or the up-down direction. In this embodiment, the pair of rail members 95 are spaced apart in the front-rear direction. The pair of rail members 95 are supported at both ends by mounting portions 93 (first mounting portion 93A and second mounting portion 93B).

[0106] Specifically, the left end of the pair of rail members 95 is connected to the upper end of the first mounting portion 93A. The right end of the pair of rail members 95 is connected to the upper end of the second mounting portion 93B. The pair of rail members 95 are supported at the same height by the mounting portion 93.

[0107] As shown in Figures 10 and 11, the receiving portion 96 has a receiving portion body 97. In this embodiment, the receiving portion body 97 is the part that receives agricultural materials 4 handed over from the flying device 3. The receiving portion body 97 is formed of a plate material and has a main plate portion 97a with its plate surface facing vertically, and side plate portions 97b extending upward from both ends of the main plate portion 97a in the aircraft width direction. The agricultural materials 4 handed over from the flying device 3 are placed on the main plate portion 97a.

[0108] On the main plate portion 97a, the agricultural material 4 is placed such that its long side 4b1 coincides with the front-to-back direction and its short side 4b2 coincides with the width direction of the machine. Therefore, the length of the main plate portion 97a in the front-to-back direction is longer than the length of the long side 4b1 of the agricultural material 4. Also, the length of the main plate portion 97a in the width direction of the machine is longer than the length of the short side 4b2 of the agricultural material 4. Furthermore, the distance between the pair of side plate portions 97b is longer than the length of the short side 4b2 of the agricultural material 4. As a result, the agricultural material 4 placed on the main plate portion 97a is positioned inward from the outer edge of the main plate portion 97a in a plan view.

[0109] The main plate portion 97a may be arranged overlapping with the material holder 31 (material holder portion 32) in the front-rear direction, or it may be arranged slightly apart. In this embodiment, the rear end of the main plate portion 97a overlaps with the front end of the material holder 31 (material holder portion 32) in the front-rear direction.

[0110] Furthermore, the receiving portion 96 has a support member 98. The support member 98 is a member that supports the receiving portion body 97 with respect to the support structure 92. One or more sliding members are attached to the support member 98. The sliding members are slidably attached to a pair of rail members 95. As a result, the receiving portion 96 (receiving portion body 97) is supported so as to be movable in the width direction of the machine with respect to the rail mechanism 94.

[0111] The receiving section 96 has a supply mechanism 99. The supply mechanism 99 is a mechanism that supplies agricultural materials 4 placed on the receiving section body 97 to the material holder 31. For example, the supply mechanism 99 supplies agricultural materials 4 to the material holder 31 located below the receiving section body 97 by swinging the receiving section body 97 toward the material holder 31. Alternatively, the supply mechanism 99 supplies agricultural materials 4 to the material holder 31 located below the receiving section body 97 by pushing the agricultural materials 4 placed on the receiving section body 97 away from the receiving section body 97. For the sake of explanation, the supply mechanism 99 will be described below using a mechanism that swings the receiving section body 97 as an example.

[0112] In the example shown in Figure 10, the supply mechanism 99 is provided between the support member 98 and the receiving body 97. The supply mechanism 99 includes a first swing support part 99a, a second swing support part 99b, and a swing actuator 99c. The first swing support part 99a is a bracket attached to the support member 98. The second swing support part 99b is a bracket attached to the receiving body 97. The second swing support part 99b is supported by the first swing support part 99a around a swing axis having an axis extending in the width direction of the machine body.

[0113] The oscillating actuator 99c is, for example, an electric actuator (such as an electric cylinder or a servo motor). In the example shown in Figure 10, the oscillating actuator 99c is an electric cylinder, one end of which is connected to the first oscillating support part 99a, and the other end of which is connected to the second oscillating support part 99b. Therefore, as the oscillating actuator 99c (electric cylinder) extends and retracts, the second oscillating support part 99b swings around the oscillating axis. The oscillating actuator 99c is controlled by the first control device 51.

[0114] This allows the supply mechanism 99 to swing the receiving body 97, causing the agricultural materials 4 placed on the receiving body 97 to fall downward. In this embodiment, the supply mechanism 99 tilts the receiving body 97 backward. That is, the receiving body 97 can be switched by the supply mechanism 99 from a horizontal position to a position (supply position) in which it is tilted in the same direction as the inclination direction of the material holder 31.

[0115] Therefore, when the agricultural materials 4 fall from the receiving body 97, the material holder 31 can hold the agricultural materials 4 from the receiving body 96. If the receiving body 96 is located behind the material holder 31, the supply mechanism 99 may tilt the receiving body 97 forward.

[0116] The drive unit 100 moves the receiving portion 96 in the width direction of the machine body by being driven. The drive unit 100 has a moving actuator 100a. The drive unit 100 moves the receiving portion 96 in the width direction of the machine body by the power generated by the moving actuator 100a. The moving actuator 100a is controlled by the first control device 51. Examples of the moving actuator 100a include electric actuators and hydraulic actuators. In this embodiment, the drive unit 100 has an electric motor as the moving actuator 100a. The moving actuator 100a is fixedly attached to the receiving portion 96, for example.

[0117] In this embodiment, the drive unit 100 includes a drive gear 100b and a rack gear 100c. The drive gear 100b is driven by power output from the movable actuator 100a. In the example shown in Figure 11, the drive unit 100 has a plurality (two) of drive gears 100b. The drive gears 100b are spaced apart in the width direction of the machine body.

[0118] The rack gear 100c is arranged extending in the width direction of the machine body. The rack gear 100c is attached to the rail mechanism 94. The rack gear 100c is attached to the rail mechanism 94 from one end to the other in the width direction of the machine body. The rack gear 100c is attached to at least one of the pair of rail members 95.

[0119] As a result, the drive device 100 can move the receiving portion 96 in the width direction of the machine body as the drive gear 100b rotates due to the power generated by the moving actuator 100a.

[0120] The first control device 51 can change the direction of movement of the receiving portion 96 by changing the direction of rotational drive of the moving actuator 100a. The first control device 51 can also change the speed of movement of the receiving portion 96 by changing the rotational speed of the moving actuator 100a. For example, when the moving actuator 100a is driven to rotate in one direction, the receiving portion 96 is moved to one side (the left side) in the width direction of the machine body. When the moving actuator 100a is driven to rotate in another direction, the receiving portion 96 is moved to the other side (the right side) in the width direction of the machine body.

[0121] Furthermore, the drive device 100 only needs to be able to move the receiving portion 96 in the width direction of the machine body, and its configuration is not limited to the configuration described above. For example, the drive device 100 may have an electric cylinder as a moving actuator 100a, and the receiving portion 96 may be moved in the width direction of the machine body by the extension and retraction of the electric cylinder. Alternatively, the drive device 100 may be configured as a conveyor that transports the receiving portion 96 in the width direction of the machine body.

[0122] The first control device 51 controls the drive device 100 in accordance with the movement of the material holder 31 in the machine width direction. Specifically, the first control device 51 controls the drive device 100 in synchronization with the movement of the material holder 31. For example, if the material holder 31 is moving to one side (left side) in the machine width direction, the first control device 51 controls the drive device 100 to move the receiving portion 96 to the other side (right side) in the machine width direction at the same speed as the material holder 31. On the other hand, if the material holder 31 is moving to the other side (right side) in the machine width direction, the first control device 51 controls the drive device 100 to move the receiving portion 96 to one side (left side) in the machine width direction at the same speed as the material holder 31.

[0123] As a result, the drive unit 100 can move the receiving portion 96 in the opposite direction to the movement of the material holder 31 in the width direction of the machine body, in synchronization with the movement of the material holder 31 in the width direction of the machine body. Therefore, the drive unit 100 moves the receiving portion 96 in the opposite direction to the movement of the material holder 31 in the width direction of the machine body, and maintains the relative position of the receiving portion 96 and the machine body 12 in the width direction of the machine body.

[0124] The first control device 51 controls the drive device 100 to move the receiving portion 96 based on the position of the material holder 31 in the working device 21 in the machine width direction and the position of the receiving portion 96 in the supply assistance device 91 in the machine width direction. For example, as shown in Figure 1, the agricultural machine 2 is equipped with a first position detection device 110.

[0125] The first position detection device 110 is a device that detects the position of the material holder 31 in the machine width direction in the work device 21. The first position detection device 110 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 first position detection device 110 include a magnetostrictive displacement sensor and a contact sensor. Based on the detection result output from the first position detection device 110, the first control device 51 calculates the position of the material holder 31 in the machine width direction in the work device 21.

[0126] 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 holder 31 in the machine width direction in 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 holder 31 in the machine width direction in the work device 21 based on the rotation speed and rotation direction of the transverse feed shaft 39.

[0127] 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 receiving portion 96 in the machine width direction. 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. The second position detection device 111 is, for example, a rotation sensor that detects the rotation of the rotation drive of the moving actuator 100a. Based on the detection result output from the second position detection device 111, the first control device 51 calculates the position of the receiving portion 96 in the machine width direction based on the rotation speed and rotation direction of the drive gear 100b.

[0128] As a result, the first control device 51 can calculate the position of the receiving portion 96 in the supply assistance device 91 in the width direction of the aircraft body. Furthermore, in this embodiment, since the relative position of the supply assistance device 91 and the material holder 31 in the width direction of the aircraft body is fixed, the first control device 51 can calculate the position of the receiving portion 96 relative to the material holder 31 based on the position of the receiving portion 96 in the supply assistance device 91 in the width direction of the aircraft body.

[0129] 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 receiving portion 96 in the width direction of the machine body. For example, the second position detection device 111 may be a magnetostrictive displacement sensor, a contact sensor, or the like.

[0130] The first control device 51 calculates the position of the receiving portion 96 in the working device 21 in the machine width direction based on the position of the material holder 31 in the working device 21 in the machine width direction and the position of the receiving portion 96 in the material holder 31 in the machine width direction. In this embodiment, since the relative position of the machine body 12 and the working device 21 in the machine width direction is fixed, the first control device 51 can calculate the position of the receiving portion 96 relative to the machine body 12 based on the position of the material holder 31 in the working device 21 in the machine width direction and the position of the receiving portion 96 in the supply assistance device 91 in the machine width direction.

[0131] As described above, the first control device 51 controls the drive device 100 (moving actuator 100a) based on the detection results of the first position detection device 110 and the second position detection device 111, thereby moving the receiving unit 96 to a receiving position where it can receive agricultural materials 4 from the flying device 3.

[0132] Figure 12 is a schematic plan view showing the agricultural machine 2 when the receiving portion 96 is located at the receiving position. The receiving position is a position relative to a predetermined position in the width direction of the machine body 12. Since the receiving position is a position relative to the machine body 12, the drive unit 100 changes the position of the receiving portion 96 in the width direction of the machine body relative to the material holder 31 while maintaining the position of the receiving portion 96 in the width direction of the machine body relative to the machine body 12.

[0133] The receiving position coincides with the position acquired by the first control device 51 as the position of the agricultural machine 2 in the machine width direction. That is, in the example shown in Figure 12, the receiving position is defined as the central part in the machine width direction. Therefore, as shown in Figure 12, the central part CP1 in the machine width direction of the receiving portion 96 located at the receiving position is located on a virtual straight line that passes through the position of the agricultural machine 2 (machine position MP) and extends in the front-rear direction. The receiving position is pre-stored in the first storage device 52.

[0134] The first control device 51 controls the drive unit 100 while the agricultural machine 2 is running, and moves the position of the receiving portion 96 to the receiving position. In other words, while the running device 18 is running the machine body 12, the drive unit 100 moves the receiving portion 96 in the opposite direction to the movement of the material holder 31 in the machine body width direction.

[0135] Figure 13 is a schematic plan view showing the movement of the agricultural machine 2. In Figure 13, the movement trajectory R1 of the machine position MP, the movement trajectory R2 of the receiving part 96, and the movement trajectory R3 of the material holder 31 are shown when the agricultural machine 2 is moving in a straight line. The movement trajectory R2 of the receiving part 96 shows the movement trajectory of the central part CP1 of the receiving part 96 in the machine width direction. The movement trajectory R3 of the material holder 31 shows the movement trajectory of the central part CP2 of the material holder 31 in the machine width direction.

[0136] As shown in Figure 13, when the agricultural machine 2 is moving while performing its work, the lateral feeding mechanism 38 reciprocates the material holder 31 in the machine width direction, changing the position of the material holder 31 in the machine width direction relative to the machine body 12. On the other hand, the receiving portion 96 maintains its position in the machine width direction relative to the machine body 12. Therefore, when the agricultural machine 2 is moving, the movement trajectory R3 of the material holder 31 is shifted in the machine width direction relative to the movement trajectory R1 of the machine position MP, but the movement trajectory R2 of the receiving portion 96 substantially coincides with the movement trajectory R1 of the machine position MP. In particular, when the agricultural machine 2 is moving in a straight line, the movement trajectory R2 of the receiving portion 96 coincides even more closely with the movement trajectory R1 of the machine position MP.

[0137] Furthermore, the first control device 51 may control the drive device 100 when the flying device 3 supplies agricultural materials 4 to the receiving portion 96 while in flight, and move the position of the receiving portion 96 to the receiving position. In such a case, the drive device 100 moves the receiving portion 96 in the opposite direction to the movement of the material holder 31 in the aircraft width direction when the flying device 3 supplies agricultural materials 4 to the receiving portion 96 while in flight, or when the flying device 3 holding the agricultural materials 4 lands.

[0138] Furthermore, the first control device 51 may move the drive device 100 (moving actuator 100a) to a replenishment position (supply position) where agricultural materials 4 are transferred from the receiving unit 96 to the material holding unit 32, by controlling the drive device 100 (moving actuator 100a) based on the detection results of the first position detection device 110 and the second position detection device 111. Figure 14 is a schematic rear view showing the replenishment support device 91 located at the replenishment position.

[0139] As shown in Figure 14, the replenishment position is the position where the center of the receiving section 96 in the aircraft width direction coincides with the center of the predetermined material holding section 32 in the aircraft width direction. Specifically, the replenishment position is the position where the center of the receiving section 96 in the aircraft width direction coincides with the center of the partition guides 33 of the predetermined material holding section 32 in the aircraft width direction (left-right direction).

[0140] The replenishment positions corresponding to each material holding section 32 are pre-stored in the first storage device 52. Therefore, the first control device 51 can move the receiving section 96 to the replenishment position corresponding to the material holding section 32 where the remaining amount of agricultural materials 4 held is below a predetermined level. When the receiving section 96 is located at the replenishment position corresponding to one material holding section 32, the center of the receiving section 96 in the machine width direction coincides with the center of the predetermined material holding section 32 in the machine width direction. As a result, the agricultural materials 4 placed on the receiving section 96 (receiving section body 97) can be supplied (replenished) to that material holding section 32 by the supply mechanism 99.

[0141] Figure 15 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 15 and the later-described Figures 17 and 19 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 holder 31 (material holding section 32) has fallen below a predetermined level (S1). If the first control device 51 determines that the remaining amount of agricultural materials 4 held in any of the material holding sections 32 has fallen below a predetermined level (S1: Yes), it requests the flight device 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 flight device 3 directly or indirectly.

[0142] 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 towards 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. At this time, the second control device 81 notifies the agricultural machine 2 that it has approached it. The second communication device 83 transmits, for example, a notification signal to the first communication device 53 notifying it of its approach to the agricultural machine 2 from above.

[0143] When the first control device 51 recognizes the approach of the flying device 3 (S4: Yes), it controls the drive unit 100 to maintain the receiving portion 96 in the receiving position (S5). When the first control device 51 receives a notification signal and recognizes the approach of the flying device 3, it moves the receiving portion 96 to the receiving position. Based on the detection results of the first position detection device 110 and the second position detection device 111, the first control device 51 controls the drive unit 100 in synchronization with the movement of the material holder 31 in the aircraft width direction.

[0144] As a result, the drive unit 100 moves the receiving portion 96 back and forth in the opposite direction to the movement of the material holder 31 in the width direction of the aircraft, in synchronization with the movement of the material holder 31. When the first control device 51 moves the receiving portion 96 to the receiving position, it instructs the flight device 3 to supply 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.

[0145] When the second control device 81 recognizes that the receiving unit 96 has moved to the receiving position (S6: Yes), it aligns the flight device 3 with the receiving unit 96 (S7). Specifically, when the second control device 81 receives the start signal and recognizes that the receiving unit 96 has moved to the receiving position, it aligns the receiving unit 96 with the flight device 3 based on the sensing results of the second sensing device 84 and the relative distance between itself and the agricultural machine 2.

[0146] The second control device 81 aligns the flight device 3 with the receiving unit 96 (S7), then controls the holding device 77 to drop the agricultural materials 4 (S8). As a result, the agricultural materials 4 dropped from the holding device 77 are placed on the receiving unit body 97. Therefore, the receiving unit 96 is supplied with agricultural materials 4 from the flight device 3 while it is in flight.

[0147] When the second control device 81 drops the agricultural materials 4 (S8), it controls the multiple rotors 63 to detach from the air above the agricultural machine 2 (S9). At this time, the second control device 81 notifies the agricultural machine 2 that it has supplied the agricultural materials 4 to the receiving unit 96 and / or that it is detaching from the air above the agricultural machine 2 (receiving unit 96). The second communication device 83 transmits a detachment signal to the first communication device 53, for example, indicating the completion of the supply of agricultural materials 4 and the takeoff of the agricultural machine 2 (receiving unit 96) from the air.

[0148] When the first control device 51 recognizes that agricultural materials 4 have been supplied from the flight device 3 (S10: Yes), it controls the drive device 100 to move the receiving unit 96 to a replenishment position corresponding to the material holding unit 32 where the remaining amount of agricultural materials 4 has fallen below a predetermined level (S11). When the first control device 51 receives a detachment signal and recognizes that agricultural materials 4 have been supplied to the receiving unit 96, it moves the receiving unit 96 to the replenishment position.

[0149] When the first control device 51 moves the receiving unit 96 to the replenishment position, it controls the supply mechanism 99 to transfer the agricultural materials 4 received by the receiving unit 96 to the material holding unit 32 (S12). As the first control device 51 controls the supply mechanism 99, the agricultural materials 4 placed on the receiving unit body 97 are transferred from the receiving unit body 97 to the material holding unit 32 (material holder 31).

[0150] The sequence of steps for supplying agricultural materials 4, as described using Figure 15, is merely an example and is not limited thereto. For example, in the example shown in Figure 15, the first control device 51 controlled the drive device 100 to move the receiving unit 96 to the receiving position after recognizing the approach of the flying device 3. However, the movement of the receiving unit 96 to the receiving position may begin before the flying device 3 approaches the agricultural machine 2, for example, between S2 and S4.

[0151] <Regarding the first modified example> In the embodiment described above, the case in which the receiving unit 96 receives agricultural materials 4 from the flying device 3 in flight was explained, but the receiving unit 96 may also be capable of enabling the flying device 3, which holds the agricultural materials 4, to land. In such a case, for example, the receiving unit 96 can receive agricultural materials 4 from the flying device 3 after it has landed. The receiving unit 96 may also serve as a takeoff and landing station from which the flying device 3 can take off and land.

[0152] Figure 16 is a schematic plan view of the replenishment support device 91 in the first modified example. As shown in Figure 16, the aircraft 3 lands on the main plate portion 97a with the long side 4b1 of the agricultural material 4 held by the aircraft 3 aligned in the front-rear direction and the short side 4b2 of the agricultural material 4 aligned in the aircraft width direction. For this reason, in this embodiment, the front-rear length of the main plate portion 97a is longer than the front-rear length of the multiple leg members 69 of the landing device. Also, the aircraft width length of the main plate portion 97a is longer than the left-right length of the multiple leg members 69. The separation distance between the pair of side plate portions 97b is longer than the left-right length of the multiple leg members 69.

[0153] Figure 17 illustrates an example of a series of steps for supplying agricultural materials 4 in the first modified work system 1. Note that this modified version differs from Figure 15 in that process S13 is performed instead of process S7, so only process S13 will be explained.

[0154] As shown in Figure 17, when the second control device 81 recognizes that the receiving unit 96 has moved to the receiving position (S6: Yes), it causes the flight device 3 to land on the receiving unit 96 (S13). The flight device 3 aligns itself with the receiving unit 96 based on the sensing results of the second sensing device 84 and the relative distance between itself and the agricultural machine 2, and lands on the receiving unit 96.

[0155] When the second control device 81 lands the flight device 3 on the receiving unit 96 (S13), it proceeds to the process in S8, controlling the holding device 77 to drop the agricultural materials 4 (S8). As a result, the agricultural materials 4 dropped from the holding device 77 are placed on the receiving unit body 97. Therefore, the receiving unit 96 is supplied with agricultural materials 4 from the flight device 3 while it is in flight.

[0156] <Regarding the second modified example> In the first modified example described above, the case in which the receiving part 96 receives agricultural materials 4 from the landing aircraft 3 was explained. However, the receiving part 96 may not receive agricultural materials 4 from the landing aircraft 3, and the material holder 31 may directly receive agricultural materials 4 from the landing aircraft 3 on the receiving part 96.

[0157] Figure 18 is a schematic plan view of the replenishment support device 91 in a modified example. In the example shown in Figure 18, a communication portion 97a1 is formed in the receiving portion body 97. The communication portion 97a1 is a portion that communicates in the vertical direction from the upper side to the lower side of the receiving portion 96. An example of the communication portion 97a1 is a through hole that penetrates in the vertical direction.

[0158] The connecting section 97a1 is sized to allow agricultural materials 4 dropped from the holding device 77 to pass through. Therefore, the length of the connecting section 97a1 in the front-to-back direction is longer than the length of the long side 4b1 of the agricultural materials 4. Also, the length of the connecting section 97a1 in the aircraft width direction is longer than the length of the short side 4b2 of the agricultural materials 4. As a result, when agricultural materials 4 are dropped from the holding device 77 of the aircraft 3 that has landed on the receiving section body 97, the agricultural materials 4 can be supplied to the material holding section 32 by passing through the connecting section 97a1.

[0159] Furthermore, the communication portion 97a1 is not limited to a through hole, but may also be a notch, and its shape is not particularly limited.

[0160] Figure 19 is the first diagram illustrating an example of a series of steps for supplying agricultural materials 4 in the second modified work system 1. In this modified example, the processes before S13, as explained in Figure 17, are the same, so the explanation of the processes before S13 will be omitted, and the processes from S13 onward will be explained.

[0161] As shown in Figure 19, when the second control device 81 recognizes that the receiving unit 96 has moved to the receiving position (S6: Yes), it causes the flying device 3 to land on the receiving unit 96 (S13). The flying device 3 aligns itself with the receiving unit 96 based on the sensing results of the second sensing device 84 and the relative distance between itself and the agricultural machine 2, and lands on the receiving unit 96. At this time, the second control device 81 notifies the agricultural machine 2 that the flying device 3 has landed. The second communication device 83 transmits a landing signal to the first communication device 53, for example, indicating that it has landed on the receiving unit 96.

[0162] When the first control device 51 recognizes that the aircraft 3 has landed on the receiving unit 96 (S14: Yes), it controls the drive unit 100 to move the receiving unit 96 to a replenishment position corresponding to the material holding unit 32 where the remaining amount of agricultural materials 4 has fallen below a predetermined level (S15). When the first control device 51 receives the landing signal and recognizes that the aircraft 3 has landed on the receiving unit 96, it moves the receiving unit 96 to the replenishment position. When the first control device 51 moves the receiving unit 96 to the replenishment position, it instructs the aircraft 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.

[0163] When the second control device 81 recognizes that the receiving unit 96 has moved to the replenishment position (S16: Yes), it controls the holding device 77 to drop the agricultural materials 4 (S17). When the second control device 81 receives the start signal and recognizes that the receiving unit 96 has moved to the replenishment position, it switches the holding device 77 to the release state. The agricultural materials 4 dropped from the holding device 77 pass through the communication unit 97a1 and are placed on the material holding unit 32.

[0164] When the second control device 81 drops the agricultural materials 4 (S17), it controls the multiple rotors 63 to detach from the air above the agricultural machine 2 (S18). At this time, the second control device 81 notifies the agricultural machine 2 that it has supplied the agricultural materials 4 to the receiving unit 96 and / or that it is detaching from the air above the agricultural machine 2 (receiving unit 96). The second communication device 83 transmits a detachment signal to the first communication device 53, for example, indicating the completion of the supply of agricultural materials 4 and the takeoff of the agricultural machine 2 (receiving unit 96) from the air.

[0165] The sequence of steps for supplying agricultural materials 4 as described using Figure 19 is merely an example and is not limited thereto. For example, the second control device 81 may determine whether the receiving unit 96 is in the supply position based on the sensing results of the second sensing device 84, and if it determines that it is in the drop position, it may automatically drop the agricultural materials 4 from the holding device 77.

[0166] (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.

[0167] 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.

[0168] 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).

[0169] 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.

[0170] In the embodiments described above, the case where the receiving position is defined as being at the center in the width direction of the aircraft was explained, but the receiving position is not particularly limited. For example, the receiving position may be shifted to one side (to the left) from the center in the width direction of the aircraft, or to the other side (to the right) from the center in the width direction of the aircraft.

[0171] Furthermore, the receiving position is not pre-stored in the first storage device 52 and may be changed depending on the direction from which the flying device 3 approaches. For example, when the flying device 3 approaches the agricultural machine 2 from the rear, the receiving position is defined as the center in the width direction of the aircraft. When the flying device 3 approaches the agricultural machine 2 from the left, the receiving position is defined as the left end in the width direction of the aircraft. When the flying device 3 approaches the agricultural machine 2 from the right, the receiving position is defined as the right end in the width direction of the aircraft.

[0172] A preferred embodiment of the present invention provides the agricultural machinery 2 described in the following items.

[0173] (Item 1) An agricultural machine 2 comprising an aircraft body 12, a receiving section 96 capable of receiving agricultural materials 4 from a flying device 3, or on which the flying device 3 holding the agricultural materials 4 can land, a material holder 31 provided so as to be movable in the aircraft width direction relative to the aircraft body 12 and capable of holding the agricultural materials 4 from the receiving section 96 or the flying device 3 that has landed on the receiving section 96, a work section 41 for performing work using the agricultural materials 4 held by the material holder 31, and the receiving section 96 being supported by the material holder 31 and moving in the opposite direction to the movement of the material holder 31 in the aircraft width direction.

[0174] According to the agricultural machinery 2 related to item 1, even when the material holder 31 is moving in the width direction relative to the aircraft body 12, the position of the receiving portion 96 supported by the material holder 31 in the width direction relative to the aircraft body 12 can be maintained. Therefore, the flying device 3 can easily transfer agricultural materials 4 to the receiving portion 96 or land on the receiving portion 96.

[0175] (Item 2) The agricultural machine 2 according to Item 1, further comprising a drive device 100 that moves the receiving portion 96 in the opposite direction to the movement of the material holder 31 in the width direction of the machine body.

[0176] According to the agricultural machine 2 related to item 2, since the drive unit 100 moves the receiving part 96, fluctuations in the relative position of the receiving part 96 with respect to the machine body 12 can be easily suppressed without the operator having to manually move the receiving part 96.

[0177] (Item 3) The agricultural machine 2 as described in Item 2, wherein the drive device 100 moves the receiving portion 96 in the opposite direction to the movement of the material holder 31 in the width direction of the machine body in synchronization with the movement of the receiving portion 96 in the opposite direction to the movement.

[0178] According to the agricultural machinery 2 related to item 3, fluctuations in the relative position of the receiving part 96 with respect to the aircraft body 12 can be suppressed more reliably. As a result, the transfer of agricultural materials 4 from the flying device 3 to the receiving part 96 and the landing of the flying device 3 on the receiving part 96 can be performed more reliably.

[0179] (Item 4) The agricultural machine 2 according to Item 3, wherein the material holder 31 is reciprocally movable in the width direction relative to the machine body 12, and the drive device 100 moves the receiving portion 96 reciprocally in the opposite direction to the movement of the material holder 31 in the width direction of the machine.

[0180] According to the agricultural machinery 2 described in item 4, fluctuations in the relative position of the receiving part 96 with respect to the aircraft body 12 can be suppressed more reliably. As a result, the transfer of agricultural materials 4 from the flying device 3 to the receiving part 96, and the landing of the flying device 3 on the receiving part 96 can be performed more reliably.

[0181] (Item 5) The agricultural machine 2 according to any one of items 2 to 4, wherein the drive device 100 moves the receiving portion 96 in the opposite direction to the movement of the material holder 31 in the machine width direction, and maintains the relative position of the receiving portion 96 and the machine body 12 in the machine width direction.

[0182] According to the agricultural machinery 2 related to item 5, the flying device 3 does not require complex control when aligning with the receiving part 96, and by aligning with the aircraft body 12 (receiving part 96), it is possible to easily transfer agricultural materials 4 to the receiving part 96 or land on the receiving part 96.

[0183] (Item 6) An agricultural machine 2 according to any one of items 2 to 5, comprising a traveling device that supports the machine body 12 so as to be able to move, wherein the drive device 100 moves the receiving portion 96 in the opposite direction to the movement of the material holder 31 in the machine body width direction when the traveling device is moving the machine body 12.

[0184] According to the agricultural machine 2 described in item 6, the position of the machine body 12 changes as the machine moves, but the receiving part 96 moves relative to the machine body 12, so the relative position between the machine body 12 and the receiving part 96 does not change significantly. Therefore, the flying device 3 does not require complex control when aligning with the receiving part 96, and by aligning with the machine body 12 (receiving part 96), it is possible to easily transfer agricultural materials 4 to the receiving part 96 or land on the receiving part 96.

[0185] (Item 7) The agricultural machine 2 according to any one of items 2 to 6, wherein the drive device 100 moves the receiving portion 96 in the opposite direction to the movement of the material holder 31 in the aircraft width direction when the flying machine 3 supplies the agricultural material 4 to the receiving portion 96 while in flight, or when the flying machine 3 holding the agricultural material 4 lands.

[0186] According to the agricultural machinery 2 related to item 7, the drive unit 100 moves the receiving unit 96 when receiving agricultural materials 4 from the flying device 3 or when the flying device 3 lands, thereby making the transfer of agricultural materials 4 from the flying device 3 to the receiving unit 96 and the landing of the flying device 3 on the receiving unit 96 even more reliable.

[0187] (Item 8) The receiving portion 96 is supported above the material holder 31. The agricultural machine 2 according to any one of items 1 to 7.

[0188] According to the agricultural machinery 2 related to item 8, the receiving unit 96 can easily transfer the agricultural materials 4 received from the flying device 3 to the material holder 31.

[0189] (Item 9) The receiving portion 96 is an agricultural machine 2 according to any one of items 1 to 8 that is supplied with agricultural materials 4 from the flying device 3 while in flight.

[0190] According to the agricultural machinery 2 described in item 9, the flying device 3 transfers the agricultural materials 4 to the receiving unit 96 without landing on the agricultural machinery 2, so that the agricultural machinery 2 can quickly receive the agricultural materials 4 from the flying device 3.

[0191] 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.

[0192] 2: Agricultural machinery 3: Flying device 4: Agricultural materials 12: Aircraft body 31: Material holder 41: Working section 96: Receiving section 100: Drive unit

Claims

1. An agricultural machine comprising: an aircraft body; a receiving section capable of receiving agricultural materials from an aircraft, or onto which an aircraft holding said agricultural materials can land; a material holder provided so as to be movable in the aircraft width direction relative to the aircraft body, and capable of holding said agricultural materials from the receiving section or the aircraft that has landed on the receiving section; a work section for performing work using said agricultural materials held by the material holder; and the receiving section being supported by the material holder and moving in the opposite direction to the movement of the material holder in the aircraft width direction.

2. The agricultural machine according to claim 1, further comprising a drive device for moving the receiving portion in the opposite direction to the movement of the material holder in the width direction of the machine body.

3. The agricultural machine according to claim 2, wherein the drive device moves the receiving portion in the opposite direction to the movement of the material holder in the width direction of the machine body in synchronization with the movement of the material holder.

4. The agricultural machine according to claim 3, wherein the material holder is reciprocally movable in the width direction relative to the machine body, and the drive device reciprocates the receiving portion in the opposite direction to the movement of the material holder in the width direction of the machine body in synchronization with the movement of the material holder.

5. The agricultural machine according to claim 2, wherein the drive device moves the receiving portion in the direction opposite to the movement of the material holder in the width direction of the machine body, and maintains the relative position of the receiving portion and the machine body in the width direction of the machine body.

6. The agricultural machine according to claim 2, comprising a traveling device that supports the machine so as to be able to move, wherein the drive device moves the receiving portion in a direction opposite to the movement of the material holder in the width direction of the machine when the traveling device is moving the machine.

7. The agricultural machine according to claim 2, wherein the drive device moves the receiving portion in the opposite direction to the movement of the material holder in the aircraft width direction when the aircraft is in flight and supplies the agricultural material to the receiving portion, or when the aircraft holding the agricultural material lands.

8. The agricultural machine according to claim 1, wherein the receiving portion is supported above the material holder.

9. The agricultural machine according to any one of claims 1 to 8, wherein the receiving portion is supplied with agricultural materials from the flying device while in flight.

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