Work machine

Abstract

The present invention extends an operating time of a flight device and enables appropriately takeoff and landing of the flight device.　A work machine (2) comprises: a vehicle body (11); a travel device (14) that supports the vehicle body (11) so that the vehicle body (11) can travel; a changing mechanism (24) that can change an attitude of the vehicle body (11); a flight device (31) that is connected to the vehicle body (11) via a cable (82), flies using power supplied via the cable (82), and performs work; a landing station (51) that is provided on the upper side of the vehicle body (11) and on which the flight device (31) can land; and an auxiliary device (61) that is provided on the vehicle body (11) and assists work by the flight device (31).

Description

Work machine

[0001] The present invention relates to a work machine equipped with a flying device.

[0002] The combine disclosed in Patent Document 1 includes a cabin and a charging facility provided above the cabin, where a flying object can land and charge the battery of the landed flying object.

[0003] Japanese Patent Publication "Japanese Patent Application Laid-Open No. 2019-092460"

[0004] In the combine (work machine) of Patent Document 1, when a flying object lands on the charging facility, the battery of the landed flying object can be charged.

[0005] However, the flying object cannot continue flying unless it lands on the charging facility and charges the battery from the charging facility. When the flying object lands on the charging facility, the attitude of the charging facility depends on the attitude of the combine.

[0006] The present invention has been made to solve such problems of the prior art, and aims to extend the operating time of the flying device and provide a work machine that can properly take off and land.

[0007] The work machine according to one aspect of the present invention includes a vehicle body, a traveling device that supports the vehicle body so as to be able to travel, a changing mechanism that can change the attitude of the vehicle body, a flying device that is connected to the vehicle body via a cable and flies by the power supplied via the cable and performs work, a landing station provided above the vehicle body where the flying device can land, and an auxiliary device provided on the vehicle body and assisting the work by the flying device.

[0008] The flying device has a fuselage, a plurality of rotors provided on the fuselage and capable of generating thrust, and a holding portion supported by the fuselage and capable of holding crops. The auxiliary device may be a first storage portion that stores the crops harvested by the flying device at the holding portion.

[0009] The aforementioned flying device comprises an airframe, a plurality of rotors provided on the airframe and capable of generating thrust, and a work section supported by the airframe and used for performing work with materials. The auxiliary device may be a second storage section that houses the materials used by the flying device for work in the work section.

[0010] The above-mentioned work machine may be equipped with a drive device that is mounted on the vehicle body and, when driven, winds up and unwinds the cable.

[0011] The above-mentioned work machine may include a column member that extends upward from the upper part of the vehicle body and is capable of housing the cable.

[0012] The above-described work machine comprises a plurality of the aforementioned flying devices and a plurality of the aforementioned landing stations, and the plurality of aforementioned landing stations may be arranged adjacent to each other on the upper side of the vehicle body.

[0013] The first storage compartment may be located on the upper side of the vehicle body.

[0014] The landing station may be supported on top of the first accommodation section.

[0015] According to the above-mentioned work machine, the operating time of the aircraft can be extended, and the aircraft can take off and land properly.

[0016] This is a perspective view showing the work machine in the first embodiment. This is a side view showing the work machine in the first embodiment. This is a top view showing the work machine in the first embodiment. This is a system diagram including the work machine in the first embodiment. This is a side view showing the wheel support. This is a top view showing the wheel support. This is a perspective view showing an example of the flight device in the first embodiment. This is a front cross-sectional view showing an example of the landing station and first housing in the first embodiment. This is a diagram illustrating the drive device and column member in the first embodiment. This is a diagram showing the work machine automatically driving along the planned route. This is a diagram showing the work machine performing harvesting work in the first embodiment. This is a diagram showing the work machine changing its attitude according to the housing status of the first housing in the first embodiment. This is a side view showing the takeoff and landing attitude in the first embodiment. This is a diagram showing the state of transferring crops to the housing in another example of the first housing in the first embodiment. This is a perspective view showing the work machine having another example of the flight device in the first embodiment. This is a perspective view showing the work machine in the second embodiment. This is a top view showing the work machine in the second embodiment. This is a front cross-sectional view showing the landing station and first housing in the second embodiment. This is a diagram showing the work machine performing harvesting work in the second embodiment. This is a perspective view showing the work machine in the third embodiment. This is a plan view showing the work machine in the third embodiment. This is a front cross-sectional view showing the landing station and the first storage unit in another example of the third embodiment. This is a diagram showing the work machine performing harvesting work in the third embodiment. This is a perspective view showing the work machine in the fourth embodiment. This is a perspective view showing the work machine in the fifth embodiment. This is a system diagram including the work machine in the fifth embodiment. This is a perspective view showing an example of a flight device in the fifth embodiment. This is a diagram showing the state in the fifth embodiment where the materials stored in the second storage unit are discharged by changing the attitude using a change device.

[0017] One embodiment of the present invention will be described below with reference to the drawings.

[0018] [First Embodiment] In the following description, the direction indicated by arrow X1 in the figure is forward, the direction indicated by arrow X2 is backward, the direction indicated by arrow Y1 is to the left, the direction indicated by arrow Y2 is to the right, the direction indicated by arrow Z1 is upward, and the direction indicated by arrow Z2 is downward.

[0019] Figure 1 is a perspective view showing the work machine 2 in the first embodiment, and a side view showing the work machine 2 in the first embodiment. Figure 3 is a plan view showing the work machine 2 in the first embodiment, and Figure 4 is a system diagram including the work machine 2 in the first embodiment. As shown in Figures 1 to 3, the work machine 2 comprises a vehicle body 11 and a traveling device 14. The vehicle body 11 has a vehicle body main body 12 and a vehicle body frame 13 that supports the vehicle body main body 12.

[0020] The running gear 14 is a device that supports the vehicle body 11 so that it can move. The running gear 14 is composed of a wheel-type (four-wheel type) running gear 14 having four wheels 15. In the example shown in Figures 1 to 3, the running gear 14 has a first wheel 15L1 (left front wheel) located on the left side of the front of the vehicle body 11, a second wheel 15R1 (right front wheel) located on the right side of the front of the vehicle body 11, a third wheel 15L2 (left rear wheel) located on the left side of the rear of the vehicle body 11, and a fourth wheel 15R2 (right rear wheel) located on the right side of the rear of the vehicle body 11.

[0021] The running gear 14 may be composed of a wheel-type running gear 14 having at least three wheels 15. Alternatively, the running gear 14 may be a crawler-type running gear 14 having at least two wheels 15.

[0022] The traveling device 14 is driven directly or indirectly by the power generated by the first power unit 21, thereby generating thrust. As shown in Figure 4, the work machine 2 is equipped with the first power unit 21. The first power unit 21 is a device capable of outputting power to drive the work machine 2. The first power unit 21 can output power to drive, for example, the traveling device 14.

[0023] The first power unit 21 includes one or more prime movers E, which generate power. In this embodiment, the prime movers E of the first power unit 21 are engines (internal combustion engines) such as diesel engines and gasoline engines.

[0024] The first power unit 21 directly or indirectly operates the various devices and equipment of the work machine 2 using the power generated by the prime mover E. As shown in Figure 4, in this embodiment, the first power unit 21 includes the prime mover E, a hydraulic oil tank T, and a hydraulic pump P. The hydraulic oil tank T is a tank for storing hydraulic oil. The hydraulic pump P is operated by the power generated by the prime mover E and discharges the hydraulic oil stored in the hydraulic oil tank T.

[0025] The first power unit 21 has a travel actuator 22a (drive actuator 22). The travel actuator 22a is a travel motor that drives each wheel 15. As shown in Figure 3, the travel motor 22a is provided, for example, corresponding to each wheel 15. The motor shaft of the travel motor 22a is connected to the wheel 15 indirectly or directly, for example, via a transmission that includes multiple gears. In this embodiment, the travel motor 22a is a hydraulic motor driven by hydraulic fluid discharged by a hydraulic pump P. Furthermore, the travel motor 22a can be switched between forward and reverse rotation, and by switching the rotation direction of the travel motor 22a, the rotation direction of the wheel 15 (forward and reverse direction) can be switched.

[0026] In this embodiment, the description of the work machine 2 will focus on the case where the prime mover E of the first power unit 21 is an engine and each drive actuator 22, including the travel actuator 22a, is a hydraulic actuator (hydraulic equipment). However, the configuration of the first power unit 21 is not limited to this. For example, the prime mover E may be an electric actuator (electric motor) driven by power supplied from a battery unit 29, which will be described later, and the hydraulic pump P may be operated by the power generated by the electric motor. Also, each drive actuator 22 of the first power unit 21 may be an electric actuator (electric motor, electric cylinder, etc.) driven by power supplied from the battery unit 29.

[0027] As shown in Figures 1 and 2, the work machine 2 is equipped with a steering mechanism 23. The work machine 2 is also equipped with a change mechanism 24. The steering mechanism 23 is a mechanism that can change the steering direction and steering angle of the vehicle body 11. The change mechanism 24 is a mechanism that can change the attitude of the vehicle body 11. In this embodiment, the steering mechanism 23 and the change mechanism 24 are provided on the running gear 14. The running gear 14 will be described in detail below, followed by a description of the steering mechanism 23 and the change mechanism 24.

[0028] As shown in Figures 1 to 3, the running gear 14 has wheel supports 16. The number of wheel supports 16 corresponds to the number of wheels 15. Therefore, in this embodiment, the running gear 14 has a first wheel support 16L1 that supports the first wheel 15L1, a second wheel support 16R1 that supports the second wheel 15R1, a third wheel support 16L2 that supports the third wheel 15L2, and a fourth wheel support 16R2 that supports the fourth wheel 15R2.

[0029] Figure 5 is a side view showing the wheel support 16, and Figure 6 is a top view showing the wheel support 16. In particular, Figures 5 and 6 show the first wheel support 16L1. As shown in Figures 5 and 6, the wheel support 16 includes a travel frame 17, a steering actuator 22b, a first oscillating actuator 22c, a second oscillating actuator 22d, and a travel actuator 22a.

[0030] The running frame 17 includes a swing support portion 17a, a first swing frame 17b, a second swing frame 17c, and a wheel support portion 17d (knuckle). The swing support portion 17a swings the first swing frame 17b relative to the vehicle body 11. As shown in Figure 3, the swing support portion 17a is provided on the vehicle body frame 13. Specifically, the swing support portion 17a of the first wheel support 16L1 is provided on the front left side of the vehicle body frame 13, and the swing support portion 17a of the second wheel support 16R1 is provided on the front right side of the vehicle body frame 13. The swing support portion 17a of the third wheel support 16L2 is provided on the rear left side of the vehicle body frame 13, and the swing support portion 17a of the fourth wheel support 16R2 is provided on the rear right side of the vehicle body frame 13.

[0031] The first oscillating frame 17b is supported on the oscillating support portion 17a so as to be able to swing up and down. The first oscillating frame 17b is supported on the oscillating support portion 17a so as to be able to swing around a horizontal axis (an axis that intersects in the vertical direction, in this embodiment, an axis that extends in the width direction).

[0032] More specifically, the first oscillating frame 17b is rotatably supported on the oscillating support portion 17a via a first support shaft 17b1 having an axis extending in the width direction. The front portions of the first oscillating frame 17b of the first wheel support 16L1 and the second wheel support 16R1 are pivotally supported on the oscillating support portion 17a. The rear portions of the first oscillating frame 17b of the first wheel support 16L1 and the second wheel support 16R1 support the second oscillating frame 17c.

[0033] On the other hand, the rear portions of the first oscillating frames 17b of the third wheel support 16L2 and the fourth wheel support 16R2 are pivotally supported by the oscillating support portion 17a. The front portions of the first oscillating frames 17b of the third wheel support 16L2 and the fourth wheel support 16R2 support the second oscillating frame 17c.

[0034] The second oscillating frame 17c is supported so as to be able to swing up and down relative to the first oscillating frame 17b. The second oscillating frame 17c is supported so as to be able to swing around a horizontal axis (an axis that intersects in the vertical direction, in this embodiment, an axis that extends in the width direction). More specifically, the second oscillating frame 17c is rotatably supported on the first oscillating frame 17b via a second support shaft 17c1 having an axis that extends in the width direction.

[0035] The rear portions of the second oscillating frame 17c of the first wheel support 16L1 and the second wheel support 16R1 are pivotally supported on the first oscillating frame 17b. The front portions of the second oscillating frame 17c of the first wheel support 16L1 and the second wheel support 16R1 support the wheel support portion 17d.

[0036] On the other hand, the front portions of the second oscillating frames 17c of the third wheel support 16L2 and the fourth wheel support 16R2 are pivotally supported on the first oscillating frame 17b. The rear portions of the second oscillating frames 17c of the third wheel support 16L2 and the fourth wheel support 16R2 support the wheel support portion 17d.

[0037] The wheel support portion 17d is a bracket that supports the wheel 15. In this embodiment, a travel motor 22a is attached to the wheel support portion 17d, and the wheel support portion 17d supports the wheel 15 via the travel motor 22a. The wheel support portion 17d is also supported on the second oscillating frame 17c so as to be able to swing in the width direction. The wheel support portion 17d is supported on the second oscillating frame 17c so as to be able to swing around a vertical axis (an axis that intersects horizontally, in this embodiment an axis that extends vertically).

[0038] More specifically, the wheel support portion 17d is rotatably supported on the second oscillating frame 17c via a third support shaft 17d1 having an axis extending in the vertical direction. The wheel support portions 17d of the first wheel support 16L1 and the second wheel support 16R1 are pivotally supported on the second oscillating frame 17c. On the other hand, the wheel support portions 17d of the third wheel support 16L2 and the fourth wheel support 16R2 are pivotally supported on the second oscillating frame 17c.

[0039] The steering actuator 22b is a drive actuator 22 of the first power unit 21. The steering actuator 22b, together with the wheel support portion 17d and the second swing frame 17c, constitutes at least a part of the steering mechanism 23. By driving the steering actuator 22b, the wheel support portion 17d swings around the third support shaft 17d1 relative to the second swing frame 17c, thereby changing the direction of the wheel 15 supported by the wheel support portion 17d (steering). In this embodiment, the steering actuator 22b is composed of a hydraulic cylinder driven by hydraulic fluid discharged by a hydraulic pump P.

[0040] Specifically, one end of the steering actuator 22b (steering cylinder) is pivotally supported by a cylinder bracket 17d2 fixed to the wheel support portion 17d. The other end of the steering cylinder 22b is pivotally supported by a cylinder bracket 17c2 fixed to the second oscillating frame 17c. By extending and retracting, the steering cylinder 22b causes the wheel support portion 17d to swing in the width direction around the third support shaft 17d1 relative to the second oscillating frame 17c. As a result, the steering mechanism 23 of this embodiment can steer each wheel 15 independently.

[0041] The first oscillating actuator 22c and the second oscillating actuator 22d are drive actuators 22 of the first power unit 21. The first oscillating actuator 22c and the second oscillating actuator 22d, together with the oscillating support portion 17a, the first oscillating frame 17b, and the second oscillating frame 17c, constitute at least a part of the modification mechanism 24.

[0042] The first oscillating actuator 22c, when driven, can cause the first oscillating frame 17b to oscillate around the first support shaft 17b1 relative to the oscillating support part 17a. The second oscillating actuator 22d, when driven, can cause the second oscillating frame 17c to oscillate around the second support shaft 17c1 relative to the first oscillating frame 17b. In this embodiment, the first oscillating actuator 22c and the second oscillating actuator 22d are composed of hydraulic cylinders driven by hydraulic fluid discharged from a hydraulic pump P.

[0043] Specifically, one end of the first swing actuator 22c (first swing cylinder) is pivotally supported by a cylinder bracket 17a1 fixed to the swing support portion 17a. Also, the other end of the first swing cylinder 22c is pivotally supported by a cylinder bracket 17b2 fixed to the first swing frame 17b. The first swing cylinder 22c expands and contracts to swing the first swing frame 17b vertically about the first pivot shaft 17b1 with respect to the swing support portion 17a.

[0044] Also, one end of the second swing actuator 22d (second swing cylinder) is pivotally supported by a cylinder bracket 17b3 fixed to the first swing frame 17b. Also, the other end of the second swing cylinder 22d is pivotally supported by a cylinder bracket 17c3 fixed to the second swing frame 17c. The second swing cylinder 22d expands and contracts to swing the second swing frame 17c vertically about the second pivot shaft 17c1 with respect to the first swing frame 17b.

[0045] Thus, the change mechanism 24 of the present embodiment can independently raise and lower each wheel 15 by combining the vertical swing of the first swing frame 17b by the first swing actuator 22c and the vertical swing of the second swing frame 17c by the second swing actuator 22d. Therefore, for example, if the change mechanism 24 makes the vertical length between the rear wheels 15L2, 15R2 and the vehicle body 11 longer than the vertical length between the front wheels 15L1, 15R1 and the vehicle body 11, the vehicle body 11 can be set in a forward-tilt posture with respect to the ground surface. If the change mechanism 24 makes the vertical length between the rear wheels 15L2, 15R2 and the vehicle body 11 shorter than the vertical length between the front wheels 15L1, 15R1 and the vehicle body 11, the vehicle body 11 can be set in a rearward-tilt posture with respect to the ground surface.

[0046] Further, if the vertical length between the right wheels 15R1 and 15R2 and the vehicle body 11 is made longer than the vertical length between the left wheels 15L1 and 15L2 and the vehicle body 11 by the change mechanism 24, the vehicle body 11 can be made to lean to the left with respect to the ground contact surface. If the vertical length between the left wheels 15L1 and 15L2 and the vehicle body 11 is made longer than the vertical length between the right wheels 15R1 and 15R2 and the vehicle body 11 by the change mechanism 24, the vehicle body 11 can be made to lean to the right with respect to the ground contact surface.

[0047] Hereinafter, mainly using FIG. 4, each device, each device, etc. mounted on the vehicle body 11 (vehicle body main body 12) will be described in detail. As shown in FIG. 4, the work machine 2 includes a first control device 25. Further, the work machine 2 includes a first storage device 26. [[ID=​​​​​​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).

[0051] The first control device 25 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 work machine 2, and these processors are connected to each other via a network such as an in-vehicle network, LAN, WAN, and the Internet.

[0052] Furthermore, the software program may be stored in a first storage device 26 that is communicatively connected to the first control device 25, or in an external server 3 connected via the network, and then installed into the memory from there.

[0053] The first storage device 26 is a device capable of storing information. The first storage device 26 includes non-volatile memory such as an HDD (Hard Disk Drive) or SSD (Solid State Drive). The first storage device 26 is connected to the first control device 25 in a communicative manner, and the first control device 25 stores various information in the first storage device 26 and retrieves information stored in the first storage device 26.

[0054] For example, the first control device 25 can control the first power unit 21 and change the power generated by the first power unit 21. In this embodiment, the first control device 25 can control the rotational speed of the prime mover E (engine) based on the rotational speed map stored in the first storage device 26.

[0055] Furthermore, the first control device 25 can control the driving of each drive actuator 22. As shown in Figure 4, in this embodiment, the first power unit 21 is equipped with a control valve V. The control valve V is connected to a hydraulic pump P and adjusts the hydraulic fluid that operates the drive actuators 22 (hydraulic actuators) by adjusting the hydraulic fluid discharged by the hydraulic pump P. The control valve V is, for example, a solenoid valve and is excited by a control current output from the first control device 25 to arbitrarily change its opening degree. As a result, the control valve V can adjust the hydraulic fluid that operates the hydraulic actuators 22. For this reason, the first control device 25 can control the driving of the steering actuator 22b of the steering mechanism 23, the first oscillating actuator 22c and the second oscillating actuator 22d of the steering change mechanism 24, etc.

[0056] Furthermore, the steering mechanism 23 and the change mechanism 24, etc., are provided with an operation detection device 28a that detects the operation of each mechanism, and the first control device 25 can control each control valve V based on the detection results of the operation detection device 28a. The operation detection device 28a is, for example, a stroke sensor that detects the extension (stroke) of each hydraulic cylinder.

[0057] The motion detection device 28a is connected to the first control device 25 in a communicative manner and can output detection results to the first control device 25. Therefore, the first control device 25 can calculate the operating state of the steering mechanism 23 and the change mechanism 24 based on the detection results of the motion detection device 28a and predetermined calculation formulas etc. that are pre-stored in the first storage device 26. For example, the first control device 25 can calculate the steering angle of each wheel support 16 (wheel 15), the distance between the vehicle body 11 and each wheel 15, etc.

[0058] As shown in Figure 4, the work machine 2 is equipped with a first communication device 27. The first communication device 27 is the communication interface of the work machine 2 and includes a communication circuit. The first communication device 27 can communicate with other communication devices and inputs (sends and receives) various information, data, and signals. The first communication device 27 can communicate with, for example, an external entity (for example, an external server 3) to the vehicle body 12. The first communication device 27 performs wireless communication using a mobile phone communication network, a data communication network, Bluetooth® Low Energy in the Bluetooth® specification of the IEEE 802.15.1 series communication standard, Wi-Fi® in the IEEE 802.11.n series communication standard, etc.

[0059] As shown in Figure 4, the implement 2 is equipped with a first sensing device 28b. The first sensing device 28b is a device that senses the environment around the implement 2. The first sensing device 28b can sense at least the width direction of the vehicle body 11. In this embodiment, the first sensing device 28b can sense the front-rear direction in addition to the width direction of the vehicle body 11. Based on the sensing results of the first sensing device 28b, the first control device 25 can detect crop CR (target objects), workers, obstacles, etc., around the implement 2. The first control device 25 may also estimate the position of the implement 2 based on the sensing results (detected point cloud data) and environmental map information stored in the first storage device 26, etc.

[0060] The first sensing device 28b includes an optical distance measuring sensor and a signal processing circuit, etc. The optical distance measuring sensor of the first sensing device 28b can be exemplified by a LiDAR (Light Detection and Ranging) sensor.

[0061] A lidar (laser sensor) emits pulsed measurement light (laser beam) millions of times per second from a light source such as a laser diode. This measurement light is reflected by a rotating mirror and scanned horizontally or vertically, projecting it into a predetermined detection range (sensing range, e.g., 360°). The lidar then receives the reflected light from the object using a photodetector. The signal processing circuit detects the distance to the object based on the time from when the lidar emits the measurement light until the reflected light is received (Time of Flight (ToF) method).

[0062] In addition to LiDAR, other examples of optical distance measuring sensors for the first sensing device 28b include imaging devices such as CCD cameras equipped with CCD (Charge Coupled Devices) image sensors, CMOS cameras equipped with CMOS (Complementary Metal Oxide Semiconductor) image sensors, and ToF cameras. Furthermore, although the above example illustrates a case where the first sensing device 28b has an optical distance measuring sensor, an ultrasonic distance measuring sensor (for example, an airborne ultrasonic sensor such as sonar) may be used instead of an optical distance measuring sensor.

[0063] As shown in Figure 4, the work machine 2 is equipped with a first positioning device 28c. The first positioning device 28c is a device that performs positioning (position detection) of the work machine 2. The first positioning device 28c receives satellite signals from a satellite positioning system using a GPS antenna and performs positioning of the work machine 2 using said satellite signals. For the sake of explanation, in the following description, the first control device 25 will be described mainly in the case where it obtains the position of the work machine 2 (vehicle body position VP) from the positioning result of the first positioning device 28c. The vehicle body position VP is any position on the work machine 2, and in this embodiment, it is the center position in the front-rear and width directions of the work machine 2.

[0064] As shown in Figure 4, the work machine 2 is equipped with a first attitude detection device 28d. The first attitude detection device 28d is a device that detects the attitude of the work machine 2. The first attitude detection device 28d is an inertial measurement unit (IMU) that includes, for example, an acceleration sensor and a gyro sensor. The first attitude detection device 28d detects the tilt information (roll angle, pitch angle, and yaw angle) of the work machine 2. Therefore, the first control device 25 can maintain the vehicle body 11 horizontally or maintain an attitude in which the vehicle body 11 is tilted by a predetermined angle by controlling the changing mechanism 24 based on the detection results of the first attitude detection device 28d.

[0065] Furthermore, as shown in Figure 4, the work machine 2 is equipped with a battery unit 29. The battery unit 29 is capable of storing electricity and supplying the stored power to other devices. The battery unit 29 is a secondary battery such as a lithium-ion battery or a lead-acid battery. The battery unit 29 has multiple cells inside, and the multiple cells are electrically connected in series and parallel.

[0066] As shown in Figures 1 to 4, the work machine 2 is equipped with a flight device 31. The work machine 2 is equipped with one or more flight devices 31. The flight device 31 is a device capable of unmanned flight. More specifically, the flight device 31 is a multi-rotor aircraft called a drone. In the example shown in Figures 1 to 3, the work machine 2 is equipped with two flight devices 31. Note that the number of flight devices 31 equipped on the work machine 2 is not limited to two; it can be one or more.

[0067] The flying device 31 is connected to the vehicle body 11 via a cable 82. The flying device 31 can fly and perform operations using power supplied via the cable 82. The cable 82 is a power line for supplying power from the vehicle body 12 (battery unit 29) to the flying device 31. Therefore, one end of the cable 82 is connected to the vehicle body 12 (battery unit 29), and the other end of the cable 82 is connected to the flying device 31. The cable 82 may also serve as a communication cable to enable communication between the vehicle body 12 and the flying device 31.

[0068] Examples of tasks that the flying device 31 can perform include harvesting crops (CR) and tasks using materials. Materials include agricultural supplies such as pesticides, fertilizers, seeds, rice seeds, and seedlings (seedling mats). Examples of tasks using materials (agricultural supplies) include spraying substances (pesticides, fertilizers, etc.) and sowing seeds. In the first embodiment, the work machine 2 will be described using a flying device 31 capable of performing harvesting as an example. Note that the tasks that the flying device 31 can perform are not limited to harvesting and spraying, but may also include tasks such as mowing pasture grass.

[0069] Figure 7 is a perspective view showing an example of a flight device 31 in the first embodiment. As shown in Figure 7, the flight device 31 has an airframe 32, a plurality of rotors 35, and a holding part 39. The airframe 32 has an airframe body 33 that supports various devices and equipment of the flight device 31. The airframe 32 also has a plurality of support arms 34 extending from the airframe body 33. In a plan view, the support arms 34 extend away from the airframe body 33. In a plan view, the plurality of support arms 34 extend radially from the airframe body 33. The support arms 34 extend horizontally outward from the airframe body 33.

[0070] Multiple rotors 35 are mounted on the aircraft body 32 and are capable of generating thrust. Therefore, the flight device 31 can move the aircraft body 32 in a predetermined direction or change the altitude of the aircraft body 32 using the multiple rotors 35. Specifically, each of the multiple rotors 35 is attached to a support arm 34. In addition, the multiple rotors 35 generate lift to raise the aircraft body 32 and control the attitude of the aircraft body 32. In a plan view, the multiple rotors 35 are arranged at positions equidistant from the center of the aircraft body 32.

[0071] Furthermore, in this embodiment, each rotor 35 performs both lift generation and attitude control, but a plurality of rotors 35 may include a rotor 35 that generates lift and a rotor 35 that performs attitude control separately.

[0072] The rotor 35 has a rotating shaft 36 and blades 37. The rotating shaft 36 is a shaft that rotates due to power transmitted from the second power unit 38. The rotating shaft 36 extends in the vertical direction. The blades 37 are attached to the rotating shaft 36 and generate lift as the rotating shaft 36 rotates.

[0073] As shown in Figure 4, the flight device 31 is equipped with a second power unit 38. The second power unit 38 is a device capable of outputting power. The second power unit 38 includes one or more actuators 38a (rotor actuators), and these one or more rotor actuators 38a generate power (rotational driving force). The rotor actuators 38a are electric actuators driven by power supplied via the cable 82. In other words, the rotor actuators 38a are driven by power supplied from the battery unit 29.

[0074] For example, the rotor actuator 38a is an electric motor. The rotor actuator 38a generates power to drive (rotate) the rotating shaft 36, and this power is transmitted to the rotating shaft 36. In this embodiment, the second power unit 38 includes a plurality of rotor actuators 38a corresponding to each rotating shaft 36, and each of the rotating shafts 36 can be driven independently by its corresponding rotor actuator 38a.

[0075] The holding unit 39 is supported by the machine body 32 and is capable of holding crop CR. The holding unit 39 is, for example, a robot hand capable of gripping crop CR (object). As shown in Figure 7, the holding unit 39 has a plurality of gripping parts 39a and a gripping mechanism 39b. The plurality of gripping parts 39a are claw-shaped members, and elastic members for holding crop CR are attached to their tips. The separation distance between the plurality of gripping parts 39a is changed by the gripping mechanism 39b.

[0076] As shown in Figure 4, the holding section 39 has an actuator 39c (gripping actuator) that operates the gripping mechanism 39b. The gripping actuator 39c is an electric actuator that is driven by power supplied via the cable 82. In other words, the gripping actuator 39c is driven by power supplied from the battery unit 29.

[0077] For example, the gripping actuator 39c is an electric motor. Therefore, the gripping mechanism 39b can hold the crop CR by having the gripping actuator 39c rotate in one direction and gripping the crop CR with multiple gripping parts 39a. The gripping mechanism 39b can also release the crop CR by having the gripping actuator 39c rotate in another direction and increasing the separation distance between the multiple gripping parts 39a.

[0078] In the above description, we explained a case where the holding part 39 has a robot hand capable of gripping the crop CR (object), but the holding part 39 is not limited to a robot hand. For example, the holding part 39 may be configured such that a compressor generates negative pressure at the contact point with the crop CR, thereby adsorbing and holding the crop CR.

[0079] As shown in Figure 7, the flight device 31 is equipped with skids 40. The skids 40 are attached to the lower part of the aircraft body 32. The skids 40 have a plurality of leg members 40a that extend downward from the aircraft body 33. The plurality of leg members 40a touch the ground when the flight device 31 lands, supporting it by floating above the landing surface such as the ground. The plurality of leg members 40a are arranged on one side (left side) and the other side (right side) in the width direction of the holding part 39. Therefore, the holding part 39 is located between the plurality of leg members 40a.

[0080] As shown in Figure 4, the flight device 31 includes a second control device 45 and a second storage device 46. The second control device 45 is a processing circuit that includes one or more processors. The second control device 45 is the controller of the flight device 31 and performs various controls related to the flight device 31. The second control device 45 is communicatively connected to each piece of equipment and device mounted on the flight device 31. For example, the second control device 45 controls the driving, stopping, and rotational speed (lift) of each rotor 35.

[0081] The second control device 45 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 45 can read software programs from one or more memories using one or more processors and execute various processes based on said software programs.

[0082] Furthermore, as described in the first control device 25, the second control device 45 may execute various processes based on predetermined logic circuits using one or more processors. Also, as described in the first control device 25, the second control device 45 may execute various processes by having multiple physically separated processors cooperate with each other, and its configuration is not limited to the above-described configuration.

[0083] The second storage device 46 stores various types of information and data in a read-write manner. The second storage device 46 includes non-volatile memory such as an HDD or SSD. The second storage device 46 is communicated with the second control device 45, and the second control device 45 can acquire various types of information and data stored in the second storage device 46.

[0084] As shown in Figure 4, the flight device 31 is equipped with a second communication device 47. The second communication device 47 is the communication interface of the flight device 31 and includes a communication circuit. The second communication device 47 can communicate with other communication devices and inputs (sends and receives) various information, data, and signals. For example, the second communication device 47 can communicate with the first communication device 27 of the vehicle body 12. The second communication device 47 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.

[0085] As shown in Figure 4, the flying device 31 is equipped with a second sensing device 48a. The second sensing device 48a is a device that senses the environment around and below the flying device 31. The second sensing device 48a can sense at least the area in front of and below the aircraft body 32. In this embodiment, the second sensing device 48a can sense the area around and below the aircraft body 32. Based on the sensing results of the second sensing device 48a, the second control device 45 can detect crop CR (target objects), workers, obstacles, etc., around the flying device 31. The second control device 45 may also estimate the position of the flying device 31 based on the sensing results (detected point cloud data) and environmental map information stored in the second storage device 46, etc.

[0086] The second sensing device 48a includes an optical distance measuring sensor and a signal processing circuit, etc. The optical distance measuring sensor of the second sensing device 48a can be exemplified by a LiDAR (Light Detection and Ranging) sensor.

[0087] In addition to LiDAR, other examples of optical distance measuring sensors for the second sensing device 48a include imaging devices such as CCD cameras and CMOS cameras, as well as ToF cameras. Furthermore, although the above example illustrates a case where the second sensing device 48a has an optical distance measuring sensor, an acoustic distance measuring sensor may be used instead of an optical distance measuring sensor.

[0088] As shown in Figure 4, the flight device 31 may be equipped with a second positioning device 48b. The second positioning device 48b is a device that performs positioning of the flight device 31 (detection of the position of the flight device 31). The second positioning device 48b receives satellite signals from a satellite positioning system using a GPS antenna and performs positioning of the flight device 31 using said satellite signals.

[0089] As shown in Figure 4, the flight device 31 may be equipped with a second attitude detection device 48c. The second attitude detection device 48c is a device that detects the attitude of the flight device 31. The second attitude detection device 48c is an inertial measurement unit (IMU) that includes, for example, an acceleration sensor and a gyroscope. The second attitude detection device 48c detects the tilt information (roll angle, pitch angle, and yaw angle) of the flight device 31.

[0090] As shown in Figure 4, the flight device 31 may be equipped with an altitude detection device 48d. The altitude detection device 48d detects the altitude of the flight device 31. The altitude detection device 48d is, for example, a barometric pressure sensor.

[0091] The above-described configuration of the flying device 31 is merely an example and is not limited thereto. For example, if the vehicle body 12 and the flying device 31 are connected via a cable 82 for communication, the flying device 31 does not need to be equipped with a second communication device 47. Furthermore, if the second control device 45 of the vehicle body 12 also controls the flying device 31, the flying device 31 does not need to be equipped with a second control device 45.

[0092] As shown in Figures 1 to 3, the work machine 2 is equipped with a landing station 51. The work machine 2 is equipped with one or more landing stations 51. The landing station 51 is located on the upper side of the vehicle body 11 and the flying device 31 can land on it. The work machine 2 is also equipped with an auxiliary device 61. The auxiliary device 61 is located on the vehicle body 11 and can assist in the work performed by the flying device 31. In this embodiment, the flying device 31 performs the harvesting of crop CR, and an example of the auxiliary device 61 corresponding to the work performed by the flying device 31 is a first storage section 61A (first storage container) that stores the crop CR harvested by the flying device 31 at the holding section 39. The first storage section 61A is located on the upper side of the vehicle body 11. As shown in Figures 1 to 3, the landing station 51 is located on top of the first storage section 61A. The landing station 51 and the first storage section 61A will be described below.

[0093] As shown in Figures 1 to 3, the landing station 51 is a base on which the flying device 31 can land. The landing station 51 is supported on the upper part of the first housing section 61A. For example, the landing station 51 is a plate-shaped member supported on the first housing section 61A with its plate surface facing vertically. One or more flying devices 31 can land on a single landing station 51.

[0094] In this embodiment, one flying device 31 can land at a single landing station 51. Therefore, the work vehicle 2 is equipped with a number of landing stations 51 corresponding to the number of flying devices 31 it carries. As described above, since the work vehicle 2 is equipped with multiple (two) flying devices 31, it is equipped with multiple (two) landing stations 51. The multiple landing stations 51 are arranged adjacent to each other on the upper side of the vehicle body 11.

[0095] Multiple landing stations 51 are arranged in a horizontal line. Multiple landing stations 51 are also arranged in at least one direction, either in the longitudinal direction or the width direction. The heights of the multiple landing stations 51 are the same. That is, the top surface of one landing station 51 is flush with the top surface of another landing station 51 located adjacent to that landing station 51. In addition, each landing station 51 is connected to the others.

[0096] In the examples shown in Figures 1 to 3, the multiple landing stations 51 are arranged adjacent to each other in the front-rear direction. For the sake of explanation, the landing station 51A located at the front of the multiple landing stations 51 will be referred to as the "first landing station," and the landing station 51B located at the rear will be referred to as the "second landing station." The rear end of the first landing station 51A is connected to the front end of the second landing station 51B.

[0097] Therefore, the multiple landing stations 51 form a landing area e1 (landing area) on the upper part of the first housing section 61A, extending from one end to the other in at least one direction, either in the front-rear direction or the width direction, where the aircraft 31 can land. In this embodiment, the multiple landing stations 51 form a landing area e1 on the first housing section 61A, extending from the front end to the rear end. Thus, multiple aircraft 31s (two) can land side by side in the front-rear direction within the landing area e1 of the multiple landing stations 51 provided on the upper part of the first housing section 61A.

[0098] Furthermore, it is sufficient that at least one aircraft 31 can land on the landing station 51, and the size and shape of the landing station 51 are not limited to the examples shown in Figures 1 to 3. For example, multiple landing stations 51 do not have to be formed by connecting separate landing stations 51, but may be formed integrally.

[0099] Furthermore, markers may be provided on the upper surface of the landing station 51 to guide the landing of the aircraft 31. The markers are, for example, image codes that allow the second sensing device 48a, provided on the aircraft 31, to recognize the position of the landing station 51.

[0100] As shown in Figures 1 to 3, the first storage section 61A is provided on the upper part of the vehicle body 12. The first storage section 61A extends from the front to the rear of the vehicle body 12. Furthermore, the first storage section 61A extends from the left to the right of the vehicle body 12. The first storage section 61A has a bottom portion 62 and a peripheral portion 63.

[0101] The bottom portion 62 is the part on which crop CRs (contained items) such as crop CRs stored in the first storage portion 61A are placed. The bottom portion 62 is a plate-shaped member supported by the vehicle body 12 so that its plate surface faces in the vertical direction. In this embodiment, the bottom portion 62 is composed of a rectangular plate-shaped member in plan view.

[0102] The peripheral portion 63 is a wall-like member that surrounds the bottom portion 62. The peripheral portion 63 extends upward from the outer edge (periphery) of the bottom portion 62. In the example shown in Figures 1 to 3, the peripheral portion 63 includes a first wall portion 63a, a second wall portion 63b, a third wall portion 63c, and a fourth wall portion 63d. For example, the first wall portion 63a, the second wall portion 63b, the third wall portion 63c, and the fourth wall portion 63d are plate-like members arranged so that their plate surfaces face horizontally.

[0103] The first wall portion 63a rises upward from the front end of the base portion 62. The second wall portion 63b rises upward from the rear end of the base portion 62. The third wall portion 63c rises upward from the left end of the base portion 62. The fourth wall portion 63d rises upward from the right end of the base portion 62. Therefore, the first wall portion 63a and the second wall portion 63b are positioned opposite each other in the front-to-back direction. Also, the third wall portion 63c and the fourth wall portion 63d are positioned opposite each other in the width direction.

[0104] Furthermore, the first wall portion 63a connects the front end of the third wall portion 63c to the front end of the fourth wall portion 63d. The second wall portion 63b connects the rear end of the third wall portion 63c to the rear end of the fourth wall portion 63d. The third wall portion 63c connects the left end of the first wall portion 63a to the left end of the second wall portion 63b. The fourth wall portion 63d connects the right end of the first wall portion 63a to the right end of the second wall portion 63b. Thus, the upper ends of the first wall portion 63a, the second wall portion 63b, the third wall portion 63c, and the fourth wall portion 63d form an opening 64 that penetrates in the vertical direction (see Figure 1).

[0105] As shown in Figures 1 and 2, the upper end of the peripheral portion 63 of the first housing section 61A supports the landing station 51. For this reason, the bottom portion 62 of the first housing section 61A and the lower surface of the landing station 51 are positioned opposite each other. That is, the landing area e1 overlaps with at least a portion of the opening 64 in a plan view.

[0106] Furthermore, the first housing section 61A supports the landing station 51 with at least a portion of the opening 64 open. That is, the landing station 51 blocks a portion of the opening 64 of the first housing section 61A. In other words, the landing station 51 does not block the entire opening 64. Specifically, a predetermined end of the landing station 51 and the inner surface of the peripheral section 63 facing that end are separated. Therefore, there is vertical communication between the end and the inner surface of the peripheral section 63.

[0107] In the examples shown in Figures 1 to 3, the other side (right side) in the width direction of the first housing section 61A supports the landing station 51. In other words, the landing station 51 is located on the other side (right side) in the width direction of the first housing section 61A. Furthermore, the landing station 51 is supported at the top of the first housing section 61A, closer to the other side (right side) in the width direction.

[0108] More specifically, the first landing station 51A is located at the front of the other side (right side) in the width direction of the opening 64 of the first housing section 61A. The first landing station 51A is supported by the upper right end of the first wall section 63a and the upper front end of the fourth wall section 63d.

[0109] On the other hand, the second landing station 51B is located at the rear of the other side (right side) of the opening 64 in the width direction of the first dwelling section 61A. The second landing station 51B is supported by the upper right end of the second wall section 63b and the upper rear end of the fourth wall section 63d.

[0110] As a result, the multiple landing stations 51 block the other side (right side) of the opening 64 in the width direction of the first accommodation section 61A. In other words, the multiple landing stations 51 do not block the other side (left side) of the opening 64 in the width direction of the first accommodation section 61A.

[0111] As shown in Figures 1 and 3, the upper end of the peripheral portion 63 of the first storage section 61A, together with the multiple landing stations 51, forms a storage opening 65 for storing crop CR (harvested produce) inside. The storage opening 65 is formed in the portion of the opening 64 that is not blocked by the multiple landing stations 51. In this embodiment, the storage opening 65 is a region formed on one side (the left side) in the width direction of the opening 64. The storage opening 65 is formed by the upper left end of the first wall portion 63a, the upper end of the third wall portion 63c, the upper left end of the second wall portion 63b, and the left end of the multiple landing stations 51. Therefore, the flying device 31 that stores crop CR in the first storage section 61A hovers above one side (the left side) in the width direction of the first storage section 61A, and by releasing the holding of the crop CR by the holding portion 39, the crop CR can be stored in the first storage section 61A through (passed through) the storage opening 65.

[0112] Figure 8 is a front cross-sectional view showing an example of the landing station 51 and the first housing section 61A in the first embodiment. As shown in Figure 8, the height of the upper surface of the bottom 62 may vary depending on its horizontal position. For example, the height of the upper surface of the bottom 62 may vary depending on the positional relationship between the first housing section 61A and the landing station 51. Of the upper surface of the bottom 62, the height of the area e3 (open area) that overlaps with the housing opening 65 is higher than the height of the area e2 (shielded area) that overlaps with the landing station 51 in a plan view. In other words, of the upper surface of the bottom 62, the height of the shielded area e2 is lower than the height of the open area e3.

[0113] Furthermore, the upper surface of the bottom portion 62 may have different heights on the outer edge side and the central side in the horizontal direction. Specifically, the upper surface of the bottom portion 62 is formed such that the height of the central region e5 (central region) is higher than the height of the outer edge region e4 (outer edge region). In other words, the upper surface of the bottom portion 62 is formed such that the height of the central region e5 is lower than the height of the outer edge region e4.

[0114] For example, the upper surface of the bottom portion 62 has different heights at the outer edge and the central portion in at least one direction, either in the front-to-back direction or the width direction. In the example shown in Figure 8, the upper surface of the bottom portion 62 has different heights as it moves towards the width direction. Therefore, the height of the upper surface of the bottom portion 62 gradually increases from one side in the width direction (left side) towards the storage opening 65 side (right side). Also, the height of the upper surface of the bottom portion 62 gradually decreases from the storage opening 65 towards the other side in the width direction (right side).

[0115] More specifically, the height of the upper surface of the bottom 62 gradually increases from the left side towards the center (right side) in the width direction of the storage opening 65. Also, the height of the upper surface of the bottom 62 gradually decreases from the center (right side) in the width direction of the storage opening 65. That is, the upper surface of the bottom 62 is formed to be highest in the center in the width direction of the storage opening 65, and lowest at both ends in the width direction (left end and right end). In the first embodiment, since the storage opening 65 is formed on one side (left side) in the width direction, the upper surface of the bottom 62 has a mountain shape with the left side raised.

[0116] As a result, the upper surface of the bottom 62 has an inclined surface that slopes in the width direction from the receiving opening 65. Also, in the example shown in Figure 8, the upper surface (inclined surface) of the bottom 62 is a gently sloping curved surface. Therefore, when the first receiving section 61A is horizontal, the crop CR introduced from the receiving opening 65 moves along the inclined surface formed on the upper surface of the bottom 62 in either direction in the width direction.

[0117] In the example shown in Figure 8, the height of the upper surface of the bottom 62 does not change as it moves in the front-to-back direction, but only as it moves in the width direction.

[0118] Furthermore, although this embodiment has described the case in which the first storage section 61A is formed of a plate-like member (such as the bottom section 62), the shape and configuration of the first storage section 61A are not particularly limited, as long as it is capable of at least being able to harvest the crop CR harvested by the flying device 31.

[0119] As shown in Figures 1 to 4 and Figure 8, the work machine 2 is equipped with one or more drive devices 81. The drive devices 81 are mounted on the vehicle body 11 and are devices that can wind up and unwind the cables 82 when driven. The number of drive devices 81 is provided on the work machine 2 corresponds to the number of cables 82, i.e., the number of flight devices 31 equipped on the work machine 2. Therefore, in this embodiment, the number of flight devices 31 equipped on the work machine 2 is two, and the number of cables 82 is two, so the work machine 2 is equipped with two drive devices 81.

[0120] The drive unit 81 can change the length of the cable 82 between the drive unit 81 and the flight device 31 by winding and unwinding the cable 82. The drive unit 81 is also mounted near the landing station 51. In the example shown in Figures 1 to 3, the drive unit 81 is provided on the side (periphery 63) of the first housing 61A. The drive unit 81 is provided on the other side (right side) in the width direction of the outer surface of the periphery 63. Specifically, the drive unit 81 is provided on the outer surface (right side) of the fourth wall 63d. The two drive units 81 are spaced apart in the front-rear direction. The two drive units 81 are also positioned equidistant from the center of the first housing 61A in the front-rear direction.

[0121] Figure 9 is a diagram illustrating the drive device 81 and the column member 85, which will be described later, in the first embodiment. As shown in Figures 4 and 9, the drive device 81 has a drum 81a and an actuator 81b (drum actuator). The drum 81a has a cable 82 wound around it and rotates to wind or unwind the cable 82. The drum 81a has a support shaft attached to its center of rotation.

[0122] The drum actuator 81b rotates the drum 81a around the support shaft when driven. The drum actuator 81b is composed of an electric actuator driven by supplied power. For example, the drum actuator 81b is an electric motor. The drum actuator 81b is controlled by the first control device 25 and driven by power supplied from the battery unit 29. The drum actuator 81b may be a motor with a brake. In such a case, the motor with a brake is, for example, an electromagnetic motor with a brake, in which the armature can be attracted to either a clutch plate or a brake plate, allowing and preventing rotation.

[0123] Therefore, the drive unit 81 can wind up the cable 82 by having the drum actuator 81b (electric motor) rotate in one direction, causing the drum 81a to rotate in the first rotational direction. The drive unit 81 can also unwind the cable 82 by having the drum actuator 81b rotate in another direction, causing the drum 81a to rotate in the second rotational direction, which is opposite to the first rotational direction.

[0124] In the example described above, the drum actuator 81b was described as a motor with a brake. However, the drive device 81 may be composed of a claw member or the like that can engage with a latch gear attached to the drum 81a, and may have a rotation restricting mechanism that can switch between restricting the rotation of the drum 81a and releasing the restriction.

[0125] Furthermore, as shown in Figures 1 to 3 and Figure 8, the work machine 2 is equipped with a column member 85. The column member 85 extends upward from the upper part of the vehicle body 11. The column member 85 extends upward from the drive unit 81 and reaches at least above the upper surface of the landing station 51. For example, the height of the column member 85 is higher than the aircraft 31 when it lands on the landing station 51.

[0126] The column member 85 is attached to the side (periphery 63) of the first housing section 61A. For example, the column member 85 is provided near the portion of the periphery 63 of the first housing section 61A where the landing station 51 is supported. In the example shown in Figures 1 to 3, since the landing station 51 is located on the other side (right side) in the width direction of the first housing section 61A, the column member 85 is provided on the outer surface of the periphery 63 on the other side (right side) in the width direction (outer surface of the fourth wall section 63d). The column member 85 is also located in the center of the first housing section 61A in the front-rear direction, between the two drive devices 81.

[0127] As shown in Figure 9, the column member 85 is capable of accommodating the cable 82. One or more connecting passages 86 are formed inside the column member 85 through which the cable 82 can be inserted. The connecting passages 86 are holes that penetrate the column member 85 from one end to the other.

[0128] Each connecting passage 86 can accommodate at least one cable 82. For example, each connecting passage 86 has one cable 82 inserted through it (housed inside), and the column member 85 has a number of connecting passages 86 corresponding to the number of cables 82, i.e., the number of flying devices 31 equipped on the work machine 2. In this embodiment, the number of flying devices 31 equipped on the work machine 2 is two, and the number of cables 82 is two, so the column member 85 has two connecting passages 86.

[0129] One end of the connecting passage 86 is in communication with the inside of the drive unit 81. The other end of the connecting passage 86 extends upward. In the example shown in Figure 9, the two connecting passages 86 each extend in the approaching direction from each drive unit 81 and bend upward, forming a roughly L-shape (or roughly inverted L-shape) when viewed from the side. As a result, the column member 85 is formed in a roughly inverted T-shape when viewed from the side. Consequently, each cable 82 extends in the front-rear direction from the drive unit 81 through one end of the connecting passage 86, and then extends upward toward the other end of the connecting passage 86.

[0130] Furthermore, as shown in Figure 9, one or more pulleys 87 may be provided at the upper end of the column member 85. The pulleys 87 are arranged in pairs at vertical intervals on the other end (upper end) of each connecting passage 86. For this reason, in the example shown in Figure 9, a pair of pulleys 87 are arranged side by side in the front-to-back direction at the upper end of the column member 85. The cable 82 extending from the other end of the connecting passage 86 to the outside of the support column is wrapped around the pair of pulleys 87 and extends toward the flight device 31.

[0131] In this embodiment, the case in which the work machine 2 comprises one column member 85 and multiple connecting passages 86 are formed in the column member 85 is described, but the work machine 2 may comprise multiple column members 85. In such a case, the work machine 2 may comprise a number of column members 85 corresponding to the number of cables 82, and if the number of cables 82 is two, it is sufficient to provide two column members 85.

[0132] Furthermore, although Figures 1 to 3 show a case where a pulley 87 is provided on the column member 85, the column member 85 does not necessarily have to be provided with a pulley 87.

[0133] In this embodiment, the implement 2 receives instruction information transmitted from the server 3 and performs driving and work based on that instruction information. The instruction information includes, for example, map information (field map MP) of the work area (field) where the implement 2 performs its work. The instruction information may also include the location of the work target (crop CR that is the target of harvesting work, or crop CR that is the target of spraying work). As shown in Figure 4, the system including the implement 2 (work support system 1) is equipped with a server 3.

[0134] Server 3 is a fixed terminal, such as a fixed computer, located outside the work machine 2. As shown in Figure 4, Server 3 includes a server computing unit 91, a server storage device 92, and a server communication device 93.

[0135] The server arithmetic unit 91 is a processing circuit that includes one or more processors. The server arithmetic unit 91 performs various arithmetic operations. The server arithmetic unit 91 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 server arithmetic unit 91 can read software programs from one or more memories using one or more processors and execute various operations based on those software programs.

[0136] Furthermore, as described in the first control device 25, the server arithmetic unit 91 may perform various processes based on predetermined logic circuits using one or more processors. Also, as described in the first control device 25, the server arithmetic unit 91 may perform various processes by having multiple physically separated processors cooperate with each other, and its configuration is not limited to the configuration described above.

[0137] The server storage device 92 stores various types of information and data in a read-write manner. The server storage device 92 includes non-volatile memory such as an HDD or SSD. The server storage device 92 is connected to the server computing unit 91 in a communicative manner, and the server computing unit 91 can retrieve various types of information and data stored in the server storage device 92. For example, the server storage device 92 stores a field map MP.

[0138] The server communication device 93 is the communication interface of the server 3 and includes a communication circuit. The server communication device 93 can communicate with an external source (for example, the first communication device 27 of the work machine 2) and inputs and outputs (sends and receives) various information, data, and signals. The server communication device 93 communicates wirelessly with the external source using, for example, a mobile phone network, a data communication network, or the IEEE 802.11.n series Wi-Fi (registered trademark).

[0139] The field map MP may be data expressed in terms of location (latitude, longitude, altitude), data expressed in a coordinate system (X-axis, Y-axis, Z-axis), or data expressed in any other form. For example, the server computing unit 91 acquires location information (vehicle position VP) of the implement 2 via the server communication device 93 and the first communication device 27, and defines the field map MP based on the travel trajectory of the implement 2 as it traveled through the field. The field map MP may also be defined based on input information received by an input interface such as a smartphone, and the method of definition is not particularly limited.

[0140] Furthermore, the field map MP may be associated with the location of the crop CR to be harvested. For example, when the implement 2 travels across the field before performing its work, the implement 2 uses the first sensing device 28b to sense the field while traveling. At this time, the flight device 31 may take off from the landing station 51 and fly along with the vehicle 11, and use the second sensing device 48a to sense the field.

[0141] When the server computing device 91 obtains the sensing results from the first sensing device 28b and / or the second sensing device 48a via the server communication device 93, it performs image analysis of the sensing results. Based on the image analysis and the position information of the work machine 2, the server computing device 91 estimates the location (latitude, longitude, altitude, etc.) of the crop CR. Once the server computing device 91 has estimated the location of the crop CR, it maps the estimated location of the crop CR onto the field map MP. At this time, the server computing device 91 may also select the crop CR to be harvested based on the sensing results.

[0142] The server computing unit 91 maps the locations of crops CR onto the field map MP, and then defines the travel route of the implement 2 (planned travel route R) and the harvesting order of each crop CR (harvesting order, work order) based on the field map MP and the locations of each mapped crop CR. The server computing unit 91 associates the locations of crops CR, travel routes, and harvesting order with the field map MP and defines them as instruction information.

[0143] The server computing unit 91 transmits instruction information to the work machine 2 via the server communication device 93. The work machine 2 receives the instruction information via the first communication device 27, and the first control device 25 controls the travel device 14, etc., based on the instruction information to perform automatic travel in the work area such as a field.

[0144] Figure 10 shows the state in which the implement 2 is automatically operating along the planned route R. The planned route R includes, for example, a straight-line section R1 in which the implement 2 travels in a straight line and a turning section R2 in which it travels in a turning direction. In Figure 10, the planned route R is shown when the work area is an orchard and multiple fruit trees TR are planted in the orchard at intervals in a predetermined direction. Therefore, the planned route R is defined as a travel path that passes between multiple fruit trees TR.

[0145] The first control device 25 acquires the position of the work machine 2 (vehicle body position VP) and performs automatic driving control based on the vehicle body position VP and the planned travel route R. If the vehicle body position VP is located on the planned travel route R, the first control device 25 maintains the steering angle of the steering mechanism 23. If the vehicle body position VP is deviated from the planned travel route R (if the positional deviation between the planned travel route R and the vehicle body position VP is greater than a predetermined value), the first control device 25 changes the steering angle of the steering mechanism 23 so that the vehicle body position VP approaches the planned travel route R (so that the positional deviation approaches zero).

[0146] Furthermore, if the first control device 25 can acquire the vehicle orientation of the work machine 2 in addition to, or instead of, the vehicle position VP, the first control device 25 may change the steering angle of the steering mechanism 23 so that the azimuth deviation between the planned travel route R and the vehicle orientation approaches zero.

[0147] Furthermore, the first control device 25 outputs instruction information to the second control device 45 via the first communication device 27 and the second communication device 47. As a result, the second control device 45, upon receiving the instruction information, can perform each operation based on the instruction information. Specifically, the second control device 45 controls the multiple rotors 35 and the holding unit 39 based on the instruction information, the sensing results of the second sensing device 48a, etc., and harvests the crop CR to be harvested using the holding unit 39.

[0148] Figure 11 shows the state in which the implement 2 is performing harvesting work in the first embodiment. In the example shown in Figure 11, the flying device 31 performs harvesting work on crop CR located on one side (left side) in the width direction of the implement 2. Specifically, the second control device 45 controls the multiple rotors 35 to take off the aircraft body 32 from the landing station 51 (S1), and then moves the aircraft body 32 toward the crop CR on one side (left side) in the width direction (S2).

[0149] In the first embodiment, a column member 85 is positioned on the other side (right side) in the width direction of the work machine 2, a landing station 51 is positioned on one side (left side) in the width direction of the column member 85, and a receiving opening 65 is positioned on one side (left side) in the width direction of the landing station 51. Therefore, the aircraft 32 flies from above the landing station 51 in a direction away from the column member 85 (left side), passes above the receiving opening 65, and approaches the crop CR. When the second control device 45 brings the holding unit 39 close to the crop CR, it performs harvesting of the crop CR (holding of the crop CR) using the holding unit 39 (S3).

[0150] When the holding unit 39 holds the crop CR and harvests the crop CR, the second control device 45 controls the multiple rotors 35 to move the machine body 32 above the receiving opening 65 and make it hover (S4). The second control device 45 releases the holding of the crop CR above the receiving opening 65 (S5). As a result, the crop CR is transferred from the holding unit 39 through the receiving opening 65 to the inside of the first receiving unit 61A, and the crop CR is stored in the first receiving unit 61A.

[0151] When the crop CR is placed in the first storage section 61A, the flying device 31 moves back and forth between the storage opening 65 and the crop CR until the harvesting of the crop CR located on one side in the width direction of the work machine 2 is completed, repeating the process of harvesting the crop CR and placing the crop CR into the first storage section 61A (S2 to S5). Therefore, as shown in Figure 11, the flying device 31, after taking off from the landing station 51, moves back and forth in the width direction, passing over the storage opening 65. In other words, the flying device 31 can move back and forth directly between the storage opening 65 and the crop CR without passing over the landing station 51.

[0152] Furthermore, the implement 2 (first control device 25) may control the changing mechanism 24 according to the state of the crop CR being stored in the first storage section 61A. Figure 12 shows a state in the first embodiment where the implement 2 changes its posture according to the state of the crop CR in the first storage section 61A. As shown in Figure 12, the first control device 25 may control the changing mechanism 24 according to the bias in the arrangement of the crop CR (harvested crop) stored in the first storage section 61A, and change the posture of the vehicle body 11, that is, the posture of the first storage section 61A. In this way, the implement 2 can eliminate the bias in the arrangement of the crop CR in the first storage section 61A.

[0153] Specifically, as shown in Figures 3 and 4, the first storage section 61A has a plurality of storage detection units 66. The storage detection units 66 are sensors that detect crop CR (harvested produce) stored inside the first storage section 61A. For example, the storage detection units 66 are load sensors (load cells, etc.) that detect the load acting on the first storage section 61A. The storage detection units 66 are provided, for example, on the lower surface of the bottom 62 of the first storage section 61A. Furthermore, the storage detection units 66 are arranged horizontally apart from each other. Specifically, the storage detection units 66 are located on the outer edge of the bottom 62. In the example shown in Figure 3, the storage detection units 66 are located at the front end, rear end, left end, and right end of the bottom 62.

[0154] Multiple housing detection units 66 are connected to the first control device 25 in a communication manner. Therefore, the first control device 25 can calculate the load acting on the first housing unit 61A based on the detection results output from the multiple housing detection units 66 and calculation formulas pre-stored in the first storage device 26.

[0155] The first control device 25 determines, based on the detection results output from each storage detection unit 66, whether or not there is an imbalance in the arrangement of the crop CR stored in the first storage unit 61A. If the first control device 25 determines that such an imbalance has occurred, it controls the modification mechanism 24 to change the posture of the vehicle body 11. This eliminates the imbalance in the arrangement of the crop CR in the first storage unit 61A.

[0156] Specifically, the first control device 25 calculates the bias of the crop CR stored in the first storage unit 61A by calculating the detection results output from each storage detection unit 66, that is, the load acting on each mounting position of the storage detection unit 66 in the first storage unit 61A. For example, if the difference (or ratio) between the load at one mounting position and the load at other mounting positions among the detection results of the multiple storage detection units 66 is greater than or equal to a predetermined value, the first control device 25 determines that there is a bias in the arrangement of the crop CR stored in the first storage unit 61A.

[0157] When the first control device 25 determines that there is an imbalance in the arrangement of crop CR stored in the first storage section 61A, it controls the modification device to raise the portion of the crop CR that is unevenly positioned within the first storage section 61A higher than the other portions, and then returns it to a horizontal position. For example, as shown in the left diagram of Figure 12, if the crop CR is unevenly positioned towards the front of the first storage section 61A, the first control device 25 controls the modification mechanism 24 to tilt the vehicle body 11 backward relative to the ground surface (middle diagram of Figure 12), and then returns it to a horizontal position (right diagram of Figure 12). As a result, the crop CR that was unevenly positioned towards the front of the first storage section 61A moves to the rear, and the imbalance in the crop CR within the first storage section 61A can be eliminated.

[0158] Furthermore, the work machine 2 (first control device 25) may control the change mechanism 24 in accordance with the takeoff and landing of the flight device 31. For example, the first control device 25 controls the change mechanism 24 when the flight device 31 takes off or lands, changing the attitude of the vehicle body 11, i.e., the attitude of the landing station 51. As a result, the work machine 2 can transition the landing station 51 to an attitude (takeoff / landing attitude) that supports the landing of the flight device 31 to the landing station 51 or takeoff from the landing station 51.

[0159] For example, when the second control device 45 lands the aircraft 32 on the landing station 51 or takes off from the landing station 51, it transmits a takeoff / landing signal from the second communication device 47 to the first communication device 27. When the first communication device 27 receives the takeoff / landing signal, the first control device 25 controls the change mechanism 24 based on the detection results of the motion detection device 28a and the first attitude detection device 28d to transition the work machine 2 (vehicle body 11) to the takeoff / landing attitude. The takeoff / landing attitude is an attitude in which the vehicle body 12 is in a horizontal position and the plate surface of the landing station 51 is oriented vertically, that is, an attitude in which the plate surface of the landing station 51 is horizontal.

[0160] Figure 13 is a side view showing the takeoff and landing attitude in the first embodiment. As shown in Figure 13, when the first communication device 27 receives a takeoff and landing signal, the first control device 25 controls the change mechanism 24 based on the detection results of the motion detection device 28a and the first attitude detection device 28d to change the vehicle body 11 to a horizontal attitude. This makes it possible to change the surface of the landing station 51 to a horizontal position. The first control device 25 also retains the attitude of the vehicle body 11 before changing to a horizontal attitude in its memory.

[0161] When the aircraft 32 lands at the landing station 51 or takes off from the landing station 51, the second control device 45 transmits a takeoff / landing completion signal from the second communication device 47 to the first communication device 27. When the first communication device 27 receives the takeoff / landing completion signal, the first control device 25 controls the change mechanism 24 based on the pre-change attitude stored in memory, the detection results of the motion detection device 28a and the first attitude detection device 28d, and returns the aircraft 11 to its original attitude.

[0162] Furthermore, the work machine 2 (first control device 25) may maintain the vehicle body 12 in a horizontal position while driving and / or working, regardless of the takeoff and landing of the flight device 31.

[0163] Furthermore, the work machine 2 (first control device 25) may control the changing mechanism 24 when discharging the crop CR from the first storage section 61A. For example, the first control device 25 controls the changing mechanism 24 when transferring the crop CR from the first storage section 61A to another storage body 101, thereby changing the posture of the vehicle body 11, i.e., the posture of the first storage section 61A. Figure 14 shows another example of the first storage section 61A in the first embodiment, illustrating the state in which the crop CR is transferred to the storage body 101. The storage body 101 is a flexible container or a regular container.

[0164] In another example shown in Figure 14, an outlet 67 is formed on the side (circumferential portion 63) of the first housing portion 61A. The outlet 67 is a hole that connects the inside and outside of the first housing portion 61A. The outlet 67 penetrates horizontally from the inside to the outside of the first housing portion 61A. The outlet 67 is formed, for example, in the second wall portion 63b and penetrates in the front-rear direction.

[0165] Furthermore, the first housing section 61A has a switching mechanism 68. The switching mechanism 68 can be switched between a closed state in which the discharge port 67 is closed and an open state in which the discharge port 67 is open. The switching mechanism 68 has, for example, an opening / closing door 68a that can close the discharge port 67. As shown in Figure 14, the opening / closing door 68a can swing around a support axis that extends in a direction (for example, the width direction) that intersects with the surface of the periphery 63 on which the discharge port 67 is formed (the plate surface of the second wall section 63b).

[0166] In normal operation, such as when the work machine 2 is moving and performing work, the switching mechanism 68 maintains the closed state by closing the discharge port 67 with the opening / closing door 68a. The opening / closing door 68a may also be opened and closed by the drive of an actuator 68b (opening / closing actuator). The opening / closing actuator 68b is composed of an electric actuator driven by supplied power. For example, the opening / closing actuator 68b is an electric motor (servo motor). The opening / closing actuator 68b is controlled by the first control device 25 and driven by power supplied from the battery unit 29.

[0167] When the switching mechanism 68 is switched to the open state and crop CR is discharged from the discharge port 67, the worker or other person places the container 101 on the ground below the discharge port 67. The container 101 shown in Figure 14 is exemplified as a container, but an inclined surface 101c may be provided on the inside of the container. The container 101 has a bottom wall 101a and a side wall 101b erected above the bottom wall 101a. The side wall 101b is a wall-like member that surrounds the bottom wall 101a. The inclined surface 101c is inclined downward from the inner surface of one side wall 101b toward the upper surface of the bottom wall 101a. Also, the inclined surface 101c is inclined upward from the upper surface of the bottom wall 101a toward the inner surface of the other side wall 101b. In Figure 14, the container 101 is installed on the ground, but it may be supported by a drivable vehicle.

[0168] In this embodiment, the server 3 transmits a discharge signal to the implement 2 instructing it to discharge the crop CR in the first storage unit 61A. When the first communication device 27 receives the discharge signal, the first control device 25 controls the change mechanism 24 based on the detection results of the motion detection device 28a and the first posture detection device 28d to transition the implement 2 (vehicle body 11) to the discharge posture. The discharge posture is a posture in which the vehicle body 12 is tilted and the discharge port 67 is pointed downwards.

[0169] When the first communication device 27 receives the discharge signal, as shown in Figure 14, the first control device 25 controls the changing mechanism 24 based on the detection results of the motion detection device 28a and the first posture detection device 28d to change the vehicle body 11 to a rearward tilted posture (discharge posture). This allows the discharge port 67 to be directed downward and rearward. When the vehicle body 11 is changed to the discharge posture, the first control device 25 controls the opening / closing actuator 68b to switch the switching mechanism 68 from the closed state to the open state. As a result, the crop CR discharged from the discharge port 67 of the first storage section 61A falls from the opening / closing door 68a, rolls along the inclined surface 101c, and is stored inside the storage body 101. When the crop CR is discharged from the first storage section 61A, the first control device 25 switches the switching mechanism 68 from the open state to the closed state, returning the vehicle body 11 to a horizontal posture.

[0170] In Figure 14, the case in which the discharge port 67 is formed on the side (circumferential portion 63) of the first housing portion 61A is described, but the position of the discharge port 67 is not limited to the circumferential portion 63. For example, the discharge port 67 may be formed on the bottom portion 62 of the first housing portion 61A. In this modified example, the discharge port 67 penetrates vertically from the inside to the outside of the first housing portion 61A. In this case, a through-port is also formed in the vehicle body 11 that penetrates vertically, and the discharge port 67 communicates with the lower part of the vehicle body 11 through this through-port.

[0171] In this case as well, the implement 2 (first control device 25) may control the changing mechanism 24 when discharging the crop CR from the first storage section 61A. For example, the first control device 25 controls the changing mechanism 24 when transferring the crop CR from the first storage section 61A to another storage body 101, making the vertical length between the wheel 15 and the vehicle body 11 equal to or greater than a predetermined length (height of the storage body 101). As a result, even if the height of the storage body 101 is relatively high, the running device 14 can straddle the storage body 101 with the wheel 15 and wheel support 16 on one side (left side) in the width direction and the wheel 15 and wheel support 16 on the other side (right side) in the width direction. Therefore, the implement 2 can easily align the horizontal position of the storage body 101 with the discharge port 67 and easily discharge the crop CR from the discharge port 67.

[0172] Furthermore, in the above description, the flying device 31 was described as being connected to the vehicle body 11 via a cable 82. However, the flying device 31 may also be connected to the vehicle body 11 (first storage section 61A) via a hose 41 capable of transporting harvested crops CR, in addition to or instead of the cable 82. The hose 41 is a tubular member made of a relatively flexible material. For example, the hose 41 may be made of a cloth material or a soft material.

[0173] Figure 15 is a perspective view showing a work machine 2 having another example of the flight device 31 in the first embodiment. As shown in Figure 15, one end of the hose 41 is provided below the flight device 31, and the other end of the hose 41 is in communication with the first housing section 61A. Specifically, a receiving section 42 (tray) is positioned below the holding section 39. For example, the receiving section 42 is formed with both sides in the width direction rising upwards. One end of the hose 41 is connected to the receiving section 42. Also, the upper surface of the receiving section 42 is in communication with one end of the hose 41.

[0174] On the other hand, the other end of the hose 41 is attached to a communication hole 51a formed in the landing station 51. The communication hole 51a is formed on the other side (right side) in the width direction of the landing station 51. In other words, in the example shown in Figure 15, the communication hole 51a is formed on the opposite side of the receiving opening 65, and on the column member 85 side.

[0175] Therefore, the flying device 31 can harvest the crop CR with the holding part 39 and transfer the crop CR from the holding part 39 to the upper surface of the receiving part 42 by releasing the holding of the crop CR. The crop CR transferred to the upper surface of the receiving part 42 is transported by gravity from one end to the other of the hose 41 and reaches the inside of the first storage part 61A via the communication hole 51a. Thus, unlike the embodiment described above, the flying device 31 can store the harvested crop CR in the first storage part 61A without moving above the storage opening 65.

[0176] In the example shown in Figure 15, the hose 41 and the cable 82 are constructed as separate components, but the hose 41 and the cable 82 may also be constructed as a single integrated unit.

[0177] [Second Embodiment] Figures 16 and 17 show another embodiment (second embodiment) of the work machine 2. Figure 16 is a perspective view showing the work machine 2 in the second embodiment, and Figure 17 is a plan view showing the work machine 2 in the second embodiment. In the examples shown in Figures 16 and 17, one side (left side) in the width direction of the first housing section 61A supports the landing station 51. For this reason, in the work machine 2 of the first embodiment, the landing station 51 is provided on the other side (right side) in the width direction of the first housing section 61A, whereas in the work machine 2 of the second embodiment, the landing station 51 is provided on one side (left side) in the width direction of the first housing section 61A. For this reason, the landing station 51 of the second embodiment is supported at the top of the first housing section 61A, towards one side (left side) in the width direction. The following description of the work machine 2 of the second embodiment will focus on its configuration, which differs from that of the embodiment described above (the first embodiment). Components common to the first embodiment will be denoted by the same reference numerals, and detailed explanations will be omitted.

[0178] As shown in Figures 16 and 17, the first landing station 51A is positioned at the front of one side (the left side) of the opening 64 of the first housing section 61A. The first landing station 51A is supported by the upper left end of the first wall section 63a and the upper front end of the third wall section 63c. On the other hand, the second landing station 51B is positioned at the rear of one side (the left side) of the opening 64 of the first housing section 61A. The second landing station 51B is supported by the upper left end of the second wall section 63b and the upper rear end of the third wall section 63c. As a result, the multiple landing stations 51 block one side (the left side) of the opening 64 of the first housing section 61A in the width direction. In other words, the multiple landing stations 51 do not block the other side (the right side) of the opening 64 of the first housing section 61A in the width direction.

[0179] In the examples shown in Figures 16 and 17, the accommodating opening 65 is a region formed on the other side (right side) in the width direction of the opening 64. The accommodating opening 65 is formed by the upper right end of the first wall 63a, the upper end of the fourth wall 63d, the upper right end of the second wall 63b, and the right end of the multiple landing stations 51. Therefore, the flying device 31 that accommodates the crop CR in the first accommodating section 61A hovers above the other side (right side) in the width direction of the first accommodating section 61A, and by releasing the holding portion 39 from holding the crop CR, the crop CR can be accommodated in the first accommodating section 61A through (passed through) the accommodating opening 65.

[0180] Figure 18 is a front cross-sectional view showing an example of the landing station 51 and the first housing section 61A in the second embodiment. As shown in Figure 18, the upper surface of the bottom 62 in the second embodiment has different heights depending on the horizontal position, similar to the first embodiment. Specifically, the height of the upper surface of the bottom 62 in the second embodiment gradually increases from one side in the width direction (left side) toward the housing opening 65 side (right side). Also, the height of the upper surface of the bottom 62 gradually decreases from the housing opening 65 toward the other side in the width direction (right side). However, in the second embodiment, since the housing opening 65 is formed on the other side in the width direction (right side), the upper surface of the bottom 62 has a mountain shape with the right side rising.

[0181] Figure 19 shows the state in which the implement 2 is performing harvesting work in the second embodiment. In the example shown in Figure 19, the flying device 31 performs harvesting work on crop CR located on one side (left side) in the width direction of the implement 2. Specifically, the second control device 45 controls the multiple rotors 35 to take off the aircraft body 32 from the landing station 51 (S11), and then moves the aircraft body 32 toward the crop CR on one side (left side) in the width direction (S12).

[0182] As described above, in the second embodiment, a column member 85 is positioned on the other side (right side) in the width direction of the work machine 2, a receiving opening 65 is positioned on one side (left side) in the width direction of the column member 85, and a landing station 51 is positioned on one side (left side) in the width direction of the receiving opening 65. Therefore, the aircraft 32 flies from above the landing station 51 in a direction away from the column member 85 (left side), and approaches the crop CR without passing over the receiving opening 65. When the second control device 45 brings the holding unit 39 close to the crop CR, it performs harvesting of the crop CR (holding of the crop CR) using the holding unit 39 (S13).

[0183] When the holding unit 39 holds the crop CR and harvests the crop CR, the second control device 45 controls the multiple rotors 35 to move the aircraft body 32 over the landing station 51 and above the storage opening 65 to hover (S14). The second control device 45 releases the holding of the crop CR above the storage opening 65 (S15). As a result, the crop CR is transferred from the holding unit 39 through the storage opening 65 to the inside of the first storage unit 61A, and the crop CR is stored in the first storage unit 61A.

[0184] When the crop CR is placed in the first storage section 61A, the flying device 31 moves back and forth between the storage opening 65 and the crop CR until the harvesting of the crop CR located on one side in the width direction of the work machine 2 is completed, repeating the process of harvesting the crop CR and placing the crop CR into the first storage section 61A (S12-S15). Therefore, as shown in Figure 19, the flying device 31, after taking off from the landing station 51, moves back and forth in the width direction, passing over the landing station 51 and the storage opening 65. In other words, the flying device 31 passes over the landing station 51 in order to move back and forth between the storage opening 65 and the crop CR. That is, the landing station 51 can shield the downwash generated from each rotor 35 of the flying device 31 as it moves back and forth between the storage opening 65 and the crop CR.

[0185] [Third Embodiment] Figures 20 and 21 show another embodiment (third embodiment) of the work machine 2. Figure 20 is a perspective view showing the work machine 2 in the third embodiment, and Figure 21 is a plan view showing the work machine 2 in the third embodiment. In the examples shown in Figures 20 and 21, the central part in the width direction of the first housing section 61A supports the landing station 51. For this reason, in the work machine 2 of the first and second embodiments, the landing station 51 is provided on either side in the width direction of the first housing section 61A, but in the work machine 2 of the third embodiment, the landing station 51 is provided in the central part in the width direction of the first housing section 61A, which is a difference. Hereinafter, the work machine 2 of the third embodiment will be described focusing on its configuration which differs from the embodiments described above (first and second embodiments), and configurations common to the first and second embodiments will be given the same reference numerals and detailed explanations will be omitted.

[0186] As shown in Figures 20 and 21, the first landing station 51A is positioned on the front side of the central part in the width direction of the opening 64 of the first housing section 61A. The first landing station 51A is supported by the upper end of the central part of the first wall section 63a. On the other hand, the second landing station 51B is positioned on the rear side of the central part in the width direction of the opening 64 of the first housing section 61A. The second landing station 51B is supported by the upper end of the central part of the second wall section 63b. Therefore, in the third embodiment, the multiple landing stations 51 are arranged across the central part in the width direction of the first housing section 61A from front to rear. As a result, the multiple landing stations 51 close off the central part in the width direction of the opening 64 of the first housing section 61A.

[0187] In the examples shown in Figures 20 and 21, the receiving opening 65 is a region formed on one side (left side) and the other side (right side) of the width direction of the opening 64. In other words, in the third embodiment, two receiving openings 65 are formed spaced apart in the width direction. Hereinafter, the receiving opening 65A on one side (left side) in the width direction may be referred to as the "first receiving opening," and the receiving opening 65B on the other side (right side) in the width direction may be referred to as the "second receiving opening."

[0188] The first landing port 65A is formed by the upper left end of the first wall 63a, the upper end of the third wall 63c, the upper left end of the second wall 63b, and the left end of the multiple landing stations 51. The second landing port 65B is formed by the upper right end of the first wall 63a, the upper end of the fourth wall 63d, the upper right end of the second wall 63b, and the right end of the multiple landing stations 51.

[0189] Therefore, the flying device 31 that houses the crop CR in the first housing section 61A hovers above either one of the width directions of the first housing section 61A, and releases the holding portion 39 from holding the crop CR, thereby allowing the crop CR to be housed in the first housing section 61A through (passed through) the first housing opening 65A or the second housing opening 65B.

[0190] In addition, of the multiple flying devices 31 provided by the work machine 2, one predetermined flying device 31 may receive the crop CR from the first receiving opening 65A, and the other flying devices 31 may receive the crop CR from the second receiving opening 65B. In the third embodiment, since the work machine 2 is equipped with two flying devices 31, one of the flying devices 31 receives the crop CR from the first receiving opening 65A, and the other flying device 31 receives the crop CR from the second receiving opening 65B.

[0191] Furthermore, as shown in Figures 20 and 21, in the third embodiment, each drive device 81 is provided on one of the outer surfaces of the periphery 63, either in the front-rear direction. Specifically, the drive device 81 is provided on the outer surface (rear side) of the second wall portion 63b. The two drive devices 81 are spaced apart in the width direction. Also, the two drive devices 81 are positioned at an equal distance from the center of the first housing portion 61A in the width direction.

[0192] Furthermore, as shown in Figures 20 and 21, in the third embodiment, the column member 85 is provided on one side (the rear side) of the outer surface of the periphery 63 in the front-rear direction (the outer surface of the second wall portion 63b). The column member 85 is also positioned in the center of the width direction of the first housing portion 61A and is located between the two drive devices 81.

[0193] As shown in Figure 20, the upper surface of the bottom 62 of the first housing section 61A in the third embodiment differs from the upper surface of the bottom 62 in the first and second embodiments in that it does not have an inclined surface. In other words, the upper surface of the bottom 62 of the first housing section 61A shown in Figure 20 is formed flat. However, even if the landing station 51 is provided in the center of the width direction of the first housing section 61A, as in the third embodiment, an inclined surface may be formed on the upper surface of the bottom 62 of the first housing section 61A.

[0194] Figure 22 is a front cross-sectional view showing the landing station 51 and the first housing section 61A in another example of the third embodiment. In this other example shown in Figure 22, as in the first and second embodiments, the height of the open area e3 is higher than the height of the shielded area e2 on the upper surface of the bottom 62. Also, in this other example shown in Figure 22, the height of the upper surface of the bottom 62 varies as it moves in the width direction.

[0195] Therefore, the height of the top surface of the bottom 62 gradually increases from one side in the width direction (left side) toward the first storage opening 65A side (right side). Also, the height of the top surface of the bottom 62 gradually decreases from the first storage opening 65A toward the center in the width direction (right side). Furthermore, the height of the top surface of the bottom 62 gradually increases from the center in the width direction toward the second storage opening 65B side (right side). Also, the height of the top surface of the bottom 62 gradually decreases from the second storage opening 65B toward the other side in the width direction (right side).

[0196] More specifically, the height of the top surface of the bottom 62 gradually increases from the left side towards the center (right side) in the width direction of the first storage opening 65A. Also, the height of the top surface of the bottom 62 gradually decreases from the center (right side) in the width direction of the first storage opening 65A towards the center. Furthermore, the height of the top surface of the bottom 62 gradually increases from the center towards the center (right side) in the width direction of the second storage opening 65B. Also, the height of the top surface of the bottom 62 gradually decreases from the center (right side) in the width direction of the second storage opening 65B towards the right. In other words, the top surface of the bottom 62 is highest at the center in the width direction of the first storage opening 65A and the center in the width direction of the second storage opening 65B, and lowest at both ends (left and right ends) and the center. In the third embodiment, since the receiving opening 65 is formed on one side (left side) and the other side (right side) in the width direction, the upper surface of the bottom 62 has a mountain shape with both the left and right sides raised.

[0197] Figure 23 shows the state in which the implement 2 is performing harvesting work in the third embodiment. In the example shown in Figure 23, the flying device 31 performs harvesting work on crop CR located on both sides in the width direction of the implement 2. In the third embodiment, of the two flying devices 31 provided by the implement 2, one flying device 31 (first flying device 31A) performs harvesting work on crop CR located on one side in the width direction of the implement 2. The other flying device 31 (second flying device 31B) performs harvesting work on crop CR located on the other side in the width direction of the implement 2.

[0198] Specifically, the second control device 45 of the first flight device 31A controls multiple rotors 35 to take off the aircraft 32 from the landing station 51 (S21), and then moves the aircraft 32 toward the crop CR on one side (left side) in the width direction (S22).

[0199] As described above, in the third embodiment, the column member 85 and the landing station 51 are positioned in the center of the width direction of the work machine 2, and the first receiving opening 65A is positioned on one side (the left side) of the width direction of the column member 85 and the landing station 51. Therefore, the aircraft body 32 of the first flying device 31A flies from above the landing station 51 in a direction away from the column member 85 (to the left), passes above the first receiving opening 65A, and approaches the crop CR.

[0200] When the second control device 45 of the first flight device 31A brings the holding unit 39 close to the crop CR, the holding unit 39 performs harvesting (holding) of the crop CR (S23). Once the holding unit 39 holds the crop CR and harvests it, the second control device 45 of the first flight device 31A controls the multiple rotors 35 to move the aircraft body 32 above the first housing opening 65A and make it hover (S24). The second control device 45 releases the holding of the crop CR above the first housing opening 65A (S25). As a result, the crop CR is transferred from the holding unit 39 through the first housing opening 65A to the inside of the first housing section 61A, and the crop CR is housed in the first housing section 61A.

[0201] When the crop CR is stored in the first storage section 61A, the first flying device 31A moves back and forth between the first storage opening 65A and the crop CR until the harvesting of the crop CR located on one side (left side) in the width direction of the work machine 2 is completed, repeating the harvesting of the crop CR and storing the crop CR in the first storage section 61A (S22-S25).

[0202] Meanwhile, the second control device 45 of the second flight device 31B controls multiple rotors 35 to take off the aircraft 32 from the landing station 51 (S26), and then moves the aircraft 32 toward the crop CR on the other side (right side) in the width direction (S27).

[0203] As described above, in the third embodiment, the column member 85 and the landing station 51 are positioned in the center of the width direction of the work machine 2, and the second receiving opening 65B is positioned on the other side (right side) of the width direction of the column member 85 and the landing station 51. Therefore, the aircraft 32 of the second flight device 31B flies from above the landing station 51 in a direction away from the column member 85 (right side), passes above the second receiving opening 65B, and approaches the crop CR.

[0204] When the second control device 45 of the second flight device 31B brings the holding unit 39 close to the crop CR, the holding unit 39 performs harvesting (holding of the crop CR) (S28). Once the holding unit 39 holds the crop CR and harvests it, the second control device 45 of the second flight device 31B controls the multiple rotors 35 to move the aircraft body 32 above the second housing opening 65B and make it hover (S29). The second control device 45 releases the holding of the crop CR above the second housing opening 65B (S30). As a result, the crop CR is transferred from the holding unit 39 through the second housing opening 65B to the inside of the second housing section 61B, and the crop CR is housed in the second housing section 61B.

[0205] Once the crop CR is stored in the first storage section 61A, the second flying device 31B moves back and forth between the second storage opening 65B and the crop CR until the harvesting of the crop CR located on the other side (right side) in the width direction of the work machine 2 is completed, repeating the harvesting of the crop CR and the storage of the crop CR into the first storage section 61A (S26-S30).

[0206] As described above, as shown in Figure 23, the aircraft 31 that takes off from the landing station 51 passes over the hoisting opening 65 (first hoisting opening 65A or second hoisting opening 65B) and moves back and forth in the width direction. In other words, each aircraft 31 can travel back and forth directly between the hoisting opening 65 and the crop CR without passing over the landing station 51.

[0207] [Fourth Embodiment] Figure 24 shows another embodiment (fourth embodiment) of the work machine 2. Figure 24 is a perspective view showing the work machine 2 in the fourth embodiment. In the example shown in Figure 24, the landing station 51 differs from the work machine 2 of the first to third embodiments in that it is not supported on the upper part of the first housing section 61A. Hereinafter, the work machine 2 of the fourth embodiment will be described focusing on its configuration which differs from the embodiments described above (first to third embodiments), and components common to the first to third embodiments will be denoted by the same reference numerals and their detailed explanation will be omitted.

[0208] As shown in Figure 24, the landing station 51 and the first housing 61A are located on the upper part of the vehicle body 11 (vehicle body main body 12). In other words, the landing station 51 and the first housing 61A are supported on the same plane (upper surface) of the vehicle body 11. In the fourth embodiment, the landing station 51 and the first housing 61A are located side by side in the horizontal direction. The landing station 51 and the first housing 61A are arranged side by side in at least one direction, either the longitudinal direction or the width direction. In the example shown in Figure 24, the landing station 51 is located on the upper part of the vehicle body main body 12 on the other side (right side) in the width direction. The first housing 61A is located on the upper part of the vehicle body main body 12 on one side (left side) in the width direction.

[0209] The work machine 2 shown in Figure 24 is equipped with a plurality of landing stations 51, similar to the first to third embodiments, and these landing stations 51 are arranged adjacent to each other in the front-rear direction. Therefore, the plurality of landing stations 51 form a landing area e1 on the other side (right side) in the width direction of the first housing section 61A, extending from one end to the other in the front-rear direction.

[0210] On the other hand, the first housing section 61A is provided extending from the front to the rear of the vehicle body 12. The multiple landing stations 51 are positioned above the upper surface of the bottom 62 of the first housing section 61A. Furthermore, in the fourth embodiment, unlike the first to third embodiments, the first housing section 61A does not support the landing stations 51, and the vehicle body 12 supports both the first housing section 61A and the landing stations 51. Therefore, the landing stations 51 do not block the opening 64 of the first housing section 61A. In other words, the housing opening 65 in the fourth embodiment coincides with the opening 64.

[0211] Furthermore, as shown in Figure 24, in the fourth embodiment, each drive unit 81 is provided on the upper part of the vehicle body 12. Specifically, each drive unit 81 is positioned between the landing station 51 and the vehicle body 12. The two drive units 81 are spaced apart in the longitudinal direction. Also, the two drive units 81 are positioned at an equal distance from the center of the vehicle body 12 in the longitudinal direction.

[0212] Furthermore, as shown in Figure 24, in the fourth embodiment, the column member 85 is erected on the upper part of the vehicle body 12. The column member 85 is also positioned between the first housing section 61A and the landing station 51.

[0213] In the fourth embodiment, similar to the second embodiment, a receiving port 65 is located on the other side (right side) in the width direction of the work machine 2, and a landing station 51 is located on one side (left side) in the width direction of the receiving port 65. Therefore, when the aircraft 32's flying device 31 performs harvesting work on the crop CR on one side in the width direction, the aircraft 32 takes off from the landing station 51, passes over the landing station 51 and the receiving port 65, and repeatedly moves back and forth in the width direction to perform the harvesting work.

[0214] In the example shown in Figure 24, the landing station 51 is located to the right of the vehicle body 12, and the first storage compartment 61A is located to the left of the vehicle body 12. However, the landing station 51 and the storage compartment 61A only need to be arranged horizontally. For example, the landing station 51 may be located to the left of the vehicle body 12, and the first storage compartment 61A may be located to the right of the vehicle body 12.

[0215] [Fifth Embodiment] Figures 25 and 26 show another embodiment (the fifth embodiment) of the work machine 2. Figure 25 is a perspective view showing the work machine 2 in the fifth embodiment, and Figure 26 is a system diagram including the work machine 2 in the fifth embodiment. Figure 27 is a perspective view showing an example of the flight device 31 in the fifth embodiment. The work machine 2 of the first to fourth embodiments was equipped with a flight device 31 for harvesting work, but the work machine 2 of the fifth embodiment differs in that it is equipped with a flight device 31 for performing work using materials. Hereinafter, the work machine 2 of the fifth embodiment will be described focusing on its configuration which differs from the embodiments described above (the first to fourth embodiments), and components common to the first to fourth embodiments will be denoted by the same reference numerals and detailed explanations will be omitted.

[0216] As shown in Figure 27, the flying device 31 has a work unit 43. The work unit 43 is supported by the aircraft body 32. The work unit 43 also performs work using materials. In this case, the auxiliary device 61 is a second storage unit 61B (second storage container) that stores the materials used by the flying device 31 in the work unit 43. In the fifth embodiment, the work machine 2 will be described using a flying device 31 capable of spraying liquid or granular spraying materials (such as pesticides or fertilizers) as an example of a flying device 31 that performs work using materials. For this reason, the second storage unit 61B is a tank that stores the spraying material. The flying device 31 in the fifth embodiment will be described below using a flying device 31 capable of spraying liquid spraying materials as an example.

[0217] As shown in Figures 25 to 27, the flying device 31 has a work unit 43 and a supply mechanism 44. The work unit 43 performs work using materials supplied from the supply mechanism 44. When the flying device 31 performs spraying work, the work unit 43 is a spray nozzle. The supply mechanism 44 also has a spray pump 44b that sends out the spraying material and a pump actuator 44a that operates the spray pump 44b.

[0218] The pump actuator 44a is an actuator that generates power to operate the spray pump 44b. The pump actuator 44a is an electric actuator driven by power supplied via cable 82. In other words, the pump actuator 44a is driven by power supplied from battery unit 29. For example, the pump actuator 44a is an electric motor. The pump actuator 44a is controlled by the second control device 45.

[0219] The spray pump 44b is operated by the power generated by the pump actuator 44a and sends out (discharges) the material to be sprayed. The inlet of the spray pump 44b is connected to the inside of the second housing section 61B via the piping 71.

[0220] The spray nozzles 43 spray the material delivered from the spray pump 44b. Multiple spray nozzles 43 are provided on the machine body 32. The spray nozzles 43 are connected to the discharge port of the spray pump 44b via piping. In the example shown in Figure 27, the spray nozzles 43 are provided from the bottom of each rotor 35, extending downwards. The spray nozzles 43 can spray the material downwards.

[0221] In this embodiment, the supply mechanism 44 is described as being provided on the flying device 31, but it may also be provided on the vehicle body 12. For example, if the flying device 31 performs sowing work and the supply mechanism 44 is a dispensing device that dispenses seeds or rice seeds to the working section 43 of the flying device 31, the dispensing device may also be provided on the vehicle body 12.

[0222] As shown in Figure 25, the second storage section 61B is provided on the upper part of the vehicle body 11 (vehicle body main body 12). The second storage section 61B forms an internal space capable of accommodating the material to be scattered (materials). A landing station 51 is supported on the upper part of the second storage section 61B. In the example shown in Figure 25, the work machine 2 is equipped with a plurality of landing stations 51, which are arranged in a horizontal line. The plurality of landing stations 51 are arranged in a line in at least one direction, either in the front-rear direction or the width direction.

[0223] The heights of the multiple landing stations 51 are the same. Therefore, the upper surface of one landing station 51 is flush with the upper surface of another landing station 51 located adjacent to that landing station 51. In addition, each landing station 51 is connected to the others.

[0224] In the example shown in Figure 25, the multiple landing stations 51 are arranged adjacent to each other in the front-rear direction. The multiple landing stations 51 form a landing area (landing area e1) on the upper part of the second housing section 61B, extending from one end to the other in at least one direction, either in the front-rear direction or the width direction. In this embodiment, the multiple landing stations 51 form a landing area e1 on the second housing section 61B, extending from the front end to the rear end. Therefore, multiple (two) flying devices 31 can land side by side in the front-rear direction within the landing area e1 of the multiple landing stations 51 provided on the upper part of the second housing section 61B.

[0225] Furthermore, a supply unit 72 for supplying the spray material into the internal space is provided on the upper surface of the second storage unit 61B. The supply unit 72 is positioned horizontally offset from the landing station 51. Specifically, the supply unit 72 is located on the other side (right side) in the width direction of the landing station 51. A lid is detachably attached to the supply unit 72 by screws or the like.

[0226] A discharge section 73 is provided on the side of the second storage section 61B for discharging the scattered material contained in the internal space to the outside. The discharge section 73 is located on the front of the second storage section 61B. A lid is detachably attached to the discharge section 73 by screws or the like.

[0227] Furthermore, the work machine 2 (first control device 25) may control the changing mechanism 24 when discharging the material in the second storage section 61B to the outside. For example, the first control device 25 controls the changing mechanism 24 when transferring the material in the second storage section 61B to another container 102, thereby changing the posture of the vehicle body 11, i.e., the posture of the second storage section 61B. Figure 28 is a diagram showing the state in which the material stored in the second storage section 61B is discharged by changing the posture using the changing device in the fifth embodiment.

[0228] In this embodiment, the server 3 transmits a discharge signal to the work machine 2 instructing it to discharge the material being sprayed from the second storage unit 61B. When the first communication device 27 receives the discharge signal, the first control device 25 controls the change mechanism 24 based on the detection results of the motion detection device 28a and the first posture detection device 28d to transition the work machine 2 (vehicle body 11) to the discharge posture. The discharge posture is a posture in which the vehicle body 12 is tilted and the discharge unit 73 is pointed downwards.

[0229] When the first communication device 27 receives the discharge signal, as shown in Figure 28, the first control device 25 controls the modification mechanism 24 based on the detection results of the motion detection device 28a and the first attitude detection device 28d, and changes the vehicle body 11 to a forward-tilted attitude (discharge attitude). This allows the discharge section 73 to be directed downward and rearward. Therefore, by removing the cover attached to the discharge section 73, the scattered material inside the second storage section 61B can be discharged from the second storage section 61B without removing (unloading) the second storage section 61B from the vehicle body 12.

[0230] (Other Modifications) In the first and second embodiments described above, the case in which the work machine 2 receives instruction information transmitted from the server 3 and performs driving and work based on the instruction information was explained. However, the work machine 2 may perform driving and work without instruction information. For example, the work machine 2 may autonomously perform driving and work based on the sensing results of the first sensing device 28b and the second sensing device 48a. Alternatively, the work machine 2 may be provided with an operating device that accepts operator input, and the work machine 2 may perform driving and work in response to the operation of the operating device. Furthermore, the first communication device 27 or the second communication device 47 may be able to communicate with a remote control device that accepts operator input, and the work machine 2 may be configured to perform driving and work in response to the operation of the remote control device.

[0231] The first to fifth embodiments described above provide the work machine 2 described in the following items.

[0232] (Item 1) A work machine 2 comprising a vehicle body 11, a traveling device 14 that supports the vehicle body 11 so that it can travel, a changing mechanism 24 that can change the attitude of the vehicle body 11, a flying device 31 connected to the vehicle body 11 via a cable 82 and which flies and performs work using electricity supplied via the cable 82, a landing station 51 provided on the upper side of the vehicle body 11 and on which the flying device 31 can land, and an auxiliary device 61 provided on the vehicle body 11 and which assists the work performed by the flying device 31.

[0233] According to the work machine 2 described in item 1, the flying device 31 flies using power supplied from the cable 82, allowing it to continue working for a relatively long time. Furthermore, the vehicle body 11 to which the cable 82 is connected is equipped with an auxiliary device 61 that assists the work of the flying device 31, thereby improving the work efficiency of the flying device 31. Moreover, by changing the attitude of the vehicle body 11 using the changing mechanism 24, the attitude of the auxiliary device 61 provided on the vehicle body 11 can be changed, enabling proper coordination with the flying device 31.

[0234] (Item 2) The work machine 2 according to Item 1, wherein the flying device 31 comprises an airframe 32, a plurality of rotors 35 provided on the airframe 32 and capable of generating thrust, and a holding section 39 supported by the airframe 32 and capable of holding crop CR, and the auxiliary device 61 is a first storage section 61A in which the flying device 31 stores the crop CR harvested by the holding section 39.

[0235] According to the work machine 2 described in item 1, the posture of the vehicle body 11 can be changed by the changing mechanism 24, thereby changing the posture of the first storage section 61A provided on the vehicle body 11, which can assist in the transfer of crop CR from the holding section 39 to the first storage section 61A, or change the position of crop CR within the first storage section 61A.

[0236] (Item 3) The work machine 2 according to Item 1, wherein the flying device 31 comprises an airframe 32, a plurality of rotors 35 provided on the airframe 32 and capable of generating thrust, and a work section 43 supported by the airframe 32 and used for performing work with materials, and the auxiliary device 61 is a second storage section 61B that houses the materials used by the flying device 31 for work in the work section 43.

[0237] According to the work machine 2 described in item 3, the posture of the vehicle body 11 can be changed by the changing mechanism 24, thereby changing the posture of the second storage section 61B provided on the vehicle body 11, which can assist in the supply of materials from the second storage section 61B to the work section 43 or change the position of materials within the second storage section 61B.

[0238] (Item 4) The work machine 2 according to any one of items 1 to 3, which is provided on the vehicle body 11 and is driven to wind up and unwind the cable 82.

[0239] According to the work machine 2 described in item 4, the drive unit 81 can wind up or unwind the cable 82 connected to the flight device 31, thereby maintaining the appropriate length of the cable 82. This prevents the cable 82 from coming into contact with other devices or equipment.

[0240] (Item 5) The work machine 2 according to any one of items 1 to 4, comprising a column member 85 that extends upward from the upper part of the vehicle body 11 and is capable of accommodating the cable 82.

[0241] According to the work machine 2 related to item 5, the height of the cable 82 can be appropriately maintained by the column member 85. Furthermore, by changing the posture of the vehicle body 11 with the changing mechanism 24, the orientation of the column member 85 attached to the vehicle body 11 can be changed, thereby directing the cable 82 extending from the column member 85 in the appropriate direction.

[0242] (Item 6) The work machine 2 according to any one of Items 1 to 5, comprising a plurality of the flying devices 31 and a plurality of the landing stations 51, wherein the plurality of landing stations 51 are each adjacent to each other on the upper side of the vehicle body 11.

[0243] According to the work machine 2 related to item 6, the orientation of the landing station 51 attached to the vehicle body 11 can be changed by changing the attitude of the vehicle body 11 using the changing mechanism 24, thereby assisting in the takeoff and landing of the flight device 31.

[0244] (Item 7) The first housing section 61A is the work machine 2 described in Item 6, which is located on the upper side of the vehicle body 11 and directly or indirectly references Item 2.

[0245] According to the work machine 2 related to item 7, the transfer of crop CR from the holding part 39 of the flying device 31 to the first storage part 61A can be performed smoothly, and by changing the attitude of the vehicle body 11 with the changing mechanism 24, the transfer of crop CR from the holding part 39 to the first storage part 61A can be made even smoother. In addition, since the first storage part 61A is provided on the upper side of the vehicle body 11, by changing the attitude of the vehicle body 11 with the changing mechanism 24, the attitude of the first storage part 61A can be changed relatively significantly, and the position of the crop CR inside the first storage part 61A can be changed even more significantly.

[0246] (Item 8) The landing station 51 is the work machine 2 described in Item 7, which is supported on the upper part of the first housing section 61A.

[0247] According to the work machine 2 related to item 8, since the landing station 51 is provided on the upper side of the vehicle body 11, the attitude of the landing station 51 can be changed relatively significantly by changing the attitude of the vehicle body 11 with the changing mechanism 24, thereby enabling smoother takeoff and landing of the flight device 31.

[0248] 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.

[0249] 2: Work machine 11: Body 14: Running gear 24: Change mechanism 31: Flight gear 32: Airframe 35: Rotor 39: Holding unit 43: Working unit 51: Landing station 61: Auxiliary device 61A: First housing unit 61B: Second housing unit 81: Drive unit 82: Cable 85: Column member CR: Crop

Claims

1. A work machine comprising: a vehicle body; a running device that supports the vehicle body so that it can move; a changing mechanism that can change the attitude of the vehicle body; a flying device connected to the vehicle body via a cable, which flies and performs work using power supplied via the cable; a landing station provided on the upper side of the vehicle body on which the flying device can land; and an auxiliary device provided on the vehicle body that assists the work performed by the flying device.

2. The work machine according to claim 1, wherein the flying device comprises an airframe, a plurality of rotors provided on the airframe and capable of generating thrust, and a holding section supported by the airframe and capable of holding crops, and the auxiliary device is a first holding section for holding the crops harvested by the flying device at the holding section.

3. The work machine according to claim 1, wherein the flying device comprises an airframe, a plurality of rotors provided on the airframe and capable of generating thrust, and a work section supported by the airframe and used for performing work with materials, and the auxiliary device is a second storage section for storing the materials used by the flying device in the work section.

4. The work machine according to any one of claims 1 to 3, further comprising a drive device provided on the vehicle body and driven to wind up and unwind the cable.

5. The work machine according to any one of claims 1 to 3, comprising a column member that extends upward from the upper part of the vehicle body and is capable of accommodating the cable.

6. The work machine according to any one of claims 1 to 3, comprising a plurality of the aforementioned flying devices and a plurality of the aforementioned landing stations, wherein the plurality of aforementioned landing stations are arranged adjacent to each other on the upper side of the vehicle body.

7. The work machine according to claim 6, which references claim 2, wherein the first housing is located on the upper side of the vehicle body.

8. The work machine according to claim 7, wherein the landing station is supported on the upper part of the first housing section.

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