Work machine

Abstract

The present inventions suitably links devices while reducing the loads of the devices acting on travelling vehicles.　A work machine (2) comprises: a plurality of travelling vehicles (3); a work device (6) that is supported by one of the plurality of travelling vehicles (3) and that performs work; an assistance device (7) that is supported by one of the plurality of travelling vehicles (3) and that assists with the work of the work device (6); and a power supply device (8) that is supported by one of the plurality of travelling vehicles (3) and that supplies power to at least one of the work device (6) and the assistance device (7), wherein at least two devices among the work device (6), the assistance device (7), and the power supply device (8) are supported by differing travelling vehicles (3).

Description

Work machine

[0008] ,

[0001] The present invention relates to a work machine that performs work.

[0002] The electric sprayer disclosed in Patent Document 1 includes a traveling vehicle body, a power source unit mounted on the traveling vehicle body, a chemical tank mounted on the traveling vehicle body, and a spraying device supported by the traveling vehicle body and spraying the chemical supplied from the chemical tank. The power source unit includes a battery and an electric motor that is supplied with power from the battery and generates power to drive the spraying device.

[0003] Japanese Patent Laid-Open Publication "JP-A-2024-087568"

[0004] In the electric sprayer (work machine) of Patent Document 1, the electric motor is driven by the power supplied from the battery, and the spraying device (work device) can spray the chemical by the power generated by the electric motor.

[0005] However, when trying to extend the continuous operation time of the work machine, it is necessary to enlarge the battery (power supply device) and the chemical tank (auxiliary device) that assists the work of the work device, and the load on the traveling vehicle body increases.

[0006] The present invention has been made to solve such problems of the prior art, and an object thereof is to provide a work machine that can appropriately cooperate each device while reducing the load acting on the traveling vehicle from each device.

[0007] The work machine according to one aspect of the present invention includes a plurality of traveling vehicle bodies, a work device supported by any one of the plurality of traveling vehicle bodies and performing work, an auxiliary device supported by any one of the plurality of traveling vehicle bodies and assisting the work of the work device, and a power supply device supported by any one of the plurality of traveling vehicle bodies and supplying power to at least one of the work device and the auxiliary device. At least two of the work device, the auxiliary device, and the power supply device are supported by different ones of the traveling vehicle bodies.

[0008] According to the above work machine, while reducing the load acting on the traveling vehicle from each device, each device is appropriately coordinated.

[0009] This is a side view showing an example of a work machine. This is a top view showing an example of a work machine. This is a system diagram including a work machine. This is a side view showing the first traveling vehicle. This is a top view showing the first traveling vehicle. This is a side view showing the wheel support. This is a top view showing the wheel support. This is a side view showing the second traveling vehicle. This is a top view showing the second traveling vehicle. This is a diagram illustrating the switching between the coupled and uncoupled states of the coupling device. This is a block diagram of an example of a work device and auxiliary device. This is a side view showing an example of a work device and auxiliary device. This is a top view showing an example of a work device and auxiliary device. This is a perspective view showing an example of a flight device. This is a block diagram of another example of a work device and auxiliary device. This is a side view showing another example of a work device and auxiliary device. This is a top view showing another example of a work device and auxiliary device. This is a diagram showing the state in which the work machine is automatically driving along the planned route. This is the first diagram illustrating the first replacement operation of the work machine. This is the second diagram illustrating the first replacement operation of the work machine. This is the third diagram illustrating the first replacement operation of the work machine. This is a diagram illustrating the sequence of the first replacement operation of the work machine. This is the first diagram illustrating the second replacement operation of the work machine. This is the second diagram illustrating the second replacement operation of the work machine. This diagram shows the sequence of operations for the second replacement of the work implement. This is a side view showing an example of a work implement in which multiple traveling vehicles are the first traveling vehicle. This is a side view showing an example of a work implement in which one traveling vehicle supports two devices.

[0010] Preferred embodiments of the present invention will be described below with reference to the drawings. In the following description, the direction indicated by arrow X1 in the figures 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.

[0011] Figure 1 is a side view showing an example of the work machine 2, and Figure 2 is a top view showing an example of the work machine 2. Figure 3 is a system diagram including the work machine 2. As shown in Figures 1 to 3, the work machine 2 comprises a plurality of traveling vehicles 3, a work device 6, an auxiliary device 7, and a power supply device 8. The plurality of traveling vehicles 3 are connected to each other. The work device 6 is a device that is supported by one of the plurality of traveling vehicles 3 and performs work. The auxiliary device 7 is a device that is supported by one of the plurality of traveling vehicles 3 and assists in the work of the work device 6. The power supply device 8 is a device that is supported by one of the plurality of traveling vehicles 3 and supplies power to at least one of the work device 6 and the auxiliary device 7. As shown in Figures 1 and 2, at least two of the work device 6, auxiliary device 7, and power supply device 8 are each supported by different traveling vehicles 3. In this embodiment, the work device 6, auxiliary device 7, and power supply device 8 are each supported by different traveling vehicles 3.

[0012] The multiple vehicles 3 include a first vehicle 4 and a second vehicle 5. The first vehicle 4 is a vehicle equipped with a running gear 14 that generates propulsion. The second vehicle 5 is a vehicle that is directly or indirectly connected to the first vehicle 4. Therefore, the second vehicle 5 moves in conjunction with the first vehicle 4 due to the propulsion generated by the running gear 14. Thus, the first vehicle 4 is a vehicle that can move under its own power due to the propulsion generated by the running gear 14, while the second vehicle 5 is a vehicle that moves at least in conjunction with the movement of the first vehicle 4.

[0013] Furthermore, in this embodiment, the leading vehicle 3 among the multiple vehicles 3 is the first vehicle 4, and the multiple second vehicles 5 are directly or indirectly towed by the forward-moving first vehicle 4. In other words, the multiple second vehicles 5 are directly or indirectly pushed backward by the backward-moving first vehicle 4. That is, the second vehicle 5, which is the second vehicle 3 from the front, is connected behind the first vehicle 4, which is the leading vehicle 3, and the third vehicle 5, which is the third vehicle 3 from the front, is connected behind the second vehicle 3, and so on, with the vehicles 3 being connected in sequence.

[0014] As shown in Figures 1 and 2, in this embodiment, the plurality of vehicles 3 consists of four vehicles, and the plurality of vehicles 3 includes a first vehicle 4 and three second vehicles 5. In the following description, the first vehicle 4, which is the leading vehicle 3, may be referred to as the "first towing vehicle 4A," and the second vehicle 5, which is the second vehicle 3 directly connected to the rear of the first towing vehicle 4A, may be referred to as the "first towed vehicle 5A." The third vehicle 5, which is the third vehicle 3 directly connected to the rear of the first towed vehicle 5A, may be referred to as the "second towed vehicle 5B," and the fourth vehicle 5, which is the fourth vehicle 3 directly connected to the rear of the second towed vehicle 5B, may be referred to as the "third towed vehicle 5C." First, the first vehicle 4 will be described in detail.

[0015] Figure 4 is a side view showing the first running vehicle 4, and Figure 5 is a top view showing the first running vehicle 4. As shown in Figures 4 and 5, the first running vehicle 4 has a first vehicle body 11 and a running gear 14. The first vehicle body 11 has a vehicle body main body 12 and a first vehicle body frame 13 that supports the vehicle body main body 12.

[0016] The running gear 14 is a device that supports the first 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 4 and 5, the running gear 14 has a first wheel 15L1 (left front wheel) located on the left side of the front of the first vehicle body 11, a second wheel 15R1 (right front wheel) located on the right side of the front of the first vehicle body 11, a third wheel 15L2 (left rear wheel) located on the left side of the rear of the first vehicle body 11, and a fourth wheel 15R2 (right rear wheel) located on the right side of the rear of the first vehicle body 11.

[0017] 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.

[0018] The running gear 14 is driven directly or indirectly by the power generated by the first power unit 21, thereby generating propulsion. As shown in Figure 3, the first running vehicle 4 is equipped with the first power unit 21. The first power unit 21 is a device capable of outputting power to drive the first running vehicle 4. The first power unit 21 can output power to drive the running gear 14, for example.

[0019] 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.

[0020] The first power unit 21 directly or indirectly operates the various devices and equipment of the first traveling vehicle 4 using the power generated by the prime mover E. As shown in Figure 3, in this embodiment, the first power unit 21 includes a 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.

[0021] 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 5, 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.

[0022] In this embodiment, the first traveling vehicle 4 will be described primarily in 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 thereto. For example, the first traveling vehicle 4 may be equipped with a battery capable of storing energy, and power may be generated by electricity supplied from the battery. In such a case, the prime mover E may be an electric actuator (electric motor), and the hydraulic pump P may be operated by the power generated by the electric motor. Furthermore, the drive actuators 22 of the first power unit 21 may be electric actuators (electric motors, electric cylinders, etc.).

[0023] As shown in Figures 4 and 5, the first running vehicle 4 is equipped with a steering mechanism 23. The first running vehicle 4 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 first vehicle body 11. The change mechanism 24 is a mechanism that can change the attitude of the first 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.

[0024] As shown in Figures 4 and 5, 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.

[0025] Figure 6 is a side view showing the wheel support 16, and Figure 7 is a top view showing the wheel support 16. In particular, Figures 6 and 7 show the first wheel support 16L1. As shown in Figures 6 and 7, 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.

[0026] 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 first vehicle body 11. As shown in Figure 5, the swing support portion 17a is provided on the first 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 first 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 first vehicle body frame 13. The swing support portion 17a of the third wheel support 16L2 is provided on the rear left side of the first 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 first vehicle body frame 13.

[0027] 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).

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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).

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] Specifically, one end of the first oscillating actuator 22c (first oscillating cylinder) is pivotally supported by a cylinder bracket 17a1 fixed to the oscillating support part 17a. The other end of the first oscillating cylinder 22c is pivotally supported by a cylinder bracket 17b2 fixed to the first oscillating frame 17b. By extending and retracting, the first oscillating cylinder 22c causes the first oscillating frame 17b to oscillate vertically around the first pivot shaft 17b1 relative to the oscillating support part 17a.

[0040] Furthermore, one end of the second oscillating actuator 22d (second oscillating cylinder) is pivotally supported by a cylinder bracket 17b3 fixed to the first oscillating frame 17b. The other end of the second oscillating cylinder 22d is pivotally supported by a cylinder bracket 17c3 fixed to the second oscillating frame 17c. By extending and retracting, the second oscillating cylinder 22d causes the second oscillating frame 17c to oscillate vertically around the second support shaft 17c1 relative to the first oscillating frame 17b.

[0041] As a result, the modification mechanism 24 of this embodiment can independently raise and lower each wheel 15 by combining the vertical oscillation of the first oscillation frame 17b by the first oscillation actuator 22c and the vertical oscillation of the second oscillation frame 17c by the second oscillation actuator 22d. For example, by using the modification mechanism 24 to make the vertical length between the rear wheels 15L2, 15R2 and the first vehicle body 11 longer than the vertical length between the front wheels 15L1, 15R1 and the first vehicle body 11, the first vehicle body 11 can be tilted forward relative to the ground surface. By using the modification mechanism 24 to make the vertical length between the rear wheels 15L2, 15R2 and the first vehicle body 11 shorter than the vertical length between the front wheels 15L1, 15R1 and the first vehicle body 11, the first vehicle body 11 can be tilted backward relative to the ground surface.

[0042] Further, when the changing mechanism 24 makes the vertical length between the right wheels 15R1 and 15R2 and the first vehicle body 11 longer than the vertical length between the left wheels 15L1 and 15L2 and the first vehicle body 11, the first vehicle body 11 can be made to be in a left-tilted posture with respect to the ground surface. When the changing mechanism 24 makes the vertical length between the left wheels 15L1 and 15L2 and the first vehicle body 11 longer than the vertical length between the right wheels 15R1 and 15R2 and the first vehicle body 11, the first vehicle body 11 can be made to be in a right-tilted posture with respect to the ground surface.

[0043] Hereinafter, each device, each piece of equipment, etc. mounted on the first traveling vehicle 4 will be described in detail mainly using FIG. 3. As shown in FIG. 3, the first traveling vehicle 4 includes a first control device 25. Further, the first traveling vehicle 4 includes a first storage device 26.

[0044] The first control device 25 includes one or more processors. The first control device 25 is a controller of the first traveling vehicle 4 and performs various controls related to the first traveling vehicle 4. The first control device 25 is communicably connected to each device and each piece of equipment mounted on the first traveling vehicle 4 by an in-vehicle network such as CAN, ISO BUS, LIN, FlexRay, etc. Therefore, the first control device 25 can control each of the devices and each piece of equipment.

[0045] The first control device 25 includes one or more memories, various analog circuits, various digital circuits, etc. The one or more memories store (memorize) software programs and various data to be executed by the one or more processors. The first control device 25 can read a software program from the one or more memories by the one or more processors and execute various processes based on the software program. Note that the first control device 25 may be able to execute various processes based on a predetermined logic circuit by the one or more processors.

[0046] The processor is, for example, a CPU (Central Processing Unit), GPU (Graphics Processing Unit), DSP (Digital Signal Processor), FPGA (Field Programmable Gate Array), ASIC (Application Specific Integrated Circuit), or the like.

[0047] Note that the first control device 25 may execute various processes by a plurality of physically separated processors cooperating with each other, and its configuration is not limited to the above-described configuration. In such a case, the plurality of processors are respectively mounted on one or more computers physically separated from the first traveling vehicle 4, and these processors are communicably connected by a network such as an in-vehicle network, LAN, WAN, and the Internet.

[0048] Also, the software program may be stored in a first storage device 26 communicably connected to the first control device 25 or an external server 9 connected via the above network, and may be configured to be installed in the above memory from these.

[0049] The first storage device 26 is a device capable of storing information. The first storage device 26 includes a non-volatile memory such as an HDD (Hard Disk Drive) or SSD (Solid State Drive). The first storage device 26 is communicably connected to the first control device 25, and the first control device 25 stores various information in the first storage device 26 or acquires the information stored in the first storage device 26.

[0050] For example, the first control device 25 controls the first power device 21 and can change the power generated by the first power device 21. The first control device 25 of the present embodiment can control the rotational speed of the prime mover E (engine) based on the rotational speed map stored in the first storage device 26.

[0051] Furthermore, the first control device 25 can control the driving of each drive actuator 22. As shown in Figure 3, 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.

[0052] 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.

[0053] 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 length between the first vehicle body 11 and each wheel 15, etc.

[0054] As shown in Figure 3, the first vehicle 4 is equipped with a first communication device 27. The first communication device 27 is the communication interface of the first vehicle 4 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 external devices, for example (for example, an external server 9). The first communication device 27 performs wireless communication using a mobile phone network, a data communication network, Bluetooth® Low Energy in the Bluetooth® specification of the IEEE 802.15.1 series, Wi-Fi® in the IEEE 802.11.n series, etc.

[0055] As shown in Figure 3, the first traveling vehicle 4 is equipped with a first sensing device 28b. The first sensing device 28b is a device that senses the environment around the first traveling vehicle 4. The first sensing device 28b can sense at least the left-right direction of the first vehicle body 11. In this embodiment, the first sensing device 28b can sense the front-rear direction in addition to the left-right direction of the first vehicle body 11. Based on the sensing results of the first sensing device 28b, the first control device 25 can detect crops (objects), workers, obstacles, etc., around the first traveling vehicle 4. The first control device 25 may also estimate the position of the first traveling vehicle 4 based on the sensing results (detected point cloud data) and environmental map information stored in the first storage device 26, etc.

[0056] 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.

[0057] 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).

[0058] 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.

[0059] As shown in Figure 3, the first vehicle 4 is equipped with a first positioning device 28c. The first positioning device 28c is a device that performs positioning (detection of the position of the first vehicle 4) of the first vehicle 4. The first positioning device 28c receives satellite signals from a satellite positioning system using a GPS antenna and performs positioning of the first vehicle 4 using these 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 first vehicle 4 (vehicle body position VP) from the positioning results of the first positioning device 28c. The vehicle body position VP is any position on the first vehicle 4, and in this embodiment, it is the center position of the first vehicle 4 in the longitudinal and width directions.

[0060] As shown in Figure 3, the first vehicle 4 is equipped with a first attitude detection device 28d. The first attitude detection device 28d is a device that detects the attitude of the first vehicle 4. 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 first vehicle 4. Therefore, the first control device 25 can maintain the first vehicle body 11 horizontally or maintain an attitude in which the first 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.

[0061] Furthermore, as shown in Figure 3, the first vehicle 4 is equipped with an on-board battery 29. The on-board battery 29 is capable of storing energy and supplying power to various devices and equipment (for example, the first control device 25) installed on the first vehicle 4. The on-board battery 29 is a secondary battery such as a lithium-ion battery or a lead-acid battery.

[0062] Next, the second vehicle 5 will be described. Figure 8 is a side view of the second vehicle 5, and Figure 9 is a top view of the second vehicle 5. As shown in Figures 8 and 9, the second vehicle 5 has a second body 31 and support wheels 34. The second body 31 has a support base 32 and a second body frame 33 that supports the support base 32. The support base 32 is a loading platform that can support at least one of the work device 6, the auxiliary device 7, and the power supply device 8. The support base 32 is a plate-shaped member supported by the second body frame 33, for example, such that the plate surface faces vertically.

[0063] The support base 32 can be used to attach various devices such as the work device 6, auxiliary device 7, and power supply device 8. For example, the support base 32 has through holes (mounting holes), and fastening members such as bolts can be inserted through these through holes, allowing the devices to be attached to the support base 32 via the fastening members and brackets. In addition, hooks can be attached to the mounting holes of the support base 32, and belts can be attached to these hooks. By wrapping the belts around each device, the devices can be attached to the support base 32.

[0064] In this embodiment, a plate-shaped loading platform is used as an example of the support base 32, but the support base 32 is not limited to a plate-shaped member. For example, the support base 32 may have a bottom on which the work device 6, auxiliary device 7, and power supply device 8 are placed, and a wall portion surrounding the outer periphery of each device at the bottom.

[0065] The support wheels 34 are wheels that support the second vehicle body 31 so that it can move. The second vehicle 5 is equipped with one or more support wheels 34, and the support wheels 34 are rotatably mounted to the second vehicle body frame 33. In the example shown in Figures 8 and 9, the second vehicle 5 is equipped with four support wheels 34. Specifically, a pair of support wheels 34 (front wheels) are provided on the front side of the second vehicle body frame 33, spaced apart in the width direction. Also, a pair of support wheels 34 (rear wheels) are provided on the rear side of the second vehicle body frame 33, spaced apart in the width direction. The support wheels 34 are supported by the second vehicle body frame 33 so as to be rotatable around an axis extending in the width direction.

[0066] As shown in Figures 1 to 5, 8 and 9, the work machine 2 is equipped with devices 41 and 46 for connecting one of the multiple traveling vehicles 3 to another traveling vehicle 3. Specifically, the work machine 2 is equipped with a coupling device 41 provided on one traveling vehicle 3 and a connected device 46 provided on another traveling vehicle 3. A traveling vehicle 3 is equipped with at least one of the coupling device 41 and the connected device 46 and is connected to another traveling vehicle 3 equipped with the other. The coupling device 41 and the connected device 46 are provided on either the front or rear of each traveling vehicle 3. For example, if a traveling vehicle 3 is equipped with both the coupling device 41 and the connected device 46, the coupling device 41 is provided on one side of the traveling vehicle 3 in the front-rear direction, and the connected device 46 is provided on the other side of the traveling vehicle 3 in the front-rear direction.

[0067] In this embodiment, as shown in Figures 3 to 5, the first running vehicle 4 is equipped with a coupling device 41. The coupling device 41 of the first running vehicle 4 is located at the rear of the first vehicle body 11 (first vehicle body frame 13). On the other hand, as shown in Figures 3, 8, and 9, the second running vehicle 5 is equipped with a coupling device 41 and a coupling device 46. The coupling device 41 of the second running vehicle 5 is located at the rear of the second vehicle body 31 (second vehicle body frame 33). The coupling device 46 of the second running vehicle 5 is located at the front of the second vehicle body frame 33.

[0068] Therefore, the first vehicle 4 can be connected to the coupling device 46 of another vehicle 3 (in this embodiment, the front of the second vehicle 5) by a coupling device 41 provided at its rear. The second vehicle 5 can be connected to the coupling device 46 of another vehicle 3 by a coupling device 41 provided at its rear. Furthermore, the second vehicle 5 can be connected to the coupling device 41 of another vehicle 3 (in this embodiment, the coupling device 41 at the front of the first vehicle 4 or the coupling device 41 at the front of the other second vehicle 5) by a coupling device 46 provided at its front. As a result, the multiple vehicles 3 can be connected sequentially from the leading vehicle 3 to the last vehicle 3 and can travel in a line using the propulsion force generated by the running gear 14 of the first vehicle 4. The coupling device 41 and the coupling device 46 will be described in detail below.

[0069] The coupling device 41 extends in the front-rear direction and is a device that can be coupled to the coupled device 46. In this embodiment, the coupling device 41 is provided at the rear of each traveling vehicle 3 and extends rearward from the rear of the traveling vehicle 3. The coupling device 41 has a coupling body 42 and a coupling device 43.

[0070] The connecting body 42 is a frame that connects to the vehicle bodies 11, 31 (first vehicle body 11 or second vehicle body 31) and supports the connector 43. One end of the connecting body 42 is connected to the vehicle body frames 13, 33 (first vehicle body frame 13 or second vehicle body frame 33). The other end of the connecting body 42 is connected to the connector 43.

[0071] The connecting body 42 may support the connector 43 so that it is movable in a direction intersecting the front-rear direction. In this embodiment, the connecting body 42 supports the connector 43 so that it is movable in the vertical direction and the width direction. Specifically, the connecting body 42 has a mounting portion 42a, a first connecting frame 42b, and a second connecting frame 42c.

[0072] The mounting portion 42a constitutes the base end of the connecting body 42 and is mounted on the vehicle body frames 13 and 33. The mounting portion 42a also pivotably supports the first connecting frame 42b. Specifically, the mounting portion 42a pivotably supports the first connecting frame 42b in either the vertical direction or the width direction. In this embodiment, the mounting portion 42a pivotally supports the first connecting frame 42b around a vertical axis (an axis intersecting the width direction, in this embodiment, an axis extending in the vertical direction). More specifically, the mounting portion 42a pivotably supports the first connecting frame 42b in the width direction via a fourth support shaft 42a1 having an axis extending in the vertical direction.

[0073] The first connecting frame 42b constitutes the middle section of the connecting body 42 in the front-rear direction and connects the mounting section 42a and the second connecting frame 42c. One end (front end) of the first connecting frame 42b is pivotably supported relative to the mounting section 42a via a fourth support shaft 42a1. The other end (rear end) of the first connecting frame 42b pivotably supports the second connecting frame 42c. Specifically, the first connecting frame 42b pivotably supports the second connecting frame 42c in either the vertical direction or the width direction. In this embodiment, the first connecting frame 42b pivotally supports the second connecting frame 42c around a horizontal axis (an axis intersecting in the vertical direction; in this embodiment, an axis extending in the width direction). More specifically, the first connecting frame 42b pivotably supports the second connecting frame 42c in the vertical direction via a fifth support shaft 42b1 having an axis extending in the width direction.

[0074] The second connecting frame 42c constitutes the tip of the connecting body 42 and supports the connector 43 to the first connecting frame 42b. One end (front end) of the second connecting frame 42c is pivotably supported to the first connecting frame 42b via the fifth support shaft 42b1. The connector 43 is attached to the other end (rear end) of the second connecting frame 42c.

[0075] Furthermore, the connecting body 42 may move the connector 43 in a direction that intersects the front-rear direction by the power generated by the actuators 42d and 42e. As shown in Figures 3, 5, and 9, the connecting device 41 (connecting body 42) has a first moving actuator 42d and a second moving actuator 42e.

[0076] The first movable actuator 42d, when driven, can pivot the first connecting frame 42b around the fourth support shaft 42a1 relative to the mounting portion 42a. The second movable actuator 42e, when driven, can pivot the second connecting frame 42c around the fifth support shaft 42b1 relative to the first connecting frame 42b. In this embodiment, the first movable actuator 42d and the second movable actuator 42e are electric actuators driven by supplied power. For example, the first movable actuator 42d and the second actuator are electric motors (e.g., servo motors).

[0077] The connector 43 is a mechanism that can be connected to the device to be connected 46. In this embodiment, the connector 43 can be switched between a state in which it is connected to the device to be connected 46 (connected state) and a state in which the connection is released (released state). Therefore, the connector 43 allows one vehicle 3 to be switched between a connected state in which it is connected to another vehicle 3 and a released state in which the connection is released.

[0078] Figure 10 illustrates the switching between the coupled and uncoupled states of the coupling device 41. As shown in Figure 10, the coupling device 43 has a pair of coupling claws 43a and a coupling drive mechanism 43b. The pair of coupling claws 43a are arranged so that the claw portions that connect to the coupled device 46 face each other, and the separation distance is changed by the coupling drive mechanism 43b.

[0079] The connector 43 has an actuator 43c (switching actuator), and the coupling drive mechanism 43b acts on the switching actuator 46c. The switching actuator 43c is composed of an electric actuator driven by supplied power. For example, the switching actuator 43c is an electric motor. Therefore, the coupling drive mechanism 43b switches to a connected state in which the switching actuator 43c can be connected to the connected device 46 by rotating the switching actuator 43c in one direction and gripping the connected device 46 with a pair of connecting claws 43a. As a result, the connecting claws 43a are locked into the recesses 46a formed in the connected device 46. The coupling drive mechanism 43b also switches to a released state in which the connection to the connected device 46 is released by rotating the switching actuator 43c in the other direction and increasing the separation distance between the pair of connecting claws 43a.

[0080] The coupling device 41 of the first running vehicle 4 is controlled by a first control device 25 provided in the first running vehicle 4. In this embodiment, the coupling device 41 of the second running vehicle 5 is controlled by the first control device 25 of the first running vehicle 4, which is directly or indirectly connected to the second running vehicle 5. Specifically, each coupling device 41 is provided with a first connecting portion 44a. Each connected device 46 is provided with a second connecting portion 47a that can be connected to the first connecting portion 44a.

[0081] The first connection part 44a and the second connection part 47a each have multiple connection terminals (pin terminals). When the first connection part 44a and the second connection part 47a are connected, the multiple connection terminals of the first connection part 44a and the multiple connection terminals of the second connection part 47a become energized. On the other hand, when the connection between the first connection part 44a and the second connection part 47a is released, the multiple connection terminals of the first connection part 44a and the multiple connection terminals of the second connection part 47a become energized.

[0082] The plurality of connection terminals include terminals capable of transmitting at least signals output by the first control device 25 and signals input to the first control device 25. The plurality of connection terminals may also include terminals capable of supplying power supplied from the battery of the first vehicle 4. In this embodiment, the first connection portion 44a of the coupling device 41 of the first vehicle 4 is electrically connected to the first control device 25. The second connection portion 47a of the coupling device 46 of the second vehicle 5 is electrically connected to the actuators 42d, 42e, 43c and the first connection portion 44a of the coupling device 41 of the second vehicle 5.

[0083] Therefore, when the coupling device 41 of the first towing vehicle 4 (first towing vehicle 4A) is connected to the coupling device 46 of the second towing vehicle 5 (first towed vehicle 5A), the first control device 25 of the first towing vehicle 4A can control the coupling device 41 of the first towing vehicle 4A via the first connection portion 44a of the coupling device 41 of the first towing vehicle 4A and the second connection portion 47a of the coupling device 46 of the first towed vehicle 5A. Furthermore, when the coupling device 41 of the second towed vehicle 5B is connected to the coupling device 46 of the second towing vehicle 5 (second towed vehicle 5B), the first control device 25 of the first towing vehicle 4A can further control the coupling device 41 of the second towed vehicle 5B via the first connection portion 44a of the coupling device 41 of the first towed vehicle 5A and the second connection portion 47a of the coupling device 46 of the second towed vehicle 5B. As a result, the first control device 25 can control the coupling device 41 of the second traveling vehicle 5, which is directly or indirectly connected to the first traveling vehicle 4.

[0084] As shown in Figure 3, the coupling device 41 may also be provided with a second sensing device 45. The second sensing device 45 is a device that senses at least the front end (rear end in this embodiment) of the coupling device 41. The second sensing device 45 provided on the coupling device 41 of the first traveling vehicle 4 is able to communicate with the first control device 25. Furthermore, the second sensing device 45 provided on the coupling device 41 of the second traveling vehicle 5 is electrically connected to the second connection part 47a.

[0085] Therefore, the second sensing device 45 can communicate with the first control device 25 of the first traveling vehicle 4, which is directly or indirectly connected to the second traveling vehicle 5, via the second connection part 47a and the first connection part 44a. As a result, the first control device 25 can acquire the sensing results from the second sensing device 45 and detect the connected devices 46 located behind each connecting device 41.

[0086] The second sensing device 45 includes an optical distance measuring sensor and a signal processing circuit, etc. The optical distance measuring sensor of the second sensing device 45 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 45 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 45 has an optical distance measuring sensor, an ultrasonic distance measuring sensor may be used instead of an optical distance measuring sensor.

[0088] Furthermore, a marker recognizable by the second sensing device 45 may be provided on the front surface of the connected device 46. The marker is an image code for the second sensing device 45 to recognize the position of the connected device 46.

[0089] Based on the above, the first control device 25 can detect the position of the coupling device 46 of the vehicle to be coupled to the vehicle 3, which is to be newly coupled to the last vehicle 3 (either the first vehicle 4 or the second vehicle 5), based on the sensing results of the second sensing device 45 installed on the last vehicle 3, and control the vehicle 14 and the coupling device 41 to bring the coupling device 41 closer to the coupling device 46 and perform alignment. Furthermore, when the first control device 25 determines, based on the sensing results of the second sensing device 45, that the alignment of the coupling device 41 and the coupling device 46 is complete, it can control the coupling drive mechanism 43b to switch the coupling device 41 and the coupling device 46 to the coupled state.

[0090] As shown in Figures 1 and 2, the work device 6, auxiliary device 7, and power supply device 8 are each supported by different second towed vehicles 5. In this embodiment, the first towed vehicle 5A supports the power supply device 8. The second towed vehicle 5B supports the work device 6, and the third towed vehicle 5C supports the auxiliary device 7.

[0091] Therefore, in the work machine 2 shown in Figures 1 and 2, the power supply device 8, work machine 6, and auxiliary device 7 are arranged in that order from the first traveling vehicle 4 side. Consequently, the power supply device 8 is positioned in front of the work machine 6 and adjacent to the work machine 6. The work machine 6 is positioned between the power supply device 8 and the auxiliary device 7. The work machine 6 is positioned in front of the auxiliary device 7 and adjacent to the auxiliary device 7. In other words, the power supply device 8 and the auxiliary device 7 are not positioned adjacent to each other.

[0092] Furthermore, in this embodiment, the second running vehicle 5 is provided with a coupling device 41 and a coupling device 46. Therefore, among the multiple running vehicles 3, the second running vehicle 5 supporting the power supply device 8 and the second running vehicle 5 supporting the auxiliary device 7 can be switched between a coupled state in which they are coupled to other running vehicles 3 and a discoupled state in which they are released. The working device 6, the auxiliary device 7, and the power supply device 8 will be described in detail below.

[0093] First, the work device 6 and the auxiliary device 7 will be described. The work device 6 is driven by power supplied from the power supply device 8. On the other hand, the auxiliary device 7 may or may not be driven by power supplied from the power supply device 8. In this embodiment, the auxiliary device 7 will be described using the example of the case where the auxiliary device 7 is not driven like the work device 6 and is not supplied with power from the power supply device 8.

[0094] As described above, the auxiliary device 7 assists the work of the work device 6, and the work device 6 performs its work with the assistance of the auxiliary device 7. Therefore, the work of the work device 6 corresponds to the assistance provided by the auxiliary device 7. An example of the work device 6 is a harvesting device 6A that harvests crops. An example of the auxiliary device 7 corresponding to the harvesting device 6A is a storage section 7A (first storage section) that stores the crops harvested by the harvesting device 6A. The first storage section 7A is a flexible container or a regular container. The harvesting device 6A will be described in detail below as an example of the work device 6.

[0095] Figure 11 is a block diagram of an example of the work device 6 and auxiliary device 7. Figure 12 is a side view showing an example of the work device 6 and auxiliary device 7, and Figure 13 is a plan view showing an example of the work device 6 and auxiliary device 7. As shown in Figures 12 and 13, the harvesting device 6A comprises a first device body 51 and one or more harvesting work units 61. The harvesting work unit 61 is a device capable of harvesting crops. The harvesting work unit 61 also has a holding part 69 capable of holding crops. The harvesting work unit 61 can harvest crops by holding them with the holding part 69.

[0096] An example of a harvesting workpiece 61 is a flying device 61 that has a holding part 69 and moves the holding part 69 closer to the crop by flying. Another example of a harvesting workpiece 61 is a manipulator that has a holding part 69 and moves the holding part 69 closer to the crop by moving the holding part 69 with an arm.

[0097] In this embodiment, the harvesting apparatus 6A will be described using the case where the harvesting work unit 61 is an aerial device 61 as an example. In this embodiment, the harvesting apparatus 6A in which the harvesting work unit 61 (aerial device) and the first device body 51 are connected by a cable 54 will be described. The cable 54 is a power line for supplying power from the first device body 51 to the aerial device 61. Note that the cable 54 may also serve as a communication cable to enable communication between the first device body 51 and the aerial device 61.

[0098] As shown in Figures 12 and 13, the harvesting device 6A is equipped with a landing station 52. The landing station 52 is a base on which the flying device 61 can land. In the example shown in Figure 2, the landing station 52 is provided on the upper part of the first device body 51. The landing station 52 is a plate-shaped member supported by the first device body 51 with its plate surface facing vertically. The landing station 52 is provided from the front to the rear of the first device body 51. Also, the landing station 52 is provided from the left to the right of the first device body 51. In the example shown in Figures 12 and 13, multiple flying devices 61 can land side by side in the front-to-back and width directions on the upper part of the landing station 52.

[0099] Although Figures 12 and 13 show a case where four aircraft 61 have landed on the landing station 52, the landing station 52 only needs to be capable of accommodating at least one aircraft 61, and the size and shape of the landing station 52 are not limited to the examples shown in Figures 12 and 13. Furthermore, markers for guiding the landing of the aircraft 61 may be provided on the upper surface of the landing station 52. The markers are, for example, image codes that allow a third sensing device 74a provided on the aircraft 61 to recognize the position of the landing station 52.

[0100] As shown in Figures 11, 12, and 13, the harvesting device 6A is equipped with one or more drive devices 53. The drive devices 53 are capable of winding up and unwinding the cable 54 connected to the flying device 61. The drive devices 53 are provided in the harvesting device 6A in proportion to the number of cables 54, i.e., the number of flying devices 61 equipped in the harvesting device 6A. The drive devices 53 are mounted near the landing station 52 (on the side of the first device body 51 in the example of Figures 12 and 13), and the length of the cable 54 between the drive device 53 and the flying device 61 can be changed by winding up and unwinding the cable 54.

[0101] The drive unit 53 includes a drum 53a and an actuator 53b (drum actuator). The drum 53a is around which the cable 54 is wound and rotates to wind or unwind the cable 54. A support shaft is attached to the drum 53a at its center of rotation.

[0102] The drum actuator 53b rotates the drum 53a around the support shaft when driven. The drum actuator 53b is composed of an electric actuator driven by supplied power. For example, the drum actuator 53b is an electric motor. The drum actuator 53b may also 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.

[0103] Therefore, the drive unit 53 can wind up the cable 54 by having the drum actuator 53b (electric motor) rotate in one direction, causing the drum 53a to rotate in the first rotational direction. The drive unit 53 can also unwind the cable 54 by having the drum actuator 53b rotate in another direction, causing the drum 53a to rotate in the second rotational direction, which is opposite to the first rotational direction.

[0104] In the example described above, the drum actuator 53b was described as a motor with a brake. However, the drive device 53 may be composed of a claw member or the like that can engage with a latch gear attached to the drum 53a, and may have a rotation restricting mechanism that can switch between restricting the rotation of the drum 53a and releasing the restriction.

[0105] As shown in Figure 11, the first device body 51 includes a second control device 55 and a second storage device 56. The second control device 55 is a processing circuit that includes one or more processors. The second control device 55 is the controller of the first device body 51 among the work devices 6 and performs various controls related to the work devices 6 (first device body 51). The second control device 55 is connected to communicate with each piece of equipment and each device mounted on the first device body 51. For example, the second control device 55 controls the winding and unwinding of the cable 54 by each drive device 53.

[0106] The second control device 55 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 55 can read software programs from one or more memories using one or more processors and execute various processes based on said software programs.

[0107] Furthermore, as described in the first control device 25, the second control device 55 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 55 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.

[0108] Furthermore, the second control device 55 is electrically connected to a predetermined terminal of at least one of the first connection portion 44a of the coupling device 41 and the second connection portion 47a of the coupled device 46, which are provided on the traveling vehicle 3 (second traveling vehicle 5) that supports the work device 6 (harvesting device 6A). In this embodiment, the second control device 55 is electrically connected to a predetermined terminal of the second connection portion 47a of the coupled device 46 provided on the second traveling vehicle 5 that supports the harvesting device 6A.

[0109] Therefore, when the coupled device 46 is connected to the coupling device 41, the second control device 55 can communicate with equipment and devices directly or indirectly connected to the first connection part 44a via the first connection part 44a which is connected to the second connection part 47a. As shown in Figures 1 and 2, when the first towing vehicle 4A and the first towed vehicle 5A are coupled, and the first towed vehicle 5A and the second towed vehicle 5B are also coupled, the second control device 55 is connected to the first towing vehicle 4A (first control device 25) in a communicative manner via the first connection part 44a and the second connection part 47a of the first towed vehicle 5A, and the first connection part 44a of the first towing vehicle 4A.

[0110] The second storage device 56 stores various types of information and data in a read-write manner. The second storage device 56 includes non-volatile memory such as an HDD or SSD. The second storage device 56 is communicated with the second control device 55, and the second control device 55 can acquire various types of information and data stored in the second storage device 56.

[0111] As shown in Figure 11, the first device body 51 includes a second communication device 57. The second communication device 57 is the communication interface of the first device body 51 and includes a communication circuit. The second communication device 57 can communicate with other communication devices and inputs (sends and receives) various information, data, and signals. The second communication device 57 can communicate with, for example, the flight device 61. The second communication device 57 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.

[0112] In this embodiment, the case in which the second control device 55 is connected to the first control device 25 in a communicative manner via the first connection part 44a and the second connection part 47a is described. However, the second communication device 57 may be connected to the first communication device 27 by wireless communication, and the first control device 25 and the second control device 55 may be connected in a communicative manner by wireless communication.

[0113] One or more flying devices 61 are capable of unmanned flight and at least capable of harvesting crops. More specifically, the flying device 61 is a multicopter called a drone. Figure 14 is a perspective view showing an example of the flying device 61. As shown in Figure 14, the flying device 61 has a body 62, a plurality of rotors 65, and a holding part 69. The body 62 has a main body 63 that supports various devices and equipment of the flying device 61. The body 62 also has a plurality of support arms 64 that extend from the main body 63. In a plan view, the support arms 64 extend away from the main body 63. In a plan view, the plurality of support arms 64 extend radially from the main body 63. The support arms 64 extend horizontally outward from the main body 63.

[0114] Multiple rotors 65 are mounted on the airframe 62 and are capable of generating thrust. Therefore, the flight device 61 can move the airframe 62 in a predetermined direction or change the altitude of the airframe 62 using the multiple rotors 65. Specifically, each of the multiple rotors 65 is attached to a support arm 64. In addition, the multiple rotors 65 generate lift to raise the airframe 62 and control the attitude of the airframe 62. In a plan view, the multiple rotors 65 are arranged at positions equidistant from the center of the airframe 62.

[0115] Furthermore, in this embodiment, each rotor 65 performs both lift generation and attitude control, but a plurality of rotors 65 may include a rotor 65 that generates lift and a rotor 65 that performs attitude control separately.

[0116] The rotor 65 has a rotating shaft 66 and blades 67. The rotating shaft 66 is a shaft that rotates due to power transmitted from the second power unit 68. The rotating shaft 66 extends in the vertical direction. The blades 67 are attached to the rotating shaft 66 and generate lift as the rotating shaft 66 rotates.

[0117] As shown in Figure 11, the flight device 61 is equipped with a second power unit 68. The second power unit 68 is a device capable of outputting power. The second power unit 68 includes one or more actuators 68a (rotor actuators), and the one or more rotor actuators 68a generate power (rotational driving force). The rotor actuators 68a are composed of electric actuators that are driven by supplied electricity.

[0118] For example, the rotor actuator 68a is an electric motor. The rotor actuator 68a generates power to drive (rotate) the rotating shaft 66, and this power is transmitted to the rotating shaft 66. In this embodiment, the second power unit 68 includes a plurality of rotor actuators 68a corresponding to each rotating shaft 66, and each of the rotating shafts 66 can be driven independently by its corresponding rotor actuator 68a.

[0119] The holding unit 69 is supported by the machine body 62 and is capable of holding crops. The holding unit 69 is, for example, a robot hand capable of gripping crops (objects). As shown in Figure 14, the holding unit 69 has a plurality of gripping parts 69a and a gripping mechanism 69b. The plurality of gripping parts 69a are claw-shaped members, and elastic members for holding crops are attached to their tips. The separation distance between the plurality of gripping parts 69a is changed by the gripping mechanism 69b.

[0120] The holding section 69 has an actuator 69c (gripping actuator) that operates the gripping mechanism 69b. The gripping actuator 69c is composed of an electric actuator driven by supplied power. For example, the gripping actuator 69c is an electric motor. Therefore, the gripping mechanism 69b can hold the crop by having the gripping actuator 69c rotate in one direction and gripping the crop with multiple gripping sections 69a. The gripping mechanism 69b can also release the crop by having the gripping actuator 69c rotate in another direction and increasing the separation distance between the multiple gripping sections 69a.

[0121] In the above description, we explained a case where the holding part 69 has a robot hand capable of gripping crops (objects), but the holding part 69 is not limited to a robot hand. For example, the holding part 69 may be configured to generate negative pressure at the contact point with the crop using a compressor, thereby adsorbing and holding the crop.

[0122] As shown in Figure 14, the flight device 61 is equipped with skids 70. The skids 70 are attached to the underside of the aircraft body 62. The skids 70 have multiple leg members 70a that extend downward from the aircraft body 63. The multiple leg members 70a touch the ground when the flight device 61 lands, supporting the aircraft body 62 by floating it above the landing station 52 or the ground. The multiple leg members 70a are also positioned on one side (left side) and the other side (right side) of the holding section 69 in the left-right direction. Therefore, the holding section 69 is located between the multiple leg members 70a.

[0123] As shown in Figure 11, the flight device 61 includes a third control device 71 and a third storage device 72. The third control device 71 is a processing circuit that includes one or more processors. The third control device 71 is the controller of the flight device 61 and performs various controls related to the flight device 61. The third control device 71 is communicated with each piece of equipment and device mounted on the flight device 61. For example, the third control device 71 controls the drive, stop, and rotation speed (lift) of each rotor 65.

[0124] The third control device 71 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 third control device 71 can read software programs from one or more memories using one or more processors and execute various processes based on said software programs.

[0125] Furthermore, as described in the first control device 25, the third control device 71 may perform various processes based on predetermined logic circuits using one or more processors. Also, as described in the first control device 25, the third control device 71 may perform various processes by having multiple physically separated processors cooperate with each other, and its configuration is not limited to the configuration described above.

[0126] The third storage device 72 stores various types of information and data in a read-write manner. The third storage device 72 includes non-volatile memory such as an HDD or SSD. The third storage device 72 is communicated with the third control device 71, and the third control device 71 can acquire various types of information and data stored in the third storage device 72.

[0127] As shown in Figure 11, the flight device 61 is equipped with a third communication device 73. The third communication device 73 is the communication interface of the flight device 61 and includes a communication circuit. The third communication device 73 can communicate with other communication devices and inputs (sends and receives) various information, data, and signals. For example, the third communication device 73 can communicate with the second communication device 57 of the first device body 51. The third communication device 73 performs wireless communication via 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.

[0128] As shown in Figure 11, the flying device 61 is equipped with a third sensing device 74a. The third sensing device 74a is a device that senses the environment around and below the flying device 61. The third sensing device 74a can sense at least the area in front of and below the aircraft body 62. In this embodiment, the third sensing device 74a can sense the area around and below the aircraft body 62. Based on the sensing results of the third sensing device 74a, the third control device 71 can detect crops (objects), workers, obstacles, etc., around the flying device 61. The third control device 71 may also estimate the position of the flying device 61 based on the sensing results (detected point cloud data) and environmental map information stored in the third storage device 72, etc.

[0129] The third sensing device 74a includes an optical distance measuring sensor and a signal processing circuit, etc. The optical distance measuring sensor of the third sensing device 74a can be exemplified by a LiDAR (Light Detection and Ranging) sensor.

[0130] In addition to LiDAR, other examples of optical distance measuring sensors for the third sensing device 74a 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 third sensing device 74a has an optical distance measuring sensor, an ultrasonic distance measuring sensor may be used instead of an optical distance measuring sensor.

[0131] As shown in Figure 11, the flight device 61 may be equipped with a second positioning device 74b. The second positioning device 74b is a device that performs positioning of the flight device 61 (detection of the position of the flight device 61). The second positioning device 74b receives satellite signals from a satellite positioning system using a GPS antenna and performs positioning of the flight device 61 using said satellite signals.

[0132] As shown in Figure 11, the flight device 61 may be equipped with a second attitude detection device 74c. The second attitude detection device 74c is a device that detects the attitude of the flight device 61. The second attitude detection device 74c is an inertial measurement unit (IMU) that includes, for example, an acceleration sensor and a gyro sensor. The second attitude detection device 74c detects the tilt information (roll angle, pitch angle, and yaw angle) of the flight device 61.

[0133] As shown in Figure 11, the flight device 61 may be equipped with an altitude detection device 74d. The altitude detection device 74d detects the altitude of the flight device 61. The altitude detection device 74d is, for example, a barometric pressure sensor.

[0134] The configuration of the flying device 61 described above is merely an example and is not limited thereto. For example, if the first device body 51 and the flying device 61 are connected in a communicative manner by a cable 54, the flying device 61 does not need to be equipped with a third communication device 73. Furthermore, if the second control device 55 of the first device body 51 also controls the flying device 61, the flying device 61 does not need to be equipped with a third control device 71.

[0135] As shown in Figure 11, the first storage section 7A may have a first storage detection section 75a. The first storage detection section 75a is a sensor that detects the contents (harvested crops) stored inside the first storage section 7A. For example, the first storage detection section 75a is a load sensor (load cell, etc.) that detects the load acting on the first storage section 7A. The first storage detection section 75a is electrically connected to a predetermined terminal of at least one of the first connection section 44a of the coupling device 41 and the second connection section 47a of the coupled device 46 provided on the traveling vehicle 3 (second traveling vehicle 5) that supports the first storage section 7A. In this embodiment, the first storage detection section 75a is electrically connected to a predetermined terminal of the second connection section 47a of the coupled device 46 provided on the second traveling vehicle 5 that supports the first storage section 7A.

[0136] Therefore, when the coupled device 46 is connected to the coupling device 41, the first accommodation detection unit 75a can communicate with equipment and devices directly or indirectly connected to the first connection part 44a via the first connection part 44a which is connected to the second connection part 47a. As shown in Figures 1 and 2, when the first towing vehicle 4A and the first towed vehicle 5A are coupled, the first towed vehicle 5A and the second towed vehicle 5B are coupled, and the second towed vehicle 5B and the third towed vehicle 5C are coupled, the first accommodation detection unit 75a is connected to the first towing vehicle 4A (first control device 25) in a communicative manner via the first connection part 44a and the second connection part 47a of the second towed vehicle 5B, the first connection part 44a and the second connection part 47a of the first towed vehicle 5A, and the first connection part 44a of the first towing vehicle 4A.

[0137] Accordingly, the first control device 25 can calculate the load acting on the first storage unit 7A, that is, the amount of contents stored in the first storage unit 7A and / or the remaining capacity that the first storage unit 7A can accommodate, based on the detection result output from the first storage detection unit 75a and the calculation formulas etc. that are pre-stored in the first storage device 26.

[0138] In this embodiment, the first accommodation detection unit 75a is described as being communicatively connected to the first control device 25 via the first connection part 44a and the second connection part 47a. However, the first accommodation unit 7A may include a communication device connected wirelessly to the first communication device 27, and the first control device 25 and the first accommodation detection unit 75a may be communicatively connected wirelessly.

[0139] The work performed by the work device 6 and the auxiliary device 7 and its auxiliary functions only need to correspond, and the work device 6 and auxiliary device 7 are not limited to the harvesting device 6A described above. For example, the work device 6 can be a device that performs work using materials (agricultural materials). The auxiliary device 7 can be a device (supply device) that can supply the work device 6 with the materials. Examples of materials include pesticides, fertilizers, seedlings (seedling mats), etc. For this reason, the work device 6 can be a spraying device 6B that sprays a material. The auxiliary device 7 corresponding to the spraying device 6B can be a storage unit 7B (second storage unit) that stores the material to be sprayed. The second storage unit 7B is a tank that stores liquid or granular materials (pesticides, fertilizers, etc.). Below, the spraying device 6B capable of spraying liquid materials will be described in detail as the work device 6.

[0140] Figure 15 is a block diagram of another example of the work device 6 and auxiliary device 7. Figure 16 is a side view showing another example of the work device 6 and auxiliary device 7, and Figure 17 is a plan view showing another example of the work device 6 and auxiliary device 7. As shown in Figures 16 and 17, the spraying device 6B comprises a second device body 81 and one or more spraying work bodies 85. The second device body 81 includes a pump actuator 82 and a spray pump 83. The pump actuator 82 is an actuator that generates power to operate the spray pump 83. The pump actuator 82 is composed of an electric actuator driven by supplied power. For example, the pump actuator 82 is an electric motor.

[0141] The spray pump 83 is operated by the power generated by the pump actuator 82 and sends out (discharges) the material to be sprayed. The spray pump 83 is connected to the inside of the second housing section 7B via pipes and hoses 84a and 91a.

[0142] Specifically, the piping 84a (first piping) on ​​the spray pump 83 side has one end connected to the suction port of the spray pump 83, and the other end is provided with a third connection part 84b. On the other hand, the piping 91a (second piping) on ​​the second housing 7B side has one end connected to the inside of the second housing 7B, and the other end is provided with a fourth connection part 91b that can be connected to the third connection part 84b. Therefore, by connecting the third connection part 84b and the fourth connection part 91b, the suction port of the spray pump 83 and the inside of the second housing 7B can be connected.

[0143] The third connecting portion 84b is attached to either the coupling device 41 (connecting device 43) or the coupled device 46 of the second traveling vehicle 5 that supports the spraying device 6B. The fourth connecting portion 91b is attached to the other of either the coupling device 41 (connecting device 43) or the coupled device 46 of the second traveling vehicle 5 that supports the second housing unit 7B. In this embodiment, the third connecting portion 84b is attached to the coupling device 41 (connecting device 43) of the second traveling vehicle 5 that supports the spraying device 6B, and the fourth connecting portion 91b is attached to the coupled device 46 of the second traveling vehicle 5 that supports the second housing unit 7B.

[0144] Therefore, as shown in Figures 16 and 17, when the coupling device 41 of the second traveling vehicle 5 supporting the work device 6 is coupled to the coupled device 46 of the second traveling vehicle 5 supporting the second housing section 7B, the third connecting part 84b and the fourth connecting part 91b are connected, and the suction port of the spray pump 83 is connected to the inside of the second housing section 7B. On the other hand, when the coupling device 41 of the second traveling vehicle 5 supporting the work device 6 is released from the coupled device 46 of the second traveling vehicle 5 supporting the second housing section 7B (when it is released), the connection between the third connecting part 84b and the fourth connecting part 91b is released, and the supply of materials (pesticides) from the second housing section 7B to the work device 6 is cut off.

[0145] As shown in Figure 17, a pair of spraying units 85 are provided in the width direction. Specifically, the spraying units 85 are provided on one side of the spraying pump 83 in the width direction and on the other side of the spraying pump 83 in the width direction. The spraying units 85 have a boom 86 and a spraying nozzle 87.

[0146] The boom 86 is a long member. The boom 86 is also pivotably attached to the second device body 81. Specifically, the boom 86 is supported on the second device body 81 around a horizontal axis (an axis that intersects horizontally; in this embodiment, an axis that extends in the front-rear direction). Therefore, the boom 86 can be switched between a state that is extended in the width direction (extended state) and a state that is stored upward (stored state).

[0147] The spray nozzles 87 spray the material delivered from the spray pump 83. Multiple spray nozzles 87 are provided on the boom 86. The spray nozzles 87 are also mounted at predetermined intervals along the extending direction of the boom 86.

[0148] The spray nozzle 87 sprays the material in a direction perpendicular to the direction in which the boom 86 extends. In particular, the spray nozzle 87 is mounted facing outward in the width direction relative to the boom 86 when it is in its retracted state. Therefore, when the boom 86 is in its retracted state, the spray nozzle 87 can spray the material outward in the width direction. Also, when the boom 86 is in its extended state, the spray nozzle 87 can spray the material downward.

[0149] As shown in Figure 15, the second device body 81 includes a fourth control device 88 and a fourth storage device 89. The fourth control device 88 is a processing circuit that includes one or more processors. The fourth control device 88 is the controller of the second device body 81 among the work devices 6, and performs various controls related to the work devices 6 (second device body 81). The fourth control device 88 is connected to each device and equipment mounted on the second device body 81 in a communicative manner. For example, the fourth control device 88 can control the discharge amount of the spraying material by the spraying pump 83. Specifically, the fourth control device 88 controls the discharge amount of the spraying pump 83 by controlling the rotation speed of the pump actuator 82 (electric motor).

[0150] The fourth control device 88 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 fourth control device 88 can read software programs from one or more memories using one or more processors and execute various processes based on said software programs.

[0151] Furthermore, as described in the first control device 25, the fourth control device 88 may perform various processes based on predetermined logic circuits using one or more processors. Also, as described in the first control device 25, the fourth control device 88 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.

[0152] Furthermore, the fourth control device 88 is electrically connected to a predetermined terminal of at least one of the first connection portion 44a of the coupling device 41 and the second connection portion 47a of the coupled device 46, which are provided on the traveling vehicle 3 (second traveling vehicle 5) that supports the work device 6 (spreading device 6B). In this embodiment, the fourth control device 88 is electrically connected to a predetermined terminal of the second connection portion 47a of the coupled device 46, which is provided on the second traveling vehicle 5 that supports the spreading device 6B.

[0153] Therefore, when the coupled device 46 is coupled to the coupling device 41, the fourth control device 88 can communicate with equipment and devices directly or indirectly connected to the first connection part 44a via the first connection part 44a which is connected to the second connection part 47a. As shown in Figures 1 and 2, when the first towing vehicle 4A and the first towed vehicle 5A are coupled, and the first towed vehicle 5A and the second towed vehicle 5B are also coupled, the fourth control device 88 is connected to the first towing vehicle 4A (first control device 25) in a communicative manner via the first connection part 44a and the second connection part 47a of the first towed vehicle 5A, and the first connection part 44a of the first towing vehicle 4A.

[0154] The fourth storage device 89 stores various types of information and data in a read-write manner. The fourth storage device 89 includes non-volatile memory such as an HDD or SSD. The fourth storage device 89 is communicated with the fourth control device 88, and the fourth control device 88 can acquire various types of information and data stored in the fourth storage device 89.

[0155] In this embodiment, the case in which the fourth control device 88 is connected to the first control device 25 via the first connection part 44a and the second connection part 47a is described, but the second device body 81 may include a communication device connected to the first communication device 27 by wireless communication, and the first control device 25 and the fourth control device 88 may be connected to each other by wireless communication.

[0156] As shown in Figure 15, the second storage section 7B may have a second storage detection section 90a. The second storage detection section 90a is a sensor that detects the contents (such as pesticides or fertilizers) stored inside the second storage section 7B. For example, the second storage detection section 90a is a load sensor (such as a load cell) that detects the load acting on the second storage section 7B. The second storage detection section 90a is electrically connected to a predetermined terminal of at least one of the first connection section 44a of the coupling device 41 and the second connection section 47a of the coupled device 46 provided on the traveling vehicle 3 (second traveling vehicle 5) that supports the second storage section 7B. In this embodiment, the second storage detection section 90a is electrically connected to a predetermined terminal of the second connection section 47a of the coupled device 46 provided on the second traveling vehicle 5 that supports the second storage section 7B.

[0157] Therefore, when the coupled device 46 is connected to the coupling device 41, the second accommodation detection unit 90a can communicate with equipment and devices directly or indirectly connected to the first connection part 44a via the first connection part 44a which is connected to the second connection part 47a. As shown in Figures 1 and 2, when the first towing vehicle 4A and the first towed vehicle 5A are coupled, the first towed vehicle 5A and the second towed vehicle 5B are coupled, and the second towed vehicle 5B and the third towed vehicle 5C are coupled, the second accommodation detection unit 90a is connected to the first towing vehicle 4A (first control device 25) in a communicative manner via the first connection part 44a and the second connection part 47a of the second towed vehicle 5B, the first connection part 44a and the second connection part 47a of the first towed vehicle 5A, and the first connection part 44a of the first towing vehicle 4A.

[0158] Accordingly, the first control device 25 can calculate the load acting on the second storage unit 7B, that is, the amount of contents stored in the second storage unit 7B and / or the remaining capacity that the second storage unit 7B can accommodate, based on the detection result output from the second storage detection unit 90a and the calculation formulas etc. that are pre-stored in the first storage device 26.

[0159] In this embodiment, the case in which the second accommodation detection unit 90a is connected to the first control device 25 in a communicative manner via the first connection unit 44a and the second connection unit 47a is described. However, the second accommodation unit 7B may include a communication device connected to the first communication device 27 by wireless communication, and the first control device 25 and the second accommodation detection unit 90a may be connected in a communicative manner by wireless communication.

[0160] Next, the power supply device 8 will be described. The power supply device 8 is connectable to the work device 6 and / or auxiliary device 7 supported by another vehicle 3, and can supply power to the connected device. In this embodiment, of the work device 6 and auxiliary device 7, the work device 6 is driven by power supplied from the power supply device 8, so the power supply device 8 is electrically connectable to the work device 6.

[0161] The power supply device 8 has, for example, a battery unit 101 that can store electricity and supply the stored electricity to other devices. The battery unit 101 is a secondary battery such as a lithium-ion battery or a lead-acid battery. The battery unit 101 has a plurality of cells inside, and the plurality of cells are electrically connected in series and parallel. In this embodiment, the battery unit 101 can store electricity supplied via an external charger.

[0162] As shown in Figure 3, the battery unit 101 is connected to the power supply destination (work device 6 in this embodiment) via harnesses 95a and 102a. For example, harness 102a (first harness) on the battery unit 101 side has one end connected to the battery unit 101 and the other end connected to either the first connection part 44a or the second connection part 47a. Similarly, harness 95a (second harness) on the work device 6 side has one end connected to the device body 51, 81 and the other end connected to either the first connection part 44a or the second connection part 47a. In this embodiment, the other end of the first harness 102a is connected to a predetermined connection terminal of the first connection part 44a, and the other end of the second harness 95a is connected to a predetermined connection terminal of the second connection part 47a.

[0163] Therefore, as shown in Figures 1 and 2, when the coupling device 41 of the second vehicle 5 supporting the power supply device 8 is coupled to the coupled device 46 of the second vehicle 5 supporting the work device 6, the first connection part 44a and the second connection part 47a are connected, and the power supply device 8 and the work device 6 are electrically connected. On the other hand, when the coupling device 41 of the second vehicle 5 supporting the power supply device 8 is released from the coupled device 46 of the second vehicle 5 supporting the work device 6 (when it is released), the connection between the first connection part 44a and the second connection part 47a is released, and the power supply from the power supply device 8 to the work device 6 is cut off.

[0164] Furthermore, as shown in Figure 3, the power supply device 8 has a battery detection device 101a. The battery detection device 101a is a device that detects the state of the battery unit 101. The battery detection device 101a is a BMU (battery management unit) provided in the battery unit 101. The battery detection device 101a detects the temperature (measured temperature, actual temperature), voltage, current, or terminal voltage of the internal cells of the battery unit 101. The battery detection device 101a also detects the remaining capacity (charge rate) of the battery unit 101, for example, by the terminal voltage of the internal cells of the battery unit 101 and by a voltage measurement method. The method for detecting the remaining capacity of the battery unit 101 is not limited to a voltage measurement method, but may also be other methods such as a Coulomb counter method, a battery cell modeling method, or an impedance track method.

[0165] The battery detection device 101a is electrically connected to a predetermined terminal of at least one of the first connection portion 44a of the coupling device 41 and the second connection portion 47a of the coupled device 46, which are provided on the traveling vehicle 3 (second traveling vehicle 5) that supports the power supply device 8. In this embodiment, the battery detection device 101a is electrically connected to a predetermined terminal of the second connection portion 47a of the coupled device 46, which is provided on the second traveling vehicle 5 that supports the power supply device 8.

[0166] Therefore, when the coupled device 46 is coupled to the coupling device 41, the battery detection device 101a can communicate with equipment and devices directly or indirectly connected to the first connection part 44a via the first connection part 44a which is connected to the second connection part 47a. As shown in Figures 1 and 2, when the first towing vehicle 4A and the first towed vehicle 5A are coupled, the battery detection device 101a is connected to the first towing vehicle 4A (first control device 25) via the first connection part 44a of the first towing vehicle 4A so as to be able to communicate with it.

[0167] In this embodiment, the case in which the battery detection device 101a is connected to the first control device 25 in a communicative manner via the first connection part 44a and the second connection part 47a is described. However, the power supply device 8 may include a communication device connected to the first communication device 27 by wireless communication, and the first control device 25 and the battery detection device 101a may be connected in a communicative manner by wireless communication.

[0168] Furthermore, the power supply device 8 is not limited to a secondary battery and only needs to be capable of supplying power to other electrically connected devices (such as the work device 6 or auxiliary device 7). For example, the power supply device 8 may store the electricity generated by the fuel cell and supply the stored electricity to other devices. In such a case, the power supply device 8 has, in addition to the battery unit 101, a tank for containing gas (such as hydrogen gas or methane gas) and a fuel cell (fuel cell stack) that generates electricity using the gas supplied from the tank. Alternatively, the power supply device 8 may store the electricity generated by a generator using power generated by a prime mover E (such as an internal combustion engine) and supply the stored electricity to other devices. In such a case, the power supply device 8 has, in place of or in addition to the battery unit 101, a prime mover E that generates power and a generator that operates using the power supplied from the prime mover E and generates electricity.

[0169] The implement 2 in this embodiment receives instruction information transmitted from the server 9 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 work. The instruction information may also include the location of the work target (crops targeted for harvesting or crops targeted for spraying). As shown in Figure 3, the system including the implement 2 (work support system 1) is equipped with a server 9.

[0170] Server 9 is a fixed terminal, such as a fixed computer, located outside the work machine 2. As shown in Figure 3, Server 9 includes a server computing unit 111, a server storage device 112, and a server communication device 113.

[0171] The server arithmetic unit 111 is a processing circuit that includes one or more processors. The server arithmetic unit 111 performs various arithmetic operations. The server arithmetic unit 111 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 111 can read software programs from one or more memories using one or more processors and execute various operations based on those software programs.

[0172] Furthermore, as described in the first control device 25, the server computing unit 111 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 computing unit 111 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.

[0173] The server storage device 112 stores various types of information and data in a read-write manner. The server storage device 112 includes non-volatile memory such as an HDD or SSD. The server storage device 112 is connected to the server computing unit 111 in a communicative manner, and the server computing unit 111 can retrieve various types of information and data stored in the server storage device 112. For example, the server storage device 112 stores a field map MP.

[0174] The server communication device 113 is the communication interface of the server 9 and includes a communication circuit. The server communication device 113 can communicate with an external source (for example, the first communication device 27 of the first vehicle 4) and inputs and outputs (sends and receives) various information, data, and signals. The server communication device 113 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).

[0175] 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 111 acquires location information (vehicle body position VP) of the first traveling vehicle 4 via the server communication device 113 and the first communication device 27, and defines the field map MP based on the travel trajectory of the first traveling vehicle 4 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.

[0176] Furthermore, the field map MP may be associated with the location of the crops to be harvested. For example, when the first vehicle 4 travels through the field before performing work, the first vehicle 4 senses the field during its travel using the first sensing device 28b. The server computing device 111 obtains the sensing results from the first sensing device 28b via the server communication device 113 and performs image analysis of the sensing results. Based on the image analysis and the location information of the first vehicle 4, the server computing device 111 estimates the location of the crops (latitude, longitude, altitude, etc.). Once the server computing device 111 estimates the location of the crops, it maps the estimated location of the crops onto the field map MP. At this time, the server computing device 111 may select the crops to be harvested based on the sensing results.

[0177] The server computing device 111 maps the locations of crops onto the field map MP, and then defines the travel route (planned travel route R) of the first vehicle 4 and the order in which each crop will be harvested (harvesting order, work order) based on the field map MP and the locations of each crop. The server computing device 111 associates the locations of the crops, the travel route, and the harvesting order with the field map MP and defines them as instruction information.

[0178] The server computing unit 111 transmits instruction information to the first traveling vehicle 4 via the server communication device 113. The first traveling vehicle 4 receives the instruction information via the first communication device 27, and the first control device 25 controls the traveling device 14, etc., based on the instruction information to perform automatic driving in a work area such as a field. The first control device 25 also outputs instruction information to other computing processing units (second control device 55 or fourth control device 88) that are directly or indirectly connected via the first connection unit 44a and the second connection unit 47a, etc. As a result, each computing processing unit (second control device 55 or fourth control device 88) that receives the instruction information can perform its respective tasks based on the instruction information.

[0179] Figure 18 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 turn. In Figure 18, 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.

[0180] The first control device 25 acquires the position of the first traveling vehicle 4 (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).

[0181] 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.

[0182] Figures 19 to 21, 23, and 24 illustrate how, among a plurality of vehicles 3, a predetermined vehicle 3 and a vehicle 3 that is currently connected to it switch from a connected state to a disconnected state, and then switch to a connected state with another vehicle 3. In this embodiment, the work machine 2 can automatically switch a predetermined vehicle 3 from a connected state to a disconnected state and perform a separation operation to detach the vehicle 3. Furthermore, once the vehicle 3 is detached, the work machine 2 can automatically switch to a connected state with another vehicle 3 and perform a coupling operation to connect with that other vehicle 3.

[0183] For example, as a separation operation, the work machine 2 can automatically disconnect the second vehicle 5 (third towed vehicle 5C) that supports the auxiliary device 7 from the other vehicles 3. In such a case, as a coupling operation, the work machine 2 can automatically couple with another second vehicle 5 that supports another auxiliary device 7. In this way, the work machine 2 can replace the third towed vehicle 5C by performing the separation and coupling operations. In other words, the work machine 2 can replace one auxiliary device 7 with another.

[0184] Figure 22 is a diagram showing the sequence of events in the first replacement operation of the work implement 2. Below, using Figures 19 to 22, the operation in which the work implement 2 replaces one auxiliary device 7 with another auxiliary device 7 (first replacement operation) will be explained in detail. In the first replacement operation, a first traveling vehicle 4, different from the first towing vehicle 4A, tows the second traveling vehicle 5 to be replaced and transports the second traveling vehicle 5 to a work area such as a field. Hereinafter, the second traveling vehicle 5 that supports the other auxiliary device 7 will be referred to as the "fourth towed vehicle 5D," and the first traveling vehicle 4 that tows the fourth towed vehicle 5D will be referred to as the "second towing vehicle 4B."

[0185] The first control device 25 executes a first exchange operation when the work machine 2 satisfies a predetermined condition (first separation condition). For example, the first control device 25 determines whether or not the first separation condition is met based on the state of the housing (first housing 7A or second housing 7B) (S1).

[0186] Taking the case where the auxiliary device 7 is the first storage section 7A as an example, the first control device 25 acquires the detection result of the first storage detection unit 75a and calculates the amount of contents stored in the first storage section 7A and / or the remaining capacity that the first storage section 7A can accommodate. Specifically, if the first control device 25 determines that the amount of contents stored in the first storage section 7A exceeds a predetermined threshold (first threshold), it determines that the first separation condition is met. Alternatively, the first control device 25 may determine that the first separation condition is met if it determines that the remaining capacity that the first storage section 7A can accommodate is less than a predetermined threshold (second threshold).

[0187] On the other hand, taking the case where the auxiliary device 7 is the second storage section 7B as an example, the first control device 25 acquires the detection result of the second storage detection unit 90a and calculates the amount of contents stored in the second storage section 7B. Specifically, if the first control device 25 determines that the amount of contents stored in the second storage section 7B is less than a predetermined threshold (third threshold), it determines that the first separation condition is met.

[0188] The first to third thresholds are predetermined numerical values ​​pre-stored in, for example, the first storage device 26. The first to third thresholds are pre-included in, for example, the instruction information received from the server 9. The first to third thresholds may be arbitrarily changeable, and may be changed by an operator via an input interface such as a mobile terminal connected to the server 9 in a communicative manner.

[0189] When the first control device 25 determines that the first separation condition is met (S1: Yes), it calls a traveling vehicle 3 (fourth towed vehicle 5D) that supports another auxiliary device 7 (left diagram in Figure 19). Specifically, the first control device 25 obtains the vehicle position VP from the positioning result of the first positioning device 28c and transmits a first call signal including the vehicle position VP (first call position CP1) to the server 9 via the first communication device 27 (S2). At this time, the first control device 25 may output a work interruption signal to the control device (second control device 55 or fourth control device 88) provided by the work device 6 so that the work device 6 interrupts the work it is currently performing.

[0190] When the second control device 55 receives a work interruption signal, it interrupts the work of the harvesting machine 61 (flying machine) via the second communication device 57. Specifically, the second control device 55 sends a landing signal to the flying machine 61 to land at the landing station 52. When the third communication device 73 receives the landing signal, the third control device 71 controls the rotor actuator 68a, etc., to land the machine 62 at the landing station 52. When the fourth control device 88 receives a work interruption signal, it stops the pump actuator 82 and terminates the spraying of the material from the spray nozzle 87.

[0191] When the server communication device 113 receives the first call signal, the server computing device 111 arranges for the fourth towed vehicle 5D based on the first call signal. Specifically, the server computing device 111 defines a first guidance position IP1 for guiding the first towing vehicle 4A (working machine 2) and a second guidance position IP2 for guiding the second towing vehicle 4B that will tow the fourth towed vehicle 5D (S3). For example, the server computing device 111 refers to the field map MP and defines the first guidance position IP1 at a location relatively close to the first call position CP1 on the outer perimeter of the field map MP. For example, the server computing device 111 defines the first guidance position IP1 near the planned travel route R. In the right-hand diagram of Figure 19, the first guidance position IP1 is defined on the extension of the portion of the planned travel route R that is on the side of the direction of travel of the first towing vehicle 4A.

[0192] Furthermore, the server computing device 111 refers to the field map MP and defines a second guidance position IP2 on the outer perimeter of the field map MP, at a position relatively close to the first call position CP1, but different from the first guidance position IP1. In the left diagram of Figure 20, the second guidance position IP2 is defined on the rear side of the work machine 2 that was guided to the first guidance position IP1.

[0193] Once the server computing unit 111 defines the first guidance position IP1 and the second guidance position IP2, it transmits a first separation instruction signal to the first towing vehicle 4A via the server communication device 113, instructing it to release the coupling with the third towed vehicle 5C and proceed toward the first guidance position IP1 (S4). The first separation instruction signal includes the second guidance position IP2 in addition to the first guidance position IP1.

[0194] When the first control device 25 of the first towing vehicle 4A receives a first separation instruction signal from the server 9, it controls the coupling device 41 of the second towed vehicle 5B to release the coupling state with the coupling device 46 of the third towed vehicle 5C (S5, see the right diagram in Figure 19). As a result, the coupling state between the second towed vehicle 5B and the third towed vehicle 5C is released (switched to the released state), and the third towed vehicle 5C, i.e., the auxiliary device 7, is detached from the work machine 2 (separation operation). Once the third towed vehicle 5C is detached from the work machine 2, the first control device 25 controls the travel device 14 to travel along the planned travel route R and move toward the first guidance position IP1 (S6).

[0195] Furthermore, the server computing unit 111 transmits a transport instruction signal to the other first traveling vehicle 4 (referred to as the second towing vehicle 4B) connected to the fourth towed vehicle 5D, instructing it to proceed toward the second guidance position IP2 (S7). In addition to the second guidance position IP2, the transport instruction signal includes the first call position CP1 included in the call signal.

[0196] The first control device 25 of the second towing vehicle 4B controls the running gear 14 based on the second guidance position IP2 received by the first communication device 27, and moves toward the second guidance position IP2 (S8, see left diagram in Figure 20). When the first control device 25 of the second towing vehicle 4B reaches the second guidance position IP2, it controls the coupling device 41 of the second towing vehicle 4B to release the coupling state with the coupling device 46 of the fourth towed vehicle 5D (S9). As a result, the coupling state between the second towing vehicle 4B and the fourth towed vehicle 5D is released (switched to the released state), and the fourth towed vehicle 5D is detached from the second towing vehicle 4B.

[0197] When the second towing vehicle 4B detaches the fourth towed vehicle 5D, it moves toward the third towed vehicle 5C that has been detached from the work machine 2 (S10, see the right diagram in Figure 20). Specifically, the second towing vehicle 4B moves toward the third towed vehicle 5C based on the first call position CP1 included in the transport instruction signal. When the second towing vehicle 4B reaches the vicinity of the third towed vehicle 5C, the first control device 25 of the second towing vehicle 4B controls the running gear 14 and the coupling device 41 based on the sensing results of the second sensing device 45 to align the coupling device 41 and the coupled device 46 (S11). Then, when the first control device 25 of the second towing vehicle 4B determines that the alignment is complete, it controls the coupling drive mechanism 43b to switch the coupling device 41 and the uncoupled device 41 to the coupled state and connect to the third towed vehicle 5C (S12). When the second towing vehicle 4B switches to a coupled state with the third towed vehicle 5C, it pulls the third towed vehicle 5C away from the field (S13).

[0198] When the second towing vehicle 4B moves from the first call position CP1 (S13), the first towing vehicle 4A moves toward the fourth towed vehicle 5D that has been detached from the second towing vehicle 4B (S14, see the left diagram in Figure 21). Specifically, the first towing vehicle 4A moves toward the fourth towed vehicle 5D based on the second guidance position IP2 included in the first separation instruction signal. At this time, the first towing vehicle 4A may receive a signal from the server 9 indicating that the second towing vehicle 4B has left the first call position CP1 and execute the process in S14.

[0199] When the first towing vehicle 4A approaches the vicinity of the fourth towed vehicle 5D, the first control device 25 of the first towing vehicle 4A controls the running gear 14 and the coupling device 41 of the second towed vehicle 5B based on the sensing results of the second sensing device 45 provided on the coupling device 41 of the second towed vehicle 5B. As a result, the first control device 25 aligns the coupling device 41 of the second towed vehicle 5B with the coupling device 46 of the fourth towed vehicle 5D (S15). When the first control device 25 of the first towing vehicle 4A determines that the alignment is complete, it controls the coupling drive mechanism 43b to switch the coupling device 41 and the non-coupling device 41 to the coupled state, and connects the second towed vehicle 5B with the fourth towed vehicle 5D (S16). When the first towing vehicle 4A switches to a coupled state with the fourth towed vehicle 5D, it returns to the first call position CP1 along the planned route R and resumes the interrupted work (S17, see the right diagram in Figure 21).

[0200] The sequence of operations for the first exchange operation described using Figures 19 to 22 is merely illustrative, and the order of each process is not limited thereto. For example, in Figure 22, the processes from step S8 onwards are shown to be executed after the process in step S6, but the processes in step S5 and step S8 may be executed almost simultaneously, and the process in step S8 may be executed after the process in step S6.

[0201] Furthermore, in the example described above, the work machine 2 performed a first exchange operation in which it detached the third towed vehicle 5C from the third towing vehicle 4C (separation operation) and connected it to another fourth towed vehicle 5D (connection operation). However, as a separation operation, the work machine 2 may also automatically disconnect the second towing vehicle 5 (first towed vehicle 5A) that supports the power supply device 8 from the other towing vehicles 3. In this case, as a connection operation, the work machine 2 can automatically connect to another second towing vehicle 5 that supports another power supply device 8. As a result, the work machine 2 can replace the first towing vehicle 4A by performing the separation operation and the connection operation. In other words, the work machine 2 can replace one power supply device 8 with another power supply device 8.

[0202] Figure 25 is a diagram showing the sequence of events in the first replacement operation of the work machine 2. Below, using Figures 23 to 25, the operation in which the work machine 2 replaces one power supply device 8 with another power supply device 8 (second replacement operation) will be explained in detail. Note that the second replacement operation differs from the first replacement operation in that, in addition to the second vehicle 5 to be replaced, the first vehicle 4 that tows the second vehicle 5 is also replaced. Hereinafter, the second vehicle 5 that supports the other power supply device 8 will be referred to as the "fifth towed vehicle 5E," and the first vehicle 4 that tows the fifth towed vehicle 5E will be referred to as the "third towing vehicle 4C."

[0203] The first control device 25 of the first towing vehicle 4A executes a second replacement operation when the work machine 2 meets predetermined conditions (second separation conditions). For example, the first control device 25 of the first towing vehicle 4A determines whether the second separation conditions are met based on the state of the battery unit 101 (S21). The first control device 25 of the first towing vehicle 4A obtains the detection result of the battery detection device 101a provided on the battery unit 101 supported by the third towing vehicle 4C and obtains the remaining capacity of the battery unit 101. Specifically, the first control device 25 of the first towing vehicle 4A determines that the second separation conditions are met when it determines that the remaining capacity of the battery unit 101 is less than a predetermined threshold (fourth threshold).

[0204] The fourth threshold, like the first to third thresholds, is a predetermined numerical value pre-stored in, for example, the first storage device 26. The fourth threshold is pre-included in, for example, the instruction information received from the server 9. The fourth threshold may be arbitrarily changeable, and may be changed by the operator via an input interface such as a mobile terminal connected to the server 9 in a communicative manner. Furthermore, the fourth threshold may be a value defined based on the remaining work time or remaining distance traveled, calculated from the planned travel route R and the current vehicle position VP, etc.

[0205] When the first control device 25 of the first towing vehicle 4A determines that the second separation condition is met (S21: Yes), it calls the third towing vehicle 4C which is connected to the fifth towed vehicle 5E (see the left diagram in Figure 23). Specifically, the first control device 25 of the first towing vehicle 4A obtains the vehicle position VP from the positioning result of the first positioning device 28c and transmits a second call signal including the vehicle position VP (second call position CP2) to the server 9 via the first communication device 27 (S22). At this time, the first control device 25 of the first towing vehicle 4A may output a work interruption signal to the control device (second control device 55 or fourth control device 88) of the work device 6 so that the work device 6 interrupts the work it is currently performing.

[0206] When the first control device 25 of the first towing vehicle 4A transmits a second call signal to the server 9 (S22), it controls the coupling device 41 of the first towed vehicle 5A to release the coupling state with the coupling device 46 of the second towed vehicle 5B (S23, see the right diagram in Figure 23). As a result, the coupling state between the first towed vehicle 5A and the second towed vehicle 5B is released (switched to the released state), and the second towed vehicle 5B and the third towed vehicle 5C, i.e., the working device 6 and the auxiliary device 7, are detached from the working device 2 (detachment operation). When the third towed vehicle 5C is detached from the working device 2 (S23), the first control device 25 controls the running device 14 of the first towing vehicle 4A to move away from the field (S24).

[0207] When the server communication device 113 receives the second call signal, the server computing device 111 arranges for the third towing vehicle 4C based on the second call signal. Specifically, the server computing device 111 transmits a replacement instruction signal to the third towing vehicle 4C instructing it to proceed to the second call location CP2 (S25).

[0208] The first control device 25 of the third towing vehicle 4C controls the travel device 14 based on the second call position CP2 received by the first communication device 27 and moves toward the second call position CP2 (S26, see left diagram in Figure 24). When the first control device 25 of the third towing vehicle 4C approaches the second call position CP2, it moves toward the second towed vehicle 5B, which has been detached from the work machine 2, based on the second call position CP2.

[0209] When the fifth towed vehicle 5E approaches the vicinity of the second towed vehicle 5B, the first control device 25 of the third towing vehicle 4C controls the running gear 14 and the coupling device 41 of the fifth towed vehicle 5E based on the sensing results of the second sensing device 45 provided on the coupling device 41 of the fifth towed vehicle 5E. As a result, the first control device 25 of the third towing vehicle 4C aligns the coupling device 41 of the fifth towed vehicle 5E with the coupling device 46 of the second towed vehicle 5B (S27). When the first control device 25 of the third towing vehicle 4C determines that the alignment is complete, it controls the coupling drive mechanism 43b to switch the coupling device 41 and the non-coupling device 41 to the coupled state, and connects the fifth towed vehicle 5E with the second towed vehicle 5B (S28). Once the third towing vehicle 4C switches to a coupled state with the second towed vehicle 5B, it travels along the planned route R and resumes the interrupted work (S29, see the right diagram in Figure 24).

[0210] The sequence of operations for the second exchange operation described using Figures 23 to 25 is merely illustrative, and the order of each process is not limited thereto. For example, in Figure 25, the processes from step S25 onward are shown to be executed after the process in step S24, but the processes in step S23 and step S25 may be executed almost simultaneously, and the process in step S26 may be executed after the process in step S24.

[0211] (Modification) In the above-described embodiment, the work machine 2 was described using the example where the leading vehicle 3 among the multiple vehicles 3 is the first vehicle 4, and the multiple second vehicles 5 are directly or indirectly connected to the first vehicle 4 and towed by the first vehicle 4. However, the order and combination of connecting each vehicle 3 are not limited to this.

[0212] For example, at least the leading vehicle 3 and the last vehicle 3 may be second vehicles 5, and a first vehicle 4 may be connected between these second vehicles 5. In this case, when the first vehicle 4 moves forward, one or more second vehicles 5 connected in front of the first vehicle 4 are pushed forward by the first vehicle 4, and one or more second vehicles 5 connected behind the first vehicle 4 are pulled forward by the first vehicle 4. On the other hand, when the first vehicle 4 moves backward, one or more second vehicles 5 connected in front of the first vehicle 4 are pulled backward by the first vehicle 4, and one or more second vehicles 5 connected behind the first vehicle 4 are pushed backward (pushed back) by the first vehicle 4. Furthermore, as in the modified example, if the leading vehicle 3 is the second vehicle 5 instead of the first vehicle 4, then among the work device 6, auxiliary device 7, and power supply device 8, the device supported by the leading vehicle 3 (for example, the power supply device 8) is supported by the leading second vehicle 5.

[0213] Furthermore, the last vehicle 3 is the first vehicle 4, and multiple second vehicles 5 may be directly or indirectly connected to the first vehicle 4. In this case, when the first vehicle 4 moves forward, the multiple second vehicles 5 are pushed forward by the first vehicle 4. On the other hand, when the first vehicle 4 moves backward, the multiple second vehicles 5 are pulled backward by the first vehicle 4.

[0214] In the embodiment described above, the case was explained in which, among the multiple vehicles 3, the leading vehicle 3 is the first vehicle 4 and the other vehicles 3 are second vehicles 5. However, the multiple vehicles 3 only need to include one or more first vehicles 4. For this reason, as shown in Figure 26, all of the multiple vehicles 3 may be first vehicles 4. In the modified example shown in Figure 26, the work device 6, the auxiliary device 7, and the power supply device 8 are each supported by different first vehicles 4 and are arranged in the order of power supply device 8, work device 6, and auxiliary device 7 from the front.

[0215] In the embodiment described above, the case in which the work device 6, auxiliary device 7, and power supply device 8 are each supported by different vehicles 3 was explained. However, it is sufficient if at least two of the work device 6, auxiliary device 7, and power supply device 8 are each supported by different vehicles 3. That is, as shown in Figure 27, two of the work device 6, auxiliary device 7, and power supply device 8, and the remaining one, may be supported by different vehicles 3. In other words, two of the work device 6, auxiliary device 7, and power supply device 8 may be supported by a common vehicle 3.

[0216] For example, the work device 6 and the power supply device 8 are supported by a common towed vehicle 3, and the auxiliary device 7 is supported by a towed vehicle different from the towed vehicle 3. In the example shown in Figure 27, the first towed vehicle 5A supports the power supply device 8 and the work device 6, and the second towed vehicle 5B supports the auxiliary device 7. However, the modification is not limited to the example shown in Figure 27, and the power supply device 8 and the auxiliary device 7 may be supported by a common towed vehicle 3, while the work device 6 is supported by a towed vehicle 3 different from the towed vehicle 3. Alternatively, the work device 6 and the auxiliary device 7 may be supported by a common towed vehicle 3, while the power supply device 8 is supported by a towed vehicle 3 different from the towed vehicle 3.

[0217] In the embodiment described above, the power supply device 8, the work device 6, and the auxiliary device 7 are arranged in that order from the leading first traveling vehicle 4, and each device is supported by the traveling vehicle 3. However, the work device 6 only needs to be positioned between the power supply device 8 and the auxiliary device 7, and the work device 6, the auxiliary device 7, and the power supply device 8 may be arranged in that order from the leading side as the auxiliary device 7, the work device 6, and the power supply device 8.

[0218] In the embodiment described above, both the first and second vehicles 5 among the multiple vehicles 3 are equipped with coupling devices 41, and the coupling device 41 can be switched between a state in which it is coupled to another vehicle 3 equipped with a coupling device 46 (coupled state) and a state in which it is released (released state). However, it is not necessary for all coupling devices 41 to be switchable between the coupled state and the released state. For example, among the multiple vehicles 3, at least one of the second vehicle 5 supporting the power supply device 8 and the second vehicle 5 supporting the auxiliary device 7 may be equipped with the coupling device 41 described above, while the other may be coupled to the other vehicle 3 by a coupling member that cannot release the connection with the other vehicle 3.

[0219] In the embodiment described above, the case in which the on-board battery 29 is mounted on the first traveling vehicle 4 was explained, but the on-board battery may also be provided on the second traveling vehicle 5. Furthermore, each on-board battery may supply power to the electrically driven devices among the work devices 6 and auxiliary devices 7 supported by the traveling vehicle 3. In addition, the electrically driven devices among the work devices 6 and auxiliary devices 7 may be equipped with an auxiliary battery to supply power supplementarily when power is not supplied from the battery unit 101. In such a case, the auxiliary battery allows the work devices 6, etc., to continue performing work even when power is not supplied from the battery unit 101.

[0220] In the embodiment described above, the case in which the first traveling vehicle 4 is equipped with the first control device 25 was explained, but the first control device 25 may also be provided in any of the other traveling vehicles 3, work devices 6, auxiliary devices 7, and power supply devices 8. Furthermore, multiple of the multiple traveling vehicles 3, work devices 6, auxiliary devices 7, and power supply devices 8 may be equipped with arithmetic processing units.

[0221] In the embodiment described above, the first vehicle 4 was described as being equipped with a first positioning device 28c, but the second vehicle 5 may also be equipped with a positioning device for determining its own position, or a sensing device for sensing the surrounding environment in order to estimate its own position.

[0222] In the embodiments described above, the first traveling vehicle 4 shown in Figures 4 and 5, and the second traveling vehicle 5 shown in Figures 8 and 9, were used as examples to explain the traveling vehicle 3, but the traveling vehicle 3 is not limited to these. For example, a work vehicle such as a tractor capable of towing other traveling vehicles 3 may be used as the traveling vehicle 3.

[0223] A preferred embodiment of the present invention provides a work machine 2 as described in the following items.

[0224] (Item 1) A work machine 2 comprising a plurality of traveling vehicles 3, a work device 6 supported by any of the plurality of traveling vehicles 3 and performing work, an auxiliary device 7 supported by any of the plurality of traveling vehicles 3 and assisting the work of the work device 6, and a power supply device 8 supported by any of the plurality of traveling vehicles 3 and supplying power to at least one of the work device 6 and the auxiliary device 7, wherein at least two of the work device 6, the auxiliary device 7, and the power supply device 8 are each supported by different traveling vehicles 3.

[0225] According to the work machine 2 related to item 1, the load acting on each traveling vehicle 3 can be reduced.

[0226] (Item 2) The work machine 2 according to Item 1, wherein the work device 6, the auxiliary device 7, and the power supply device 8 are each supported by different traveling vehicles 3.

[0227] According to the work machine 2 related to item 2, the work device 6, auxiliary device 7, and power supply device 8 are each supported by different traveling vehicles 3, thereby further reducing the load acting on each traveling vehicle 3.

[0228] (Item 3) Multiple of the aforementioned traveling vehicles 3 are connected to each other, and are work machines 2 as described in Item 1 or 2.

[0229] According to the implement 2 related to item 3, it is possible to suppress relatively large fluctuations in the relative distance between each device. As a result, the power supply device 8 reliably supplies power to at least one of the implement 6 and the field equipment, while the implement 6 and the auxiliary device 7 can work in coordination with each other.

[0230] (Item 4) The work machine 2 according to Item 3, wherein the plurality of traveling vehicles 3 include a first traveling vehicle 4 having a traveling device 14 that generates a propulsive force, and a plurality of second traveling vehicles 5 that are directly or indirectly connected to the first traveling vehicle 4 and travel in a line by the propulsive force generated by the traveling device 14 of the first traveling vehicle 4.

[0231] According to the work machine 2 related to item 4, the second traveling vehicle 5 can be driven by the thrust generated by the first traveling vehicle 4, even if it cannot generate its own thrust. Therefore, complex control is not required to coordinate the movement of the first traveling vehicle 4 and the second traveling vehicle 5 in order for the first traveling vehicle 4 to drive the second traveling vehicle 5. Furthermore, if the second traveling vehicle 5 does not have a traveling device 14 that generates thrust, the manufacturing cost of the second traveling vehicle 5 can be reduced.

[0232] (Item 5) The first of the multiple running vehicles 3 is the first running vehicle 4, and the multiple second running vehicles 5 are the work machine 2 described in Item 4, which is directly or indirectly towed by the first running vehicle 4 as it moves forward.

[0233] According to the work machine 2 related to item 5, the second traveling vehicle 5 is towed along with the traveling first traveling vehicle 4, so that it can travel together with the first traveling vehicle 4. As a result, the second traveling vehicle 5 will travel along the traveling trajectory of the first traveling vehicle 4, so that the second traveling vehicle 5 can be prevented from traveling in an unintended direction.

[0234] (Item 6) The work machine 2 described in Item 5, wherein the work device 6, the auxiliary device 7, and the power supply device 8 are each supported by different second traveling vehicles 5, and are arranged in the order of the power supply device 8, the work device 6, and the auxiliary device 7 from the first traveling vehicle 4 side.

[0235] According to the work machine 2 related to item 6, since the power supply device 8 is not located between the work device 6 and the auxiliary device 7, it is possible to suppress the power supply device 8 from interfering with the work performed by the work device 6 and the auxiliary device 7 in cooperation.

[0236] (Item 7) The work machine 2 according to Item 6, wherein the work device 6 is driven by power supplied from the power supply device 8 and performs work with the assistance of the auxiliary device 7.

[0237] According to the work machine 2 related to item 7, the work device 6 can be reliably supplied with power from the power supply device 8, while also being able to reliably coordinate its work with the auxiliary device 7.

[0238] (Item 8) The work machine 2 according to Item 6 or 7, wherein at least one of the multiple traveling vehicles 3, the second traveling vehicle 5 supporting the power supply device 8 and the second traveling vehicle 5 supporting the auxiliary device 7, is switchable between a connected state in which it is connected to the other traveling vehicles 3 and a disconnected state in which it is disconnected.

[0239] According to the work machine 2 related to item 8, at least one of the second traveling vehicle 5 supporting the power supply device 8 and the second traveling vehicle 5 supporting the auxiliary device 7 can be disconnected from the traveling vehicle 3 supporting the work device 6. Therefore, the traveling vehicle 3 supporting the work device 6 can be connected to another second traveling vehicle 5 supporting a power supply device 8 instead of the second traveling vehicle 5 supporting the power supply device 8, or to another second traveling vehicle 5 supporting an auxiliary device 7 instead of the second traveling vehicle 5 supporting the auxiliary device 7.

[0240] (Item 9) The work machine 2 according to any one of items 1 to 8, wherein the work device 6 is a harvesting device 6A for harvesting crops, and the auxiliary device 7 is a storage section 7A for storing the crops harvested by the harvesting device 6A.

[0241] According to the work machine 2 related to item 9, the harvesting device 6A and the storage unit 7A are supported by different traveling vehicles 3, thereby reducing the load acting on each traveling vehicle 3, while the relative distance between each traveling vehicle 3 does not fluctuate significantly. As a result, the crops harvested by the harvesting device 6A can be reliably stored in the storage unit 7A.

[0242] (Item 10) The work machine 2 according to any one of items 1 to 8, wherein the work device 6 is a spraying device 6B for spraying a material, and the auxiliary device 7 is a storage unit 7B for storing the sprayed material.

[0243] According to the work machine 2 related to item 10, the spraying device 6B and the storage unit 7B are supported by different traveling vehicles 3, thereby reducing the load acting on each traveling vehicle 3. At the same time, the relative distance between each traveling vehicle 3 does not fluctuate significantly, so the spraying device 6B can reliably acquire the material to be sprayed from the storage unit 7B and spray the material.

[0244] 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.

[0245] 2: Working machine 3: Traveling vehicle 4: First traveling vehicle 5: Second traveling vehicle 6: Working device 6A: Harvesting device 6B: Spraying device 7: Auxiliary device 7A: Storage unit 7B: Storage unit 8: Power supply device 14: Traveling device

Claims

1. A work machine comprising: a plurality of traveling vehicles; a work device supported by any of the plurality of traveling vehicles and performing work; an auxiliary device supported by any of the plurality of traveling vehicles and assisting the work of the work device; and a power supply device supported by any of the plurality of traveling vehicles and supplying power to at least one of the work device and the auxiliary device, wherein at least two of the work device, the auxiliary device and the power supply device are each supported by different traveling vehicles.

2. The work machine according to claim 1, wherein the work device, the auxiliary device, and the power supply device are each supported by different traveling vehicles.

3. The work machine according to claim 2, wherein the plurality of the aforementioned traveling vehicles are connected to one another.

4. The work machine according to claim 3, comprising: a first traveling vehicle having a traveling device for generating propulsion; and a plurality of second traveling vehicles directly or indirectly connected to the first traveling vehicle and traveling in a line by the propulsion generated by the traveling device of the first traveling vehicle.

5. The work machine according to claim 4, wherein the leading vehicle among the plurality of vehicles is the first vehicle, and the plurality of second vehicles are towed directly or indirectly by the first vehicle moving forward.

6. The work machine according to claim 5, wherein the work device, the auxiliary device, and the power supply device are each supported by different second traveling vehicles, and are arranged in the order of the power supply device, the work device, and the auxiliary device from the first traveling vehicle side.

7. The work machine according to claim 6, wherein the work device is driven by power supplied from the power supply device and performs work with the assistance of the auxiliary device.

8. The work machine according to claim 6, wherein at least one of the multiple traveling vehicles, the second traveling vehicle supporting the power supply device and the second traveling vehicle supporting the auxiliary device, is switchable between a connected state in which it is connected to the other traveling vehicles and a disconnected state in which it is disconnected.

9. The work machine according to any one of claims 1 to 8, wherein the work device is a harvesting device for harvesting crops, and the auxiliary device is a storage unit for storing the crops harvested by the harvesting device.

10. The work machine according to any one of claims 1 to 8, wherein the work device is a spraying device for spraying a material, and the auxiliary device is a storage unit for storing the sprayed material.

Images