Harvesting system

Abstract

This harvesting system efficiently performs crop harvesting work.　A harvesting system (1) comprises: one or a plurality of first harvesting devices (51) that perform crop harvesting work; and one or a plurality of second harvesting devices (71) that perform crop harvesting work in a second work range (E2) above a first work range (E1) in which the first harvesting devices (51) perform harvesting work. The first harvesting device (51) is a manipulator (51) having an arm (52) and a first holding part (57) movably supported by the arm (52) and capable of holding crops. The second harvesting device (71) is a flying device (71) having an airframe (72), a plurality of rotors (75) provided on the airframe (72) and capable of generating thrust, and a second holding part (81) supported by the airframe (72) and capable of holding crops.

Description

Harvesting System

[0001] The present invention relates to a harvesting system for performing a crop harvesting operation.

[0002] The crop harvesting vehicle disclosed in Patent Document 1 includes a robot arm mechanism for harvesting cultivated crops, and a container attached to the vehicle body for storing the crops harvested by the robot arm mechanism, and the cultivated crops are selectively harvested.

[0003] Japanese Patent Application Laid-Open Publication "Japanese Patent Application Laid-Open No. 2021-122179"

[0004] In the crop harvesting vehicle of Patent Document 1, it is possible to selectively harvest the crops to be harvested.

[0005] Here, in order to improve the working efficiency of the harvesting operation by the crop harvesting vehicle, it is conceivable to perform the harvesting operation by providing a plurality of robot arm mechanisms on the crop harvesting vehicle or by coordinating a plurality of crop harvesting vehicles. However, when the heights of each crop are different, it is necessary to move the robot arm mechanism according to the height of the crop. For this reason, there is room for improving the working efficiency in the harvesting operation in which a plurality of robot arm mechanisms (harvesting devices) are coordinated.

[0006] The present invention has been made to solve such problems of the prior art, and an object thereof is to provide a harvesting system that can efficiently perform a crop harvesting operation.

[0007] A harvesting system according to an aspect of the present invention includes one or a plurality of first harvesting devices for performing a crop harvesting operation, and one or a plurality of second harvesting devices for performing the crop harvesting operation in a second working range above a first working range in which the first harvesting device performs the harvesting operation.

[0008] According to the above harvesting system, it is possible to efficiently perform a crop harvesting operation.

[0009] This is a block diagram of the harvesting system in the first embodiment. This is a perspective view showing the work machine in the first embodiment. This is a perspective view showing the vehicle. This is a side view showing the vehicle. This is a front view showing the vehicle. This is a plan view showing the vehicle. This is a perspective view showing the vehicle frame. This is a perspective view showing the vehicle with the vehicle body raised by the height change mechanism. This is a side view showing the vehicle with the vehicle body raised by the height change mechanism. This is a front view showing the vehicle with the vehicle body raised by the height change mechanism. This is a plan view showing the vehicle with the separation distance increased by the distance change mechanism. This is a perspective view showing the first harvesting device. This is a perspective view showing the second harvesting device. This is the first figure illustrating the first and second working ranges. This is the second figure illustrating the first and second working ranges. This is a front view illustrating the movement of the first harvesting device by the distance change mechanism in the first embodiment. This is a front view showing the takeoff and landing posture in the first embodiment. This is a perspective view showing the work machine in the second embodiment. This is the first figure illustrating the second working range. This is the second figure illustrating the second working range. This is a front view illustrating the takeoff and landing posture in the second embodiment. This is a block diagram of the harvesting system in the first embodiment. This is a first figure illustrating the second working range. This is a second figure illustrating the second working range. This is a front view illustrating the takeoff and landing posture in the second embodiment. This is a block diagram of the harvesting system in the first embodiment. This is a perspective view showing the first and second work implements in the third embodiment.

[0010] [First Embodiment] Preferred embodiments of the present invention will be described below with reference to the drawings. Figure 1 is a block diagram of the harvesting system 1 in the first embodiment. Figure 2 is a perspective view showing the work machine 2 in the first embodiment. As shown in Figures 1 and 2, the harvesting system 1 of this embodiment comprises one or more first harvesting devices 51 and one or more second harvesting devices 71. The first harvesting device 51 and the second harvesting device 71 are devices capable of harvesting crops, respectively.

[0011] Furthermore, as shown in Figures 1 and 2, the harvesting system 1 includes a traveling vehicle 11 on which a first harvesting device 51 and a second harvesting device 71 are mounted. In the first embodiment, the case in which the first harvesting device 51 and the second harvesting device 71 are mounted on a common traveling vehicle 11 will be described as an example. In the following description, the configuration including the traveling vehicle 11 and the first harvesting device 51 and / or second harvesting device 71 mounted on the traveling vehicle 11 may be referred to as "working machine 2".

[0012] In the first embodiment, the first harvesting device 51 is a manipulator attached to the traveling vehicle 11 that can approach (move) to crops by being driven and harvest the crops. Also in the first embodiment, the second harvesting device 71 is a flying device that can approach (move) to crops by flying and harvest the crops, and is attached to the traveling vehicle 11. The traveling vehicle 11 has a landing station 31 to which the flying device 71 can land. Furthermore, in the following description, the case in which the traveling vehicle 11 and the flying device 71 are connected via a cable 35 will be described as an example. First, the traveling vehicle 11 will be described in detail.

[0013] In the following explanation, the direction indicated by arrow X1 in the drawing 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.

[0014] Figure 3 is a perspective view of the vehicle 11, and Figure 4 is a side view of the vehicle 11. Figure 5 is a front view of the vehicle 11, and Figure 6 is a top view of the vehicle 11. As shown in Figures 3 to 6, the vehicle 11 has a body 12 and one or more running gears 15. The body 12 has a main body 13 and a body frame 14 that supports the main body 13.

[0015] The running gear 15 is a device that supports the vehicle body 12 so that it can move. In this embodiment, the running gear 15 is located on the side of the vehicle body 12. Furthermore, a pair of running gears 15 are provided on the left and right sides of the vehicle body 12 in the left-right direction. Therefore, the running gear 15 includes a first running gear 15L located on the left side of the vehicle body 12 and a second running gear 15R located on the right side of the vehicle body 12. The running gear 15 (first running gear 15L, second running gear 15R) comprises wheels 16 and a running frame 17 that supports the wheels 16. The wheels 16 include a left front wheel 16L1, a left rear wheel 16L2, a right front wheel 16R1, and a right rear wheel 16R2.

[0016] The wheels 16 are positioned on the sides of the vehicle body 12. The left wheels 16L1 and 16L2 are positioned on the left side of the vehicle body 12. The right wheels 16R1 and 16R2 are positioned on the right side of the vehicle body 12.

[0017] The running frame 17 includes a first running frame 17L included in the first running device 15L and a second running frame 17R included in the second running device 15R. The first running frame 17L supports the left wheels 16L1 and 16L2. The second running frame 17R supports the right wheels 16R1 and 16R2.

[0018] As shown in Figure 1, the vehicle 11 is equipped with a first power unit 21. The first power unit 21 is a device capable of outputting power to drive the vehicle 11. The first power unit 21 includes one or more motors 22, which generate power (rotational driving force). The motors 22 in the first power unit 21 are, for example, electric motors driven by electricity.

[0019] The output shaft (motor shaft) of the motor 22 is directly or indirectly connected to the power supply destination, and transmits the generated power to the said supply destination. The motor shaft of the motor 22 is indirectly connected to the supply destination, for example, via a transmission that includes multiple gears.

[0020] As shown in Figure 1, the vehicle 11 is equipped with a battery unit 23, and the motor 22 is driven by power supplied from the battery unit 23. The battery unit 23 is rechargeable and is a secondary battery such as a lithium-ion battery or a lead-acid battery. The battery unit 23 has multiple cells inside, and the multiple cells are electrically connected in series and parallel.

[0021] As shown in Figure 1, a first inverter 24 is provided in the power supply path connecting the battery unit 23 and the motor 22, and the first inverter 24 changes the current and voltage of the power supplied from the battery unit 23 to the motor 22. The vehicle 11 may also be equipped with a fuel cell in place of, or in addition to, the battery unit 23.

[0022] The first power unit 21 is capable of supplying power to each device and equipment provided by the running vehicle 11. If the first power unit 21 includes multiple motors 22, each motor 22 may supply power to different devices and equipment, or a common motor may supply power to multiple devices and equipment.

[0023] The first power unit 21 can output power to drive, for example, the running gear 15. The first power unit 21 has a motor 22a (running motor) that generates power to drive the wheels 16. The running motor 22a generates power to drive (rotate) the wheels 16, and this power is transmitted to the wheels 16. In this embodiment, the first power unit 21 includes a plurality of running motors 22a corresponding to each wheel 16, and each wheel 16 can be driven independently by its corresponding running motor 22a.

[0024] Furthermore, the first power unit 21 can generate power to drive devices and mechanisms different from the running gear 15 (wheels 16). The first power unit 21 includes a motor 22 separate from the running motor 22a. This motor 22 generates power to drive devices and mechanisms different from the wheels 16, and this power is transmitted to each device and mechanism. For example, the first power unit 21 has a pump motor 22b that supplies power to the hydraulic pump P provided in the running vehicle 11 and operates the hydraulic pump P. As a result, the hydraulic pump P is operated by the power generated by the pump motor 22b.

[0025] The hydraulic pump P discharges hydraulic fluid stored in the hydraulic fluid tank. The hydraulic fluid discharged by the hydraulic pump P is supplied to hydraulic equipment installed on the traveling vehicle 11, and the hydraulic equipment is driven by the supplied hydraulic fluid.

[0026] In this embodiment, the vehicle 11 is described as a vehicle 11 equipped with a first power unit 21 that includes one or more motors 22. However, the first power unit 21 may include other prime movers in place of or in addition to the motors 22. For example, the first power unit 21 may include an engine (internal combustion engine) such as a diesel engine or a gasoline engine, and the internal combustion engine may supply power to each device or piece of equipment.

[0027] As shown in Figures 3 to 6, the vehicle 11 is equipped with frame structures 14 and 17. The frame structures 14 and 17 constitute the skeleton of the vehicle 11. Covers 18 (exterior bodies) are attached to the frame structures 14 and 17. The frame structures 14 and 17 consist of a vehicle body frame 14 and a running frame 17.

[0028] Figure 7 is a perspective view showing the vehicle body frame 14. As shown in Figures 3 to 7, the vehicle body frame 14 includes a first vehicle body frame 14A, a second vehicle body frame 14B, and a third vehicle body frame 14C. The first vehicle body frame 14A is located in the center of the vehicle body 13 in the left-right direction. The second vehicle body frame 14B is located on one side (left) of the vehicle body 13 in the left-right direction. The third vehicle body frame 14C is located on the other side (right) of the vehicle body 13 in the left-right direction.

[0029] As shown in Figure 7, the vehicle frame 14 is composed of a first vehicle frame 14A, a second vehicle frame 14B, and a third vehicle frame 14C. As indicated by the arrows in Figure 7, the second vehicle frame 14B is mounted to the left of the first vehicle frame 14A by inserting the right protrusion 14b provided on the second vehicle frame 14B into the cylindrical body 14a provided on the first vehicle frame 14A from the left. Similarly, the third vehicle frame 14C is mounted to the right of the first vehicle frame 14A by inserting the left protrusion 14c provided on the third vehicle frame 14C into the cylindrical body 14a provided on the first vehicle frame 14A from the right.

[0030] The right protrusion 14b and the left protrusion 14c are movable in the left-right direction along the cylindrical body 14a. As a result, the second body frame 14B and the third body frame 14C are movable in the left-right direction relative to the first body frame 14A.

[0031] Of the travel frames 17, the first travel frame 17L is connected to the second vehicle frame 14B via the first lifting cylinder 26a1, which will be described later. As a result, the first travel frame 17L can move in the left-right direction integrally with the second vehicle frame 14B. Therefore, when the second vehicle frame 14B moves in the left-right direction relative to the first vehicle frame 14A, the first travel frame 17L also moves in the left-right direction relative to the first vehicle frame 14A. This allows the first travel device 15L to move in the left-right direction relative to the vehicle body 12.

[0032] On the other hand, of the traveling frames 17, the second traveling frame 17R is connected to the third vehicle frame 14C via the second lifting cylinder 26a2, which will be described later. As a result, the second traveling frame 17R can move in the left-right direction integrally with the third vehicle frame 14C. Therefore, when the third vehicle frame 14C moves in the left-right direction relative to the first vehicle frame 14A, the second traveling frame 17R also moves in the left-right direction relative to the first vehicle frame 14A. This allows the second traveling device 15R to move in the left-right direction relative to the vehicle body 12.

[0033] As shown in Figures 4 and 5, each running frame 17 is provided with a steering mechanism 25 for changing the direction of the wheels 16. The steering mechanism 25 includes a first steering mechanism 25L for changing the direction of the left front wheel 16L1 and the left rear wheel 16L2, and a second steering mechanism 25R for changing the direction of the right front wheel 16R1 and the right rear wheel 16R2. Each steering mechanism 25 has a steering cylinder 25a (hydraulic cylinder) for steering each wheel 16. The steering cylinder 25a can extend and retract using the hydraulic fluid discharged by the hydraulic pump P. Therefore, the steering mechanism 25 operates indirectly using the power generated by the first power unit 21. Each steering mechanism 25 can rotate each front wheel 360° around its axis as the steering cylinder 25a extends and retracts.

[0034] In this embodiment, a steering mechanism 25 is provided on each running frame 17, and the steering angle of each wheel 16 can be changed. However, if the wheels 16 of the running device 15 are omnidirectional wheels such as omniwheels or Mecanum wheels, the running vehicle 11 does not need to be equipped with a steering mechanism 25.

[0035] The vehicle 11 is equipped with a height adjustment mechanism 26. Figure 8 is a perspective view showing the vehicle 11 with the vehicle body 12 raised by the height adjustment mechanism 26, and Figure 9 is a side view showing the vehicle 11 with the vehicle body 12 raised by the height adjustment mechanism 26. Figure 10 is a front view showing the vehicle 11 with the vehicle body 12 raised by the height adjustment mechanism 26. As shown in Figures 8 to 10, the height adjustment mechanism 26 can raise and lower the vehicle body 12 at a position between the left and right running gears 15. By changing the vertical position of the vehicle body 12 relative to the running gears 15, the height of the vehicle body 12 from the ground can be changed. The height adjustment mechanism 26 raises and lowers the vehicle body 12 at a position between the first running gear 15L and the second running gear 15R in the left-right direction (left-right direction) of the vehicle body 12.

[0036] As shown in Figures 8 to 10, the height adjustment mechanism 26 has a lifting cylinder 26a (hydraulic cylinder). The lifting cylinder 26a can extend and retract using the hydraulic fluid discharged by the hydraulic pump P. Therefore, the height adjustment mechanism 26 operates indirectly using the power generated by the first power unit 21. As the lifting cylinder 26a extends and retracts with the hydraulic fluid, it raises and lowers the vehicle frame 14 relative to the running frame 17. As the vehicle frame 14 rises and falls, the vehicle body 12, including the vehicle frame 14 and the vehicle body 13, rises and falls. Therefore, the vehicle body 12 can be raised and lowered relative to the running device 15, including the running frame 17, by driving the lifting cylinder 26a. In this way, the height adjustment mechanism 26 is a mechanism that can raise and lower the vehicle body 12 relative to the running device 15.

[0037] The lifting cylinder 26a includes a first lifting cylinder 26a1 and a second lifting cylinder 26a2. The first lifting cylinder 26a1 is located on the left side of the vehicle body 12. The first lifting cylinder 26a1 connects the left side of the vehicle body frame 14 to the lower part of the first travel frame 17L. The second lifting cylinder 26a2 is located on the right side of the vehicle body 12. The second lifting cylinder 26a2 connects the right side of the vehicle body frame 14 to the lower part of the second travel frame 17R. As a result, the vehicle body frame 14 can be raised and lowered relative to the travel frame 17 by the extension and retraction of the lifting cylinders 26a (first lifting cylinder 26a1, second lifting cylinder 26a2).

[0038] As described above, since the vehicle body frame 14 supports the vehicle body 13, the vehicle body 12, including the vehicle body frame 14 and the vehicle body 13, can be raised and lowered as the lifting cylinder 26a extends and retracts. As shown in Figure 5, when the vehicle body 12 is in a lowered state, the vertical center of the vehicle body 12 is located below the upper end of the running frame 17. As shown in Figure 10, when the vehicle body 12 is in a raised state, the vertical center of the vehicle body 12 is located above the upper end of the running frame 17.

[0039] The height adjustment mechanism 26 can adjust the height of the vehicle body 12 by adjusting the length of the lifting cylinder 26a. More specifically, the height adjustment mechanism 26 can arbitrarily adjust the height of the vehicle body 12 between the position shown in Figure 5 (lower limit position) and the position shown in Figure 10 (upper limit position). In other words, the height adjustment mechanism 26 can adjust the raised position of the vehicle body 12 (a position higher than the lower limit position).

[0040] The vehicle 11 is equipped with a distance changing mechanism 27. Figure 11 is a plan view showing the vehicle 11 in a state where the separation distance has been increased by the distance changing mechanism 27. The distance changing mechanism 27 can change the distance between the left and right running gears 15. Specifically, the distance changing mechanism 27 changes the lateral distance between the first running gear 15L and the vehicle body 12, and the lateral distance between the second running gear 15R and the vehicle body 12. The distance changing mechanism 27 includes a first distance changing mechanism 27L that can change the lateral distance between the first running gear 15L and the vehicle body 12, and a second distance changing mechanism 27R that can change the lateral distance between the second running gear 15R and the vehicle body 12.

[0041] As shown in Figures 6 and 11, the first distance changing mechanism 27L has a first changing cylinder 27a1 (hydraulic cylinder) that moves the first travel device 15L to the left or to the right. The first changing cylinder 27a1 can extend and retract using the hydraulic fluid discharged by the hydraulic pump P. Therefore, the first distance changing mechanism 27L operates indirectly using the power generated by the first power device 21. As the first changing cylinder 27a1 extends and retracts using the hydraulic fluid, it moves the first travel frame 17L to the left or to the right. The left front wheel 16L1 and the left rear wheel 16L2 are supported by the first travel frame 17L. As a result, the first changing cylinder 27a1 can move the left front wheel 16L1 and the left rear wheel 16L2 together to the left or to the right by moving the first travel frame 17L to the left or to the right.

[0042] As shown in FIGS. 6 and 11, the second distance changing mechanism 27R has a second changing cylinder 27a2 (hydraulic cylinder) that moves the second traveling device 15R leftward or rightward. The second changing cylinder 27a2 can expand and contract by the hydraulic oil discharged from the hydraulic pump P. Therefore, the second distance changing mechanism 27R operates indirectly by the power generated by the first power device 21. As the second changing cylinder 27a2 expands and contracts by the hydraulic oil, it moves the second traveling frame 17R leftward or rightward. The right front wheel 16R1 and the right rear wheel 16R2 are supported by the second traveling frame 17R. Thereby, the second changing cylinder 27a2 can integrally move the right front wheel 16R1 and the right rear wheel 16R2 leftward or rightward by moving the second traveling frame 17R leftward or rightward.

[0043] As described above, by moving the first traveling frame 17L and the second traveling frame 17R in the left - right direction with respect to the first vehicle body frame 14A, the distance between the first traveling device 15L and the vehicle body 12, and the distance between the second traveling device 15R and the vehicle body 12 can be changed. The change of these distances can be performed by operating one or both of the first changing cylinder 27a1 and the second changing cylinder 27a2.

[0044] The distance changing mechanism 27 can adjust the distance between the traveling devices 15 by adjusting the length of the changing cylinder 27a. Specifically, the distance changing mechanism 27 can arbitrarily adjust the distance between the traveling devices 15 between the position shown in FIG. 6 (contracted position) and the position shown in FIG. 11 (expanded position). That is, the distance changing mechanism 27 can adjust the tread width between the left wheels 1, 16L2 and the right wheels 16R1, 16R2.

[0045] As shown in Figure 2, the vehicle 11 is equipped with a landing station 31. The landing station 31 is a base on which the flying device 71 can land. In the example shown in Figure 2, the landing station 31 is located on the upper part of the vehicle body 12. The landing station 31 has a landing section 32 on which the flying device 71 can land, and a support base 33 that supports the landing section 32 on the upper part of the vehicle body 12. The landing section 32 is a plate-shaped member supported by the support base 33 with its plate surface facing vertically. Specifically, the landing section 32 is located on the upper part of the first cover 18A that covers at least the upper part of the vehicle body frame 14. The landing section 32 extends from the front to the rear of the vehicle body 12. In the example shown in Figure 2, the length of the landing section 32 in the front-to-back direction is longer than its length in the left-to-right direction, and multiple flying devices 71 can land side by side in the front-to-back direction on the upper part of the landing section 32.

[0046] Although Figure 2 shows a case where two aircraft 71 are landed on the landing section 32, the landing section 32 only needs to be capable of accommodating at least one aircraft 71, and the size and shape of the landing section 32 are not limited to the example shown in Figure 2. In addition, markers for guiding the landing of the aircraft 71 may be provided on the upper surface of the landing section 32. The markers are, for example, image codes that allow a second sensing device 94 provided on the aircraft 71 to recognize the position of the landing section 32.

[0047] The support base 33 is a base that supports the landing section 32 at its upper end. The lower end of the support base 33 is attached to the upper part of the first vehicle frame 14A via a bracket. For this reason, the first cover 18A has a through hole through which the support base 33, which protrudes upward from the first vehicle frame 14A, passes, and the support base 33 protrudes upward from the first cover 18A. The lower surface of the landing section 32 is attached to the upper end of the support base 33. For this reason, the support base 33 can support the landing section 32 so that the plate surface of the landing section 32 faces in the vertical direction.

[0048] As shown in FIGS. 1 and 2, the traveling vehicle 11 includes one or more drive devices 34. The drive device 34 is a device capable of winding and unwinding a cable 35 connected to the flying device 71. The drive device 34 is provided on the traveling vehicle 11 corresponding to the number of the cables 35, that is, the number of the flying devices 71 provided on the traveling vehicle 11. The drive device 34 is attached to the landing station 31, and the length of the cable 35 between the drive device 34 and the flying device 71 can be changed by winding and unwinding the cable 35.

[0049] The cable 35 is a power line for supplying the power of the battery unit 23 provided on the traveling vehicle 11 to the flying device 71. In this embodiment, although the cable 35 is a power line, it may also serve as a communication cable that communicably connects the traveling vehicle 11 and the flying device 71.

[0050] The drive device 34 includes a motor 22c (drum motor) and a drum rotated by the drum motor 22c. The drum motor 22c is a motor included in the first power device 21. In this embodiment, the drum motor 22c is an electric motor driven by the power supplied from the battery unit 23. Also, the drum motor 22c may be a motor with a brake. In such a case, the motor with a brake is, for example, an electromagnetic motor with a brake, and the rotation can be switched between allowing and blocking by the armature being adsorbed to either the clutch plate or the brake plate.

[0051] The drum has the cable 35 wound around it and rotates to wind or unwind the cable 35. The drum has a support shaft attached at its center of rotation. For this reason, the drum can rotate in a first rotation direction for winding the cable 35 and in a second rotation direction opposite to the first rotation direction for unwinding the cable 35 by the power transmitted from the drum motor 22c.

[0052] In the example described above, the drum motor 22c was described as a motor with a brake. However, the drive device 34 may be composed of a claw member or the like that can engage with a latch gear attached to the drum, and may have a rotation restricting mechanism that can switch between restricting the rotation of the drum and releasing the restriction.

[0053] The following will explain in detail the various devices and equipment mounted on the vehicle 11, mainly using Figure 1. As shown in Figure 1, the vehicle 11 is equipped with a first control device 41. The vehicle 11 is also equipped with a first storage device 42.

[0054] The first control device 41 includes one or more processors. The first control device 41 is a controller for the vehicle 11 and performs various controls related to the vehicle 11. The first control device 41 is communicated with each device and equipment mounted on the vehicle 11 via an in-vehicle network such as CAN, ISOBUS, LIN, or FlexRay. Therefore, the first control device 41 can control each of these devices and equipment.

[0055] The first control device 41 includes one or more memories, various analog circuits, various digital circuits, etc. One or more memories store (remember) software programs and various data to be executed by one or more processors. The first control device 41 can read software programs from one or more memories using one or more processors and execute various processes based on said software programs. The first control device 41 may also execute various processes based on predetermined logic circuits using one or more processors.

[0056] Processors include, for example, CPUs (Central Processing Units), GPUs (Graphics Processing Units), DSPs (Digital Signal Processors), FPGAs (Field Programmable Gate Arrays), and ASICs (Application Specific Integrated Circuits).

[0057] The first control device 41 may perform various processes through the cooperation of multiple physically separated processors, and its configuration is not limited to the configuration described above. In such a case, the multiple processors are each mounted on one or more computers physically separated from the vehicle 11, and these processors are connected to each other via a network such as an in-vehicle network, LAN, WAN, and the Internet.

[0058] Furthermore, the software program may be stored in a first storage device 42 that is communicatively connected to the first control device 41, or in an external server 101 connected via the network, and then installed into the memory from there.

[0059] The first storage device 42 is a device capable of storing information. The first storage device 42 includes non-volatile memory such as an HDD (Hard Disk Drive) or SSD (Solid State Drive). The first storage device 42 is connected to the first control device 41 in a communication manner, and the first control device 41 stores various information in the first storage device 42 and retrieves information stored in the first storage device 42.

[0060] For example, the first control device 41 can control the first power unit 21 and change the power generated by the first power unit 21. In this embodiment, the first control device 41 can control the rotational speed and rotational direction of each motor 22 by controlling the first inverter 24. For example, the first control device 41 can control the propulsion force of the travel device 15 by controlling the rotational speed and rotational direction of each travel motor 22a. In addition, the first control device 41 can control the output of the hydraulic pump P (discharge amount of hydraulic fluid) by controlling the rotational speed of the pump motor 22b.

[0061] Furthermore, the first control device 41 can control one or more control valves 28 connected to the hydraulic pump P via an oil passage, and adjust the hydraulic fluid supplied to each hydraulic device via the control valves 28. The control valves 28 are composed of, for example, electromagnetic proportional valves, and the first control device 41 controls the current of the power supplied to each control valve 28, and adjusts the switching position of each control valve 28, i.e., the hydraulic fluid supplied to each hydraulic device. In this way, the first control device 41 can control the extension and retraction of the steering cylinder 25a of the steering mechanism 25, the lifting cylinder 26a of the height change mechanism 26, and the change cylinder 27a of the distance change mechanism 27, etc.

[0062] Furthermore, the steering mechanism 25, height change mechanism 26, and distance change mechanism 27, etc., are provided with motion detection devices 43 that detect the operation of each mechanism, and the first control device 41 can control each control valve 28 based on the detection results of the motion detection devices 43. The motion detection devices 43 are, for example, stroke sensors that detect the extension (stroke) of each hydraulic cylinder.

[0063] The motion detection device 43 is connected to the first control device 41 in a communicative manner and can output detection results to the first control device 41. Therefore, the first control device 41 can calculate the operating state of the steering mechanism 25, the height change mechanism 26, and the distance change mechanism 27 based on the detection results of the motion detection device 43 and predetermined calculation formulas stored in the first storage device 42. For example, the first control device 41 can calculate the steering angle of the running gear 15, the height of the vehicle body 12 relative to the running gear 15, and the tread width.

[0064] As shown in Figure 1, the vehicle 11 is equipped with a first communication device 44. The first communication device 44 is the communication interface of the vehicle 11 and includes a communication circuit. The first communication device 44 can communicate with other communication devices and inputs (sends and receives) various information, data, and signals. The first communication device 44 can communicate with, for example, the aircraft 71 and the external server 101. The first communication device 44 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.

[0065] As shown in Figure 1, the vehicle 11 is equipped with a first sensing device 45. The first sensing device 45 is a device that senses the environment around the vehicle 11. The first sensing device 45 can sense at least the left-right direction of the vehicle body 12. In this embodiment, the first sensing device 45 can sense the front-rear direction in addition to the left-right direction of the vehicle body 12. Based on the sensing results of the first sensing device 45, the first control device 41 can detect crops (objects), workers, obstacles, etc., around the vehicle 11. The first control device 41 may also estimate the position of the vehicle 11 based on the sensing results (detected point cloud data) and environmental map information stored in the first storage device 42, etc.

[0066] The first sensing device 45 includes an optical distance measuring sensor and a signal processing circuit, etc. The optical distance measuring sensor of the first sensing device 45 can be exemplified by a LiDAR (Light Detection and Ranging) sensor.

[0067] 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).

[0068] In addition to LiDAR, other examples of optical distance measuring sensors for the first sensing device 45 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 45 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.

[0069] As shown in Figure 1, the vehicle 11 may be equipped with a first positioning device 46. The first positioning device 46 is a device that performs positioning (detection of the position of the vehicle 11). The first positioning device 46 receives satellite signals from a satellite positioning system using a GPS antenna and performs positioning of the vehicle 11 using said satellite signals.

[0070] As shown in Figure 1, the vehicle 11 may be equipped with a first attitude detection device 47. The first attitude detection device 47 is a device that detects the attitude of the vehicle 11. The first attitude detection device 47 is an inertial measurement unit (IMU) that includes, for example, an acceleration sensor and a gyro sensor. The first attitude detection device 47 detects the inclination information (roll angle, pitch angle, and yaw angle) of the vehicle 11.

[0071] One or more manipulators 51 are devices capable of harvesting crops. As shown in Figure 2, the manipulator 51 (first harvesting device) is mounted on a vehicle 11. In the example shown in Figure 2, the harvesting system 1 is equipped with multiple manipulators 51, which are mounted on a vehicle 15. The multiple manipulators 51 are each mounted on a pair of vehicles 15 and are arranged in a line in the front-to-back direction. Therefore, in the example shown in Figure 2, when the flying device 71 is landed on the landing station 31, the landed flying device 71 is located between the left manipulator 51 and the right manipulator 51.

[0072] Furthermore, multiple manipulators 51 are provided on the front and rear sides of each traveling device 15. The multiple manipulators 51 are arranged at equal intervals in the front-rear and left-right directions. In Figure 2, two manipulators 51 are provided on the first traveling device 15L and two on the second traveling device 15R.

[0073] The number and arrangement of the manipulators 51 mounted on the traveling device 15 are not limited to the example shown in Figure 2. For example, the manipulators 51 may be mounted on the left and right outer sides of each traveling device 15 and arranged to extend from the traveling device 15 in the left and right directions.

[0074] Furthermore, as shown in Figure 1, the manipulator 51 is equipped with a second power unit 60. The second power unit 60 is a device capable of outputting power. The second power unit 60 includes one or more motors 61, and generates power (rotational driving force) with these one or more motors 61. The motors 61 in the second power unit 60 are, for example, electric motors driven by electricity.

[0075] The motor 61 is a servo motor or the like. The output shaft (motor shaft) of the motor 61 is directly or indirectly connected to the power supply destination, and transmits the generated power to the said supply destination. The motor shaft of the motor 61 is indirectly connected to the supply destination, for example, via a transmission that includes multiple gears.

[0076] In this embodiment, the motor 61 is driven by power supplied from the battery unit 23 of the vehicle 11 on which the manipulator 51 is mounted. The motor 61 of the second power unit 60 is powered by the battery unit 23 via the first inverter 24, similar to the motor 22 of the first power unit 21. Therefore, in this embodiment, the rotation direction, rotation speed, and rotation angle of each motor 61 are controlled by the first control device 41, which controls the first inverter 24. In other words, the manipulator 51 in this embodiment is controlled by the first control device 41 of the vehicle 11.

[0077] However, the manipulator 51 may be operated directly or indirectly by the power generated by the first power unit 21. For example, the manipulator 51 may have hydraulic equipment such as a hydraulic cylinder and be operated indirectly by the power generated by the first power unit 21 (pump motor) 22b.

[0078] Figure 12 is a perspective view showing the first harvesting device 51 (manipulator). As shown in Figure 12, the manipulator 51 has an arm 52 and a first holding part 57. The arm 52 is a mechanism that movably supports the first holding part 57. The base end of the arm 52 is attached to the traveling vehicle 11.

[0079] The arm 52 includes a mounting body 53, an arm bracket 54, a first arm portion 55, and a second arm portion 56. The mounting body 53 constitutes the base end of the arm 52 and is mounted on the traveling vehicle 11. The mounting body 53 also rotatably supports the arm bracket 54. As shown in Figures 1 and 12, the mounting body 53 includes a mounting portion 53a, a first rotating shaft 53b, and a first rotating motor 61a.

[0080] The mounting portion 53a is a frame attached to the running vehicle 11. The lower end of the mounting portion 53a is attached to the upper part of the running frame 17 via a bracket. For this reason, the second cover 18B provided on each running frame 17 has a through hole formed therein through which the mounting portion 53a, which protrudes upward from the running frame 17, passes, and the mounting portion 53a protrudes upward from the second cover 18B. The first rotating shaft 53b is supported on the mounting portion 53a so as to be rotatable around its vertical axis. An arm bracket 54 is attached to the upper end of the first rotating shaft 53b. The first rotating motor 61a is a motor 61 that rotates the first rotating shaft 53b. The first rotating motor 61a is a motor 61 of the second power unit 60. As the first rotating motor 61a is driven, the arm bracket 54 rotates around the axis of the first rotating shaft 53b.

[0081] The arm bracket 54 is attached to the upper end of the first pivot shaft 53b and supports the first arm portion 55 so that it can swing. As shown in Figures 1 and 12, the arm bracket 54 has a bracket portion 54a, a first pivot shaft 54b, and a first pivot motor 61b. The bracket portion 54a is a bracket attached to the first pivot shaft 53b. The first pivot shaft 54b is supported by the bracket portion 54a so that it can rotate around a horizontal axis. The base end of the first arm portion 55 is attached to the first pivot shaft 54b. The first pivot motor 61b is a motor 61 that rotationally drives the first pivot shaft 54b. The first pivot motor 61b is a motor 61 of the second power unit 60, similar to the first pivot motor 61a. As the first oscillating motor 61b is driven, the first arm portion 55 is oscillated around the axis of the first oscillating shaft 54b.

[0082] The base end of the first arm portion 55 is attached to the first oscillating shaft 54b. The tip of the first arm portion 55 pivotably supports the second arm portion 56. As shown in Figures 1 and 12, the first arm portion 55 includes a first arm frame 55a, a second oscillating shaft 55b, and a second oscillating motor 61c. The first arm frame 55a is a long frame attached to the first oscillating shaft 54b. The base end of the first arm frame 55a is pivotably supported on the first oscillating shaft 54b. The second oscillating shaft 55b is rotatably supported on the tip of the first arm frame 55a. The base end of the second arm portion 56 is attached to the second oscillating shaft 55b. The second oscillating motor 61c is a motor 61 that rotationally drives the second oscillating shaft 55b. The second oscillating motor 61c is a motor 61 of the second power unit 60, similar to the first rotating motor 61a, etc. As the second oscillating motor 61c is driven, the second arm portion 56 is oscillated around the axis of the second oscillating shaft 55b.

[0083] The base end of the second arm portion 56 is attached to the second oscillating shaft 55b. The tip of the second arm portion 56 pivotably supports the first holding portion 57. As shown in Figures 1 and 12, the second arm portion 56 includes a second arm frame 56a, a second rotating shaft 56b, and a second rotating motor 61d. The second arm frame 56a is a long frame attached to the second oscillating shaft 55b. The base end of the second arm frame 56a is pivotably supported by the second oscillating shaft 55b. The second rotating shaft 56b is pivotably supported at the tip of the second arm frame 56a. The second rotating shaft 56b extends in the direction of extension of the second arm frame 56a (in other words, in the direction perpendicular to the axis of the second oscillating shaft 55b) and pivotably supports the first holding portion 57. A first retaining part 57 is attached to the tip of the second rotating shaft 56b. The second rotating motor 61d is a motor 61 that rotates the second rotating shaft 56b. The second rotating motor 61d is a motor 61 of the second power unit 60, similar to the first rotating motor 61a, etc. As the second rotating motor 61d is driven, the first retaining part 57 rotates around the axis of the second rotating shaft 56b.

[0084] The first holding part 57 is a mechanism capable of holding crops. The first holding part 57 is provided at the tip of the arm 52 and is, for example, a robot hand capable of grasping crops (objects). The first holding part 57 has a first base part 58 and a plurality of first gripping parts 59. The base end of the first base part 58 is attached to the second rotating shaft 56b. The first base part 58 has a first holding mechanism 58a, which operates the plurality of first gripping parts 59 and causes the tips of the plurality of first gripping parts 59 to grasp the crop. The plurality of first gripping parts 59 are claw-shaped members, and elastic members for holding crops are attached to their tips. In addition, the base ends of the plurality of gripping parts are pivotably supported relative to the first base part 58.

[0085] Specifically, the first holding mechanism 58a includes a first biasing unit and a first drive unit 61e. The first biasing unit biases each first gripping unit 59 in the approaching direction (closing direction). The first biasing unit is formed, for example, by a torsion coil spring and biases each first gripping unit 59 in the approaching direction. The first drive unit 61e generates a force that resists the biasing force of the first biasing unit toward the first gripping unit 59 by driving it. In other words, the first drive unit 61e forces the first gripping unit 59 to move toward the away direction (separation direction, opening direction). The first drive unit 61e is, for example, a first drive motor, and the first drive motor 61e is a motor 61 of the second power unit 60, similar to the first rotation motor 61a, etc. As the first drive motor 61e is driven, the first gripping unit 59 is moved toward the away direction.

[0086] Furthermore, the manipulator 51 has a first state detection device 62. The first state detection device 62 is a detection device that detects the operating state of the manipulator 51. The first state detection device 62 can detect the rotation angle of the arm bracket 54 relative to the mounting body 53, the swing angle of the first arm portion 55 relative to the arm bracket 54, the swing angle of the second arm portion 56 relative to the first arm portion 55, the rotation angle of the first holding portion 57 relative to the second arm portion 56, and the swing angle of the first gripping portion 59. The first state detection device 62 has, for example, a rotational displacement type variable resistor such as a potentiometer.

[0087] The first state detection device 62 is connected to the first control device 41 in a communicative manner and can output detection results to the first control device 41. Therefore, the first control device 41 can calculate the operating state of the manipulator 51 based on the detection results of the first state detection device 62 and predetermined calculation formulas etc. that are pre-stored in the first storage device 42. Accordingly, the first control device 41 can calculate the tip position of the first holding part 57 of each manipulator 51, the height of the manipulator 51, etc.

[0088] The manipulator 51 described above is merely an example and is not limited to the above configuration. For example, although the case in which the manipulator 51 is operated by the motor 22 of the first power unit 21 has been described, the manipulator 51 may also be operated by an electric cylinder or a hydraulic cylinder. Furthermore, although the case in which the first holding part 57 has a robot hand capable of gripping a crop (object) has been described in the above description, the first holding part 57 is not limited to a robot hand. For example, the first holding part 57 may be configured to generate negative pressure at the contact point with the crop using a compressor, thereby adsorbing and holding the crop.

[0089] One or more flying devices 71 are unmanned and capable of at least harvesting crops. As shown in Figure 2, the flying device 71 (second harvesting device) is mounted on a vehicle 11. In the example shown in Figure 2, the harvesting system 1 comprises multiple flying devices 71, which are mounted on the vehicle body 12. Specifically, the multiple flying devices 71 land on a landing station 31 located on the upper part of the vehicle body 12. Furthermore, the multiple flying devices 71 are connected to the vehicle 11 by cables 35 as described above.

[0090] More specifically, the flying device 71 is a multi-rotor drone. Figure 13 is a perspective view showing the second harvesting device 71 (flying device). As shown in Figure 13, the flying device 71 comprises a body 72, a plurality of rotors 75, and a second holding unit 81. The body 72 has a main body 73 that supports various devices and equipment of the flying device 71. The body 72 also has a plurality of support arms 74 extending from the main body 73. In a plan view, the support arms 74 extend away from the main body 73. In a plan view, the plurality of support arms 74 extend radially from the main body 73. The support arms 74 extend horizontally outward from the main body 73.

[0091] Multiple rotors 75 are mounted on the airframe 72 and are capable of generating thrust. Therefore, the flight device 71 can move the airframe 72 in a predetermined direction or change its altitude using the multiple rotors 75. Specifically, each of the multiple rotors 75 is attached to a support arm 74. Furthermore, the multiple rotors 75 generate lift to raise the airframe 72, thereby controlling its attitude. In a plan view, the multiple rotors 75 are arranged at equidistant positions from the center of the airframe 72.

[0092] Furthermore, in this embodiment, each rotor 75 performs both lift generation and attitude control, but a plurality of rotors 75 may include a rotor 75 that generates lift and a rotor 75 that performs attitude control separately.

[0093] The rotor 75 has a rotating shaft 76 and blades 77. The rotating shaft 76 is a shaft that rotates due to power transmitted from the third power unit 78. The rotating shaft 76 extends in the vertical direction. The blades 77 are attached to the rotating shaft 76 and generate lift as the rotating shaft 76 rotates.

[0094] As shown in Figure 1, the flight device 71 is equipped with a third power unit 78. The third power unit 78 is a device capable of outputting power. The third power unit 78 includes one or more motors 79, and the one or more motors 79 generate power (rotational driving force).

[0095] The motor 79 of the third power unit 78 is, for example, an electric motor driven by electricity. The output shaft (motor shaft) of the motor 79 is directly or indirectly connected to the power supply destination, and transmits the generated power to the said supply destination. The motor shaft of the motor 79 is indirectly connected to the supply destination, for example, via a transmission that includes multiple gears.

[0096] The third power unit 78 has a motor 79a (rotating motor) that generates power to drive the rotating shaft 76. The rotating motor 79a generates power to drive (rotate) the rotating shaft 76, and this power is transmitted to the rotating shaft 76. In this embodiment, the third power unit 78 includes a plurality of rotating motors 79a corresponding to each rotating shaft 76, and each of the rotating shafts 76 can be driven independently by its corresponding rotating motor 79a.

[0097] As shown in Figure 1, a second inverter 80 is provided in the power supply path connecting the battery unit 23 (cable 35) and the motor 79. This second inverter 80 changes the current and voltage of the power supplied from the battery unit 23 to the rotary motor 79a. As a result, the third power unit 78 rotates the rotary shaft 76 using the power output by the rotary motor 79a.

[0098] In this embodiment, the description will be based on the case where the flight device 71 operates using power supplied via the cable 35, but the flight device 71 may also have a battery capable of supplying power to each of its devices and equipment. Furthermore, the third power unit 78 may have an internal combustion engine such as a gasoline engine installed in the aircraft body 73, and the power generated by the internal combustion engine may drive (rotate) at least one rotating shaft 76.

[0099] The second holding part 81 is supported by the machine body 72 and is capable of holding crops. The second holding part 81 is attached to the machine body 72 via a support 84. The support 84 supports the second holding part 81 below the machine body 72. As shown in Figures 1 and 13, the support 84 has a support part 84a, a third rotating shaft 84b, and a third rotating motor 79b.

[0100] The support portion 84a is a long frame attached to the lower part of the machine body 72. The base end of the support portion 84a is attached to the lower part of the machine body 72 via a bracket and extends horizontally (for example, forward) from the main body 73. The third rotating shaft 84b protrudes toward the tip of the support portion 84a and rotatably supports the second holding portion 81. The second holding portion 81 is attached to the tip of the third rotating shaft 84b. The third rotating motor 79b is a motor 79 that rotates the third rotating shaft 84b. The third rotating motor 79b is a motor 79 of the third power unit 78. The rotation direction, rotation speed, and rotation angle of the third rotating motor 79b are controlled by the second control device 91. As a result, when the third rotating motor 79b is driven, the second holding portion 81 rotates around the axis of the third rotating shaft 84b.

[0101] The second holding part 81 is a mechanism capable of holding crops. The second holding part 81 is provided at the tip of the support part 84a and is, for example, a robot hand capable of gripping crops (objects). The second holding part 81 has a second base part 82 and a plurality of second gripping parts 83. The base end of the second base part 82 is attached to the third rotating shaft 84b. The second base part 82 has a second holding mechanism 82a, which operates the plurality of second gripping parts 83 and causes the tips of the plurality of second gripping parts 83 to grip crops. The plurality of second gripping parts 83 are claw-shaped members, and elastic members for holding crops are attached to their tips. The base ends of the plurality of gripping parts are also supported so as to be swingable relative to the second base part 82.

[0102] Specifically, the second holding mechanism 82a includes a second biasing unit and a second drive unit 79c. The second biasing unit biases each second gripping unit 83 in the approaching direction (closing direction). The second biasing unit is formed, for example, by a torsion coil spring and biases each second gripping unit 83 in the approaching direction. The second drive unit 79c generates a force that resists the biasing force of the second biasing unit toward the second gripping unit 83 by driving it. In other words, the second drive unit 79c forces the second gripping unit 83 to move away from it (separation direction, opening direction). The second drive unit 79c is, for example, a second drive motor, and the second drive motor 79c is a motor 79 of the third power unit 78, similar to the rotary motor 79a, etc. The second drive motor 79c, like the rotary motor 79a, has its rotation direction, rotation speed, and rotation angle controlled by the second control device 91. As a result, when the second drive motor 79c is driven, the second gripping part 83 moves in the away direction.

[0103] It should be noted that the second holding part 81 described above is merely an example and is not limited to the above configuration. For example, although the case in which the second holding part 81 is operated by the motor 79 of the third power unit 78 has been described, the second holding part 81 may also be operated by an electric cylinder or the like. Furthermore, although the case in which the second holding part 81 has a robot hand capable of gripping a crop (object) has been described in the above description, the second holding part 81 is not limited to a robot hand. For example, the second holding part 81 may be configured to generate negative pressure at the contact point with the crop using a compressor, thereby adsorbing and holding the crop.

[0104] As shown in Figure 13, the flight device 71 is equipped with skids 85. The skids 85 are attached to the underside of the aircraft body 72. The skids 85 have a plurality of leg members 86 that extend downward from the aircraft body 73. The plurality of leg members 86 touch the ground when the flight device 71 lands, supporting the aircraft body 72 by floating it above the landing surface such as the landing station 31 or the ground. The plurality of leg members 86 are also arranged on one side (left side) and the other side (right side) of the second holding part 81 in the left-right direction. Therefore, the second holding part 81 is located between the plurality of leg members 86.

[0105] As shown in Figure 1, the flight device 71 includes a second control device 91 and a second storage device 92. The second control device 91 is a processing circuit that includes one or more processors. The second control device 91 is the controller of the flight device 71 and performs various controls related to the flight device 71. The second control device 91 is communicatively connected to each piece of equipment and device mounted on the flight device 71. For example, the second control device 91 controls the drive, stop, and rotation speed (lift) of each rotor 75.

[0106] The second control device 91 includes one or more memories, various analog circuits, various digital circuits, etc. One or more memories store (remember) software programs and various data to be executed by one or more processors. The second control device 91 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 41, the second control device 91 may perform various processes based on predetermined logic circuits using one or more processors. Also, as described in the first control device 41, the second control device 91 may perform various processes by having multiple physically separated processors cooperate with each other, and its configuration is not limited to the above-described configuration.

[0108] The second storage device 92 stores various types of information and data in a read-write manner. The second storage device 92 includes non-volatile memory such as an HDD or SSD. The second storage device 92 is communicated with the second control device 91, and the second control device 91 can acquire various types of information and data stored in the second storage device 92.

[0109] As shown in Figure 1, the flying device 71 is equipped with a second communication device 93. The second communication device 93 is the communication interface of the flying device 71 and includes a communication circuit. The second communication device 93 can communicate with other communication devices and inputs (sends and receives) various information, data, and signals. The second communication device 93 can communicate with, for example, the vehicle 11 (first communication device 44) or an external server 101. The second communication device 93 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.

[0110] As shown in Figure 1, the flying device 71 is equipped with a second sensing device 94. The second sensing device 94 is a device that senses the environment around and below the flying device 71. The second sensing device 94 can sense at least the area in front of and below the aircraft body 72. In this embodiment, the second sensing device 94 can sense the area around and below the aircraft body 72. Based on the sensing results of the second sensing device 94, the second control device 91 can detect crops (objects), workers, obstacles, etc., around the flying device 71. The second control device 91 may also estimate the position of the flying device 71 based on the sensing results (detected point cloud data) and environmental map information stored in the second storage device 92, etc.

[0111] The second sensing device 94 includes an optical distance measuring sensor and a signal processing circuit, etc. The optical distance measuring sensor of the second sensing device 94 can be exemplified by a LiDAR (Light Detection and Ranging) sensor.

[0112] In addition to LiDAR, other examples of optical distance measuring sensors for the second sensing device 94 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 94 has an optical distance measuring sensor, an ultrasonic distance measuring sensor may be used instead of an optical distance measuring sensor.

[0113] As shown in Figure 1, the flight device 71 may be equipped with a second positioning device 95. The second positioning device 95 is a device that performs positioning of the flight device 71 (detection of the position of the flight device 71). The second positioning device 95 receives satellite signals from a satellite positioning system using a GPS antenna and performs positioning of the flight device 71 using said satellite signals.

[0114] As shown in Figure 1, the flight device 71 may be equipped with a second attitude detection device 96. The second attitude detection device 96 is a device that detects the attitude of the flight device 71. The second attitude detection device 96 is, for example, an inertial measurement unit (IMU) that includes an acceleration sensor and a gyroscope. The second attitude detection device 96 detects the tilt information (roll angle, pitch angle, and yaw angle) of the flight device 71.

[0115] As shown in Figure 1, the flight device 71 may be equipped with an altitude detection device 97. The altitude detection device 97 detects the altitude of the flight device 71. The altitude detection device 97 is, for example, a barometric pressure sensor.

[0116] Furthermore, the flight device 71 is equipped with a second state detection device 98. The second state detection device 98 is a detection device that detects the operating state of the second holding unit 81. The second state detection device 98 can detect the oscillation angle of the second gripping unit 83. The second state detection device 98 has, for example, a rotational displacement type variable resistor such as a potentiometer. The second state detection device 98 is connected to the second control device 91 in a communicative manner and can output the detection result to the second control device 91. Therefore, the second control device 91 can calculate the operating state of the second holding unit 81 based on the detection result of the second state detection device 98 and a predetermined calculation formula, etc., which is stored in advance in the second storage device 92.

[0117] As shown in Figure 1, the harvesting system 1 of this embodiment includes a server 101, and the server 101 transmits predetermined instruction information to the vehicle 11 and the flying device 71, causing the vehicle 11, the manipulator 51, and the flying device 71 to operate. The instruction information includes, for example, map information (field map) of the work area (field) where the work machine 2 will perform its work. The instruction information may also include the location of the crop to be harvested.

[0118] The server 101 is a fixed terminal such as a fixed computer located outside the work machine 2. As shown in Figure 1, the server 101 includes a server computing unit 102, a third storage device 103, and a third communication device 104.

[0119] The server arithmetic unit 102 is a processing circuit that includes one or more processors. The server arithmetic unit 102 performs various arithmetic operations. The server arithmetic unit 102 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 102 can read software programs from one or more memories using one or more processors and execute various operations based on those software programs.

[0120] Furthermore, as described in the first control device 41, the server computing unit 102 may perform various processes based on predetermined logic circuits using one or more processors. Also, as described in the first control device 41, the server computing unit 102 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.

[0121] The third storage device 103 stores various types of information and data in a read-write manner. The third storage device 103 includes non-volatile memory such as an HDD or SSD. The third storage device 103 is connected to the server computing device 102 in a communicative manner, and the server computing device 102 can acquire various types of information and data stored in the third storage device 103. The third storage device 103 stores, for example, a field map.

[0122] The third communication device 104 is a communication interface for the server 101 and includes a communication circuit. The third communication device 104 can communicate with external devices (e.g., the vehicle 11 or the aircraft 71) and inputs and outputs (sends and receives) various information, data, and signals. The third communication device 104 communicates wirelessly with external devices (vehicle 11 or aircraft 71, etc.) using, for example, a mobile phone network, a data communication network, or the IEEE 802.11.n series Wi-Fi (registered trademark).

[0123] The field map 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 102 acquires location information of the moving vehicle 11 via the third communication device 104 and the first communication device 44, and defines the field map based on the travel trajectory of the moving vehicle 11 as it traveled through the field. The field map 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.

[0124] Furthermore, the field map may be associated with the location of the crops to be harvested. For example, when the implement 2 travels across the field before harvesting (hereinafter sometimes referred to as teaching travel), the vehicle 11 uses the first sensing device 45 to sense the field during the journey. At this time, the flight device 71 may take off from the landing station 31 and fly along with the vehicle 11, and use the second sensing device 94 to sense the field. When the server computing device 102 obtains the sensing results from the first sensing device 45 and / or the second sensing device 94 via the third communication device 104, it performs image analysis of the sensing results. Based on the image analysis, the location information of the vehicle 11, and the location information of the flight device 71, the server computing device 102 estimates the location of the crops (latitude, longitude, altitude, etc.). Once the server computing device 102 estimates the location of the crops, it maps the estimated location of the crops onto the field map. At this time, the server computing device 102 may select the crops to be harvested based on the sensing results.

[0125] The server computing unit 102 maps the locations of crops onto the field map and, based on the field map and the locations of each mapped crop, defines the travel route (planned route) of the vehicle 11 and the order in which each crop will be harvested (harvesting order, work order). The server computing unit 102 associates the locations of the crops, the travel route, and the harvesting order with the field map and defines them as instruction information.

[0126] The server computing unit 102 transmits instruction information to the mobile vehicle 11 and the flying device 71 via the third communication device 104. The mobile vehicle 11 receives the instruction information via the first communication device 44, and the first control device 41 controls the mobile device 15 and the manipulator 51, etc., based on the instruction information to perform the crop harvesting work. The flying device 71 receives the instruction information via the second communication device 93, and the second control device 91 controls the rotor 75 and the second holding unit 81, etc., based on the instruction information to perform the crop harvesting work.

[0127] Specifically, the first control device 41 controls the manipulator 51 based on instruction information, sensing results from the first sensing device 45, detection results from the first state detection device 62, etc., and harvests the crop to be harvested using the first holding unit 57. Similarly, the second control device 91 controls the multiple rotors 75 and the second holding unit 81 based on instruction information, sensing results from the second sensing device 94, and detection results from the second state detection device 98, and harvests the crop to be harvested using the second holding unit 81.

[0128] The crops harvested by the manipulator 51 and the flying device 71 are stored in a container (such as a basket) attached to the vehicle 11, or in a container attached to an auxiliary vehicle that operates in cooperation with the vehicle 11. The manipulator 51 and the flying device 71 release the crops at the opening of the container and store them in the container. However, when the container is mounted on the vehicle 11, one harvesting device (e.g., the flying device 71) may harvest the crops, and another harvesting device (e.g., the manipulator 51) may hold the container, transferring the harvested crops from the first harvesting device to the container.

[0129] Furthermore, when the first control device 41 and the second control device 91 harvest the crops to be harvested using the harvesting devices 51 and 71, respectively, they may transmit the location of the harvested crops to the server 101.

[0130] Furthermore, when crops around the traveling vehicle 11 are harvested by the manipulator 51 and the flying device 71, the first control device 41 controls the traveling device 15 based on the travel path and drives to the next harvesting location. As described above, the first control device 41 and the second control device 91 cooperate with each other based on instruction information, and the working machine 2 performs crop harvesting work at various points in the field. The following describes in detail the coordination of the harvesting work of the first harvesting device 51 (manipulator) and the second harvesting device 71 (flying device).

[0131] The first harvesting device 51 (manipulator) performs harvesting work in the first working range E1. On the other hand, the second harvesting device 71 (flying device) performs harvesting work in the second working range E2. Figure 14 is the first diagram illustrating the first working range E1 and the second working range E2. Figure 14 shows the state in which the height change mechanism 26 has adjusted the vehicle body 12 to its lower limit position. As shown in Figure 14, the second working range E2 is an area above the first working range E1 (it can also be said to be an area above the first working range E1). Therefore, the manipulator 51 performs crop harvesting work in the first working range E1, and the flying device 71 flies above the manipulator 51 and performs crop harvesting work in the second working range E2.

[0132] The first working range E1 is the vertical range in which the manipulator 51 can move during harvesting. In other words, the manipulator 51 is restricted from moving above or below the first working range E1 while performing harvesting. Furthermore, when the manipulator 51 is not performing harvesting, for example, when the vehicle 11 is traveling from the barn to a work area such as a field, the manipulator 51 may move both within and outside the first working range E1.

[0133] The lower limit value e11 (first lower limit height) and upper limit value e12 (first upper limit height) of the first working range E1 are predetermined. The first upper limit height e12 is defined to be higher than the first lower limit height e11. The first lower limit height e11 and the first upper limit height e12 are stored in the first storage device 42. The first control device 41 obtains the first lower limit height e11 and the first upper limit height e12 from the first storage device 42 and controls each manipulator 51 based on the obtained first lower limit height e11 and first upper limit height e12. That is, the first control device 41 calculates the tip position of the first holding part 57 of each manipulator 51 and the height of the manipulator 51 based on the detection result of the first state detection device 62 and predetermined calculation formulas stored in the first storage device 42, and operates the manipulator 51 in the first working range E1.

[0134] The second working range E2 is the vertical range in which the flying device 71 can move during harvesting. In other words, the flying device 71 is restricted from moving above or below the second working range E2 while performing harvesting. Furthermore, when the flying device 71 is not performing harvesting, for example, when the vehicle 11 is traveling from the barn to a work area such as a field, the flying device 71 may move both within and outside the second working range E2.

[0135] The lower limit e21 (second lower height limit) and upper limit e22 (second upper height limit) of the second working range E2 are predetermined. The second upper height limit e22 is defined to be higher than the second lower height limit e21. The second lower height limit e21 is defined to be at least as high as the first upper height limit e12. In this embodiment, the second lower height limit e21 is defined to be the same value as the first upper height limit e12. Therefore, the second working range E2 does not overlap with the first working range E1 in the vertical direction, and the second working range E2 is adjacent to the first working range E1 in the vertical direction.

[0136] Furthermore, the first working range E1 and the second working range E2 do not need to overlap in the vertical direction, and the second lower limit height e21 may be defined to be higher than the first upper limit height e12. In such a case, the second working range E2 will be a range separated from the first working range E1 in the vertical direction.

[0137] The second lower height limit e21 and the second upper height limit e22 are stored in advance in the second storage device 92. The second control device 91 obtains the second lower height limit e21 and the second upper height limit e22 from the second storage device 92 and controls the altitude of the aircraft 72 based on the obtained second lower height limit e21 and second upper height limit e22. That is, the second control device 91 calculates the altitude of the lower part of the flight device 71 (for example, the lower end of the skid 85), the altitude of the upper end (for example, the upper part of the aircraft 72), etc., based on the detection result of the altitude detection device 97, the detection result of the second state detection device 98, and predetermined calculation formulas etc. stored in advance in the second storage device 92, and flies the flight device 71 within the second working range E2.

[0138] The first working range E1 and the second working range E2 may be changed according to the position (height) of the vehicle body 12 adjusted by the height adjustment mechanism 26. In other words, the first working range E1 and the second working range E2 may be changed according to the altitude of the landing station 31. Figure 15 is the second figure illustrating the first working range E1 and the second working range E2. Figure 15 shows the state in which the height adjustment mechanism 26 has adjusted the vehicle body 12 to the upper limit position. Also in Figure 15, the first upper limit height e12 and the second lower limit height e21 in the state in which the vehicle body 12 has been adjusted to the lower limit position (Figure 14) are shown by dashed lines.

[0139] As the height adjustment mechanism 26 raises the vehicle body 12, as shown in the transition from Figure 14 to Figure 15, the first working range E1 and the second working range E2 are defined in the upper direction. Similarly, as the height adjustment mechanism 26 lowers the vehicle body 12, as shown in the transition from Figure 15 to Figure 14, the first working range E1 and the second working range E2 are defined in the lower direction.

[0140] Specifically, the first control device 41 calculates the height of the vehicle body 12 relative to the running gear 15 based on the detection result of the motion detection device 43, and then changes (corrects) the first upper limit height e12 according to the height of the vehicle body 12. For example, the first storage device 42 has predetermined calculation formulas stored in it, and the first control device 41 calculates (acquires) a correction value based on the height of the vehicle body 12 and the predetermined calculation formulas, and corrects the first upper limit height e12 to be higher as the height of the vehicle body 12 increases. Also, the first control device 41 corrects the first upper limit height e12 to be lower as the height of the vehicle body 12 decreases. The first control device 41 transmits the first upper limit height e12 to the second communication device 93 via the first communication device 44.

[0141] When the second communication device 93 receives the first upper limit height e12, the second control device 91 changes (corrects) the second lower limit height e21 based on the first upper limit height e12. In this embodiment, the second control device 91 corrects the second lower limit height e21 so that it becomes the same value as the received first upper limit height e12.

[0142] The second lower limit height e21 is only required to be greater than or equal to the first upper limit height e12 after correction, and the correction method is not limited to the method described above. For example, the first communication device 44 may transmit the height of the vehicle body 12 to the second communication device 93 instead of the first upper limit height e12, and the second control device 91 may calculate (acquire) a correction value based on the height of the vehicle body 12 and a predetermined calculation formula stored in the second storage device 92, and correct the second lower limit height e21. Alternatively, the second control device 91 may correct the second lower limit height e21 according to the change in the first upper limit height e12 before correction and the first upper limit height e12 after correction.

[0143] Furthermore, in the above explanation, we described cases where the first working range E1 and the second working range E2 are predetermined or changed according to the height of the vehicle body 12. However, the first working range E1 and the second working range E2 may be redefined. For example, the first working range E1 and the second working range E2 may be defined based on input information received by an input interface such as a smartphone. Also, the first working range E1 and the second working range E2 may be changed according to the position (height) of the crops estimated by teaching driving or the like. In such a case, if the position of the crops in the field is relatively high, the first upper limit height e12 and the second lower limit height e21 will be changed to be higher. On the other hand, if the position of the crops in the field is relatively low, the first upper limit height e12 and the second lower limit height e21 will be changed to be lower.

[0144] Furthermore, the first control device 41 may control the distance changing mechanism 27 to move the manipulator 51 when the harvesting devices 51 and 71 are performing harvesting work. Figure 16 is a front view illustrating the movement of the first harvesting device 51 (manipulator) by the distance changing mechanism 27 in the first embodiment. The first control device 41 may control the distance changing mechanism 27 according to the distance between the first holding unit 57 and the crop to be harvested. Specifically, for example, the first control device 41 controls the distance changing mechanism 27 according to the positional relationship between the movable range of the first holding unit 57 (maximum movable range in the left-right direction) and the crop to be harvested. The first control device 41 calculates the movable range of each first holding unit 57 based on the tread width based on the detection result of the motion detection device 43 and a predetermined calculation formula stored in advance in the first storage device 42.

[0145] When the first control device 41 determines that the crop to be harvested is located inward in the left-right direction beyond the movable range of the first holding unit 57, it controls the distance changing mechanism 27 to shorten the left-right distance between the traveling device 15 and the vehicle body 12. As a result, as the traveling device 15 approaches the vehicle body 12, the movable range of the first holding unit 57 can be moved inward in the left-right direction.

[0146] On the other hand, when the first control device 41 determines that the crop to be harvested is located outside the movable range of the first holding unit 57 in the left-right direction, it controls the distance changing mechanism 27 to increase the left-right distance between the traveling device 15 and the vehicle body 12. As a result, the movable range of the first holding unit 57 can be moved outward in the left-right direction as the traveling device 15 moves away from the vehicle body 12. Figure 16 shows the state in which the distance changing mechanism 27 increases the left-right distance between the traveling device 15 and the vehicle body 12 when the crop to be harvested is located outside the movable range of the first holding unit 57 in the left-right direction, and the movable range of the first holding unit 57 is moved outward in the left-right direction.

[0147] Furthermore, if the crop to be harvested is outside the movable range of the first holding unit 57, the first control device 41 may move at least the travel device 15 on which the first holding unit 57 (manipulator 51) is installed using the distance changing mechanism 27. For example, if the crop to be harvested is located outside the movable range of the first holding unit 57 of any of the manipulators 51 mounted on the first travel device 15L, the first control device 41 controls the first distance changing mechanism 27L to change the lateral distance between the first travel device 15L and the vehicle body 12. On the other hand, if the crop to be harvested is located outside the movable range of the first holding unit 57 of any of the manipulators 51 mounted on the second travel device 15R, the first control device 41 controls the second distance changing mechanism 27R to change the lateral distance between the second travel device 15R and the vehicle body 12.

[0148] Furthermore, in the above description, the case in which the first control device 41 moves the traveling device 15 with the distance changing mechanism 27 according to the positional relationship between the movable range of the first holding unit 57 and the crop was described. However, the first control device 41 may control the distance changing mechanism 27 according to the positional relationship between the first holding unit 57 and the crop, regardless of the movable range. In such a case, even if the crop is located within the movable range of the first holding unit 57, if the crop is relatively far from the traveling device 15, the distance changing mechanism 27 may move the traveling device 15 away from the vehicle body 12 and bring the first holding unit 57 closer to the crop. At this time, even if the crop is located within the movable range of the first holding unit 57, if the crop is relatively close to the traveling device 15, the distance changing mechanism 27 may move the traveling device 15 closer to the vehicle body 12.

[0149] In the above description, the first control device 41 controlled the distance change mechanism 27 to move the manipulator 51, but the height change mechanism 26 and the distance change mechanism 27 may be controlled in accordance with the takeoff and landing of the flight device 71. For example, when the second control device 91 is to land the flight device 71 at the landing station 31 or take off from the landing station 31, the second control device 91 transmits a takeoff / landing signal from the second communication device 93 to the first communication device 44. When the first communication device 44 receives the takeoff / landing signal, the first control device 41 controls the height change mechanism 26 and the distance change mechanism 27 to transition the landing station 31 into a takeoff / landing attitude.

[0150] Figure 17 is a front view showing the takeoff and landing posture in the first embodiment. As shown in Figure 17, when the first communication device 44 receives a takeoff and landing signal, the first control device 41 controls the height change mechanism 26 to raise the height of the vehicle body 12 to the upper limit position. This increases the vertical distance between the landing station 31 and the travel device 15. Therefore, when the first communication device 44 receives a takeoff and landing signal, if the first control device 41 controls each manipulator 51 to transition to a lowered posture, as shown in Figure 17, the landing station 31 can be moved upward relative to each manipulator 51.

[0151] Furthermore, the first control device 41 controls the distance changing mechanism 27 to increase the lateral distance between the running gear 15 and the vehicle body 12. As a result, the lateral distance between the manipulator 51 mounted on the first running gear 15L and the landing station 31 is increased, and the lateral distance between the manipulator 51 mounted on the second running gear 15R and the landing station 31 is also increased.

[0152] This allows each manipulator 51 to be moved below the landing station 31 and the distance between the left and right manipulators 51 to be increased, thereby preventing the manipulators 51 positioned to the left and right of the landing station 31 from obstructing the takeoff and landing of the flight device 71.

[0153] Furthermore, in the above-described embodiment, the case in which the vehicle 11, manipulator 51, and flight device 71 operate when the server 101 transmits predetermined instruction information to the vehicle 11 and flight device 71, has been explained. However, if the work machine 2 is equipped with a measuring device for measuring crop quality, the server 101 may further manage and store the measurement results of the measuring device. The measuring device is provided, for example, in the first harvesting device 51 (manipulator) or the second harvesting device 71 (flight device). Specifically, the measuring device is provided in the first base 58 of the first holding unit 57 or the second base 82 of the second holding unit 81, and measures the target to be harvested.

[0154] The measuring device is a device for measuring quality information of an object that is at least a part of a cultivated plant, including crops. The measuring device is, for example, an imaging device that images the object. The imaging device can image the object using reflected waves (reflected light) such as infrared (near-infrared, mid-infrared), visible light, ultraviolet (near-ultraviolet, far-ultraviolet), and other electromagnetic waves. The respective frequency bands of the reflected light imaged by the imaging device should be set to appropriate frequency bands for determining compound information based on the optical characteristics of the reflected light. The measuring device measures quality information of the cultivated plants while each harvesting device 51, 71 is performing harvesting work, or during teaching runs before harvesting work.

[0155] When the measuring device measures an object, the measurement result is transmitted to the third communication device 104 via the first communication device 44 and the second communication device 93. When the third communication device 104 receives the measurement result, the server computing device 102 associates the measurement result with the field map or with each crop, and stores the associated information in the third storage device 103. As a result, the server 101 manages and stores the measurement results of the measuring device.

[0156] [Second Embodiment] Figure 18 shows another embodiment (second embodiment) of the harvesting system 1. In the first embodiment of the harvesting system 1, one or more manipulators 51 are provided on the traveling device 15, and one or more flying devices 71 land on a landing station 31 provided on the upper part of the vehicle body 12. In the second embodiment of the harvesting system 1, one or more manipulators 51 are provided on the vehicle body 12, and one or more flying devices 71 land on a landing station 31 provided on the upper part of the traveling device 15. Hereinafter, the harvesting system 1 of the second embodiment will be described focusing on its configurations that differ from the above-described embodiment (first embodiment), and configurations common to the first embodiment will be denoted by the same reference numerals and their detailed descriptions will be omitted.

[0157] As shown in Figure 18, in the second embodiment, the landing station 31 is provided on top of the first traveler 15L and the second traveler 15R. The landing section 32 of the landing station 31 is located on top of the second cover 18B. The landing section 32 extends from the front to the rear of the traveler 15. In the example shown in Figure 18, the length of the landing section 32 in the front-to-back direction is longer than its length in the left-to-right direction, and multiple aircraft 71 can land side by side in the front-to-back direction on top of the landing section 32. Although Figure 18 shows a case where two aircraft 71 are landed on the landing section 32, it is sufficient that at least one aircraft 71 can land on the landing section 32, and the size and shape of the landing section 32 are not limited to the example shown in Figure 18.

[0158] The lower end of the support base 33 of the landing station 31 is attached to the upper part of the first travel frame 17L and the second travel frame 17R via brackets. For this reason, the second cover 18B has through holes through which the support base 33, which protrudes upward from each travel frame 17, passes, and the support base 33 protrudes upward from the second cover 18B.

[0159] Furthermore, as shown in Figure 18, the manipulator 51 (first harvesting device) of the second embodiment is mounted on the vehicle body 12. In the example shown in Figure 18, the harvesting system 1 is equipped with a plurality of manipulators 51, and these plurality of manipulators 51 are arranged in a front-to-back direction on the upper part of the vehicle body 12. Therefore, in the example shown in Figure 18, when the flying device 71 is landed on the landing station 31, the landed flying device 71 is located on both the left and right sides with respect to the direction in which the plurality of manipulators 51 are arranged.

[0160] Furthermore, multiple manipulators 51 are provided on the front and rear sides of the vehicle body 12. The multiple manipulators 51 are arranged at equal intervals in the front-rear direction. In Figure 18, two sets of multiple manipulators 51 are provided on the vehicle body 12. For this reason, in the second embodiment, the lower end of the mounting portion 53a of each manipulator 51 is attached to the upper part of the first vehicle body frame 14A via a bracket. For this reason, the first cover 18A has a through hole through which the mounting portion 53a, which protrudes upward from the first vehicle body frame 14A, passes, and the mounting portion 53a protrudes upward from the first cover 18A.

[0161] The number and arrangement of the manipulators 51 mounted on the vehicle body 12 are not limited to the example shown in Figure 18. For example, the manipulators 51 may be attached to the front and / or rear of the vehicle body 12 and arranged to extend in the front-rear direction from the vehicle body 12.

[0162] Furthermore, in the second embodiment, as in the first embodiment, the first harvesting device 51 (manipulator) performs harvesting work in the first working range E1, and the second harvesting device 71 (flying device) performs harvesting work in the second working range E2. Figure 19 is the first diagram illustrating the first working range E1 and the second working range E2. Figure 19 shows the state in which the height changing mechanism 26 has adjusted the vehicle body 12 to its lower limit position. As shown in Figure 19, the second working range E2 is an area above the first working range E1. Therefore, in the second embodiment as well, the manipulator 51 performs crop harvesting work in the first working range E1, and the flying device 71 flies above the manipulator 51 and performs crop harvesting work in the second working range E2.

[0163] Furthermore, in the second embodiment, as in the first embodiment, the first working range E1 and the second working range E2 may be changed according to the position (height) of the vehicle body 12 adjusted by the height changing mechanism 26. In other words, the first working range E1 and the second working range E2 may be changed according to the height of the manipulator 51. Figure 20 is the second figure illustrating the first working range E1 and the second working range E2. Figure 20 shows the state in which the height changing mechanism 26 has adjusted the vehicle body 12 to the upper limit position. Also in Figure 20, the first upper limit height e12 and the second lower limit height e21 in the state in which the vehicle body 12 has been adjusted to the lower limit position (Figure 19) are shown by dashed lines. As the height changing mechanism 26 raises the vehicle body 12, as shown in the transition from Figure 19 to Figure 20, the first working range E1 and the second working range E2 are defined in the upper position. Furthermore, as the height adjustment mechanism 26 lowers the vehicle body 12, as shown in the transition from Figure 20 to Figure 19, the first working range E1 and the second working range E2 are defined in the lower part.

[0164] Furthermore, while the first control device 41 of the first embodiment controlled the height change mechanism 26 and the distance change mechanism 27 in accordance with the takeoff and landing of the flight device 71, the first control device 41 of the second embodiment may control the distance change mechanism 27 in accordance with the takeoff and landing of the flight device 71.

[0165] Figure 21 is a front view showing the takeoff and landing posture in the second embodiment. As shown in Figure 21, when the first communication device 44 receives a takeoff and landing signal, the first control device 41 controls the distance changing mechanism 27 to increase the lateral distance between the traveling device 15 and the vehicle body 12. As a result, the lateral distance between the landing station 31 mounted on the first traveling device 15L and the manipulator 51 is increased, and the lateral distance between the landing station 31 mounted on the second traveling device 15R and the manipulator 51 is also increased. Furthermore, the lateral distance between the landing station 31 mounted on the first traveling device 15L and the landing station 31 mounted on the second traveling device 15R is also increased.

[0166] This prevents the manipulators 51 between the left and right landing stations 31 from obstructing the takeoff and landing of the aircraft 71, and also prevents the aircraft 71 taking off or landing at the left landing station 31 from coming into contact with the aircraft 71 taking off or landing at the right landing station 31.

[0167] [Third Embodiment] Figures 22 and 23 show another embodiment (third embodiment) of the harvesting system 1. In the first and second embodiments of the harvesting system 1, the case in which one or more manipulators 51 and one or more flying devices 71 are mounted on a common vehicle 11 was described. However, in the third embodiment of the harvesting system 1, one or more first harvesting devices 51 (manipulators) and one or more second harvesting devices 71 (flying devices) are mounted on different vehicles 11. Hereinafter, the harvesting system 1 of the third embodiment will be described focusing on its configurations that differ from the embodiments described above (first and second embodiments), and components common to the first and second embodiments will be denoted by the same reference numerals and their detailed descriptions will be omitted. Hereinafter, the vehicle 11A on which the manipulators 51 are mounted will be referred to as the "first vehicle," and the vehicle 11B on which the flying devices 71 are mounted will be referred to as the "second vehicle." Furthermore, the configuration including the first traveling vehicle 11A and the first harvesting device 51 mounted on the first traveling vehicle 11A is sometimes referred to as the "first working machine 2A." The configuration including the second traveling vehicle 11B and the second harvesting device 71 mounted on the second traveling vehicle 11B is sometimes referred to as the "second working machine 2B."

[0168] In the following explanation, for the sake of clarity, we will use the example of the first vehicle 11A and the second vehicle 11B being the same type of vehicle, but the first vehicle 11A and the second vehicle 11B may be different vehicles. Also, the first vehicle 11A (first work machine 2A) and the second vehicle 11B (second work machine 2B) may travel in cooperation with each other, side by side or front to side, or they may travel at different times.

[0169] As shown in Figures 22 and 23, the first mobile vehicle 11A is equipped with multiple manipulators 51 and does not have a flight device 71. Therefore, the first mobile vehicle 11A of the third embodiment differs from the mobile vehicles 11 of the first and second embodiments in that it does not have the landing station 31 and the drive unit 34 and other devices and mechanisms for mounting the flight device 71. In the example shown in Figure 23, the multiple manipulators 51 are provided on the front, center, and rear sides of each mobile device 15. Three manipulators 51 are provided on the first mobile device 15L and three on the second mobile device 15R.

[0170] As shown in Figures 22 and 23, the second mobile vehicle 11B is equipped with multiple flight devices 71 and does not have a manipulator 51. Therefore, the second mobile vehicle 11B of the third embodiment differs from the mobile vehicle 11 of the first and second embodiments in that it does not have the devices and mechanisms for mounting the manipulator 51. Also, in the example shown in Figure 23, similar to the mobile vehicle 11 of the second embodiment, the landing station 31 is provided on top of the first mobile device 15L and the second mobile device 15R.

[0171] Furthermore, in the third embodiment, as in the first and second embodiments, the first harvesting device 51 (manipulator) performs harvesting work in the first working range E1, and the second harvesting device 71 (flying device) performs harvesting work in the second working range E2. The second working range E2 is an area above the first working range E1. Therefore, in the third embodiment as well, the manipulator 51 performs crop harvesting work in the first working range E1, and the flying device 71 flies above the manipulator 51 and performs crop harvesting work in the second working range E2.

[0172] In addition, if the first harvesting device 51 (manipulator) is provided on the body 12 of the first vehicle 11A, as in the vehicle 11 of the second embodiment, or if the landing station 31 is provided on the body 12 of the second vehicle 11B, as in the vehicle 11 of the first embodiment, then in the third embodiment as well, the first working range E1 and the second working range E2 may be changed according to the position (height) of the vehicle body 12 adjusted by the height changing mechanism 26.

[0173] (Other Modifications) In the first to third embodiments described above, the case in which the traveling vehicle 11, the first harvesting device 51, and the second harvesting device 71 operate based on instruction information from the server 101 was explained. However, the traveling vehicle 11, the first harvesting device 51, and the second harvesting device 71 may operate independently of instruction information from the server 101. For example, instead of the server 101, the first control device 41 may output instruction information to the second control device 91, and the traveling vehicle 11, the first harvesting device 51, and the second harvesting device 71 may be operated by the first control device 41. Alternatively, the second control device 91 of one or more flying devices 71 may output instruction information to the first control device 41 of the traveling vehicle 11 and the second control devices 91 of the other flying devices 71 to control the traveling vehicle 11, the first harvesting device 51, and the second harvesting device 71. Furthermore, the traveling vehicle 11, the first harvesting device 51, and the second harvesting device 71 may operate independently of each other, or they may operate based on instructions from a remote control device or the like, which is located outside the traveling vehicle 11, the first harvesting device 51, and the second harvesting device 71 and operated by an operator. In addition, the traveling vehicle 11 may be equipped with an operating device operated by an operator, and the traveling vehicle 11, the first harvesting device 51, and the second harvesting device 71 may operate in response to the operation of the operating device.

[0174] Furthermore, although the first to third embodiments described above have explained the case in which the first harvesting device 51 is controlled by the first control device 41 and the second harvesting device 71 is controlled by the second control device 91, the invention is not limited to this. For example, the first harvesting device 51 may be controlled by another processing unit such as the second control device 91, in addition to the first control device 41. Similarly, the second harvesting device 71 may be controlled by another processing unit such as the first control device 41, in addition to the second control device 91.

[0175] Furthermore, in the first to third embodiments described above, the first sensing device 45 was provided on the traveling vehicle 11, but the first sensing device 45 or a sensing device other than the first sensing device 45 may be provided on the first harvesting device 51.

[0176] A preferred embodiment of the present invention provides a harvesting system 1 as described in the following items.

[0177] (Item 1) A harvesting system 1 comprising one or more first harvesting devices 51 that perform crop harvesting work, and one or more second harvesting devices 71 that perform crop harvesting work in a second working range E2 above a first working range E1 in which the first harvesting devices 51 perform harvesting work.

[0178] According to the harvesting system 1 described in item 1, either the first harvesting device 51 or the second harvesting device 71 can perform the harvesting work of the crop depending on the height of the crop. Therefore, the harvesting work of the crop can be performed efficiently by the first harvesting device 51 and the second harvesting device 71. In addition, by overlapping the working ranges of the first harvesting device 51 and the second harvesting device 71, it is possible to suppress the interference between the two harvesting devices during harvesting.

[0179] (Item 2) The harvesting system 1 according to Item 1, wherein the first harvesting device 51 is a manipulator 51 having an arm 52 and a first holding part 57 that is movablely supported by the arm 52 and capable of holding the crop, and the second harvesting device 71 is a flying device 71 having a body 72, a plurality of rotors 75 provided on the body 72 and capable of generating thrust, and a second holding part 81 that is supported by the body 72 and capable of holding the crop.

[0180] According to the harvesting system 1 related to item 2, by defining the working ranges of the manipulator 51 and the flying device 71 in the first working range E1 and the second working range E2, the movement range of these harvesting devices 51 and 71 can be limited, and their respective characteristics can be appropriately utilized.

[0181] (Item 3) The harvesting system 1 according to Item 2, wherein the manipulator 51 performs the harvesting work of the crop in the first working range E1, and the flying device 71 flies above the manipulator 51 and performs the harvesting work of the crop in the second working range E2.

[0182] According to the harvesting system 1 described in item 3, the working ranges of the manipulator 51 and the flying device 71 do not overlap, and furthermore, since the flying device 71 flies above the manipulator 51, contact between the manipulator 51 and the flying device 71 during harvesting can be suppressed. Therefore, a decrease in the movement speed of each harvesting device 51, 71 and a decrease in work efficiency due to the dropping of harvested products, etc., caused by contact between the manipulator 51 and the flying device 71 can be suppressed.

[0183] (Item 4) The harvesting system 1 according to item 2 or 3, wherein one or more of the manipulators 51 and one or more of the flying devices 71 are each mounted on a common vehicle 11.

[0184] According to the harvesting system 1 described in item 4, the manipulator 51 and the flying device 71 can be transported (moved) by a common vehicle 11. Therefore, the manipulator 51 and the flying device 71 can be efficiently moved to the work area where the crops are being cultivated.

[0185] (Item 5) The harvesting system 1 according to Item 4, wherein the traveling vehicle 11 comprises a vehicle body 12, left and right traveling devices 15 that support the vehicle body 12 so as to be able to travel, and a height changing mechanism 26 that raises and lowers the vehicle body 12 at a position between the left and right traveling devices 15.

[0186] According to the harvesting system 1 related to item 5, the height of the vehicle body 12 can be changed according to various conditions. Therefore, the traveling vehicle 11 can change the height of each device and equipment mounted on the vehicle body 12 by changing the height of the vehicle body 12 relative to the traveling device 15.

[0187] (Item 6) The harvesting system 1 according to Item 4 or 5, wherein the traveling vehicle 11 comprises a vehicle body 12, left and right traveling devices 15 that support the vehicle body 12 so as to be able to travel, and a distance changing mechanism 27 that changes the distance between the left and right traveling devices 15.

[0188] According to the harvesting system 1 related to item 6, the distance between the left and right traveling devices 15 (separation distance) can be adjusted by the distance changing mechanism 27. Therefore, by adjusting the separation distance with the distance changing mechanism 27, it is possible to avoid obstacles located to the left and right of each traveling device 15 obstructing the movement of the traveling vehicle 11.

[0189] (Item 7) The harvesting system 1 according to item 5 or 6, wherein one or more of the manipulators 51 are provided on the traveling device 15, and one or more of the flying devices 71 land on a landing station 31 provided on the upper part of the vehicle body 12.

[0190] According to the harvesting system 1 related to item 7, if the traveling vehicle 11 is equipped with a height change mechanism 26, the height of the vehicle body 12 can be changed by the height change mechanism 26, that is, the height of the landing station 31 can be changed. Also, if the traveling device 15 is equipped with a distance change mechanism 27, the distance between the traveling devices 15 can be changed by the distance change mechanism 27, thereby changing the position of the manipulator 51 provided on the traveling device 15 in the left-right direction.

[0191] (Item 8) The harvesting system 1 according to item 5 or 6, wherein one or more of the manipulators 51 are provided on the vehicle body 12, and one or more of the flying devices 71 land on a landing station 31 provided on top of the running device 15.

[0192] According to the harvesting system 1 related to item 8, if the traveling vehicle 11 is equipped with a height changing mechanism 26, the height of the manipulator 51 provided on the vehicle body 12 can be changed by changing the height of the vehicle body 12 using the height changing mechanism 26. Also, if the traveling device 15 is equipped with a distance changing mechanism 27, the position of the landing station 31 can be changed in the left-right direction by changing the distance between the traveling devices 15 using the distance changing mechanism 27.

[0193] (Item 9) The harvesting system 1 according to item 2 or 3, wherein one or more of the manipulators 51 and one or more of the flying devices 71 are each mounted on different traveling vehicles 11.

[0194] According to the harvesting system 1 described in item 9, the manipulator 51 and the flying device 71 can be moved independently by each of the traveling vehicles 11. Therefore, the manipulator 51 and the flying device 71 can be moved appropriately to the work area.

[0195] 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.

[0196] 1: Harvesting system 11: Vehicle 12: Body 15: Running gear 26: Height change mechanism 27: Distance change mechanism 31: Landing station 51: First harvesting device (manipulator) 52: Arm 57: First holding unit 71: Second harvesting device (flying device) 72: Aircraft 75: Rotor 81: Second holding unit E1: First working range E2: Second working range

Claims

1. A harvesting system comprising: one or more first harvesting devices for harvesting crops; and one or more second harvesting devices for harvesting crops in a second working range above a first working range in which the first harvesting devices perform harvesting operations.

2. The harvesting system according to claim 1, wherein the first harvesting device is a manipulator having an arm and a first holding part that is movablely supported by the arm and capable of holding the crop, and the second harvesting device is an aircraft having a body, a plurality of rotors provided on the aircraft and capable of generating thrust, and a second holding part that is supported on the aircraft and capable of holding the crop.

3. The harvesting system according to claim 2, wherein the manipulator performs the harvesting work of the crop in the first working range, and the flying device flies above the manipulator and performs the harvesting work of the crop in the second working range.

4. The harvesting system according to claim 2, wherein one or more of the manipulators and one or more of the flying devices are each mounted on a common vehicle.

5. The harvesting system according to claim 4, wherein the traveling vehicle comprises a vehicle body, left and right traveling devices that support the vehicle body so that it can travel, and a height changing mechanism that raises and lowers the vehicle body at a position between the left and right traveling devices.

6. The harvesting system according to claim 4, wherein the traveling vehicle comprises a vehicle body, left and right traveling devices that support the vehicle body so as to be able to travel, and a distance changing mechanism for changing the distance between the left and right traveling devices.

7. The harvesting system according to claim 5 or 6, wherein one or more of the manipulators are provided on the traveling device, and one or more of the flying devices land on a landing station provided on the upper part of the vehicle body.

8. The harvesting system according to claim 5 or 6, wherein one or more of the manipulators are provided on the vehicle body, and one or more of the flying devices land on a landing station provided on top of the traveling device.

9. The harvesting system according to claim 2 or 3, wherein one or more manipulators and one or more flying devices are each mounted on different vehicles.

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