JP2021104002A - Taking off/landing device of multicopter with spraying function - Google Patents

Abstract

To provide a taking off/landing device of a multicopter with a spraying function which allows a multicopter that can spray a spray solution to take off/land and supply the spray solution to the multicopter that has landed.SOLUTION: The taking off/landing device of a multicopter with a spraying function comprises: a spray agent container which stores a spray agent; a diluted solution container which stores a diluted solution for diluting the spray agent; a taking off/landing part which allows the multicopter that can spray the spray solution including the spray agent and the diluted solution to take off/land; a supply device which supplies the spray agent stored in the spray agent container and the diluted solution stored in the diluted solution container to the multicopter; and a travel body which can travel with at least the taking off/landing part, the spray agent container, the diluted solution container and the supply device mounted thereon.SELECTED DRAWING: Figure 1

Description

The present invention relates to a multicopter takeoff and landing device capable of spraying a spray liquid such as a pesticide, for example.

Conventionally, a device disclosed in Patent Document 1 is known as a takeoff and landing device for a multicopter. The device disclosed in Patent Document 1 includes an unmanned traveling mobile body and a heliport provided on the upper surface of the unmanned traveling moving body.

International Publication No. 2016/143806

By the way, in recent years, spraying liquids (chemical liquids and the like) have been sprayed on fields using multicopters. Such a multicopter with a spraying function is equipped with a spraying device and a tank for accommodating the spraying liquid, but if the field area is large, it is necessary to replenish the spraying liquid in the middle of the spraying work. May be. However, although the device disclosed in Patent Document 1 has an area where the multicopter can take off and land, it is difficult to smoothly replenish the spray liquid to the multicopter landing in the area.

Therefore, in view of the above problems, the present invention allows a multicopter capable of spraying the spray liquid to take off and land, and also takes off and landing the multicopter with a spray function capable of smoothly supplying the spray liquid to the landed multicopter. The purpose is to provide the device.

The technical means of the present invention for solving this technical problem is characterized by the following points.
The takeoff and landing device of the multicopter with a spraying function includes a spraying agent container containing a spraying agent, a diluent container containing a diluent for diluting the spraying agent, and a spraying liquid containing the spraying agent and the diluent. A takeoff and landing portion where the multicopter capable of spraying can take off and land, a supply device for supplying the spray agent contained in the spray agent container and the diluent contained in the diluent container to the multicopter, and at least the takeoff and landing. A unit, the spray agent container, the diluent container, and a traveling body on which the supply device is mounted can be provided.

Further, it is provided with an adjusting device for adjusting the amount of the spraying agent taken out from the spraying agent container and the amount of the diluent taken out from the diluent container.
Further, the traveling body is equipped with a battery mounted on the multicopter and a charger capable of charging the battery with electric power.
Further, the traveling body is equipped with a generator that generates electric power to charge the charger and a fuel tank that houses fuel for driving the generator.

Further, the traveling body is a vehicle having a loading platform, and the takeoff and landing portion, the spraying agent container, the diluent container, and the supply device are mounted on the loading platform.
Further, the traveling body has a connecting portion that can be connected to a connecting mechanism provided at the rear of the towing vehicle.
Further, the connecting mechanism is an elevating and lowering link mechanism having a top link, a lower link on the left side, and a lower link on the right side, and the connecting portion includes an upper connecting portion connected to the top link and the above. It has a left connecting portion connected to the lower link on the left side and a right connecting portion connected to the lower link on the right side.

According to the present invention, a multicopter capable of spraying a spray liquid can take off and land at a takeoff and landing portion, and the spray liquid is smoothly supplied to the landed multicopter by using a spray agent container, a diluent container, and a supply device. It is possible to provide a multicopter takeoff and landing device that can be used.

It is a figure which shows the 1st Embodiment of the take-off and landing apparatus of a multicopter. It is a figure which shows the 2nd Embodiment of the take-off and landing apparatus of a multicopter. It is a front view of the takeoff and landing part. It is a top view of the takeoff and landing part. It is a side view of the takeoff and landing part. It is a perspective view which shows an example of a multicopter. It is a front view of the main part of a multicopter. It is a side view of the main part of a multicopter. It is a front view of the fixed part of a takeoff and landing part. It is a top view which shows the equipment accommodated in the accommodation space. It is a front view which shows the movable part of the machine frame. It is a top view which shows the movable part of the machine frame. It is a side view which shows the movable part of the machine frame. It is a front view which shows another embodiment of a movable part. It is a figure which shows the state which attached the hood structure to the takeoff and landing part. It is a figure which shows the connection mechanism. It is a side view of a dolly. It is a plan view of a dolly. It is a front view of a dolly. It is a figure which shows the supply system of a spray liquid. It is a figure which shows the 3rd Embodiment of the take-off and landing apparatus of a multicopter. It is a figure which shows the 4th Embodiment of the take-off and landing apparatus of a multicopter. It is a perspective view of the takeoff and landing part. It is a side view of the takeoff and landing part. It is a top view of the takeoff and landing part. It is a front view of the takeoff and landing part. It is a rear view of the takeoff and landing part. It is a top view of the expansion member (first plate body) and a tank. It is a front view of the expansion member (first plate body) and a tank. It is a top view of the expansion member (second plate body) and a tank. It is a front view of the expansion member (second plate body) and a tank.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
As shown in FIGS. 1 and 2, the multicopter takeoff and landing device 100 includes a takeoff and landing portion 1 on which a multicopter (multicopter with a spraying function) 60 capable of spraying a spraying liquid can take off and land. The spraying liquid is an agricultural chemical liquid or liquid fertilizer sprayed in a field or the like, and includes a spraying agent such as a chemical or fertilizer and a diluted liquid such as water.

Further, the takeoff and landing device 100 includes a spray agent container 81 containing a spray agent, a diluent container 82 containing a diluent for diluting the spray agent, and a spray agent and diluent container contained in the spray agent container 81. A supply device 102 that supplies the diluent contained in the 82 to the multicopter 60, and a traveling body 20 that is equipped with at least the takeoff and landing section 1, the spray agent container 81, the diluent container 82, and the supply device 102. I have.

<Takeoff and landing section (aircraft frame, top plate)>
As shown in FIGS. 3 to 5, the takeoff and landing portion 1 includes a machine frame 2, a top plate 3, and a fixing portion 4. Hereinafter, for convenience of explanation, the direction of arrow F in FIGS. 3 to 5 is referred to as forward, the direction of arrow B is referred to as rear, the direction of arrow L is referred to as left, and the direction of arrow R is referred to as right. Further, the arrow W direction is called the machine frame width direction.
The machine frame 2 has a support frame 5 that supports the top plate 3 and a plurality of support legs 6 that support the support frame 5 at a predetermined height. The top plate 3 is attached so as to cover the upper surface of the support frame 5. However, in FIG. 5, for convenience of illustration, the support frame 5 covered with the top plate 3 is also shown by a solid line.

The support frame 5 has a first frame material 5A, a second frame material 5B, a third frame material 5C, and a fourth frame material 5D. The first frame member 5A is arranged on the left side of the support frame 5. The second frame material 5B is arranged on the right side of the support frame 5. The third frame member 5C is arranged at the front portion of the support frame 5. The fourth frame member 5D is arranged at the rear part of the support frame 5.
The first frame material 5A and the second frame material 5B extend in the front-rear direction in parallel with each other. The third frame material 5C and the fourth frame material 5D extend in the machine frame width direction in parallel with each other.

As shown in FIG. 4, the first frame material 5A, the second frame material 5B, the third frame material 5C, and the fourth frame material 5D are combined so as to form a quadrangle in a plan view. Further, the support frame 5 is a second connecting frame material that connects the first connecting frame material 5E that connects the first frame material 5A and the second frame material 5B, and the third frame material 5C and the fourth frame material 5D. It has 5F. The second connecting frame material 5F includes a left connecting frame material 5FL and a right connecting frame material 5FR. The left connecting frame material 5FL connects the left portion of the third frame material 5C and the left portion of the fourth frame material 5D. The right connecting frame material 5FR connects the right portion of the third frame material 5C and the right portion of the fourth frame material 5D.

As shown in FIGS. 3 and 5, the support legs 6 extend linearly downward from the support frame 5. The support leg 6 includes a first support leg 6A, a second support leg 6B, a third support leg 6C, and a fourth support leg 6D. The first support leg 6A extends downward from the left front corner of the support frame 5. The second support leg 6B extends downward from the right front corner of the support frame 5. The third support leg 6C extends downward from the left rear corner of the support frame 5. The fourth support leg 6D extends downward from the right rear corner of the support frame 5.

As shown in FIGS. 3 and 5, the machine frame 2 has a lower frame 7 that connects the lower ends of the support legs 6. The lower frame 7 has a first lower frame material 7A, a second lower frame material 7B, a third lower frame material 7C, and a fourth lower frame material 7D. In FIGS. 3 to 5, the first lower frame material 7A, the second lower frame material 7B, the third lower frame material 7C, and the fourth lower frame material 7D, which are hidden by overlapping with other frame materials, are drawn with broken lines. It has a line. The first lower frame material 7A, the second lower frame material 7B, the third lower frame material 7C, and the fourth lower frame material 7D are combined so as to form a quadrangle in a plan view. The support frame 5 and the lower frame 7 have the same shape and size, and are arranged in parallel with each other at intervals in the vertical direction.

The first lower frame member 7A connects the first support leg 6A and the third support leg 6C. The second lower frame member 7B connects the second support leg 6B and the fourth support leg 6D. The third lower frame member 7C connects the first support leg 6A and the second support leg 6B. The fourth lower frame material 7D connects the third support leg 6C and the fourth support leg 6D.
The top plate 3 is supported on the machine frame 2 (specifically, on the support frame 5). The top plate 3 is fixed to the support frame 5 with bolts or the like so as to cover the upper part of the support frame 5. The top plate 3 is a plate having a flat or substantially flat upper surface, and has at least an area where a multicopter can take off and land. The plan view shape of the top plate 3 is set according to the plan view shape of the support frame 5. In the case of the present embodiment, since the plan view shape of the support frame 5 is quadrangular, the plan view shape of the top plate 3 is also quadrangular. However, the shape of the top plate 3 and the plan view shape of the support frame 5 are not limited to a quadrangle, and may be other shapes such as a triangle, a hexagon, an octagon, a circle, and an ellipse.

<Multicopter>
6 to 8 show an example of the multicopter 60. The configuration of the multicopter 60 is not limited to the illustrated configuration.
The multicopter 60 is a rotary wing aircraft capable of flying unmanned by a plurality of rotary wings, and is, for example, an air vehicle called a drone. The multicopter 60 may fly by remote control by wireless or wired communication, or may fly by autonomous control without depending on a remote device.

The multicopter 60 includes a machine body 61 and a working device 66.
First, the machine body 61 will be described. The airframe 61 has a main body 62, an arm 63, a rotary wing 64, and a leg (skid) 65.
The main body 62 includes a case 67 (hereinafter, referred to as “first case 67”) and an electrical component 68 (hereinafter, referred to as “first electrical component 68”).

The first case 67 is a box body that constitutes the outer shell of the main body 62, and has an internal space that can be sealed. The first electrical component 68 is housed in the internal space of the first case 67. That is, the periphery of the first electrical component 68 is covered with the first case 67.
The first electrical component 68 is an electrical component that controls the flight of the multicopter 60, and is, for example, a GPS antenna, a control device 90, various sensors (gyro sensor, acceleration sensor, etc.) and the like. The control device 90 is a computer including a CPU, a storage unit 90a, and the like, and controls flight based on the altitude and the like of the aircraft 61 detected by the altitude detection device 91.

A plurality of arms 63 are attached to the main body 62. In the case of this embodiment, four arms 63 are attached to the main body 62. The four arms 63 extend radially from the center of the main body 62 in a horizontal plane (a plane parallel to the ground in the landing state). However, the number of arms 63 is not limited to four, and may be five or more, or three or less. Further, the arm 63 may have a structure that can be folded toward the main body 62 side.

The base end side of the arm 63 is attached to the main body 62. The tip end side of the arm 63 is bifurcated (Y-shaped) in the middle. Rotor blades 64 are attached to the tip sides of the plurality of arms 63, respectively.
The rotor 64 generates lift for the multicopter 60 to fly. The rotor 64 is composed of a rotor 69 and a blade (propeller) 70. The rotor 69 is composed of an electric motor. The rotor 69 is driven by the electric power supplied from the battery 71, which will be described later. A blade 70 is attached to the upper part of the rotation shaft of the rotor 69. The adjacent rotors 64 rotate in opposite directions. The number of rotary blades 64 is not particularly limited and can be changed according to the required lift and the like. For example, the multicopter 60 may be a tricopter with three rotors 64, a quadcopter with four rotors 64, or a hexacopter with six rotors 64. It may be an octocopter having eight rotors 64.

The leg portion 65 touches the ground when the multicopter 60 lands and supports the main body 62 above the landing. The leg portion 65 includes a pair of leg portions 65L and 65R. Specifically, the leg portion 65 includes a leg portion 65L provided on the left side of the main body 62 and a leg portion 65R provided on the right side of the main body 62. The legs 65L and 65R have a lower extension portion 65a extending downward from the main body 62 and a ground contact portion 65b provided at the lower end of the lower extension portion 65a. The ground contact portion 65b of the leg portion 65L and the ground contact portion 65b of the leg portion 65R extend in the front-rear direction in parallel with each other.

A mounting portion 72 is provided below the main body 62. The mounting portion 72 detachably supports the working device 66 between the leg portion 65L and the leg portion 65R.
Next, the working device 66 will be described.
The work device 66 is a device for performing work related to agriculture. In the case of the present embodiment, the working device 66 is a spraying device and has a tank 73 for accommodating the spraying liquid.

As shown in FIGS. 7 and 8, the tank 73 is mounted on a mounting portion 72 provided below the main body 62. The tank 73 is removable from the mounting portion 72. The tank 73 may be integrally molded with the mounting portion 72. The mounting portion 72 is a rail having an L-shaped cross section. A mounted portion 73a that projects outward from the side of the tank 73 in the width direction is suspended on the mounting portion 72. In FIG. 8, the mounted state of the tank 73 is shown by a solid line, and the state of sliding the tank 73 in the direction of detaching from the mounting portion 72 (indicated by the arrow B) is shown by a virtual line.

The tank 73 has a container 74 and a lid 75.
The container 74 forms an internal space in which the spray liquid to be sprayed on the field is housed. The container 74 has a supply unit 76 for supplying a liquid to the internal space on the upper surface of the container 74. The supply unit 76 has a tubular body 76a that projects cylindrically from the upper surface of the container 74. A lid 75 is detachably attached to the tubular body 76a by a screw or the like. The spray liquid contained in the tank 73 is supplied from the tank 73 to the pump 77.

As shown in FIG. 8, the airframe 61 is equipped with an electrical component 78 (hereinafter, referred to as “second electrical component 78”) different from the first electrical component 68. The second electrical component 78 is detachably arranged below the main body 62 and below the rotary blade 64. The second electrical component 78 includes an energy supply unit 71 that supplies energy to the rotor 69 of the rotary blade 64. In this embodiment, the energy supply unit 71 includes a battery 71 that supplies electric power. When the blade 70 is rotated by the engine instead of the rotor 69 of the rotary blade 64, the energy supply unit 71 is a gasoline tank containing gasoline.
As shown in FIGS. 7 and 8, the second electrical component 78 is partially or wholly housed in a case 79 (hereinafter, referred to as “second case 79”) different from the first case 67. The second case 79 is provided below the main body 62.

<Take-off and landing part (fixed part)>
As shown in FIG. 3, the fixing portion 4 of the takeoff and landing portion 1 can fix the pair of legs 65L and 65R of the multicopter 60 landed on the top plate 3. As shown in FIGS. 3 to 5 and 9, the fixing portion 4 has one fixing portion 4L, the other fixing portion 4R, and an adjusting mechanism 8. On the other hand, the fixing portion 4L can fix one leg portion 65L of the multicopter 60. The other fixing portion 4R can fix the other leg portion 65R of the multicopter 60. The adjusting mechanism 8 is a mechanism capable of adjusting the distance between the one fixed portion 4L and the other fixed portion 4R.

As shown in FIG. 9, the fixing portion 4L has a mounting portion 4La and a pressing portion 4Lb. The mounting portion 4La is formed in a tubular shape. The pressing portion 4Lb is provided below the mounting portion 4La. The pressing portion 4Lb has a groove portion 4Lc extending in the front-rear direction on the lower surface thereof, and is formed in a downward concave shape. The ground contact portion 65b of the leg portion 65L can be fitted into the groove portion 4Lc.

On the other hand, the fixing portion 4R has a mounting portion 4Ra and a pressing portion 4Rb. The mounting portion 4Ra is formed in a tubular shape. The pressing portion 4Rb is provided below the mounting portion 4Ra. The pressing portion 4Rb has a groove portion 4Rc extending in the front-rear direction on the lower surface thereof, and is formed in a downward concave shape. The ground contact portion 65b of the leg portion 65R can be fitted into the groove portion 4Rc.
As shown in FIGS. 4 and 5, the adjusting mechanism 8 has a first adjusting unit 9 and a second adjusting unit 10. One fixing portion 4L is provided on each of the left portion of the first adjusting portion 9 and the left portion of the second adjusting portion 10. The other fixing portion 4R is provided on the right portion of the first adjusting portion 9 and the right portion of the second adjusting portion 10, respectively. The first adjusting unit 9 and the second adjusting unit 10 are arranged at intervals in the front-rear direction. The first adjusting unit 9 is arranged in front of the center of the top plate 3 in the front-rear direction. The second adjusting unit 10 is arranged behind the center of the top plate 3 in the front-rear direction. The configuration of the first adjusting unit 9 and the configuration of the second adjusting unit 10 are the same.

As shown in FIG. 9, the first adjusting portion 9 and the second adjusting portion 10 have a fixing member 11 fixed to the top plate 3 and a support rod 12 attached to the fixing member 11. The fixing member 11 is fixed to the upper surface of the top plate 3 by bolts, welding, or the like. The support rod 12 is attached to the fixing member 11 by a fixture (bolt 13, wing nut 14). Specifically, the support rod 12 is formed with a through hole extending in the vertical direction, and the bolt 13 is inserted through the through hole from below. The tip (upper end) of the bolt 13 protrudes upward from the support rod 12, and the wing nut 14 is screwed into the protruding portion. The support rod 12 extends from the fixing member 11 to one side (left side) and the other side (right side), respectively. The support rod 12 is arranged so as to be separated upward from the upper surface of the top plate 3.

On one side (left side) of the support rod 12, the attachment portion 4La of the one fixing portion 4L is attached. On the other side (right side) of the support rod 12, the attachment portion 4Ra of the other fixing portion 4R is attached. Specifically, the support rod 12 is inserted through the mounting portion 4La and the mounting portion 4Ra formed in a tubular shape. As a result, as shown by the arrow C in FIG. 9, the one fixing portion 4L and the other fixing portion 4R can be slidably moved along the support rod 12.

As shown in FIGS. 3 and 9, the ground contact portion 65b of the leg portion 65L is fitted into the groove portion 4Lc of the holding portion 4Lb, the ground contact portion 65b of the leg portion 65R is fitted into the groove portion 4Rc of the holding portion 4Rb, and the wing nut 14 is inserted. By tightening the bolt 13, the legs 65L and 65R can be fixed to the fixing portion 4.
On the other hand, the fixing portion 4L has a positioning portion 4Ld that fixes the position of the fixing portion 4L with respect to the support rod 12. The other fixing portion 4R has a positioning portion 4Rd that fixes the position of the other fixing portion 4R with respect to the support rod 12. Since the configuration of the positioning unit 4Ld and the configuration of the positioning unit 4Rd are the same, the configuration of the positioning unit 4Ld will be described as a representative.

The positioning portion 4Ld has a female screw portion 4a formed on the upper portion of the mounting portion 4La and a set screw 4b screwed into the female screw portion 4a. By rotating the set screw 4b to move it downward with respect to the female thread portion 4a and pressing the tip (lower end) of the set screw 4b against the support rod 12, the fixing portion 4L cannot slide along the support rod 12. It becomes. As a result, the fixing portion 4L can be positioned with respect to the support rod 12. Similarly, the positioning portion 4Rd can position the other fixed portion 4R with respect to the support rod 12.

According to the adjustment mechanism 8 described above, the distance between the one fixing portion 4L and the other fixing portion 4R can be adjusted by sliding the one fixing portion 4L and the other fixing portion 4R along the support rod 12. Further, the one fixed portion 4L and the other fixed portion 4R can be positioned in a state where the distance is adjusted. Therefore, by adjusting the distance between the one fixed portion 4L and the other fixed portion 4R according to the distance between the leg portion 65L and the leg portion 65R of the multicopter 60, the distance between the pair of legs (leg portion 65L and the leg portion) is adjusted. The legs of the multicopters 60 having different sizes (with a distance from the 65R) can be reliably fixed.

<Fixing of equipment, etc.>
As shown in FIGS. 1, 2, and 10, the equipment 80 necessary for the flight of the multicopter 60 can be accommodated between the plurality of support legs 6 (the area surrounded by the plurality of support legs 6). Space S1 is formed. FIG. 10 shows the accommodation space S1 formed below the top plate 3 on the machine frame 2 in a plan view.

The equipment 80 includes at least a spray agent container 81 containing the spray agent and a diluent container 82 containing a diluent for diluting the spray agent. As shown in FIG. 10 and the like, in the case of the present embodiment, the equipment 80 includes a battery 83 (a battery for replacement with the battery 71) mounted on the multicopter 60 in addition to the spray agent container 81 and the diluent container 82. ), A charger 84 capable of charging the battery 83 (or the battery 71), a generator 85 for generating electric power to charge the charger 84, and a fuel tank 86 containing fuel for driving the generator 85. I'm out.

The accommodation space S1 is formed between the first support leg 6A and the second support leg 6B and the third support leg 6C and the fourth support leg 6D in the machine frame width direction W. The accommodation space S1 is formed between the first support leg 6A and the third support leg 6C and the second support leg 6B and the fourth support leg 6D in the front-rear direction. The accommodation space S1 is formed between the installation surface G1 of the machine frame 2 and the top plate 3 in the vertical direction. The installation surface G1 is the upper surface of the loading platform 52 (see FIG. 1), the upper surface of the mounting table 40 (see FIG. 2), or the like, and may be the ground. The accommodation space S1 is formed in a region surrounded by the first lower frame material 7A, the second lower frame material 7B, the third lower frame material 7C, and the fourth lower frame material 7D in a plan view.

As shown in FIG. 2, the top plate 3 has a region R1 on which the equipment 80 can be placed. The area R1 has an area on which at least a part of the equipment 80 can be placed. As shown in FIG. 1, this region R1 can be expanded by moving the movable portion 16 to the second position (indicated by a virtual line). The equipment 80 placed in the area R1 may be a part of the equipment 80 accommodated in the accommodation space S1, or is different from the equipment 80 accommodated in the accommodation space S1. May be good. The equipment 80 mounted on the area R1 is, for example, an antenna 97, a liquid container 98 (bucket), a tripod 99, or the like.

As shown in FIGS. 4 and 5, the machine frame 2 has a fixing mechanism 87 for fixing the equipment 80 to the region R1 on the top plate 3. The fixing mechanism 87 has a locking portion 88 capable of locking a string-shaped body 89 (see FIG. 4) for fixing the equipment 80 to the region R1. The string-shaped body 89 preferably has elasticity (stretchability), and for example, a rubber band is preferably used. The locking portion 88 is composed of a frame body fixed to the upper portion or the lower portion of the support frame 5, and the string-shaped body 89 can be inserted into the frame body to lock the locking portion 88. The locking portions 88 are provided at a plurality of locations on the support frame 5. In the case of the present embodiment, the locking portions 88 are provided at a plurality of positions on the first frame material 5A and the second frame material 5B of the support frame 5 at intervals in the front-rear direction.

In the case of the present embodiment, the locking portion 88 is arranged in front of the intermediate locking portion 88A arranged between the first adjusting portion 9 and the second adjusting portion 10 and the first adjusting portion 9 in the front-rear direction. It has a front locking portion 88B and a rear locking portion 88C arranged behind the second adjusting portion 10. The intermediate locking portions 88A are a first intermediate locking portion 88A1 arranged in front of the center of the top plate 3 in the front-rear direction and a second intermediate locking portion 88A arranged behind the center of the top plate 3 in the front-rear direction. Includes 88A2 and.

As shown by a virtual line in FIG. 4, the string-like body 89 is locked to the front locking portion 88B provided on the first frame material 5A and the front locking portion 88B provided on the second frame material 5B. As a result, the string-shaped body 89 can be extended in the machine frame width direction W in the front region R11 on the top plate 3. Therefore, the string-shaped body 89 can hold and fix the equipment placed in the front region R11 on the top plate 3 from above.

As shown by a virtual line in FIG. 4, the string-like body 89 is locked to the rear locking portion 88C provided on the first frame material 5A and the rear locking portion 88C provided on the second frame material 5B. As a result, the string-shaped body 89 can be extended in the machine frame width direction in the rear region R12 on the top plate 3. Therefore, the string-shaped body 89 can hold and fix the equipment placed in the rear region R12 on the top plate 3 from above.

Further, the multicopter 60 is formed by a string-like body 89 locked to the first intermediate locking portion 88A1 provided on the first frame material 5A and the first intermediate locking portion 88A1 provided on the second frame material 5B. The front parts of the legs 65L and 65R can be pressed and fixed from above. The legs of the multicopter 60 by the string-like body 89 locked to the second intermediate locking portion 88A2 provided on the first frame material 5A and the second intermediate locking portion 88A2 provided on the second frame material 5B. The rear portions of the portions 65L and 65R can be pressed and fixed from above.

The machine frame 2 is raised by fixing the leg portion 65 of the multicopter 60 on the top plate 3 by the fixing portion 4 and fixing the equipment 80 on the top plate 3 by the fixing mechanism 87. And the equipment 80 can be raised together with the top plate 3. Here, the machine frame 2 does not have a portion that enters the accommodation space S1 (passes through the accommodation space S1) when the multicopter 60 is raised. Specifically, since the support legs 6 extend linearly downward from the support frame 5, the equipment 80 housed in the storage space S1 supports the equipment 80 when the machine frame 2 rises together with the multicopter 60. It does not hit the leg 6 and hinder the ascent.

As described above, when the takeoff and landing portion 1 includes the fixing portion 4 and the fixing mechanism 87, the equipment 80 can be moved (raised) together with the machine frame 2 by the multicopter 60. Therefore, the work of moving (lowering) the equipment 80 can be performed by the multicopter 60 without relying on human power, and the labor of the worker can be reduced. In particular, when the machine frame 2 is mounted on the loading platform 52, the equipment 80 mounted on the top plate 3 is located at a high position from the ground, so that it takes a lot of labor to manually lower it, but the multi The labor can be reduced by lowering the copter 60 together with the machine frame 2. Further, by fixing the leg portion 65 of the multicopter 60 on the top plate 3 by using the fixing mechanism 87 in addition to the fixing portion 4, the multicopter 60 and the top plate 3 are firmly fixed, so that the multicopter 60 and the top plate 3 are firmly fixed. When the copter 60 is raised, the top plate 3 can be reliably prevented from coming off and falling together with the machine frame 2 and the equipment 80. Therefore, even when the weight of the equipment 80 is heavy, the equipment 80 can be surely raised together with the multicopter 60 and unloaded from the loading platform or the like.

<Take-off and landing part (moving part)>
As shown in FIGS. 11 to 13, the machine frame 2 preferably has a movable portion 16 that can move with respect to the top plate 3. The movable portion 16 has a first position P1 having an area where the multicopter 60 can take off and land as a first area, and a second position P2 having an area where the multicopter 60 can take off and land as a second area larger than the first area. It is possible to move to. That is, the area of the top plate 3 can be changed by moving the movable portion 16. FIG. 4 shows a state in which the area where the multicopter 60 can take off and land is set as the first area, and FIG. 12 shows a state in which the area where the multicopter 60 can take off and land is set as the second area.

As shown in FIG. 12, the movable portion 16 is connected to the edge portion of the machine frame 2 by a hinge 53. The movable portion 16 is rotatable about a hinge axis facing in the horizontal direction, and can be moved to the first position P1 and the second position P2 by rotating. The movable portion 16 changes its position with respect to the top plate 3 by moving to the first position P1 and the second position P2.
The movable portion 16 has a movable frame 16A formed by combining frame materials and a movable plate 16B fixed to the surface (upper surface) of the movable frame 16A. When the movable plate 16B is in the second position P2, the movable plate 16B is arranged side by side with the top plate 3 provided on the machine frame 2.

In the case of the present embodiment, the shape of the movable portion 16 is a quadrangle in a plan view, but it can be any shape such as a triangle or a semicircle. The upper surface of the movable plate 16B forms a plane (horizontal plane) flush with the top plate 3 when the movable portion 16 is at the second position P2. As shown in FIG. 11, the movable portion 16 is supported from below by the reinforcing member 17 when it is in the second position P2.
As shown in FIG. 12, the movable portion 16 includes a first movable portion 161, a second movable portion 162, and a third movable portion 163. The first movable portion 161 is connected to the rear portion of the machine frame 2 (support frame 5). The second movable portion 162 is connected to the left portion of the machine frame 2 (support frame 5). The third movable portion 163 is connected to the right portion of the machine frame 2 (support frame 5). As shown in FIGS. 11 to 13, the first movable portion 161 and the second movable portion 162 and the third movable portion 163 can be folded from the second position P2 to the first position P1. In the case of the present embodiment, the first movable portion 161 can be folded downward, and the second movable portion 162 and the third movable portion 163 can be folded upward.

FIG. 14 shows another embodiment of the movable portion 16. In this embodiment, the movable portion 16 is slidable between the first position P1 and the second position P2. A rail (not shown) that guides the sliding movement of the movable portion 16 is attached to the machine frame 2, and the movable portion 16 moves along this rail between the first position P1 and the second position P2. It is possible to move with.

<Takeoff and landing part (hood structure)>
As shown in FIG. 15, it is preferable that the hood structure 18 can be attached to the takeoff and landing portion 1. The hood structure 18 has a cover member 18A that covers the upper part of the multicopter 60 that has landed on the top plate 3, and a support member 18B that supports the cover member 18A above the multicopter 60. The support member 18B has a support column 18B1 and an upper frame body 18B2.

The support column 18B1 is detachably attached to a mounting portion 19 provided on the machine frame 2 or the top plate 3. The mounting portion 19 is, for example, a cylinder provided at each of the four corners of the machine frame 2 or the top plate 3, and the lower end portion of the support column 18B1 is inserted into the cylinder and fixed. As a result, the support columns 18B1 are erected at the four corners (left front portion, right front portion, left rear portion, and right rear portion) of the machine frame 2 or the top plate 3, respectively.

The upper frame body B2 is configured by connecting the upper portions of the columns 18B1 to each other, and is configured as a quadrangle in a plan view. However, it is preferable that the plan view shape of the upper frame body B2 matches the plan view shape of the top plate 3. In the case of the present embodiment, since the plan view shape of the top plate 3 is quadrangular, the plan view shape of the upper frame body B2 is also quadrangular.
The cover member 18A is attached to the upper frame body B2 so as to cover the upper frame body B2 from above. The cover member 18A is, for example, a sheet material made of synthetic resin, cloth, or the like. The cover member 18A may have a size (area) that can cover at least the upper part of the multicopter 60 that has landed on the top plate 3, but is a size that covers the entire area above the top plate 3. Is preferable.

The cover member 18A may be capable of covering not only the upper side of the multicopter 60 landed on the top plate 3 but also the surroundings (sideways). In this case, the cover member 18A not only covers the upper portion of the upper frame body B2, but also between adjacent columns 18B1 (for example, between the left front column and the left rear column, between the right front column and the right rear column). A size that can cover between the stanchions, between the left front stanchion and the right front stanchion, and between the left rear stanchion and the right rear stanchion) is used.
The cover member 18A has a function of protecting the multicopter 60 and the equipment 80 that have landed on the top plate 3 from wind and rain.

<Running body>
FIG. 1 is a diagram showing an example of an embodiment of the traveling body 20.
The traveling body 20 shown in FIG. 1 is a vehicle 51 having at least a takeoff and landing portion 1, a spray agent container 81, a diluent container 82, and a loading platform 52 on which a supply device 102 can be mounted. The vehicle 51 is, for example, a truck, preferably a light truck (a truck manufactured according to the standard of a light vehicle). The takeoff and landing portion 1, the spray agent container 81, the diluent container 82, and the supply device 102 can move together with the traveling body 20 by being mounted on the loading platform 52 of the traveling body 20.

FIG. 2 is a diagram showing another example of the embodiment of the traveling body 20.
In the case of the embodiment shown in FIG. 2, the traveling body 20 is a carriage 21 on which at least the takeoff and landing portion 1, the spray agent container 81, the diluent container 82, and the supply device 102 can be mounted. The carriage 21 can travel by being towed by the towing vehicle 30.
The towing vehicle 30 is not particularly limited as long as it can tow the bogie 21, but in the case of the present embodiment, it is a tractor. The towing vehicle (tractor) 30 includes a vehicle body 31, front wheels 32, rear wheels 33, a driver's seat 34, and a connecting mechanism 35. The vehicle body 31 is configured by connecting a prime mover (engine) 36, a clutch housing 37 having a clutch, a transmission case 38 having a transmission, and the like.

The prime mover 36 is mounted on the vehicle body 31 and is arranged at the front portion of the vehicle body 31. The clutch housing 37 is connected to the rear portion of the engine 36 and houses the clutch. The transmission case 38 is connected to the rear portion of the clutch housing 37 and extends rearward. The transmission case 38 houses a transmission, a rear wheel differential, and the like. A PTO shaft 39 projects behind the mission case 38.

The connecting mechanism 35 is provided at the rear of the towing vehicle 30. The connecting mechanism 35 is a mechanism for connecting the bogie 21 to the rear part of the towing vehicle 30. The connecting mechanism 35 can also connect a working device (cultivator or the like) that performs work on a field or the like. As shown in FIG. 16, the connecting mechanism 35 is composed of a link mechanism such as a three-point link mechanism, and can connect the carriage 21 and the working device so as to be able to move up and down.

The link mechanism constituting the connecting mechanism 35 includes a top link 35a, left and right lower links 35b, left and right lift arms 35c, and left and right lift rods 35d. The front end portion of the lift arm 35c is swingably supported upward or downward on the rear upper portion of the mission case 38. The lift arm 35c swings (elevates) by being driven by the lift cylinder 35e. The lift cylinder 35e is composed of a hydraulic cylinder. The lift cylinder 35e is connected to the pump of the hydraulic system via a control valve. The control valve is a solenoid valve controlled by a control device.

The front end portion of the lower link 35b is swingably supported upward or downward in the lower rear portion of the transmission case 38. The front end portion of the top link 35a is swingably supported above or below the rear portion of the transmission case 38 above the lower link 35b. The lift rod 35d connects the lift arm 35c and the lower link 35b. A carriage 21 is connected to the rear portion of the lower link 35b and the rear portion of the top link 35a. When the lift cylinder 35e is driven (expanded / contracted), the lift arm 35c moves up and down, and the lower link 35b connected to the lift arm 35c moves up and down via the lift rod 35d. As a result, the bogie 21 swings (up and down) upward or downward with the front portion of the lower link 35b as a fulcrum. When the connecting mechanism 35 raises and lowers the bogie 21, the top plate 3 on the machine frame 2 mounted on the bogie 21 is maintained horizontally.

The rotational power from the prime mover 36 can be taken out of the towing vehicle 30 via the PTO shaft 39. The rotational power extracted to the outside of the towing vehicle 30 via the PTO shaft 39 can be used for driving the generator 85 of the equipment 80, driving the working device connected to the connecting mechanism 35, and the like.
As shown in FIGS. 17 to 19, the dolly 21 has a mounting base 40, wheels 41, and a connecting portion 42.

The mounting table 40 has a lower frame body 43 and a front frame body 44. The lower frame body 43 has a first lower frame member 43A, a second lower frame member 43B, a third lower frame member 43C, and a fourth lower frame member 43D that are combined in a rectangular shape in a plan view. The first lower frame member 43A and the second lower frame member 43B, and the third lower frame member 43C and the fourth lower frame member 43D are connected by the lower connecting member 43E, respectively. A mounting plate 45 is fixed to the upper part of the lower frame body 43. The machine frame 2 can be mounted on the upper surface of the mounting plate 45.

The front frame body 44 extends upward from the front portion of the lower frame body 43. The front frame body 44 has a first front frame member 44A, a second front frame member 44B, a third front frame member 44C, and a fourth front frame member 44D that are combined in a square shape in front view. The first front frame member 44A extends upward from the left front portion of the lower frame body 43. The second front frame member 44B extends upward from the right front portion of the lower frame body 43. The third front frame member 44C connects the upper end portion of the first front frame member 44A and the upper end portion of the second front frame member 44B. The fourth front frame member 44D connects the lower end portion of the first front frame member 44A and the lower end portion of the second front frame member 44B. The third front frame member 44C and the fourth front frame member 44D are connected by vertical connecting members 46L and 46R. The vertical connecting member 46L and the vertical connecting member 46R are arranged in parallel with each other and are connected by the horizontal connecting member 47.

As shown in FIGS. 17 and 18, the mounting table 40 has a front-rear halfway portion of the first lower frame member 43A, an upper portion of the first front frame member 44A, a front-rear direction middle portion of the second lower frame member 43B, and a second. It may have an oblique member 48 connecting the upper portions of the front frame member 44B, respectively.
The wheels 41 are attached to the lower part of the lower frame body 43 via the bracket 49. The bracket 49 rotatably supports the wheel 41 around the vertical axis. The wheel 41 and the bracket 49 form a caster.

The connecting portion 42 is a portion connected to the connecting mechanism 35 of the towing vehicle 30. The connecting portion 42 is provided on the upper portion of the front frame body 44. The connecting portion 42 has an upper connecting portion 42A connected to the top link 35a, a left connecting portion 42B connected to the left lower link 35b, and a right connecting portion 42C connected to the right lower link 35b.
The upper connecting portion 42A has a left member 42A1, a right member 42A2, and a connecting shaft 42A3. The left member 42A1 and the right member 42A2 are arranged in parallel with each other and extend upward and forward from the front frame body 44. The connecting shaft 42A3 connects the left member 42A1 and the right member 42A2.

The left connecting portion 42B has a left plate 42B1 and a left shaft 42B2. The right connecting portion 42C has a right plate 42C1 and a right shaft 42C2. The left plate 42B1 is connected to the vertical connecting member 46L. The right plate 42C1 is connected to the vertical connecting member 46R. The left plate 42B1 and the right plate 42C1 project forward from the vertical connecting members 46L and 46R. The left shaft 42B2 projects to the left from the left plate 42B1. The right shaft 42C2 projects to the right from the right plate 42C1. The left plate 42B1 and the left member 42A1 are connected by a left connecting body 50L. The right plate 42C1 and the right member 42A2 are connected by a right connecting body 50R.

As shown in FIG. 16, in the connecting portion 42, the upper connecting portion 42A is connected to the top link 35a. In the left connecting portion 42B, the left shaft 42B2 is connected to the left lower link 35b. In the right connecting portion 42C, the right shaft 42C2 is connected to the lower link 35b on the right side. As a result, the connecting portion 42 is connected to the connecting mechanism 35 of the towing vehicle 30, and the bogie 21 can travel as the towing vehicle 30 travels. By driving the lift cylinder 35e of the connecting mechanism 35 of the towing vehicle 30, the bogie 21 can be raised and lowered. The machine frame 2 can move together with the traveling body 20 by being mounted on the mounting base 40 of the bogie 21.

<Supply device>
As shown in FIG. 1, the takeoff and landing device 100 includes a supply device 102 that supplies the spray agent contained in the spray agent container 81 and the diluent contained in the diluent container 82 to the multicopter 60. In this embodiment, the supply device 102 is a pump. The supply device 102 is attached to the takeoff and landing portion 1. Specifically, the supply device 102 is attached to the machine frame 2. More specifically, the supply device 102 is attached to the lower part of the top plate 3 or the support frame 5 of the machine frame 2.

The first hose 103 and the second hose 104 are connected to the supply device 102. The first hose 103 is a hose for taking out (sucking up) the spray agent contained in the spray agent container 81 and the diluent contained in the diluent container 82. The amount of the spray agent taken out from the spray agent container 81 and the amount of the diluent taken out from the diluent container 82 are adjusted by an adjusting device 54 such as a valve capable of adjusting the flow rate of the liquid. The spraying agent and the diluent are guided to the first hose 103 in the state of a mixed liquid (spraying liquid). The second hose 104 is a hose for sending a mixed liquid (spraying liquid) of the spraying agent and the diluent taken out by the first hose 103 to the tank 73 of the multicopter 60.

When the supply device (pump) 102 is driven, the spray agent contained in the spray agent container 81 and the diluent contained in the diluent container 82 are sucked up. The amount of the spray agent and the amount of the diluent are adjusted by the adjusting device 54. The spray agent and the diluent whose amount has been adjusted are mixed, and the mixed mixed liquid (spray liquid) is taken out through the first hose 103 and sent to the tank 73 of the multicopter 60 through the second hose 104. Be done. As a result, the spray liquid can be smoothly replenished to the tank 73 of the multicopter 60 that has landed on the takeoff and landing portion 1.

The supply device 102 may be configured to suck out the spray liquid from a tank in which the spray agent and the diluent are separately prepared and stored as the spray liquid, and send the spray liquid to the tank 73 of the multicopter 60.

<Spray agent supply system>
The takeoff and landing device 100 can include the spray liquid supply system 101 shown in FIG. The supply system 101 can be mounted on the traveling body 20. The supply system 101 can supply (replenish) the spray liquid to the multicopter 60 that has landed on the takeoff and landing unit 1. Hereinafter, the supply system 101 will be described.

As shown in FIG. 20, the supply system 101 includes a first storage device 110. The first storage device 110 is a device for storing the first liquid to be sprayed. The first liquid is a liquid containing a spraying agent (chemicals such as pesticides and fertilizers), and in the case of a pesticide, for example, a liquid having a chemical component constituting the pesticide. The first liquid may be a stock solution of a pesticide, or may be a diluted solution obtained by diluting a stock solution of a pesticide.

In the case of the present embodiment, the first storage device 110 includes a plurality of storage tanks 111 for storing the first liquid. The plurality of storage tanks 111 store first liquids having different chemical components. In this embodiment, the first storage device 110 has three storage tanks 111a, 111b, 111c. Pesticides having different chemical components are stored in each of the storage tanks 111a, 111b, and 111c. However, the number of storage tanks is not limited, and may be one, two, or four or more. The storage tank 111 corresponds to the spray agent container 81 described above.

The supply system 101 includes a second storage device 113. The second storage device 113 is a device for storing the second liquid, and is composed of, for example, a tank having a larger storage amount than each of the storage tanks 111a, 111b, and 111c. The second liquid is a liquid that dilutes the first liquid, that is, a liquid that lowers the concentration of the first liquid (diluted liquid), and is, for example, water (diluted water). The second storage device 113 corresponds to the above-mentioned diluent container 82.

The supply system 101 includes a generator 120. The generation device 120 is a device that mixes the first liquid of the first storage device 110 and the second liquid of the second storage device 113 to generate a spray liquid. The generator 120 has a delivery pump 121, a first mixing chamber 122, and a second mixing chamber 123. The delivery pump 121 is a device that delivers the first liquid of the first storage device 110 to the second mixing chamber 123. The first mixing chamber 122 is a chamber for mixing the first liquid and the second liquid. The second mixing chamber 123 is a chamber for mixing a plurality of first liquids.

Specifically, the delivery pump 121 has three pumps corresponding to the storage tanks 111a, 111b, and 111c of the first storage device 110, that is, the first pump P11, the second pump P12, and the third pump P13. The first pump P11 and the storage tank 111a are connected by a flow path 124a. The second pump P12 and the storage tank 111b are connected by a flow path 124b. The third pump P13 and the storage tank 111c are connected by a flow path 124c.

The first pump P11 and the second mixing chamber 123 are connected by a flow path 125a. The second pump P12 and the second mixing chamber 123 are connected by a flow path 125b. The third pump P13 and the second mixing chamber 123 are connected by a flow path 125c. That is, the flow paths 125a, 125b, and 125c form a first flow path 125 that connects the delivery pump 121 and the second mixing chamber 123.

The first pump P11 delivers the first liquid of the storage tank 111a to the second mixing chamber 123. The second pump P12 delivers the first liquid of the storage tank 111b to the second mixing chamber 123. The third pump P13 delivers the first liquid of the storage tank 111c to the second mixing chamber 123.
The second mixing chamber 123 is a chamber in which the first liquids of the plurality of storage tanks 111a, 111b, and 111c are supplied, and a mixed liquid in which the first liquids are mixed is generated inside. The second mixing chamber 123 and the first mixing chamber 122 are connected by a second flow path 127.

The generator 120 has an adjusting unit 128. The adjusting unit 128 is a solenoid valve provided in the second flow path 127 and whose opening degree can be changed. By changing the opening degree, the adjusting unit 128 supplies a mixture of the first liquids of the plurality of storage tanks 111a, 111b, 111c to the first mixing chamber 122 (mixed in the second mixing chamber 123). The amount of the mixed liquid supplied to the first mixing chamber 122) is adjusted. A pressure adjusting machine 129 that keeps the pressure inside the second mixing chamber 123 constant may be connected to the second mixing chamber 123.

The generation device 120 includes a third flow path 130. The third flow path 130 connects the second storage device 113 and the first mixing chamber 122. An on-off valve 135 that can be fully opened or fully closed is connected to the third flow path 130. Therefore, by fully opening the on-off valve 135, the second liquid of the second storage device 113 passes through the third flow path 130 and is supplied to the first mixing chamber 122 and is supplied to the first mixing chamber 122. The first liquid is diluted by mixing with the first liquid. In this way, a diluent obtained by diluting the first liquid with the second liquid is generated in the first mixing chamber 122, and the generated diluent, that is, the spray liquid is temporarily stored in the first mixing chamber 122. ..

The supply system 101 has a supply pump P14. The supply pump P14 is a pump that supplies the spray liquid temporarily stored in the first mixing chamber 122 to the tank 73 of the multicopter 60. Specifically, the first mixing chamber 122 and the supply pump P14 are connected by a fourth flow path 131, and the fifth flow path 132 is connected to the supply pump P14.
The supply pump P14, the fourth flow path 131, the fifth flow path 132, and the “adjustment unit 128 and on-off valve 135” correspond to the above-mentioned supply device 102, first hose 103, second hose 104, and adjustment device 54, respectively. ..

When the supply pump P14 is driven, the spray liquid in the first mixing chamber 122 passes through the fourth flow path 131 (first hose 103) and the fifth flow path 132 (second hose 104) and lands on the takeoff and landing portion 1. It is supplied to the tank 73 of the copter 60.
The supply system 101 includes a control device 140, a first measuring device 141, and a second measuring device 142. The first measuring device 141 and the second measuring device 142 are connected to the control device 140. The control device 140 is a device capable of performing various controls of the supply system 101, and is composed of a CPU, a storage unit, and the like. The first measuring device 141 is provided, for example, in the section between the adjusting unit 128 and the first mixing chamber 122 in the second flow path 127. The first measuring device 141 measures the supply amount of the first liquid supplied from the adjusting unit 128 to the first mixing chamber 122. The second measuring device 142 is provided in the section between the on-off valve 135 and the first mixing chamber 122 in the third flow path 130. The second measuring device 142 measures the supply amount of the second liquid supplied from the second storage device 113 to the first mixing chamber 122.

The control device 140 controls the generation device 120 so that the dilution ratio of the spray agent in the first mixing chamber 122 becomes a predetermined value. For example, when the control device 140 acquires the dilution ratio of the spray agent, the control device 140 sets the opening degree of the adjusting unit 128 according to the dilution ratio to increase the supply amount supplied from the adjusting unit 128 to the first mixing chamber 122. Set.
<Example of change of takeoff and landing section>
21 to 31 show an example of modification of the takeoff and landing portion 1.

Hereinafter, for convenience of explanation, the takeoff and landing section 1 according to the modified example will be referred to as "second takeoff and landing section 1A".
The second takeoff and landing portion 1A includes a machine frame 221 and a tank 222 provided on the machine frame 221 and storing liquid, and a takeoff and landing space (plan view area) 223 provided on the upper surface of the tank 222 and on which the multicopter 60 takes off and landing. , Is equipped.
Further, as shown in FIGS. 25 to 31, the second takeoff and landing portion 1A includes an expansion member 224 that expands the takeoff and landing space 223. In addition, the second takeoff / landing section 1A includes a spare tank 225, a loading space 227 for loading at least the generator 226, leg members 228, casters 229, and a connecting section 42 for connecting the second takeoff / landing section 1A to the towing vehicle 30. There is.

As shown in FIGS. 21 to 27, the machine frame 221 is a frame material that supports the tank 222, the loading space 227, the connecting portion 42, and the like. The machine frame 221 is provided with leg members 228.
The machine frame 221 is attached to the front frame material 231, the left frame material 232L and the right frame material 232R connected to the left and right ends of the front frame material 231 respectively, and the rear ends of the left frame material 232L and the right frame material 232R. It has a connected rear frame member 233. In the case of the present embodiment, the plan view shape of the machine frame 221 is rectangular, but it may be another shape such as a square or a circle. Further, in the machine frame 221, the lower surfaces of the front frame material 231 and the left frame material 232L, the right frame material 232R and the rear frame material 233 may be covered with a plate material.

The front frame material 231, the left frame material 232L, the right frame material 232R, and the rear frame material 233 are formed of a bar material, a pipe material, or the like. The front frame member 231 is provided with a connecting portion 42. The connecting portion 42 extends forward and upward from the front frame member 231 and can be attached to the connecting mechanism 35 of the towing vehicle 30. A box body constituting a loading space 227 is supported on the front portion of the front frame material 231 and the left frame material 232L and the right frame material 232R. A spare tank 225 and a generator 226, which will be described later, are loaded in the loading space 227. The portion from the middle part to the rear part of the left frame material 232L and the right frame material 232R and the rear frame material 233 form a tank support portion 234 that supports the tank 222. The tank support portion 234 includes left and right front support members 234a projecting upward from the middle portion of the left frame member 232L and right frame member 232R, and left and right rear support members 234b projecting upward from the left and right ends of the rear frame member 233. Have. The tank support portion 234 can be supported by fitting the lower portion of the tank 222 between the front support member 234a and the rear support member 234b.

The tank 222 stores the spray liquid sprayed by the multicopter 60. The tank 222 may be a tank for accommodating the diluent (diluting liquid container 82), or a tank for accommodating the spraying agent (spraying agent container 81) and a tank for accommodating the diluent (diluting liquid container 82). It can also be diluted. Further, the inside of one tank 222 may be divided into two spaces, a space for accommodating the spray agent (spray agent container 81) and a space for accommodating the diluent (diluting liquid container 82). Further, although not shown, the above-mentioned first hose 103, second hose 104, supply device (pump) 102, and adjustment device (valve or the like) 54 can be connected to the tank 222. The spray liquid stored in the tank 222 is supplied (replenished) to the tank 73 of the multicopter 60.

As shown in FIGS. 23 to 27 and the like, the tank 222 has a container 235 and a lid 236.
The container 235 forms an internal space in which the liquid is housed. In the case of this embodiment, the container 235 has a rectangular parallelepiped shape. The container 235 has a supply unit 237 for supplying the liquid to the internal space on the upper surface of the container 235. The supply unit 237 has a tubular body 237a that projects cylindrically from the upper surface of the container 235. A lid 236 is detachably attached to the tubular body 237a by a screw or the like.

In the case of the present embodiment, the plan view shape of the tank 222 is rectangular, but it may be another shape such as a square or a circle. An takeoff and landing space (plan view region) 223 on which the multicopter 60 takes off and landing is provided on the upper surface of the tank 222. The upper surface of the tank 222 constituting the takeoff and landing space 223 is a flat surface or a substantially flat surface. The takeoff and landing space 223 has an area (shape) in which the multicopter 60 can take off and land in a plan view.

A fixing portion 238 is provided on the upper surface of the tank 222 so that a fixing tool such as a hook or a band can be hooked to fix the multicopter 60. The fixing portions 238 are provided at a plurality of locations on the upper surface of the tank 222. The fixing portion 238 may be provided on the side surface of the tank 222.
A grip portion 239 is provided on the side surface of the tank 222. The grip portion 239 is a portion gripped by an operator when carrying the tank 222 or the like. In the case of the present embodiment, the grip portion 239 is composed of a handle, but may be a recess in which an operator can hook a finger. Further, an expansion member 224 may be attached to the side surface of the tank 222.

A discharge portion 240 such as a faucet is provided on the lower side surface of the tank 222 in order to discharge the liquid inside. The discharge unit 240 may be provided on the lower surface of the tank 222. The lower portion 222a of the tank 222 has a smaller area in a plan view than the upper portion 222b. Further, recesses 222c are provided at the four corners of the lower portion 222a of the tank 222. As shown by the arrow A1 in FIG. 23, the tank 222 is mounted on the tank support portion 234 from above. At this time, the front support member 234a and the rear support member 234b of the tank support portion 234 are fitted into the recess 222c of the tank 222, so that the tank 222 is positioned and reliably supported. Further, if the tank 222 is lifted upward, the tank 222 can be removed from the tank support portion 234. By removing the tank 222 from the tank support 234, the tank 222 can be easily cleaned.

The takeoff and landing space (plan view region) 223 shown in FIGS. 21 to 31 is a space (region) in which the multicopter 60 provided on the upper surface of the tank 222 takes off and landing. The plan view shape of the takeoff and landing space 223 is substantially the same as the plan view shape of the tank 222. However, as will be described later, the takeoff and landing space 223 can be expanded by using the expansion member 224.

A mark (H mark or the like) that the multicopter 60 recognizes as an image at the time of landing may be drawn on the upper surface (takeoff / landing surface) 223a of the takeoff / landing space 223. Further, the expansion member 224 may be attached to the upper surface 223a of the takeoff and landing space 223.
The takeoff and landing space 223 may have an area where the multicopter 60 can take off and land, and may be the entire area of the upper surface 223a of the tank 222 or a part of the upper surface 223a of the tank 222. .. For example, when the fixed portion 238 is provided on the upper surface 223a of the tank 222 which is the takeoff and landing space 223, the area of the upper surface 223a of the tank 222 where the fixed portion 238 is not provided becomes the takeoff and landing space 223.

As shown in FIGS. 23 and 25 to 31, the expansion member 224 is a member that expands the takeoff and landing space 223. Specifically, the expansion member 224 is a member that expands the takeoff and landing space 223 toward the outside of the tank 222 (at least one direction of front, rear, left, and right). The expansion member 224 is a plate body 241 that can be retrofitted to the tank 222 (hereinafter, referred to as "first plate body 241"), or a plurality of plate bodies 242 that are attached to the tank 222 and can be folded (hereinafter, "second plate body"). Body 242 ").

First, a case where the expansion member 224 is the first plate body 241 will be described.
23 and 25 to 29 show a case where the expansion member 224 is the first plate body 241.
The first plate body 241 can be retrofitted to the tank 222. When the first plate body 241 is attached to the tank 222, the upper surface of the first plate body 241 is substantially flush with the upper surface of the tank 222 (takeoff / landing surface 223a). The plan view shape of the first plate body 241 can be any shape such as a rectangle, a square, a semicircle, and a fan shape.

The tank 222 is provided with a mounting member 280 that allows the first plate body 241 to be retrofitted to the tank 222. The mounting member 280 is mounted on the tank 222 by a mounting tool such as a bolt. The mounting member 280 may be pre-mounted on the tank 222 or may be mounted on the tank 222 when necessary. The mounting member 280 has a first portion 280a attached to the side surface of the tank 222 and a second portion 280b supported by the first portion 280a and extending horizontally from the side surface of the tank 222. The first plate body 241 can be placed on the upper surface of the second portion 280b. The upper surface of the first plate body 241 mounted on the upper surface of the second portion 280b is a surface connected to the upper surface of the tank 222 and substantially flush with the upper surface of the tank 222 (takeoff / landing surface 223a).

The first plate body 241 may only be placed on the upper surface of the mounting member 280 (the upper surface of the second portion 280b), but is fixed to the upper surface of the mounting member 280 by a fixture such as a bolt or a means such as fitting. It is preferable to do so.
The first plate body 241 may be composed of a plurality of plate bodies, or may be composed of only one plate body. In the example shown in FIGS. 28 and 29, the first plate body 241 is composed of a plurality of (three) plate bodies. The plurality of first plate bodies 241 are attached so as to extend horizontally from the plurality of side surfaces without the supply portion 237. In this case, the plurality of first plate bodies 241 are respectively mounted on the mounting members 280 mounted on the plurality of side surfaces without the supply unit 237. However, the plurality of first plate bodies 241 may be attached so as to extend horizontally from all the side surfaces of the tank 222. When the first plate body 241 is composed of one plate body, it is preferable that the first plate body 241 is attached so as to extend horizontally from one side surface without the supply portion 237.

As shown in FIG. 28, the first plate body 241 may include a plate body 241a that is not mounted on the mounting member 280. The plate body 241a is a plate body for filling the space between the adjacent first plate bodies 241 and is connected to the adjacent first plate bodies 241 by the connecting tool 280c.
The first plate body 241 may be retrofitted via the grip portion 239 instead of the mounting member 280. When the plate body and the mounting member 280 of the first plate body 241 are not mounted on the tank 222, they may be loaded in the loading space 227 of the second takeoff and landing portion 1A. A plurality of mounting members 280 may be used for one first plate body 241.

When the first plate body 241 is not attached to the tank 222, the first plate body 241 can be loaded in the loading space 227 of the second takeoff and landing portion 1A.
Next, a case where the expansion member 224 is the second plate body 242 will be described.
30 and 31 show a case where the expansion member 224 is the second plate body 242.
When the expansion member 224 is the second plate body 242, the expansion member 224 can be changed between a folded state (unexpanded state) and an open state (expanded state). In FIGS. 30 and 31, the expanded state (non-expanded state) of the expansion member 224 is indicated by a broken line, and the open state (expanded state) is indicated by a solid line. By changing the expansion member 224 from the folded state (undeployed state) to the open state (expanded state), the plane viewing area is increased and the takeoff and landing space 223 is expanded.

In the open state (deployed state) of the expansion member 224, the upper surface of the second plate body 242 is substantially flush with the upper surface of the tank 222 (takeoff / landing surface 223a). The plan view shape of the first plate body 241 in the unfolded state can be any shape such as a rectangle, a square, a semicircle, and a fan shape.
The second plate body 242 has a structure in which a plurality of strip-shaped plates 242b are connected via a hinge (not shown), and can be folded by bending at the hinge portion. The second plate body 242 may have a plurality of thin-walled portions provided in parallel on one plate material. In this case, the second plate body 242 can be folded by bending at the thin portion. One side of the second plate body 242 is attached directly to the side surface of the tank 222 or via a bolt or the like. The second plate body 242 may be attached to the tank 222 in advance, or may be attached to the tank 222 when necessary.

The second plate body 242 may be composed of only one foldable plate body, or may be composed of a plurality of foldable plates. In the example shown in FIGS. 30 and 31, the second plate body 242 is composed of a plurality of (three) foldable plate bodies. In FIGS. 30 and 31, the unfolded state (unfolded state) of the second plate body 242 is shown by a solid line, and the folded state is shown by a broken line. The plurality of second plate bodies 242 are attached so as to be horizontally deployable from a plurality of side surfaces without a supply unit 237. However, the plurality of second plate bodies 242 may be mounted so as to be horizontally deployable from all the side surfaces of the tank 222. When the second plate body 242 is composed of one plate body, it is preferable that the second plate body 242 is mounted so as to be horizontally deployable from one side surface without the supply portion 237.

As shown in FIG. 30, the second plate body 242 may include a plate body 242a that cannot be attached to the side surface of the tank 222. The plate body 242a is a plate body for filling the space between the adjacent second plate bodies 242, and is connected to the adjacent second plate body 242 by the connecting tool 280c.
The second plate body 242 can be loaded in the loading space 227 of the second takeoff and landing portion 1A when it is retrofitted and is not attached to the tank 222.

The expansion member 224 may be configured by combining both the first plate body 241 and the second plate body 242 described above.
The loading space 227 is a space for loading the spare tank 225 and the generator 226. Further, although not shown, a supply device (pump) for supplying the liquid connected to the tank 222 and the spare tank 225 to the tank 73 of the multicopter 60 can also be loaded.

As shown in FIGS. 21 to 27, the loading space 227 is provided in the front portion of the machine frame 221. The loading space 227 is a substantially rectangular parallelepiped box with an open top. The front portion of the loading space 227 is placed on the upper surface of the front frame member 231 of the machine frame 221. The left and right ends of the loading space 227 from the middle part to the rear part in the front-rear direction are placed on the upper surface of the left frame material 232L and the right frame material 232R of the machine frame 221 from the front part to the middle part. The front surface of the loading space 227 supports the central bracket 248 of the connecting portion 42, which will be described later, from the rear. The rear surface of the loading space 227 supports the front support member 234a of the tank support portion 234 from the front.

The loading space 227 may have a lid that can be closed at the top. The loading space 227 may be provided with a partition for partitioning the inside thereof. In addition to the spare tank 225 and the generator 226, the loading space 227 may be loaded with other accessories such as agricultural work tools and tools.
The spare tank 225 is a tank capable of storing a liquid. As shown in FIGS. 21, 22 and 24 to 27, the spare tank 225 is loaded in the loading space 227. The same liquid may be stored in the tank 222 and the spare tank 225, but one of the tank 222 and the spare tank 225 is used as a tank for containing the spray agent (spray agent container 81), and the other tank is diluted. It can also be a tank (diluting liquid container 82) for accommodating the liquid.

The spare tank 225 has a spare container 244 and a spare lid 245.
The spare container 244 forms an internal space in which the liquid is housed. The spare container 244 has a spare supply unit 246 for supplying the liquid to the internal space on the upper surface of the spare container 244. The spare supply unit 246 has a spare tubular body 246a that projects cylindrically from the upper surface of the spare container 244. A spare lid 245 is detachably attached to the spare tubular body 246a by a screw or the like. In the case of this embodiment, the shape of the spare tank 225 is a rectangular parallelepiped shape, but it may be another shape such as a cube shape or a columnar shape.

The spare tank 225 is taken out of the loading space 227 as needed and is used for formulating the spray liquid and replenishing the spray liquid to the tank 73 of the multicopter 60. The spare tank 225 is easy to clean by removing it from the loading space 227. A grip portion such as a handle or a recess can be provided on the side surface or the upper surface of the spare tank 225. The operator can grip the grip portion when taking out the spare tank 225 from the loading space 227 or when performing work such as preparation and replenishment of the spray liquid.

The generator 226 is a device capable of charging the battery 71 of the multicopter 60 via a charger (not shown). As shown in FIGS. 21, 22 and 24 to 27, the generator 226 is loaded in the loading space 227.
The generator 226 is an alternator in the case of this embodiment. However, the generator 226 may be a motor generator. The output voltage of the generator 226 is preferably 60 V or less, but may be more than 60 V. By using a generator 226 having an output voltage of 60 V or less, power consumption can be reduced and safety is also excellent. Therefore, as the multicopter 60 and the working device 66 of the multicopter 60, those capable of operating at a low voltage of 60 V or less are preferably used. Specifically, as the working device 66, a spraying device or a seeding device is preferably used. In the case of this embodiment, the working device 66 is a spraying device. As the power source of the generator 226, the power taken out from the PTO shaft 39 or the flood control take-out portion of the towing vehicle 30 such as a tractor may be used.

As shown in FIGS. 21 to 27, the leg member 228 is provided on the lower surface of the corner portion of the machine frame 221. The leg member 228 is a member that can be expanded and contracted and can be attached to and detached from the machine frame 221.
The leg member 228 is detachably attached to the lower surfaces of the four corners of the substantially rectangular machine frame 221 so as to project downward. The leg member 228 is composed of a plurality of cylinders whose diameters gradually decrease downward. The leg member 228 is shortened by the smaller diameter cylinder entering the inside of the larger diameter cylinder, and the smaller diameter cylinder exiting from the inside of the larger diameter cylinder to the retaining position. Stretch. The leg member 228 has a fastener 247 that fastens a smaller diameter cylinder at a position protruding from the inside of the larger diameter cylinder in order to hold the extended length at a predetermined length. May be good. The fastener 247 is a columnar member that can be retracted and retracted, and by fitting into a through hole provided in each cylinder, a cylinder having a smaller diameter is ejected from the inside of a cylinder having a larger diameter. Fasten in position.

A caster 229 is provided below the leg member 228. The casters 229 may be provided at the lower ends of all the four leg members 228 (see FIG. 21), or may be provided only at the lower ends of the left and right front leg members 228a among the four leg members 228. It may be (see FIG. 22). In the latter case, it is preferable that the lower ends of the left and right hind leg members 228b on which the casters 229 are not provided are rounded in order to facilitate movement.

The caster 229 is attached to the lower end of the leg member 228 via a plate body so as to be swingable (free type) or non-swingable (fixed type). As the caster 229, for example, known casters such as a single-wheel type, a twin-wheel type, and a spherical type can be used.
As shown in FIGS. 21 to 26, the connecting portion 42 is provided in the front portion of the second takeoff and landing portion 1A. The connecting portion 42 is a portion connected to a connecting mechanism 35 (three-point link mechanism or the like) at the rear of the towing vehicle 30. By attaching the connecting portion 42 to the connecting mechanism 35 of the towing vehicle 30, the second takeoff and landing portion 1A is connected to the rear portion of the towing vehicle 30.

As shown in FIG. 23 and the like, the connecting portion 42 includes a central bracket 248, a central shaft 249 provided at the upper end of the central bracket 248, left and right end brackets 250L and 250R, and these left and right end brackets 250L. It has left and right end shafts 251L and 251R provided at the front end of 250R. The central bracket 248 corresponds to the above-mentioned upper connecting portion 42A. The end bracket 250L and the end shaft 251L correspond to the above-mentioned left connecting portion 42B. The end bracket 250R and the end shaft 251R correspond to the above-mentioned right connecting portion 42C.

The central bracket 248 is composed of two left and right plates. The two left and right plate members constituting the central bracket 248 extend upward from a substantially central portion in the left-right direction of the upper surface of the front frame member 231 of the machine frame 221 and then slightly bend forward and extend diagonally forward. The central shaft 249 is sandwiched between the upper ends of the left and right plate bodies of the central bracket 248, and is provided so that the axial direction thereof substantially follows the left-right direction.

The left and right end brackets 250L and 250R extend forward from the left and right end portions on the front surface of the front frame member 231 of the machine frame 221. The left and right end shafts 251L and 251R project outward from the front end portions of the left and right end brackets 250L and 250R in the left and right outer directions, respectively, and are provided so that their axial directions are substantially along the left and right directions.
The connecting portion 42 is attached to the connecting mechanism 35 (three-point link mechanism) at the rear of the towing vehicle 30 by having the central bracket 248, the central shaft 249, the left and right end brackets 250L and 250R, and the left and right end shafts 251L and 251R. It can be attached to the auto hitch frame (A frame).

The takeoff and landing space 223 can be adjusted horizontally by operating the connecting mechanism 35 in a state where the connecting portion 42 is connected to the connecting mechanism 35 of the towing vehicle 30. Specifically, the takeoff and landing space 223 can be adjusted horizontally by individually adjusting the heights of the left and right lower links 35b of the three-point link mechanism constituting the connecting mechanism 35. That is, by attaching the second takeoff / landing portion 1A to the three-point link mechanism constituting the connecting mechanism 35 of the towing vehicle 30, the takeoff / landing space 223 can be adjusted horizontally.

According to the modification described above, since the tank 222 is provided on the upper surface and the multicopter 60 has a takeoff and landing space 223 for taking off and landing, the storage space for the tank 222 and the takeoff and landing space 223 for the multicopter 60 to take off and land are separately provided. There is no need to provide it. Therefore, while providing a tank 222 for storing liquids such as pesticides, it is possible to sufficiently secure a takeoff and landing space 223 for the multicopter 60 to take off and land, and to reduce the size of the second takeoff and landing portion 1A. Further, it is easy to replenish the multicopter 60 with a liquid such as a spray liquid from the tank 222 by a pit type.

<Effect>
According to the takeoff and landing device 100 of the multicopter 60 with a spraying function of the above embodiment, the following effects are obtained.
The takeoff and landing device 100 of the multicopter 60 with a spraying function includes a spraying agent container 81 containing a spraying agent, a diluent container 82 containing a diluent for diluting the spraying agent, and a spraying agent and a diluent. A takeoff and landing section 1 on which the multicopter 60 capable of spraying the liquid can take off and land, a supply device 102 for supplying the spray agent contained in the spray agent container 81 and the diluent contained in the diluent container 82 to the multicopter 60, and a supply device 102. It includes at least a takeoff and landing section 1, a spray agent container 81, a diluent container 82, and a traveling body 20 on which a supply device 102 is mounted.

According to this configuration, the multicopter 60 capable of spraying the spray liquid can take off and land on the takeoff and landing portion 1, and the spray agent container 81, the diluent container 82, and the supply device 102 are used for the landed multicopter 60. It is possible to provide a takeoff and landing device 100 of a multicopter 60 capable of smoothly replenishing a spray liquid.
Further, the takeoff and landing device 100 includes an adjusting device 54 that adjusts the amount of the spraying agent taken out from the spraying agent container 81 and the amount of the diluent taken out from the diluent container 82.

According to this configuration, the amount of the spraying agent taken out from the spraying agent container 81 and the amount of the diluent taken out from the diluent container 82 can be adjusted by the adjusting device 54, so that the spraying agent diluted to an appropriate concentration can be adjusted. It can be supplied (supplemented) to the tank or the like of the multicopter 60 as a spray liquid.
Further, the traveling body 20 is equipped with a battery 71 mounted on the multicopter 60 and a charger 84 capable of charging the battery 71 with electric power.

According to this configuration, when the electric power charged in the battery 71 of the multicopter 60 is insufficient during the spraying work or the like, the multicopter 60 is mounted on the multicopter 60 in a state of landing on the takeoff and landing portion 1. The work can be resumed promptly by replacing the battery 71 or charging the battery 71 with electric power.
Further, the traveling body 20 is equipped with a generator 85 that generates electric power to charge the charger 84, and a fuel tank 86 that houses fuel for driving the generator 85.

According to this configuration, when the electric power charged in the charger 84 mounted on the traveling body 20 is insufficient, the electric power generated by driving the generator 85 can be charged in the charger 84.
The traveling body 20 is a vehicle having a loading platform 52, and the takeoff / landing section 1, the spray agent container 81, the diluent container 82, and the supply device 102 are mounted on the loading platform 52.
According to this configuration, the takeoff and landing section 1, the spray agent container 81, the diluent container 82, and the supply device 102 are mounted on the loading platform 52 of the vehicle, and can be easily moved to a place where the spray liquid spraying work by the multicopter 60 is required. can do.

Further, the traveling body 20 has a connecting portion 42 that can be connected to the connecting mechanism 35 provided at the rear of the towing vehicle 30.
According to this configuration, the traveling body 20 can be towed and moved by the towing vehicle 30 such as a tractor even in a place (unpaved farm road, field, etc.) that is difficult for a vehicle such as a truck to enter.

Further, the connecting mechanism 35 is a link mechanism having a top link 35a, a lower link 35b on the left side, and a lower link 35b on the right side, and the connecting portion 42 has an upper connecting portion 42A connected to the top link 35a. It has a left connecting portion 42B connected to the lower link 35b on the left side and a right connecting portion 42C connected to the lower link 35b on the right side.
According to this configuration, the connecting portion 42 of the traveling body 20 can be reliably connected to the connecting mechanism 35 provided at the rear portion of the towing vehicle 30, and the traveling body 20 is connected by the connecting mechanism 35 as needed. Can go up and down.

Although the embodiments of the present invention have been described above, it should be considered that the embodiments disclosed this time are exemplary in all respects and are not restrictive. The scope of the present invention is shown by the scope of claims rather than the above description, and it is intended to include all modifications within the meaning and scope equivalent to the scope of claims.

1 Takeoff and landing part 20 Vehicle 30 Towing vehicle 35 Connecting mechanism 35a Top link 35b Lower link 42 Connecting part 42A Upper connecting part 42B Left connecting part 42C Right connecting part 52 Loading platform 54 Adjusting device 60 Multicopter 72 Battery 81 Sprinkler container 82 Diluting liquid Container 84 Charger 85 Generator 86 Fuel tank 100 Takeoff and landing device 102 Supply device

Claims (7)

A spray agent container that houses the spray agent and
A diluent container containing a diluent for diluting the spray agent, and
A takeoff and landing portion where a multicopter capable of spraying a spray liquid containing the spray agent and the diluent can take off and land.
A supply device for supplying the spray agent contained in the spray agent container and the diluent contained in the diluent container to the multicopter.
At least the takeoff and landing portion, the spray agent container, the diluent container, the traveling body equipped with the supply device, and a traveling body capable of traveling.
Multicopter takeoff and landing device with spraying function. The takeoff and landing device for a multicopter according to claim 1, further comprising an adjusting device for adjusting the amount of the spraying agent taken out from the spraying agent container and the amount of the diluent taken out from the diluent container. The takeoff and landing device for a multicopter according to claim 1 or 2, wherein the traveling body includes a battery mounted on the multicopter and a charger capable of charging the battery with electric power. The takeoff and landing device for a multicopter according to claim 3, wherein the traveling body includes a generator for generating electric power to charge the charger and a fuel tank containing fuel for driving the generator. .. The traveling body is a vehicle having a loading platform.
The multicopter take-off and landing device according to any one of claims 1 to 4, wherein the take-off and landing section, the spray agent container, the diluent container, and the supply device are mounted on the loading platform. The multicopter takeoff and landing device according to any one of claims 1 to 4, wherein the traveling body has a connecting portion that can be connected to a connecting mechanism provided at the rear portion of the towing vehicle. The connecting mechanism is an elevating and lowering link mechanism having a top link, a lower link on the left side, and a lower link on the right side.
The claim having an upper connecting portion connected to the top link, a left connecting portion connected to the left lower link, and a right connecting portion connected to the right lower link. Item 6. The multicopter takeoff and landing device according to item 6.

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