JP2022104736A - Agriculture support system - Google Patents

Abstract

To properly cope with any anomaly of an unmanned flying object in a case where an agricultural machine and the unmanned flying object work in a field in collaboration.SOLUTION: An agricultural support system includes an unmanned flying object having a sensing device, and an agricultural machine capable of running in a field. In a case where an anomaly occurs in the unmanned flying object when the agricultural machine and the unmanned flying object are working in the field in collaboration, the unmanned flying object or the agricultural machine makes an operation different from the operation during work.SELECTED DRAWING: Figure 1

Description

The present invention relates to an agricultural support system.

Conventionally, Patent Document 1 is known as a technique for flying a drone on an agricultural machine. In the work vehicle management system of Patent Document 1, a work vehicle traveling in a field, an unmanned aerial vehicle equipped with a camera and flying in the air corresponding to the work vehicle, and a portable terminal device for communicating between the work vehicle and the unmanned aerial vehicle are used. The mobile terminal device simultaneously displays the vehicle information received from the work vehicle on the camera image received from the unmanned aerial vehicle on the display unit.

Japanese Unexamined Patent Publication No. 2019-38535

Although Patent Document 1 discloses that an unmanned aerial vehicle such as a drone is flown over an agricultural machine, the fact is that the situation such as when the drone is abnormal or malfunctioning is not taken into consideration.
In view of such a situation, the present invention can appropriately deal with an abnormality in the unmanned flying object when the agricultural machine and the unmanned flying object cooperate with each other to work in the field. The purpose is to provide an agricultural support system.

The agricultural support system includes an unmanned flying object equipped with a sensing device and an agricultural machine capable of traveling in the field, and when the unmanned flying object and the agricultural machine cooperate with each other to work in the field. When an abnormality occurs in the unmanned vehicle, the unmanned vehicle or the agricultural machine performs an operation different from the operation during the work.
The unmanned vehicle is provided with a position detecting device for detecting a position, and at the time of the work, it flies over the field based on the position detected by the position detecting device, and at the time of the abnormality, the flight at the position is stopped. The flight is performed based on the information sensed by the sensing device.

At the time of the abnormality, the unmanned aircraft flies toward a predetermined return location based on the information and lands at the return location.
The position detection device is a device that detects the position based on the radio wave of the positioning satellite, and the unmanned vehicle has the abnormality based on the elapsed time when the reception intensity of the radio wave from the positioning satellite becomes less than the threshold value. Judge whether or not.

When the elapsed time is equal to or longer than a predetermined time, the unmanned aircraft is determined to be abnormal, and when the elapsed time is less than a predetermined time, it is determined to be not abnormal and malfunctioning.
When the unmanned vehicle is out of order, the unmanned aircraft flies based on the position detected by the position detecting device and the information sensed by the sensing device.
The unmanned vehicle limits the distance to the agricultural machine during flight according to the elapsed time when the malfunction occurs.

The agricultural machine has a PTO shaft that transmits power to a work device connected to the agricultural machine, an elevating device that raises and lowers the work device, and a traveling device. The rotation of the shaft, the elevating device and the traveling device are operated, and at least one of the rotation of the PTO shaft, the elevating device and the traveling device is stopped at the time of the abnormality.

According to the present invention, when the agricultural machine and the unmanned flying object cooperate with each other to work in the field, if there is an abnormality in the unmanned flying object, it is possible to take appropriate measures.

It is the whole plan view of the tractor in 1st Embodiment. It is an overall side view of a tractor. It is a perspective view of the elevating device. It is a control block diagram. It is a figure which shows the skid of an unmanned flying object. It is a figure which shows the skid different from FIG. 5A. It is a figure which shows the skid different from FIG. 5A and FIG. 5B. It is explanatory drawing explaining the automatic driving. It is explanatory drawing which estimates flight positions D3 and D4. It is a side view of an unmanned vehicle flying in front of a tractor. It is a side view of an unmanned vehicle flying behind a working device. It is a flow showing the operation of flying while coordinating (interlocking) the tractor and the unmanned air vehicle. It is a figure which shows the state which detected the living body M1 while advancing the tractor. It is a figure which shows the state which detected the living body M1 while the tractor is turning. It is a figure which shows the flight position of an unmanned flying body when a work apparatus is moved horizontally. It is a figure which looked at the state which detected the object M3 while advancing the tractor from the side view. It is a figure which looked at the state which detected the object M3 while advancing the tractor from the upper surface. It is a figure which focused the detection area A1 toward the object M3. FIG. 8 shows an operation flow of flying while coordinating with a tractor and an unmanned flying object, which are different from those in FIG. It is a figure which shows an example of the reception strength of a radio wave WE1. It is a figure which shows the horizontal distance L30 between a tractor and an unmanned flying object. FIG. 8 shows an operation flow in which a tractor different from that in FIGS. 8 and 12 flies while coordinating with an unmanned vehicle. 2 is a plan view of the entire tractor having a takeoff and landing station in the second embodiment. It is a side view of the whole tractor having a takeoff and landing station. It is a figure which shows the skid of an unmanned aircraft, and the landing station. It is a figure which shows the skid different from FIG. 18A, and the landing station. It is a figure which shows the skid different from FIG. 18A and FIG. 18B, and the landing station. It is an enlarged view of the landing station. It is a figure which shows the winder. In the second embodiment, it is a figure which shows the flight of an unmanned flying body when a tractor starts traveling and work. It is a figure which shows the inappropriate range W50. It is a figure which shows an example of a selection part. It is a control block diagram in 2nd Embodiment.

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.
[First Embodiment]
1 and 2 show the whole agricultural machine. Agricultural machinery includes tractors, combines, rice transplanters, etc. Agricultural machinery will be described by taking tractor 1 as an example.
As shown in FIGS. 1 and 2, the tractor 1 includes a vehicle body (traveling vehicle body) 3, a motor 4, and a transmission 5. The vehicle body 3 is provided with a traveling device 7. The traveling device 7 supports the vehicle body 3 so as to be able to travel, and has front wheels 7F and rear wheels 7R. The front wheels 7F and the rear wheels 7R are tire type in the case of this embodiment, but may be crawler type. The prime mover 4 is an engine (diesel engine, gasoline engine), an electric motor, or the like. The transmission 5 can switch the propulsive force of the traveling device 7 by shifting, and can also switch between forward and reverse of the traveling device 7. The vehicle body 3 is provided with a driver's seat 10. The driver's seat 10 is protected by the protective device 9. The protection device 9 is a cabin that protects the driver's seat 10, or a rops that protects the driver's seat 10 by covering at least above the driver's seat 10.

As shown in FIGS. 1 and 2, the protective device 9 includes a plurality of columns 9a fixed to the vehicle body 3 and a roof 9b supported by the plurality of columns 9a and arranged above the driver's seat 10. .. When the protective device 9 is a cabin, glass, doors, etc. are provided between the plurality of columns 9a, and the driver's seat 10 is covered with the glass, doors, and the like. A fender 13 is attached below the protective device 9, and the fender 13 covers the upper part of the rear wheel 7R.

As shown in FIG. 1, the vehicle body 3 has a vehicle body frame 20. The vehicle body frame 20 includes a vehicle body frame 20L provided on the left side and a vehicle body frame 20R provided on the right side. The vehicle body frame 20L and the vehicle body frame 20R each extend forward from the transmission 5 side and support the lower portion of the prime mover 4. The vehicle body frame 20L and the vehicle body frame 20R are separated from each other in the vehicle body width direction. The front end portion of the vehicle body frame 20L and the front end portion of the vehicle body frame 20R are connected by a front connecting plate 20F. The middle part of the vehicle body frame 20L and the middle part of the vehicle body frame 20R are connected by the intermediate connecting plate 20M. The vehicle body frame 20L and the vehicle body frame 20R support the front axle case 29. In the front axle case 29, a front axle that rotatably supports the front wheel 7F is housed. That is, in the case of the present embodiment, the vehicle body frame 20 is a front axle frame that supports the front axle. The vehicle body frame 20 may be a frame that supports a structure other than the front axle case 29 (a frame other than the front axle frame).

As shown in FIGS. 1 and 2, a bonnet 25 is provided above the vehicle body frame 20. The bonnet 25 extends in the front-rear direction along the vehicle body frame 20. The bonnet 25 is arranged in front of the central portion in the width direction of the protective device 9. The bonnet 25 has a left side wall 25L provided on the left side, a right side wall 25R provided on the right side, and an upper wall portion 25U connecting the upper portions of the left side wall 25L and the right side wall 25R. An engine room is formed by a left side wall 25L, a right wall 25R, and an upper wall portion 25U, and a prime mover 4, a cooling fan, a radiator, a battery, and the like are housed in the engine room. Front wheels 7F are arranged on the left side of the left side wall 25L and on the right side of the right side wall 25R, respectively.

A weight 26 is provided on the front side of the bonnet 25, that is, on the front side of the vehicle body frames 20L and 20R. The weight 26 is attached to a weight bracket (weight mounting portion) 27 provided on the front portion of the vehicle body 3. The weight bracket 27 is attached to the front connecting plate 20F of the vehicle body frame 20L by fasteners such as bolts.
The tractor 1 is provided with a PTO shaft protruding from the rear portion of the vehicle body 3, and the working device 2 is driven by transmitting the power of the PTO shaft to the working device 2. Power is transmitted from the prime mover 4 to the PTO shaft for driving the PTO shaft, and a PTO drive device is provided in the middle of the PTO shaft. The PTO drive device can be switched between a transmission position in which power is transmitted to the PTO shaft, such as a hydraulic clutch, and a cutoff position in which power is not transmitted to the PTO shaft. The rotation of the PTO shaft can be stopped by switching the PTO drive device (hydraulic clutch) to the cutoff position.

A coupling device 8 is provided at the rear of the vehicle body 3. The coupling device 8 is a device that detachably connects the working device (implement or the like) 2 to the vehicle body 3. The coupling device 8 is a lifting device or the like that connects the working device 2 and the vehicle body 3 and does not lift or lower, and is composed of a swing drawr, a three-point link mechanism, or the like. The working device 2 includes a tilling device for cultivating, a fertilizer spraying device for spraying fertilizer, a pesticide spraying device for spraying pesticides, a harvesting device for harvesting, a ridged device for ridges, and a cutting device for cutting grass and the like. , A diffusion device for spreading grass and the like, a grass collecting device for collecting grass and the like, a molding device for molding grass and the like, and the like.

FIG. 3 shows a coupling device 8 composed of an elevating device. As shown in FIG. 3, the coupling device (elevating device) 8 has a lift arm 8a, a lower link 8b, a top link 8c, a lift rod 8d, and a lift cylinder 8e. The front end portion of the lift arm 8a is swingably supported upward or downward on the rear upper portion of the case (mission case) accommodating the transmission 5. The lift arm 8a swings (elevates) by being driven by the lift cylinder 8e. The lift cylinder 8e is composed of a hydraulic cylinder. The lift cylinder 8e is connected to the hydraulic pump via the control valve 36. The control valve 36 is a solenoid valve or the like, and expands and contracts the lift cylinder 8e.

The front end portion of the lower link 8b is swingably supported upward or downward in the lower rear portion of the transmission 5. The front end portion of the top link 8c is swingably supported above or below the rear portion of the transmission 5 above the lower link 8b. The lift rod 8d connects the lift arm 8a and the lower link 8b. A working device 2 is connected to the rear portion of the lower link 8b and the rear portion of the top link 8c. When the lift cylinder 8e is driven (expanded / contracted), the lift arm 8a moves up and down, and the lower link 8b connected to the lift arm 8a via the lift rod 8d moves up and down. As a result, the working device 2 swings (up and down) upward or downward with the front portion of the lower link 8b as a fulcrum.

As shown in FIGS. 1 and 2, the tractor 1 includes a position detecting device 30. The position detecting device 30 is mounted in front of the roof 9b of the protective device 9 via the mounting body 31. However, the mounting position of the position detecting device 30 is not limited to the position shown in the figure, and may be mounted on the roof 9b of the protective device 9 or may be mounted at another place on the vehicle body 3. Further, the position detecting device 30 may be attached to a working device 2 such as the above-mentioned tilling device.

The position detection device 30 is a device that detects its own position (positioning information including latitude and longitude) by a satellite positioning system. That is, the position detection device 30 receives signals transmitted from the positioning satellite (position of the positioning satellite, transmission time, correction information, etc.), and detects the position (latitude, longitude) based on the received signals. The position detecting device 30 may detect a corrected position based on a signal such as a correction from a base station (reference station) capable of receiving a signal from a positioning satellite as its own position (latitude, longitude). Further, the position detection device 30 may have an inertial measurement unit such as a gyro sensor or an acceleration sensor, and may detect the position corrected by the inertial measurement unit as its own position. The position detecting device 30 can detect the position (traveling position) of the vehicle body 3 of the tractor 1.

As shown in FIG. 1, the tractor 1 includes a plurality of obstacle detection devices 45. Each of the plurality of obstacle detection devices 45 can detect an object existing around the tractor 1, that is, an obstacle. At least one of the plurality of obstacle detection devices 45 is provided in front of the protection device 9 and outside the bonnet 25. That is, at least one obstacle detection device 45 is located in the area in front of the protection device 9 of the tractor 1 in the area on the left side of the left side wall 25L of the bonnet 25 or in the area on the right side of the right side wall 25R of the bonnet 25. Have been placed. In the case of the present embodiment, the plurality of obstacle detection devices 45 are provided on the left side of the vehicle body 3 (left side of the bonnet 25) and the obstacle detection device 45L provided on the right side of the vehicle body 3 (right side of the bonnet 25). Includes an obstacle detection device 45R.

The obstacle detection device 45 is a laser scanner 45A, a sonar 45B, or the like. The laser scanner 45A detects an object (obstacle) by irradiating a laser as a detection wave. The laser scanner 45A detects the distance to an obstacle based on the time from laser irradiation to light reception. The sonar 45B detects an object (obstacle) by irradiating a sound wave as a detection wave. The plurality of obstacle detection devices 45 of the above-described embodiment may not be provided outside the bonnet 25, and the arrangement of the plurality of obstacle detection devices 45 is not limited.

As shown in FIG. 4, the tractor 1 includes a steering device 11. The steering device 11 includes a steering wheel (steering wheel) 11a, a rotation shaft (steering shaft) 11b that rotates with the rotation of the steering wheel 11a, and an auxiliary mechanism (power steering mechanism) 11c that assists the steering of the steering wheel 11a. is doing. The auxiliary mechanism 11c includes a hydraulic pump 21, a control valve 22 to which hydraulic oil discharged from the hydraulic pump 21 is supplied, and a steering cylinder 23 operated by the control valve 22. The control valve 22 is a solenoid valve that operates based on a control signal. The control valve 22 is, for example, a three-position switching valve that can be switched by moving a spool or the like. The control valve 22 can also be switched by steering the steering shaft 11b. The steering cylinder 23 is connected to an arm (knuckle arm) that changes the direction of the front wheel 7F.

Therefore, when the steering wheel 11a is operated, the switching position and opening degree of the control valve 22 are switched according to the steering wheel 11a, and the steering cylinder 23 expands and contracts to the left or right according to the switching position and opening degree of the control valve 22. The steering direction of the front wheel 7F can be changed. The above-mentioned steering device 11 is an example, and the configuration of the steering device 11 is not limited to the above-mentioned configuration.

As shown in FIG. 4, the tractor 1 includes a control device 40, a display device 50, and a communication device 51. The control device 40 is composed of a CPU, an electric circuit, an electronic circuit, and the like, and performs various controls on the tractor 1. The display device 50 has a liquid crystal panel, an organic EL panel, and the like, and displays various information. The communication device 51 is a device that communicates with the outside. The communication device 51 is a communication device (communication module) that performs either direct communication or indirect communication with an external device, and is, for example, a Wi-Fi (Wireless Fidelity, registered trademark) of the IEEE802.11 series, which is a communication standard. ), BLE (Bluetooth (registered trademark) Low Energy), LPWA (Low Power, Wide Area), LPWAN (Low-Power Wide-Area Network), etc. can be used for wireless communication. Further, the communication device 51 may be a communication device (communication module) that performs wireless communication by a mobile phone communication network, a data communication network, or the like.

A state detecting device 41 for detecting the driving state of the tractor 1 and the like is connected to the control device 40.
The state detection device 41 is, for example, a device for detecting the state of the traveling system, for example, a state of a crank sensor, a cam sensor, an engine rotation sensor, an accelerator sensor, a vehicle speed sensor, a steering angle sensor, a position detection device 30) and the like. Is detected. The state detection device 41 also includes a device that detects a state other than the state of the traveling system, for example, an elevating operation detection sensor that detects an operation direction, an operation amount, and the like of an elevating operation member, a PTO rotation detection sensor, and the like.

As shown in FIG. 4, the control device 40 controls the traveling system and the working system in the tractor 1. The control device 40 includes a traveling control unit 40A and an elevating control unit 40B. The travel control unit 40A and the elevating control unit 40B are composed of an electric / electronic circuit provided in the control device 40, a program stored in the control device 40, and the like.
As shown in FIG. 6A, the travel control unit 40A performs automatic travel control. The travel control unit 40A controls so that at least the travel position (position detected by the position detection device 30) P1 of the vehicle body 3 and the preset travel schedule line (travel route) L1 match in the automatic travel control. The switching position and opening degree of the valve 22 are set. In other words, the control device 40 sets the movement direction and the movement amount (steering direction and steering angle of the front wheels 7F) of the steering cylinder 23 so that the traveling position P1 of the tractor 1 and the planned traveling line coincide with each other.

Specifically, the travel control unit 40A compares the travel position P1 of the vehicle body 3 with the planned travel line L1, and if the travel position P1 and the planned travel position match, the steering wheel 11a in the steering device 11 is steered. The angle and steering direction (steering angle and steering direction of the front wheels 7F) are held unchanged (the opening degree and switching position of the control valve 22 are maintained unchanged). When the travel position P1 and the planned travel line L1 do not match, the travel control unit 40A handles the steering wheel 11 so that the deviation (deviation amount) between the travel position P1 and the scheduled travel line L1 becomes zero. The steering angle and / or steering direction of 11a is changed (the opening and / or switching position of the control valve 22 is changed).

In the above-described embodiment, the travel control unit 40A changes the steering angle of the steering device 11 based on the deviation between the travel position and the scheduled travel line L1 in the automatic travel control. When the direction and the direction (vehicle body direction) of the traveling direction (traveling direction) of the tractor 1 (vehicle body 3) are different, the traveling control unit 40A sets the steering angle so that the vehicle body direction matches the direction of the planned traveling line. You may. Further, the travel control unit 40A determines the final steering angle in the automatic travel control based on the steering angle determined based on the deviation (positional deviation) and the steering angle determined based on the directional deviation in the automatic travel control. It may be set. Further, the steering angle may be set by a method different from the steering angle setting method in the above-mentioned automatic traveling control.

Further, in the automatic driving control, the traveling control unit 40A has a traveling device 7, that is, a front wheel 7F so that the actual vehicle speed of the tractor 1 (vehicle body 3) matches the vehicle speed corresponding to the preset traveling scheduled line. And / or the rotation speed of the rear wheel 7R may be controlled.
Further, the traveling control unit 40A controls automatic traveling based on the obstacle detection result by the obstacle detecting device 45. For example, if the obstacle detection device 45 does not detect an obstacle, the automatic running is continued, and if the obstacle detection device 45 detects an obstacle, the automatic running is stopped. More specifically, when the obstacle detection device 45 detects an obstacle, the traveling control unit 40A determines that the distance between the obstacle and the tractor 1 is equal to or less than a predetermined threshold value (stop threshold value). By stopping the running of the tractor 1, the automatic running is stopped.

In the above-described embodiment, the travel control unit 40A stops the travel of the tractor 1 in the automatic travel when the distance between the obstacle and the tractor 1 is equal to or less than a predetermined threshold value (stop threshold value). , Obstacles may be avoided, or the speed may be reduced to slow down.
Further, the traveling control unit 40A continues automatic traveling when it detects that the seating detection device 43 is seated during automatic traveling, and automatically when it detects that the seating detection device 43 is not seated. Stop driving.

The elevating control unit 40B performs elevating control. When the elevating control unit 40B is operated in the ascending direction (ascending side) when the manual elevating function is effective, the elevating control unit 40B controls the control valve 34 to extend the lift cylinder 8e and lift arm 8a. Raise the rear end (the end on the work device 2 side). In the elevating control, when the manual elevating function is effective, when the elevating operation member is operated in the descending direction (descending side), the lift cylinder 8e is contracted by controlling the control valve 34, and after the lift arm 8a. The end portion (the end portion on the working device 2 side) is lowered. When the work device 2 is raised by the coupling device (elevating device) 8, the position of the work device 2, that is, the angle of the lift arm 8a reaches the upper limit (height upper limit value) set by the height setting dial. When it reaches, the ascending operation in the coupling device (elevating device) 8 is stopped.

In the lift control, when the backup function is enabled, the lift cylinder 8e is extended by automatically controlling the control valve 34 when the vehicle body 3 moves backward, and the rear end portion of the lift arm 8a (on the work device 2 side). (End) is raised. In the lift control, when the auto-up function is enabled, when the steering angle of the steering device 11 becomes equal to or greater than a predetermined value, the lift cylinder 8e is automatically extended by controlling the control valve 34 to extend the lift cylinder 8e and the rear end portion of the lift arm 8a. Raise (the end on the work device 2 side).

FIG. 4 shows an agricultural support system in which an unmanned aircraft 70 changes its flight position in conjunction with a tractor 1. The unmanned aircraft 70 is, for example, a multicopter.
Hereinafter, the unmanned air vehicle 70 will be described by taking a multicopter as an example.
As shown in FIGS. 1 and 2, the unmanned flying object (multicopter) 70 is provided on the main body 70a, the arm 70b provided on the main body 70a, the plurality of rotary wings 70c provided on the arm 70b, and the main body 70a. It has a skid 70d. The plurality of rotors 70c are devices that generate lift for flight. The unmanned aircraft 70 is provided with at least two or more, preferably four or more rotor blades 70c. Each of the plurality of rotary blades 70c includes a rotor that applies a rotational force and a blade (propeller) that is rotated by driving the rotor.

5A-5C show an example of skid 70d. In this embodiment, the unmanned vehicle 70 has any of the skids 70d shown in FIGS. 5A-5C, but the structure of the skids 70d is not limited to FIGS. 5A-5C.
As shown in FIG. 5A, the skid 70d includes a plurality of legs 80a, 80b. The base ends of the plurality of legs 80a and 80b are fixed to the main body 70a, and the tips of the legs 80a and 80b are free ends. The plurality of legs 80a and 80b are made of metal or the like and cannot be deformed. Each of the plurality of legs 80a and 80b gradually shifts outward as the distance from the main body 70a increases, and the legs 80a and 80b form an inverted V shape.

FIG. 5B shows a skid 70d different from that of FIG. 5A. As shown in FIG. 5B, the skid 70d includes a plurality of legs 80a, 80b and actuators 81a, 81b.
The base ends of the plurality of legs 80a and 80b are swingably attached to the main body 70a, and the tips of the legs 80a and 80b are free ends.

The actuators 81a and 81b are devices that swing a plurality of legs 80a and 80b, and are composed of, for example, a cylinder that can be expanded and contracted by electric power or the like. The base end portion of the actuator 81a is fixed to the main body 70a, and the tip end portion of the actuator 81a is connected to the leg portion 80a. Further, the base end portion of the actuator 81b is fixed to the main body 70a, and the tip end portion of the actuator 81b is connected to the leg portion 80b.

Therefore, when the actuator 81a is expanded and contracted, the leg portion 80a swings by expanding and contracting the actuator 81a with the base end portion as a swing fulcrum. Further, when the actuator 81b is expanded and contracted, the leg portion 80b swings by expanding and contracting the actuator 81b with the base end portion as a swing fulcrum.
FIG. 5C shows a skid 70d different from FIGS. 5A and 5B. It includes a plurality of legs 80a and 80b. The base ends of the plurality of legs 80a and 80b are fixed to the main body 70a, and the tips of the legs 80a and 80b are free ends. The plurality of legs 80a and 80b are made of metal, resin, or the like, and are deformable. Each of the plurality of legs 80a and 80b is different from FIGS. 5A and 5B, and gradually shifts outward as it moves away from the main body 70a, and then gradually shifts inward as it goes from the middle to the tip. The legs 80a and 80b form an arc.

As shown in FIG. 4, the unmanned flying object 70 has a power storage device 71, a sensing device 72, a position detection device 73, a storage device 74, a communication device 75, and a control device 76. The power storage device 71 is a device such as a battery or a capacitor that stores electric power. The power storage device 71 is attached to, for example, the inside of the main body 70a or the main body 70a.
The sensing device 72 is composed of a CCD camera, an infrared camera, or the like, and is detachably attached to the lower part of the main body 70a or is provided on the main body 70a via a bracket (not shown). The sensing device 72 is swingable in the vertical direction or the horizontal direction with respect to the bracket, and the sensing direction can be changed. The horizontal and vertical swings of the sensing device 72 can be controlled by the control device 76. For example, when the unmanned aircraft 70 is operated by a remote control device, the control device 76 acquires a control signal transmitted from the remote control device via the communication device 75, and when the control device 76 acquires the control signal, the sensing device 72 responds to the acquired control signal. Is swung horizontally or vertically.

For example, when the unmanned flying object 70 is flown over the field, the field can be sensed by the sensing device 72. When the sensing device 72 is a CCD camera, for example, by taking an aerial photograph of the field from a height of about 100 m above the field, tens to hundreds of fragment images of the field are captured. The plurality of aerial images, that is, the plurality of images (aerial images) captured by the sensing device 72 are stored in the storage device 74 provided in the unmanned flying object 70. A plurality of aerial images stored in the storage device 74 of the unmanned aircraft 70 can be output to the outside by the communication device 75.

Further, the position detection device 73 is a device that detects its own position (positioning information including latitude and longitude) by a satellite positioning system like the position detection device 30, and has the same configuration as the position detection device 30. The self-position detected by the position detection device 73 may be referred to as a “flight position”. Further, the position detection device 73 can detect height information, that is, altitude.

The communication device 75 is a communication device (communication module) that performs either direct communication or indirect communication with an external device, and is, for example, Wi-Fi (Wireless Fidelity, registered trademark) of the IEEE802.11 series, which is a communication standard. ), BLE (Bluetooth (registered trademark) Low Energy), LPWA (Low Power, Wide Area), LPWAN (Low-Power Wide-Area Network), etc. can be used for wireless communication. Further, the communication device 75 may be a communication device (communication module) that performs wireless communication by a mobile phone communication network, a data communication network, or the like.

The control device 76 is a device that controls a plurality of rotary blades 70c, and is composed of a CPU and the like. When the unmanned aircraft 70 has at least two rotor blades 70c, the control device 76 outputs a control signal to the rotor to reduce the rotation speed of one blade to the rotation speed of the other blade. By making it smaller, the unmanned aircraft can be advanced to the blade side on one side, or by making the rotation speed of the blade on the other side smaller than the rotation speed of one blade, unmanned flight to the blade side on the other side. Advance the body. That is, the control device 76 controls the traveling direction of the unmanned flying object 70 by making the rotation speed of the blade on the traveling direction side smaller than the rotation speed of the blade on the opposite side of the traveling direction among the plurality of blades. do. Further, the control device 76 makes the unmanned flying object 70 hover by keeping the rotation speeds of the plurality of blades constant.

The unmanned vehicle 70 may be a vehicle operated by a remote control device or a vehicle that flies independently, and is not limited thereto.
By the way, the unmanned aircraft 70 is an aircraft that flies in conjunction with the tractor 1. For example, when the tractor 1 is traveling in the field and is working by the working device 2, the unmanned flying object 70 flies while sensing the surroundings of the tractor 1, the tractor 1, and the working device 2 by the sensing device 72.

The control device 76 of the unmanned vehicle 70 changes the flight position of the unmanned vehicle 70 in conjunction with the operation of the tractor 1. The unmanned vehicle 70 flies from a predetermined takeoff location 100 (see FIG. 6A) to the field H1 where the tractor 1 is working before the start of automatic traveling of the tractor 1. When the automatic traveling of the tractor 1 is started and the tractor 1 starts the work, the unmanned vehicle 70 flies around the tractor 1 or the working device 2.

For example, as shown in FIG. 6A, when the tractor 1 is performing ground work by the work device 2 while traveling on the straight portion L1a of the scheduled travel line L1, that is, the work is performed by lowering the coupling device (elevating device) 8. When the device 2 is performing ground work such as tilling on the field, as shown in FIGS. 6A and 7A, the unmanned vehicle 70 is flying in front of the traveling direction of the tractor 1 and the tractor 1 is flying. At the flight position D2 ahead, the periphery of the tractor 1 on the traveling direction side is sensed. That is, the sensing device 72 senses the traveling direction during the automatic traveling of the tractor 1 and during the work. That is, the control device 76 of the unmanned flying object 70 changes the flight position to a position where the traveling direction side of the vehicle body 3 can be sensed when the working device 2 performs the ground work.

On the other hand, when the tractor 1 is traveling on the turning portion L1b of the scheduled travel line L1, that is, when the coupling device (elevating device) 8 is raised and the work device 2 is not performing ground work such as tilling, FIG. 6A And as shown in FIG. 7B, the unmanned vehicle 70 moves from the front of the tractor 1 to the rear of the work device 2 and senses the periphery of the work device 2 at the flight position D2 behind the work device 2.

Further, the unmanned aircraft 70 is stopped when the tractor 1 is stopped, for example, when the tractor 1 is stopped at the work start point P2 before the start of work, or when the tractor 1 is stopped in the field H1 for some reason. If so, the flight position is changed to a position where the surroundings of the tractor 1 can be sensed.
FIG. 8 is a flow showing an operation of flying while coordinating (interlocking) a tractor and an unmanned flying object.

As shown in FIG. 8, when the tractor 1 is driven, the communication device 51 of the tractor 1 obtains field information including the traveling position P1 detected by the position detection device 30 and the position of the field H1 where the work of the tractor 1 is performed. It is transmitted to the unmanned aircraft 70 (S1). In addition, the communication device 51 of the tractor 1 transmits operation information such as the vehicle speed of the tractor 1 and whether the coupling device (elevating device) 8 is rising or falling to the unmanned vehicle 70 (S2). .. That is, the tractor 1 transmits work information related to the work of the tractor 1, such as a traveling position P1, field information, and operation information, to the unmanned flying object 70.

On the other hand, when the communication device 75 of the unmanned vehicle 70 receives the work information (traveling position P1, field information, operation information) transmitted from the tractor 1 (S3), the communication device 75 performs an operation such as flight based on the work information. decide. For example, when the control device 76 refers to the work information and determines from the work information that the traveling position P1 is approaching the field H1 where the work is performed (S4, Yes), the control device 76 controls the rotary blade 70c. As a result, the unmanned aircraft 70 is taken off from the takeoff place 100, and then the flight is performed to the field H1 where the tractor 1 is operated (S5).

When the control device 76 refers to the work information and determines from the work information that the tractor 1 has stopped for a predetermined time or longer (S6, Yes), the unmanned vehicle 70 surrounds the tractor 1 (a few meters away from the tractor 1). Controls to sense the range). (S7: 1st sensing). In the first sensing, the sensing device 72 is directed toward the tractor 1 and an image is taken in a range several meters away from the tractor 1 to monitor whether or not a living body M1 such as an animal or a human is in the range. When the living body M1 is detected in the first sensing, the communication device 75 transmits a warning signal to the communication device 51 (S8). When the travel control unit 40A of the tractor 1 acquires the warning signal via the communication device 51, the travel control unit 40A does not start the automatic travel and maintains the stop (S9). The travel control unit 40A of the tractor 1 starts automatic travel when the warning signal is not acquired for a predetermined time or more, or when the release signal for canceling the warning is received from the unmanned vehicle 70 (S10).

When the control device 76 refers to the work information and determines from the work information that the tractor 1 is traveling while performing ground work (S11, Yes), the control device 76 determines the flight position of the unmanned vehicle 70 as the tractor. Control is performed to sense the front of the tractor 1 in front of 1 (S12: second sensing).
In the second sensing, as shown in FIG. 7A, the sensing device 72 is directed to the front of the tractor 1 side, the front of the tractor 1 is imaged, and whether or not the living body M1 or an obstacle is in front of the tractor 1. Monitor. When the living body M1 or an obstacle is detected in the second sensing, the communication device 75 transmits a warning signal to the communication device 51 (S13). When the travel control unit 40A of the tractor 1 acquires a warning signal via the communication device 51, the travel control unit 40A stops the automatic travel and stops the tractor 1 (S14). The travel control unit 40A of the tractor 1 resumes automatic travel when the warning signal is not acquired for a predetermined time or longer, or when a release signal for canceling the warning is received from the unmanned vehicle 70 (S15).

When the control device 76 refers to the work information and determines from the work information that the tractor 1 is traveling without performing ground work (S16, Yes), the control device 76 determines the flight position of the unmanned vehicle 70. Control is performed to sense the work device 2 behind the work device 2 (S17: third sensing).
In the third sensing, as shown in FIG. 7B, the sensing device 72 is directed toward the working device 2 and the surroundings of the working device 2 are imaged to monitor whether or not the living body M1 and the obstacle M2 are in the surroundings. .. When the living body M1 or the obstacle M2 is detected in the third sensing, the communication device 75 transmits a warning signal to the communication device 51 (S18). When the control device 40 of the tractor 1 acquires a warning signal via the communication device 51, the control device 40 stops driving the PTO axis or the like, or stops the tractor 1 (S19). When the control device 40 of the tractor 1 does not acquire the warning signal for a predetermined time or longer, or receives the release signal for canceling the warning from the unmanned vehicle 70, the control device 40 of the tractor 1 resumes driving or automatic traveling of the PTO axis ( S20).

As described above, by flying the unmanned vehicle 70 while interlocking with the tractor 1, it is possible to smoothly perform the work while the tractor 1 automatically travels. That is, the blind spot of the tractor 1 or the working device 2 can be supplemented by the sensing of the unmanned flying object 70, and the workability can be improved.
By the way, in the above-described embodiment, when the unmanned flying object 70 detects the living body M1 or the obstacle M2, a warning signal is output to the tractor 1, but as shown in FIGS. 4, 9A and 9B, The unmanned vehicle 70 may include a warning device 79 that outputs (generates) a warning. The warning device 79 is a light that generates a light source (light), a speaker that generates sound, sound, and the like.

As shown in FIG. 9A, when the tractor 1 is traveling and the sensing device 72 is imaging the front of the tractor 1, that is, when the sensing device 72 detects the living body M1 during the second sensing, it is unmanned. The flying object 70 approaches the living body M1 and generates a warning by the warning device 79.
Alternatively, as shown in FIG. 9B, when the tractor 1 is traveling and the sensing device 72 is imaging the working device 2, that is, when the sensing device 72 detects the living body M1 during the third sensing. The unmanned flying object 70 approaches the living body M1 and generates a warning by the warning device 79.

Further, as described above, when the tractor 1 is stopped and the sensing device 72 is imaging the working device 2, that is, when the sensing device 72 detects the living body M1 during the first sensing, the unmanned flight The body 70 approaches the living body M1 and generates a warning by the warning device 79.
In the above-described embodiment, in the working device 2, the unmanned flying object 70 flies in front of the tractor 1 when performing ground work, but when the working device 2 is a plow or the like, the ground is ground. You may fly behind the tractor 1 during work.

Further, although the flight position of the unmanned flying object 70 was changed according to the raising and lowering of the working device 2, the flight position of the unmanned flying object 70 may be changed when the working device 2 operates in the horizontal direction. As shown in FIG. 9C, for example, by turning at the edge of the field while the working device 2 is a plow or the like and cultivating the field, the working device 2 is moved in the traveling direction from the left side of the traveling direction of the tractor 1. When changed to the right side of, the unmanned aircraft 70 also changes the flight position in the horizontal direction from the left side in the traveling direction of the tractor 1 to the right side in the traveling direction.

Further, when the sensing device 72 of the unmanned flying object 70 detects a plurality of living organisms M1, the unmanned flying object 70 preferentially warns the living body M1 closest to the tractor 1 (vehicle body 3), or When the living body M1 is moving, a warning is given preferentially to the living body M1 having the fastest moving speed of the living body M1. Further, when the living body M1 is a human being, an animal, or a bird, the unmanned flying object 70 gives priority to a human being.

The unmanned flying object 70 is an agricultural machine (tractor 1) when it flies around the main body 70a, the arm 70b provided on the main body 70a, the rotary blade 70c provided on the arm 70b, and the agricultural machine (tractor 1). ), A sensing device 72 capable of sensing), and a control device 76 capable of changing the flight position by controlling the rotary blade 70c, and the control device 76 flies in conjunction with the operation of the agricultural machine (tractor 1). Change the position. According to this, when the agricultural machine (tractor 1) works in the field, the unmanned flying object 70 can change the flight position in conjunction with the operation of the agricultural machine (tractor 1), so that the agricultural machine (tractor 1) can change the flight position. Monitoring can be performed according to the work of 1). That is, the accuracy of monitoring in the unmanned flying object 70 can be improved by changing the flight position in conjunction with the operation of the agricultural machine (tractor 1).

The agricultural machine (tractor 1) is provided with a traveling vehicle body 3 capable of raising and lowering the work device, and the control device 76 is placed on the work device 2 side when the work device 2 moves up and down or operates in the horizontal direction. Change the flight position. For example, when the working device 2 rises or falls, the control device 76 of the unmanned flying object 70 senses the entire working device 2 by flying the unmanned flying object 70 around the working device 2, or the working device. When 2 descends from the ascending position, by moving the flight position of the unmanned flying object 70 below the working device 2, sensing can be performed centering on the blind spot of the working device 2.

Alternatively, since the control device 76 of the unmanned flying object 70 changes the flight position of the unmanned flying object 70 when the working device 2 operates in the horizontal direction, the ground working even if the grounding work in the working device 2 changes. Can be confirmed.
The agricultural machine (tractor 1) is provided with a traveling vehicle body 3 capable of raising and lowering the working device 2, and the control device 76 flies to a position where the traveling vehicle body 3 can sense the traveling direction side when the working device 2 performs ground work. Change the position. According to this, when the work device 2 is performing ground work, the situation before the work of the work device 2 can be grasped by monitoring the traveling direction side of the agricultural machine (tractor 1).

When the agricultural machine (tractor 1) is stopped, the control device 76 changes the flight position to a position where the surroundings of the agricultural machine (tractor 1) can be sensed. According to this, the surroundings can be monitored while the agricultural machine (tractor 1) is stopped.
The unmanned vehicle 70 includes a warning device 79 that outputs a warning, the sensing device 72 images the surroundings of the agricultural machine (tractor 1) while the agricultural machine (tractor 1) is stopped or running, and the warning device 79 is used. , When the sensing device 72 detects a living body, a warning is output. According to this, when it is detected that a living body such as an animal or a human is in the agricultural machine (tractor 1), the living body can be kept away from the agricultural machine (tractor 1) by outputting a warning.

When the sensing device 72 detects a living body, the control device 76 changes the flight position around the living body. According to this, the unmanned flying object 70 can approach the living body and give a warning.
When the sensing device 72 detects a living body while the agricultural machine (tractor 1) is traveling, the communication device 75 is provided to transmit the stop of traveling to the agricultural machine (tractor 1). According to this, when the agricultural machine (tractor 1) detects a living body while traveling, the agricultural machine (tractor 1) can be stopped by the unmanned flying object 70.

The agricultural support system includes an unmanned flying object 70 equipped with a sensing device 72 and an agricultural machine (tractor 1) having a traveling vehicle body 3 to which a working device 2 can be connected, and the unmanned flying object 70 is an agricultural machine (tractor). The flight position with respect to the agricultural machine (tractor 1) is changed in conjunction with the operation of 1).
According to this, when the agricultural machine (tractor 1) works in the field, the unmanned flying object 70 can change the flight position in conjunction with the operation of the agricultural machine (tractor 1), so that the agricultural machine (tractor 1) can change the flight position. Monitoring can be performed according to the work of 1).

The agricultural support system includes a warning device 79 that outputs a warning, the sensing device 72 images the surroundings of the agricultural machine (tractor 1) while the agricultural machine (tractor 1) is stopped or running, and the warning device 79 is a warning device 79. When the sensing device 72 detects a living body, a warning is output. According to this, when it is detected that a living body such as an animal or a human is in the agricultural machine (tractor 1), the living body can be kept away from the agricultural machine (tractor 1) by outputting a warning.

By the way, in the above-described embodiment, the state of the traveling direction of the tractor 1 is sensed by the sensing device 72 of the unmanned flying object 70 during the automatic traveling of the tractor 1, but the obstacle detection device 45 of the tractor 1 is used. The detection area for detecting the obstacle M2 is changed based on the result of sensing by the sensing device 72 of the unmanned aircraft 70.
As shown in FIGS. 10 and 11A, when the sensing device 72 detects an object M3 such as a living body M1 and an obstacle M2 while the tractor 1 is traveling and the sensing device 72 is imaging the front of the tractor 1. As a result of detecting information indicating that the object M3 has been detected, for example, the size (height H10, width L10, depth W10) and position of the object M3, the communication device 75 of the unmanned flying object 70 has the tractor 1 Send.

The obstacle detection devices 45L and 45R change the detection area A1 based on the size (height H10, width L10, depth W10) and position of the object M3. For example, when the detection area A1 when the sensing device 72 does not detect the object M3 is "A11", the obstacle detection devices 45L and 45R change the detection area A1 when the object M3 is detected to "A12". change.

More specifically, the obstacle detection devices 45L and 45R calculate an area in which the entire object M3 fits from the size (height H10, width L10, depth W10) and position of the object M3, and calculate the calculated area. It is set as the detection area A12. That is, the detection area A12 when the sensing device 72 detects the object M3 is set to an area where the entire object M3 can be accommodated as compared with the detection area A11 when the sensing device 72 does not detect the object M3. To.

As shown in FIG. 10, the unmanned aircraft 70 may include an irradiation device 93. The irradiation device 93 is a light, a laser, or the like that generates a light source (light). When the size (height H10, width L10, depth W10) of the object M3 detected by the sensing device 72 is equal to or larger than a predetermined value, the irradiation device 93 has, for example, the height H10, the width L10, and the depth W10 of the object M3, respectively. However, when it is equal to or more than a predetermined value, the irradiation device 93 irradiates the object M3 with a light source. That is, the irradiation device 93 is directed toward the object M3, and light is emitted from the irradiation device 93.

When the object M3 is irradiated with a light source (light), the obstacle detection devices 45L and 45R adjust the detection area A12 so that the light to the object M3 enters the detection area A12. That is, the obstacle detection devices 45L and 45R make the irradiation light from the object M3 and the irradiation device 93 enter the detection area A12.
In the above-described embodiment, the irradiation device 93 of the unmanned flying object 70 irradiates the object M3 with light when the object M3 is detected, but does not detect the object M3, that is, follows the tractor 1. Then, while the unmanned flying object 70 is flying, the light source may be irradiated in the traveling direction of the tractor 1.

FIG. 12 shows an operation flow in which the unmanned aircraft 70 and the tractor 1 are interlocked with each other. In FIG. 12, for convenience of explanation, it is assumed that the unmanned vehicle 70 follows the traveling of the tractor 1 and flies in the same direction as the traveling direction of the tractor 1.
As shown in FIG. 12, when the sensing device 72 of the unmanned flying object 70 detects the object M3 (S30), the detection result of detecting the object M3 is transmitted to the tractor 1 (S31). The tractor 1 determines whether or not the detection result of detecting the object M3 from the unmanned flying object 70 is acquired (S32), and when the detection result is acquired (S32, Yes), the detection area is based on the detection result. The detection area A12 is changed from A11 (S33). On the other hand, when the tractor 1 does not acquire the detection result of detecting the object M3 from the unmanned flying object 70 (S32, No), the tractor 1 holds the detection area A11 (S34).

When the unmanned flying object 70 has an irradiation device 93, the unmanned flying object 70 also transmits information as to whether or not the object M3 is irradiated with light to the tractor 1 as a detection result. When the tractor 1 acquires that the light is emitted from the irradiation device 93 toward the object M3, the tractor 1 sets the detection area A12 so that at least a part of the light irradiated to the object M3 and the object M3 enter.
Further, the irradiation device 93 may irradiate a light source in the traveling direction of the tractor 1, for example, when the unmanned flying object 70 does not detect an object or when the surroundings of the tractor 1 become dark. good.

The agricultural support system is provided in the agricultural machine (tractor 1) and the obstacle detection device 45 for detecting obstacles, and the agricultural machine (tractor 1) and the obstacle detection device 45 does not detect the obstacles. In this case, the running control unit 40A that automatically runs the agricultural machine (tractor 1) and changes the automatic running when an obstacle is detected, and the automatic running of the agricultural machine (tractor 1) provided on the unmanned aircraft 70. Occasionally, a sensing device 72 that senses the state of travel direction of the agricultural machine (tractor 1) is provided, and the obstacle detection device 45 changes the detection area for detecting an obstacle based on the result of sensing by the sensing device 72. do. According to this, while the agricultural machine (tractor 1) is automatically traveling, the traveling direction of the agricultural machine (tractor 1) is first sensed by the unmanned flying object 70 to sense the traveling direction of the agricultural machine (tractor 1). The unmanned aircraft 70 can determine the situation first, and then the obstacle detection device 45 of the agricultural machine (tractor 1) can grasp whether there is an obstacle and is smooth. It is possible to carry out automatic driving. That is, since the obstacle detection device 45 changes the detection area for detecting an obstacle based on the result of sensing by the sensing device 72 of the unmanned vehicle 70 during the automatic traveling of the agricultural machine (tractor 1), the obstacle of the automatic traveling The detection can be further improved.

The agricultural support system includes a communication device 75 provided in the unmanned flying object 70 and transmitting the result of sensing by the sensing device 72 to the agricultural machine (tractor 1). According to this, the situation of the traveling direction of the agricultural machine (tractor 1) can be easily notified from the unmanned flying object 70.
As a result, the communication device transmits information regarding the size and position of the sensed object to the agricultural machine (tractor 1), and the obstacle detection device 45 changes the detection area based on the size and position of the object. .. According to this, it is possible to improve the accuracy of detecting an object by the obstacle detection device 45.

The agricultural support system includes an irradiation device 93 provided on the unmanned flying object 70 and irradiating a light source toward the object when the size of the object sensed by the sensing device 72 is equal to or larger than a predetermined size. According to this, by irradiating the object with a light source by the irradiation device 93, the sensing device 72 can easily grasp the contour of the object and the like, and the accuracy of detection can be improved.
When the object is irradiated with a light source, the obstacle detection device 45 sets a detection area for the object. According to this, it is possible to more accurately determine whether or not the object is an obstacle.

The agricultural support system is provided in the unmanned flying object 70 and includes an irradiation device 93 that irradiates a light source in the traveling direction of the agricultural machine (tractor 1). According to this, when working in a dark place such as at night, the light source of the irradiation device 93 makes it easy to grasp the state of the traveling direction of the agricultural machine (tractor 1).
In the above-described embodiment, as shown in FIG. 11A, the obstacle detection devices 45L and 45R are changed to the detection area A12 when the object M3 is detected, but as shown in FIG. 11B, the object M3 is changed to the detection area A12. The detection accuracy may be improved by narrowing down the detection area A12 so as to focus. Further, in the irradiation device 93 described above, the object M3 may be easily recognized by a camera or the like mounted on the tractor 1 by irradiating the object M3 with infrared light.

In the above-described embodiment, the work is performed while linking (coordinating) the unmanned flying object 70 and the tractor 1, but if an abnormality occurs in the unmanned flying object 70 during the cooperation during work in the field, the unmanned flight is performed. The body 70 or the tractor 1 performs an operation different from the operation during work.
As described above, when the tractor 1 is working in the field H1 (the tractor 1 is traveling in the field H1), the unmanned flying object 70 flies over the field H1 based on the flight position D2 detected by the position detection device 73. It flies, and when an abnormality occurs, the flight at the flight position D2 is stopped, and the flight is performed based on the information sensed by the sensing device 72.

Specifically, the control device 76 of the unmanned vehicle 70 monitors the reception intensity of the radio wave WE1 from the positioning satellite during the flight of the unmanned vehicle 70, as shown in FIG. When the reception intensity of the radio wave WE1 is less than the threshold value V1, the control device 76 calculates the elapsed time T1 when the reception intensity is less than the threshold value V1. The control device 76 determines that it is abnormal when the elapsed time T1 is equal to or longer than the predetermined time T2, and determines that it is not abnormal but malfunctions when the elapsed time T1 is less than the predetermined time T2.

As described above, if the elapsed time T1 in which the reception intensity of the radio wave WE1 is equal to or less than the threshold value V1 is long, the flight position D2 cannot be accurately detected by the position detection device 73. It is determined that an abnormality has occurred, and the sensing device 72 senses the traveling direction of the unmanned aircraft 70. For example, the sensing device 72 acquires an image captured in the traveling direction of the unmanned vehicle 70, and as shown in FIG. 6B, the control device 76 estimates at least the flight position D3 of the unmanned vehicle 70 from the captured image. Fly to the predetermined return location 101. When the control device 76 reaches the sky above the return location 101, the control device 76 lands the unmanned aircraft 70 at the return location 101. For the estimation of the flight position D3 from the image captured by the control device 76, for example, map data having fields, structures (roads, buildings, electric columns), terrain (mountains, rivers), etc. is stored in the storage device 74 in advance. The flight position D3 may be estimated by comparing the map data with the captured image and performing matching, or the flight direction and the flight position D3 from the current position are calculated based on the change in the captured image. By doing so, the flight position D3 may be obtained without limitation.

On the other hand, when the unmanned flying object 70 is malfunctioning, the control device 76 flies the unmanned flying object 70 based on the flight position D2 detected by the position detecting device 73 and the information sensed by the sensing device 72. May be good. For example, the control device 76 acquires the flight position D2 detected by the position detection device 73, while acquiring information such as an captured image sensed by the sensing device 72. The control device 76 calculates the flight direction and flight position from the current position from the change in the captured image, and calculates the flight position (first estimated position) D3 and the flight position (second) detected by the position detection device 73. Estimated position) D2 is compared, and if the difference between the first estimated position D3 and the second estimated position D2 is equal to or less than the threshold value, the second estimated position D2 is adopted and flight control is continued. As shown in FIG. 6B, when the difference between the first estimated position D3 and the second estimated position D2 is larger than the threshold value, the control device 76 is, for example, an intermediate connecting the first estimated position D3 and the second estimated position D2. The point is corrected as the flight position D4, and the flight control is continued at the corrected flight position D4. Alternatively, when the difference between the first estimated position D3 and the second estimated position D2 is larger than the threshold value, the control device 76 refers to the transition of the second estimated position D2 several seconds ago, and the second estimated position D2 is large. If it has changed, the first estimated position D3 is adopted as the flight position D4, and the flight control is continued at the adopted flight position D4. The above-mentioned estimation of the flight position is an example and is not limited.

Now, when the unmanned flying object 70 is malfunctioning, the control device 76 limits the distance to the tractor 1 during flight according to the elapsed time T1. As shown in FIG. 14, when the unmanned vehicle 70 is malfunctioning, the control device 76 has a flight position D4 obtained by the first estimated position D3 and the second estimated position D2, and a traveling position transmitted from the tractor 1. Based on P1, the horizontal distance between the tractor 1 and the unmanned flying object 70 [(horizontal distance in the traveling direction (front-back direction), horizontal distance in the width direction)] L30 is calculated. The control device 76 determines whether or not the calculated horizontal distance L30 is equal to or less than the limit distance. When the horizontal distance L30 is equal to or less than the limit distance, the control device 76 flies the unmanned vehicle 70 so as to move away from the tractor 1. On the other hand, when the horizontal distance L30 is not equal to or less than the limit distance, the control device 76 continues the flight while referring to the flight positions obtained by the first estimated position D3 and the second estimated position D2. The control device 76 increases or decreases the limited distance according to the elapsed time T1. The shorter the elapsed time T1 is, the longer the limited distance is, and the longer the elapsed time T1 is, the shorter the limited distance is set.

The tractor 1 has a PTO shaft that transmits power to the work device 2, an elevating device 8 that raises and lowers the work device 2, and a traveling device 7. During work, the PTO shaft rotates and moves up and down according to the work. The device 8 and the traveling device 7 are operated. When the unmanned vehicle 70 is abnormal, the tractor 1 stops at least one of the rotation of the PTO axis, the elevating device 8 and the traveling device 7. The rotation of the PTO axis and the operation and stop of the elevating device 8 and the traveling device 7 can be controlled by the control device 40.

FIG. 15 shows an operation flow in which the unmanned aircraft 70 and the tractor 1 are interlocked with each other. Also in FIG. 15, for convenience of explanation, if no malfunction or abnormality has occurred, it is assumed that the unmanned vehicle 70 follows the traveling of the tractor 1 and is flying in the same direction as the traveling direction of the tractor 1.
As shown in FIG. 15, in a situation where the unmanned aircraft 70 is flying while sensing the front of the tractor 1 by the sensing device 72, the control device 76 determines the reception intensity of the radio wave WE1 from the positioning satellite. Monitor (S40). The control device 76 calculates the elapsed time T1 when the reception intensity of the radio wave WE1 becomes equal to or less than the threshold value V1 (S41). The control device 76 determines whether the elapsed time T1 is equal to or longer than the predetermined time T2 (S42). When the elapsed time T1 is equal to or longer than the predetermined time T2 (S42, Yes), the control device 76 determines that it is abnormal (S43), and estimates the flight position by the sensing device 72 (S44). The control device 76 continues to control the flight while estimating the flight position, and makes the unmanned aircraft 70 land at the return location 101 (S45). On the other hand, when the elapsed time T1 is less than the predetermined time T2 (S42, No), the control device 76 determines that there is a malfunction (S46), and uses the first estimated position D3 and the second estimated position) D2. The flight position D4 is estimated, and the flight is continued while the unmanned aircraft 70 follows the tractor 1 (S47). The control device 76 calculates the horizontal distance L30 between the flight position D4 and the travel position P1 (S48), and when the horizontal distance L30 is equal to or less than the limit distance (S49, Yes), the unmanned aircraft 70 is moved away from the tractor 1. To fly (S50).

In the above-described embodiment, the abnormality or malfunction is determined based on the reception strength, but instead of the reception strength, the abnormality or malfunction is determined based on the remaining amount (charge remaining amount) of the power storage device 71. May be good. In this case, the reception strength may be read as the remaining charge.
Further, the threshold value V1 corresponding to the reception strength or the remaining charge may be changed depending on the working conditions. For example, when the work device 2 is a halo, a rice transplanter, or the like and works in a place with water, the threshold value V1 is increased to make the standard stricter.

The agricultural support system includes an unmanned flying object 70 equipped with a sensing device 72, a traveling vehicle body 3 to which a working device 2 can be connected, and an agricultural machine (tractor 1) capable of traveling in a field. When an abnormality occurs in the unmanned flying object 70 while working in the field in cooperation with the agricultural machine (tractor 1), the unmanned flying object 70 or the agricultural machine (tractor 1) is in the working state. Performs a different operation from the operation. According to this, in a situation where the unmanned flying object 70 and the agricultural machine (tractor 1) are working in the field in cooperation with each other, the unmanned flying object 70 or the agricultural machine (tractor 1) is different from the operation during the work. It is possible to prevent mutual interference by performing the operation. That is, when the agricultural machine (tractor 1) and the unmanned flying object 70 cooperate with each other to work in the field, if there is an abnormality in the unmanned flying object, it is possible to take appropriate measures.

The unmanned flying object 70 includes a position detecting device 73 for detecting a position, and at the time of work, flies over the field based on the position detected by the position detecting device 73, and stops flying according to the position at the time of abnormality, and is a sensing device 72. Fly based on the information sensed in. According to this, when the unmanned flying object 70 flies while detecting the position by the position detecting device 73, in the case of an abnormality, the flight is performed based on the information sensed by the sensing device 72 instead of the flight by the position. , The flight of the unmanned aircraft 70 can be stabilized.

In the event of an abnormality, the unmanned aircraft 70 flies toward a predetermined return location based on information and lands at the return location. According to this, in the event of an abnormality, the unmanned aircraft 70 can be returned to the return location.
The position detection device 73 is a device that detects a position based on the radio wave of the positioning satellite, and is the unmanned vehicle 70 abnormal based on the elapsed time when the reception intensity of the radio wave from the positioning satellite becomes less than the threshold value? Judge whether or not. According to this, when the reception intensity of the radio wave of the positioning satellite changes, that is, when the reception intensity becomes less than the threshold value and an accurate position cannot be obtained, it is judged as abnormal, and the flight of the unmanned aircraft 70 is regarded as normal. Can quickly change to a different state.

The unmanned aircraft 70 determines that it is abnormal when the elapsed time is equal to or longer than the predetermined time, and determines that it is not abnormal and is not malfunctioning when the elapsed time is less than the predetermined time. According to this, it is possible to quickly determine whether the unmanned aircraft 70 is abnormal or malfunctioning.
When the unmanned aircraft 70 is in a malfunction, it flies based on the position detected by the position detecting device 73 and the information sensed by the sensing device 72. According to this, when the unmanned flight object 70 is unnecessary, stable flight can be continued.

The unmanned aircraft 70 limits the distance to the agricultural machine (tractor 1) during flight according to the elapsed time when the aircraft is out of order. According to this, it is possible to prevent the unmanned flying object 70 and the agricultural machine (tractor 1) from interfering with each other.
The agricultural machine (tractor 1) has a PTO drive device that transmits power to the work device 2, an elevating device 8 that raises and lowers the work device 2, and a traveling device 7. , The elevating device 8 and the traveling device 7 are operated, and at least one of the PTO drive device, the elevating device 8 and the traveling device 7 is stopped in the event of an abnormality. According to this, the work can be easily stopped by stopping any one of the PTO drive device, the elevating device 8, and the traveling device 7.
[Second Embodiment]
16 to 19 show the agricultural machine (tractor 1) in the second embodiment. The tractor 1 and the like shown in FIGS. 16 to 19 may be applied to the first embodiment.

The tractor 1 includes a takeoff and landing station 60. The takeoff and landing station 60 is provided on the roof 9b of the protective device 9 and can regulate the skid 70d when the unmanned aircraft 70 lands. As shown in FIGS. 18A to 18C, when the unmanned aircraft 70 takes off and landing, the takeoff and landing station 60 causes a part of the takeoff and landing station 60 to come into contact with the legs 80a and 80b of the skid 70d, thereby causing the skid 70d. It is possible to regulate the horizontal movement of.

As shown in FIGS. 16 and 17, specifically, the takeoff and landing station 60 has a support member 61 and an arm 62. The support member 61 is a member that supports the arm 62 on the roof 9b of the protective device 9, and is provided on the front side and the rear side of the roof 9b, respectively. The arm 62 is supported on the roof 9b via a support member 61 and extends in the horizontal direction. Specifically, one end of the arm 62 is located at the front end of the roof 9b, and the other end of the arm 62 is located at the rear end of the roof 9b.

The arm 62 is formed of, for example, an arc-shaped or square-shaped cylinder, and is hollow, and a space portion 63 is formed. As shown in FIGS. 18A to 18C, in the unmanned aircraft 70, the width L41 of the arm 62 is equal to or less than the distance L40 when the distance L40 from one leg 80a to the other leg 80b at the time of landing is used as a reference. Is set to.
As shown in FIG. 16, the arm 62 has a marker 64 that is visible to the unmanned vehicle 70. The marker 64 is formed on the outer surface of the arm 62, and can be recognized by the sensing device 72 of the unmanned flying object 70 from above when the arm 62 is viewed in a plan view.
When the unmanned aircraft 70 makes a landing, the sensing device 72 first recognizes the presence / absence of the tractor 1, that is, the position of the marker 64 provided on the arm 62 from the sky above the field. When the control device 76 of the unmanned vehicle 70 recognizes the marker 64, the control device 76 flies the unmanned vehicle 70 toward the position of the marker 64, and when it reaches the sky above the marker 64, the altitude of the unmanned vehicle 70 is gradually increased. While lowering, land toward the arm 62 (marker 64).
When the skid 70d is in FIG. 18A, the unmanned aircraft 70 ends the landing when the legs 80a and 80b of the skid 70d come into contact with the arm 62. Further, when the skid 70d is shown in FIG. 18B, when the skid 70d reaches the arm 62, the legs 80a and 80b are swung toward the arm 62 by the expansion and contraction of the actuators 81a and 81b. Landing ends when the legs 80a and 80b come into contact with the arm 62. The expansion and contraction of the actuators 81a and 81b is performed by the control device 76 outputting a control signal to the actuators 81a and 81b.
When the skid 70d is shown in FIG. 18C, when the skid 70d reaches the arm 62 and the legs 80a and 80b come into contact with each other, the legs 80a and 80b are deformed by the contact with the arm 62. The unmanned aircraft 70 ends landing when the arm 62 is sandwiched between the legs 80a and 80b.
As described above, by providing the takeoff and landing station 60 on the tractor 1, the unmanned aircraft 70 can be landed on the tractor 1.
Now, the unmanned vehicle 70 may have a cable 77. Next, a case where the unmanned aircraft 70 has the cable 77 will be described.
The cable 77 is a cable that supplies electric power to the unmanned aircraft 70. As shown in FIG. 24, one end of the cable 77 is provided inside the main body 70a and is connected to the power supply line PW1 for supplying electric power to the control device 76 or the like via a connector or the like. Alternatively, one end of the cable 77 may be connected to the power storage device 71. Further, the other end of the cable 77 is connected to the power supply line PW2 for supplying electric power to the control device 40 or the like via a connector or the like. The other end of the cable 77 may be connected to a battery or the like provided in the tractor 1.
Therefore, the electric power of the tractor 1 can be supplied to the unmanned vehicle 70 via the cable 77, and the unmanned vehicle 70 can be flown for a long time.
As shown in FIGS. 18A to 18C and 19, the arm 62 of the takeoff and landing station 60 is provided with a through hole 65 through which the cable 77 is passed, and the space 63 of the arm 62 is a housing portion capable of accommodating the cable 77. Has been done. The accommodating portion is provided with a winder 66 for winding the cable 77. As shown in FIG. 20, the winder 66 includes a tubular bobbin (winding unit) 66a that is rotatably supported and winds up the cable 77 by rotation, and a motor 66b that rotates the bobbin 66a. There is. The cable 77 passes through the rotation shaft 66c of the bobbin 66a and reaches the inside of the tractor 1.
Therefore, the cable 77 can be wound by rotating the bobbin 66a of the winder 66 by the motor 66b. When the cable 77 is pulled by the movement of the unmanned flying object 70 in the state where the cable 77 is wound around the bobbin 66a, the bobbin 66a can be arbitrarily rotated by the pulling force to pay out the cable 77. In the winder 66, a clutch 66d capable of disconnecting the connection between the rotating shaft of the motor 66b and the rotating shaft 66c of the bobbin 66a may be provided.
As described above, when the winder 66 is provided, the control device 40 of the tractor 1 outputs a control signal to the motor 66b, and the rotation axis of the motor 66b is in the direction of winding the cable 77 (winding direction). Rotate to. Refer to the force acting on the rotating shaft of the motor 66b (first load) or the force acting on the rotating shaft 66c of the bobbin 66a (second load) in the situation where the rotating shaft of the motor 66b is rotated in the winding direction. .. For example, when the cable 77 is pulled by the movement of the unmanned vehicle 70 and the first load or the second load becomes a predetermined value or more, the control device 40 stops driving the motor 66b, that is, rotates in the direction of winding the motor 66b. Stop letting. Alternatively, when the first load or the second load becomes a predetermined value or more, the control device 40 rotates the rotation direction of the motor 66b in the direction opposite to the winding direction, and feeds out the cable 77.
That is, the control device 40 drives the winder 66 so that the tension acting on the cable 77 becomes substantially constant.

By the way, the unmanned flying object 70 senses the field H1 from the sky above the tractor 1 before the tractor 1 automatically travels to work in the field H1, that is, before the work device 2 performs ground work on the field H1. do. For example, the unmanned flying object 70 takes off from the tractor 1 with the tractor 1 stopped in the field H1, and the sensing device 72, for example, a state before the work of the field H1, for example, a soil state of the field H1. To image.

Further, as shown in FIG. 21, when the tractor 1 starts traveling and working (starting automatic traveling), the unmanned vehicle 70 faces the sensing device 72 toward the rear side of the working device 2 and is working or is working. The state of the field H1 after the work is sensed. For example, when the tractor 1 is traveling in the field H1 and the work is being performed by the working device 2, the unmanned flying object 70 flies while following the traveling of the tractor 1, while the sensing device 72 is used in the field H1. The state after the work, for example, the soil state of the field H1 (the state of unevenness on the surface) is imaged. That is, the unmanned flying object 70 acquires a captured image of the tractor 1 during or after the work.

The captured image during work (working image) and the captured image after work (post-work image) captured by the unmanned vehicle 70 are transmitted to the tractor 1 via the communication device 75 and the like, respectively.
The tractor 1 is based on the state of the field H1 when the unmanned flying object 70 senses the field H1 (the state of the surface unevenness before the work, the state of the surface unevenness during the work, the state of the surface unevenness after the work). Then, the work is performed by the work device 2. Specifically, when the tractor 1 acquires the pre-work image before the work, the tractor 1 sets the work device 2 based on the pre-work image. For example, the control device 40 estimates the hardness of the soil, the degree of unevenness of the soil, the geology of the soil, and the like from the pre-work image. The hardness of the soil, the degree of unevenness of the soil, and the geology of the soil are estimated by comparing the soil information database previously stored in the control device 40 or the like with the pre-work image. The soil information is associated with the past captured images, the hardness of the soil, the degree of unevenness of the soil, the geology of the soil, etc., and thereby, from the pre-work image, the hardness of the soil and the unevenness of the soil The degree, soil geology, etc. can be estimated. By applying the pre-work image to a trained model that estimates soil hardness, soil unevenness, and soil geology, soil hardness, soil unevenness, and soil geology are estimated. You may.

When the working device 2 is a tilling device and the hardness of the soil is estimated to be equal to or higher than the threshold value, the speed of tilling performed by the working device 2 (the number of rotations of the tilling claw) is set to a value higher than a predetermined value. If it is made small and the hardness of the soil is less than the threshold value, the cultivation speed is set to the set value. Alternatively, when the working device 2 is a tilling device, the control device 40 determines the area of the tilling per unit time, that is, the moving speed of the tilling device, when the degree of unevenness of the soil is equal to or more than the threshold value. If it is made smaller than the preset value and the degree of unevenness of the soil is less than the threshold value, the moving speed of the tilling device is set to the set value. In the above-described embodiment, the cultivating device has been described as an example, but the working device 2 may be anything and is not limited.

As shown in FIG. 24, the control device 40 of the tractor 1 includes a work determination unit 40C. The work determination unit 40C is composed of an electric / electronic circuit provided in the control device 40, a program stored in the control device 40, and the like.
The work determination unit 40C determines the appropriateness of the work by the work device 2 based on the state of the field H1 during or after the work. Specifically, the work determination unit 40C acquires an image during work or an image after work, and determines the appropriateness of the work from the image during work or the image after work.

When the work device 2 is a spraying device (fertilizer spraying device, pesticide spraying device), the work determination unit 40C determines whether or not fertilizer spraying or chemical spraying is properly performed from the image during work. For example, the work determination unit 40C monitors the spraying state from the image during the work, and determines that the work is appropriate when the fertilizer or the chemical is properly sprayed from the nozzle for spraying the fertilizer or the chemical. On the other hand, if the work judgment unit 40C does not release fertilizer or chemicals from the nozzle that sprays fertilizer or chemicals, or if the nozzle that sprays fertilizers or chemicals emits less fertilizer or chemicals than specified. , Judge that the work is not appropriate.

Alternatively, when the work device 2 is a tilling device, a harvesting device, a ridge device, or the like, the work determination unit 40C determines whether or not the tilling, harvesting, ridges, etc. are properly performed from the post-work image. For example, the work determination unit 40C monitors each of the cultivated state, the harvested state, and the ridged state from the image after the work, and when the cultivated state, the harvested state, and the ridged state are substantially the same as the predetermined state, the work is performed. Is judged to be appropriate, and if the cultivated state, harvested state, and ridged state are significantly different from the predetermined states, it is judged that the work is not appropriate.

Whether or not the cultivated state, the harvested state, and the ridged state are appropriate is determined by the control device 40 or the like in advance as a database showing the cultivated state, the cultivated state, the harvested state, and the ridged state, which are considered to be appropriate in advance. It is stored and can be determined by matching the cultivated state, harvested state, and ridged state of the database with the cultivated state, harvested state, and ridged state obtained from the post-work image. Alternatively, the work determination unit 40C applies the post-work image to a trained model capable of estimating each of the cultivated state, the harvested state, and the ridged state, so that the cultivated state, the harvested state, and the ridged state after the work are applied. It may be determined whether the condition is appropriate.

If the work is appropriate, the tractor 1 continues the work, and when the work determination unit 40C determines that the work is not appropriate, the tractor 1 returns to the position of the inappropriate work and re-operates by the work device 2. As shown in FIG. 22, in a situation where the tractor 1 is performing work while automatically traveling, if there is an inappropriate range W50 of the field H1 in which the positions where the work is not appropriate are continuous, the tractor 1 is the current working device 2. The work of the work device 2 is stopped, the work of the work device 2 is stopped, and the work device 2 is returned to the improper range W50. Rework while traveling to W50b.

As shown in FIG. 23, the agricultural support system includes a selection unit 46. The selection unit 46 is provided on the display device 50 provided on the tractor 1 or on the mobile terminal of a portable computer such as a smartphone, tablet, or notebook computer capable of connecting to the tractor 1. Specifically, it is a hardware switch or a software switch provided in the display device 50 or the mobile terminal. For example, when the display device 50 or the mobile terminal is provided with the selection unit 46, when a predetermined operation is performed, the selection unit 46 is displayed on the display device 50 or the mobile terminal as shown in FIG. 23. The selection unit 46 is a switch for selecting whether to perform rework after the end of automatic driving or rework during automatic driving, and selects either "after the end of automatic driving" or "during automatic driving". can do. When the end of automatic driving is selected, as shown in FIG. 22, after passing the end point E1 of automatic driving, the tractor 1 automatically moves to the improper range W50 and performs rework. When automatic driving is selected, as shown in FIG. 22, the tractor 1 automatically returns to the improper range W50 and performs rework after acquiring from the work determination unit 40C that there was an improper range W50. ..

The agricultural support system includes an unmanned flying object 70 equipped with a sensing device 72, a traveling vehicle body 3 to which a working device 2 can be connected, and an agricultural machine (tractor 1) capable of traveling in a field, and an agricultural machine (tractor). In 1), the work by the working device 2 is performed based on the state of the field when the unmanned flying object 70 senses the field. According to this, since the working device 2 can perform the work according to the state of the unmanned flying object 70 sensed in the field, the workability can be improved.

The agricultural machine (tractor 1) sets the work device 2 when the state of the field before the work is acquired, and performs the work based on the state of the field when the state of the field during or after the work is acquired. .. According to this, the work can be performed according to the state of the field detected by the unmanned flying object 70, whether before, during, or after the work.
The agricultural support system includes a work judgment unit 40C that determines the appropriateness of work by the work device 2 based on the state of the field during or after the work, and the agricultural machine (tractor 1) is operated by the work judgment unit 40C. If it is determined that the work is not appropriate, the work device 2 returns to the position of the work that is not appropriate and re-work is performed. According to this, after the work is performed by the work device 2, it can be easily determined whether or not the work is appropriate, and if the work is not appropriate, the work is re-operated to finally reach the field. It is possible to improve the appropriate degree of work as a whole.

The agricultural machine (tractor 1) includes a travel control unit 40A that controls automatic driving, and a selection unit 46 that selects whether to perform rework after the end of automatic driving or rework during automatic driving. ing. According to this, when the work is performed by the automatic running, it is possible to easily change whether to perform the rework during the automatic running after the self-driving running.
The agricultural machine (tractor 1) includes a cable 77 that supplies electric power to the unmanned aircraft 70 flying in the field. According to this, the unmanned flying object 70 can be flown for a long time.

The agricultural machine (tractor 1) includes a takeoff and landing station 60 on which the unmanned aircraft 70 takes off and landing, and the unmanned aircraft 70 takes off from the takeoff and landing station 60 at least before, during, and after work, and the sensing device 72. The state of the field during and after the work is sensed. According to this, the unmanned flying object 70 can be taken off from the agricultural machine (tractor 1) before, during, and after the work, and when necessary, the field, the agricultural machine, etc. It can be monitored.

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 is intended to include all modifications within the meaning and scope equivalent to the scope of claims.

1: Agricultural machinery (tractor)
2: Working device 7: Traveling device 8: Elevating device 70: Unmanned flying object 72: Sensing device 73: Position detection device 101: Return location H1: Field T1: Elapsed time T2: Predetermined time V1: Threshold WE1: Radio wave

Claims (8)

An unmanned aircraft equipped with a sensing device and
Agricultural machinery that can run in the field and
Equipped with
If an abnormality occurs in the unmanned vehicle while the unmanned vehicle and the agricultural machine are working in the field in cooperation with each other, the unmanned vehicle or the agricultural machine operates with the operation during the work. Agricultural support system that behaves differently. The unmanned vehicle is provided with a position detecting device for detecting a position, and at the time of the work, it flies over the field based on the position detected by the position detecting device, and at the time of the abnormality, the flight at the position is stopped. The agricultural support system according to claim 1, wherein the flight is performed based on the information sensed by the sensing device. The agricultural support system according to claim 2, wherein the unmanned vehicle flies toward a predetermined return location based on the information and lands at the return location in the event of the abnormality. The position detection device is a device that detects the position based on the radio wave of the positioning satellite.
The agricultural support system according to claim 2 or 3, wherein the unmanned aircraft determines whether or not the unmanned aircraft is abnormal based on the elapsed time when the reception intensity of radio waves from the positioning satellite becomes less than the threshold value. The fourth aspect of claim 4, wherein the unmanned aircraft is determined to be abnormal when the elapsed time is equal to or longer than a predetermined time, and is not abnormal and is determined to be malfunctioning when the elapsed time is less than the predetermined time. Agricultural support system. The agricultural support system according to claim 5, wherein when the unmanned vehicle is in a malfunction, the flight is performed based on the position detected by the position detecting device and the information sensed by the sensing device. The agricultural support system according to claim 6, wherein the unmanned vehicle limits the distance to the agricultural machine during flight according to the elapsed time when the unmanned vehicle is in a malfunction. The agricultural machine has a PTO shaft that transmits power to a work device connected to the agricultural machine, an elevating device that raises and lowers the work device, and a traveling device. The agricultural support system according to any one of claims 1 to 7, wherein the rotation of the shaft, the elevating device and the traveling device are operated, and at least the rotation of the PTO axis and any of the elevating device and the traveling device are stopped in the event of the abnormality. ..

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