JP7413250B2 - agricultural support system - Google Patents

Description

The present invention relates to an agricultural support system.

Conventionally, Patent Document 1 is known as a technique for flying a drone over agricultural machinery. The work vehicle management system of Patent Document 1 includes a work vehicle that travels in a field, an unmanned aircraft equipped with a camera that flies in the air corresponding to the work vehicle, and a mobile terminal device that communicates with the work vehicle and the unmanned aircraft. The mobile terminal device simultaneously displays the camera image received from the unmanned aircraft and the vehicle information received from the work vehicle on the display unit.

JP2019-38535A

Patent Document 1 discloses flying an unmanned aerial vehicle such as a drone over agricultural machinery, but depending on the results of monitoring by the drone, the running of the agricultural machinery can be automatically changed, or the agricultural machinery can automatically No consideration is given to linking drone monitoring and agricultural machinery sensing while driving.
In view of these circumstances, the present invention has been developed to change the detection area in which the obstacle detection device detects obstacles based on the sensing results of the sensing device of the unmanned flying vehicle when the agricultural machine is automatically traveling. The purpose is to provide an agricultural support system that can further improve obstacle detection.

The agricultural support system includes an obstacle detection device that is installed on an agricultural machine and detects an obstacle, and an obstacle detection device that is installed on the agricultural machine and automatically controls the agricultural machine when the obstacle detection device does not detect the obstacle. a travel control unit that changes the automatic travel when traveling and detects the obstacle; and a sensing device that is provided in the unmanned flying vehicle and that senses the situation in the direction of travel of the agricultural machine when the agricultural machine is traveling automatically. The obstacle detection device changes a detection area in which the obstacle is detected based on a result of sensing by the sensing device.

A communication device is provided on the unmanned flying vehicle and transmits a result of sensing by the sensing device to the agricultural machine.
The communication device transmits information regarding the size and position of the sensed object to the agricultural machine as the result, and the obstacle detection device changes the detection area based on the size and position of the object. do.

The agricultural support system includes an irradiation device that is installed on the unmanned flying vehicle and irradiates a light source toward the object when the size of the object sensed by the sensing device is larger than a predetermined value.
The obstacle detection device sets a detection area on the object when the object is irradiated with a light source.

The agricultural support system includes an irradiation device that is installed on the unmanned flying vehicle and irradiates a light source in the direction of travel of the agricultural machine.

FIG. 1 is an overall plan view of a tractor in a first embodiment. FIG. 2 is an overall side view of the tractor. It is a perspective view of a lifting device. It is a control block diagram. FIG. 2 is a diagram showing a skid of an unmanned aerial vehicle. FIG. 5A is a diagram showing a different skid from FIG. 5A. It is a figure which shows the skid different from FIG. 5A and FIG. 5B. It is an explanatory diagram explaining automatic driving. It is an explanatory view for estimating flight positions D3 and D4. FIG. 2 is a side view showing an unmanned flying vehicle flying in front of a tractor. FIG. 3 is a side view of the unmanned flying vehicle flying behind the working device. This is a flowchart showing the operation of flying while the tractor and the unmanned flying vehicle cooperate (interlock). It is a figure which shows the state where the living body M1 was detected while the tractor was moving forward. FIG. 3 is a diagram showing a state in which a living body M1 is detected while the tractor is turning or the like. FIG. 3 is a diagram showing the flight position of the unmanned flying vehicle when the working device is moved horizontally. It is a side view of a state in which an object M3 is detected while the tractor is moving forward. It is a top view of a state in which an object M3 is detected while the tractor is moving forward. It is a diagram in which the detection area A1 is focused toward the object M3. This shows an operation flow of flying while cooperating with a tractor and an unmanned flying vehicle, which is different from that shown in FIG. 8 . It is a figure which shows an example of the reception strength of radio wave WE1. It is a figure showing horizontal distance L30 between a tractor and an unmanned flying vehicle. This figure shows an operational flow of flying while cooperating with a tractor and an unmanned flying vehicle, which is different from FIGS. 8 and 12. FIG. 7 is an overall plan view of a tractor having a takeoff and landing station in a second embodiment. FIG. 1 is an overall side view of a tractor having a takeoff and landing station. FIG. 2 shows a skid and landing station of an unmanned air vehicle. FIG. 18A is a diagram showing a different skid and landing station from FIG. 18A. FIG. 18B is a diagram showing a different skid and landing station from FIGS. 18A and 18B. FIG. 2 is an enlarged view of the landing station. It is a figure showing a winder. FIG. 7 is a diagram showing the flight of the unmanned flying vehicle when the tractor starts running and working in the second embodiment. It is a diagram showing an inappropriate range W50. It is a figure showing an example of a selection part. It is a control block diagram in a 2nd embodiment.

Hereinafter, preferred embodiments of the present invention will be described based on the drawings.
[First embodiment]
1 and 2 show the entire agricultural machine. Agricultural machinery includes tractors, combines, rice transplanters, etc. Agricultural machinery will be described using a tractor 1 as an example.
As shown in FIGS. 1 and 2, the tractor 1 includes a vehicle body (traveling vehicle body) 3, a prime mover 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 that it can travel, and has front wheels 7F and rear wheels 7R. Although the front wheels 7F and the rear wheels 7R are tire-shaped in this embodiment, they may be crawler-shaped. The prime mover 4 is an engine (diesel engine, gasoline engine), electric motor, or the like. The transmission device 5 can change the propulsion force of the traveling device 7 by changing the speed, and can also switch the traveling device 7 between forward movement and backward movement. A driver's seat 10 is provided in the vehicle body 3. The driver's seat 10 is protected by a protection device 9. The protection device 9 is a cabin that protects the driver's seat 10, or a rope that protects the driver's seat 10 by covering at least the upper part of the driver's seat 10.

As shown in FIGS. 1 and 2, the protection device 9 includes a plurality of struts 9a fixed to the vehicle body 3, and a roof 9b supported by the plurality of struts 9a and disposed above the driver's seat 10. . When the protection device 9 is a cabin, a glass, a door, etc. are provided between the plurality of supports 9a, and the driver's seat 10 is covered by the glass, door, etc. A fender 13 is attached below the protection 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. As shown in FIG. 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 a lower portion of the prime mover 4. The vehicle body frame 20L and the vehicle body frame 20R are spaced apart in the vehicle width direction. The front end of the vehicle body frame 20L and the front end of the vehicle body frame 20R are connected by a front connecting plate 20F. The midway portion of the vehicle body frame 20L and the midway portion of the vehicle body frame 20R are connected by a midway connecting plate 20M. The vehicle body frame 20L and the vehicle body frame 20R support the front axle case 29. The front axle case 29 accommodates a front axle that rotatably supports the front wheel 7F. That is, in the case of this embodiment, the vehicle body frame 20 is a front axle frame that supports the front axle. Note that 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. As shown in FIGS. The bonnet 25 extends in the front-rear direction along the vehicle body frame 20. The bonnet 25 is disposed in front of the center portion of the protection device 9 in the width direction. 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 that connects the upper portions of the left side wall 25L and the right side wall 25R. An engine room is formed by the left side wall 25L, the right side wall 25R, and the upper wall portion 25U, and the engine room accommodates the prime mover 4, a cooling fan, a radiator, a battery, and the like. 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 attachment part) 27 provided at the front of the vehicle body 3. The weight bracket 27 is attached to the front connecting plate 20F of the vehicle body frame 20L with fasteners such as bolts.
The tractor 1 includes a PTO shaft protruding from the rear of the vehicle body 3, and the working device 2 is driven by transmitting power from the PTO shaft to the working device 2. To drive the PTO shaft, power is transmitted from the prime mover 4 to the PTO shaft, and a PTO drive device is provided in the middle of the PTO shaft. The PTO drive device is a hydraulic clutch or the like, and can be switched between a transmission position where power is transmitted to the PTO shaft and a cutoff position where power is not transmitted to the PTO shaft. 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 connecting device 8 is a device that connects the working device (implement, etc.) 2 to the vehicle body 3 in a detachable manner. The coupling device 8 is a lifting device that connects the work device 2 and the vehicle body 3 and is configured with a swing drawbar, a three-point link mechanism, etc. that does not move up and down, and moves up and down. The work equipment 2 includes a plowing device for plowing, a fertilizer spraying device for spraying fertilizer, a pesticide spraying device for spraying pesticides, a harvesting device for harvesting, a ridge-raising device for raising ridges, and a reaping device for reaping grass, etc. , a spreading device that spreads grass, etc., a grass collecting device that collects grass, etc., a forming device that shapes grass, etc.

FIG. 3 shows a coupling device 8 made up of a lifting device. As shown in FIG. 3, the coupling device (elevating device) 8 includes a lift arm 8a, a lower link 8b, a top link 8c, a lift rod 8d, and a lift cylinder 8e. The front end of the lift arm 8a is supported by the rear upper part of a case (mission case) that houses the transmission 5 so as to be able to swing upward or downward. The lift arm 8a swings (raises and lowers) by driving the lift cylinder 8e. The lift cylinder 8e is composed of a hydraulic cylinder. The lift cylinder 8e is connected to a hydraulic pump via a 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 of the lower link 8b is supported by the rear lower part of the transmission 5 so as to be able to swing upward or downward. The front end of the top link 8c is supported above the lower link 8b by the rear part of the transmission 5 so as to be able to swing upward or downward. The lift rod 8d connects the lift arm 8a and the lower link 8b. The working device 2 is connected to the rear part of the lower link 8b and the rear part of the top link 8c. When the lift cylinder 8e is driven (expands and contracts), 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 upward or downward (elevates and descends) using the front portion of the lower link 8b as a fulcrum.

As shown in FIGS. 1 and 2, the tractor 1 includes a position detection device 30. The position detection device 30 is mounted in front of the roof 9b of the protection device 9 via a mounting body 31. However, the mounting position of the position detection device 30 is not limited to the illustrated position, and may be mounted on the roof 9b of the protection device 9, or may be mounted at another location on the vehicle body 3. Further, the position detection device 30 may be attached to the 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) using a satellite positioning system. That is, the position detection device 30 receives a signal transmitted from a positioning satellite (position of the positioning satellite, transmission time, correction information, etc.), and detects the position (latitude, longitude) based on the received signal. The position detection device 30 may detect, as its own position (latitude, longitude), a position that has been corrected based on a signal such as correction from a base station (reference station) that can receive signals from positioning satellites. Alternatively, the position detection device 30 may include an inertial measurement device such as a gyro sensor or an acceleration sensor, and detect the position corrected by the inertial measurement device as its own position. The position detection 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 is capable of detecting objects existing around the tractor 1, that is, obstacles. At least one of the plurality of obstacle detection devices 45 is provided in front of the protection device 9 and outside the hood 25. That is, at least one obstacle detection device 45 is located in a region in front of the protection device 9 of the tractor 1, in a region to the left of the left side wall 25L of the bonnet 25, or in a region to the right of the right side wall 25R of the bonnet 25. It is located. In the case of the present embodiment, the plurality of obstacle detection devices 45 include an obstacle detection device 45L provided on the left side of the vehicle body 3 (left side of the hood 25), and an obstacle detection device 45L provided on the right side of the vehicle body 3 (right side of the hood 25). and 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 the obstacle based on the time from laser irradiation to light reception. The sonar 45B detects objects (obstacles) by emitting sound waves as detection waves. Note that the plurality of obstacle detection devices 45 of the embodiment described above may not be provided outside the hood 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 handle (steering wheel) 11a, a rotating shaft (steering shaft) 11b that rotates as the handle 11a rotates, and an auxiliary mechanism (power steering mechanism) 11c that assists in steering the handle 11a. are 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. Further, 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 handle 11a is operated, the switching position and opening degree of the control valve 22 are switched according to the handle 11a, and the steering cylinder 23 is expanded and contracted to the left or right according to the switching position and opening degree of the control valve 22. This allows the steering direction of the front wheels 7F to be changed. Note that the above-described steering device 11 is an example, and the configuration of the steering device 11 is not limited to the above-described 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, etc., and performs various controls on the tractor 1. The display device 50 includes a liquid crystal panel, an organic EL panel, etc., 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 communication device that supports Wi-Fi (Wireless Fidelity, a registered trademark) of the IEEE802.11 series of communication standards. ), BLE (Bluetooth (registered trademark) Low Energy), LPWA (Low Power, Wide Area), LPWAN (Low-Power Wide-Area Network), etc. can perform wireless communication. Further, the communication device 51 may be a communication device (communication module) that performs wireless communication using a mobile phone communication network, a data communication network, or the like.

A state detection device 41 that detects 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 that detects the state of the driving system, and is, for example, a device that detects the 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), etc. Detect. The state detection device 41 also includes a device that detects a state other than the state of the traveling system, such as a lift operation detection sensor that detects the operating direction and amount of operation of the lift operation member, a PTO rotation detection sensor, and the like.

As shown in FIG. 4, the control device 40 controls the traveling system and work system of the tractor 1. The control device 40 includes a travel control section 40A and an elevation control section 40B. The travel control section 40A and the elevation control section 40B are configured from 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. In the automatic driving control, the driving control unit 40A performs control so that at least the driving position P1 of the vehicle body 3 (the position detected by the position detection device 30) matches a preset driving schedule line (driving route) L1. The switching position and opening degree of the valve 22 are set. In other words, the control device 40 sets the moving direction and moving amount of the steering cylinder 23 (the steering direction and steering angle of the front wheels 7F) so that the traveling position P1 of the tractor 1 and the scheduled traveling line coincide.

Specifically, the traveling control unit 40A compares the traveling position P1 of the vehicle body 3 with the scheduled traveling line L1, and if the traveling position P1 and the scheduled traveling position match, the driving control unit 40A controls the steering of the steering wheel 11a in the steering device 11. The angle and steering direction (the steering angle and 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 traveling position P1 and the scheduled traveling line L1 do not match, the traveling control unit 40A controls the steering wheel in the steering device 11 so that the deviation (deviation amount) between the traveling position P1 and the scheduled traveling line L1 becomes zero. The steering angle and/or steering direction of the control valve 11a is changed (the opening degree and/or the switching position of the control valve 22 is changed).

In the embodiment described above, the travel control unit 40A changes the steering angle of the steering device 11 in automatic travel control based on the deviation between the travel position and the scheduled travel line L1. If the azimuth differs from the azimuth (vehicle body azimuth) of the traveling direction (traveling direction) of the tractor 1 (vehicle body 3), the travel control unit 40A sets the steering angle so that the vehicle body azimuth matches the azimuth of the planned travel line. You can. Furthermore, in the automatic travel control, 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 azimuth deviation. May be set. Further, the steering angle may be set by a method different from the method for setting the steering angle in the automatic travel control described above.

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

In the embodiment described above, the traveling control unit 40A stops the traveling of the tractor 1 during automatic traveling when the distance between the obstacle and the tractor 1 is less than or equal to a predetermined threshold (stop threshold). , you may avoid obstacles, or you may reduce your speed and drive slowly.
Additionally, during automatic travel, if the seating detection device 43 detects that a person is seated, the travel control unit 40A continues the automatic travel, and if the seating detection device 43 detects that the person is not seated, the travel control unit 40A continues the automatic travel. Stop running.

The elevation control section 40B performs elevation control. When the manual elevating function is enabled and the elevating operation member is operated in the upward direction (ascending side), the elevating control unit 40B extends the lift cylinder 8e by controlling the control valve 34, and lifts the lift arm 8a. Raise the rear end (end on the working device 2 side). In the lift control, when the manual lift function is enabled and the lift operation member is operated in the lowering direction (downward side), the lift cylinder 8e is contracted by controlling the control valve 34, and the rear of the lift arm 8a is Lower the end (end on the working device 2 side). When the working device 2 is raised by the coupling device (lifting device) 8, the position of the working device 2, that is, the angle of the lift arm 8a, reaches the upper limit (height upper limit value) set with the height setting dial. When this point is reached, the lifting operation of the coupling device (elevating device) 8 is stopped.

In the lift control, when the backup function is enabled, when the vehicle body 3 moves backward, the lift cylinder 8e is extended by automatically controlling the control valve 34, and the rear end of the lift arm 8a (on the working device 2 side) is extended. end). In the lift control, when the auto-up function is enabled, when the steering angle of the steering device 11 exceeds a predetermined value, the lift cylinder 8e is extended by automatically controlling the control valve 34, and the rear end of the lift arm 8a is extended. (the end on the working device 2 side) is raised.

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

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

FIG. 5B shows a different skid 70d from 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, 80b are swingably attached to the main body 70a, and the distal ends of the legs 80a, 80b are free ends.

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

Therefore, when the actuator 81a is expanded or contracted, the leg portion 80a swings by the expansion or contraction of the actuator 81a using the base end portion as a swinging fulcrum. Further, when the actuator 81b is expanded or contracted, the leg portion 80b swings with the base end portion as a swinging fulcrum due to the expansion or contraction of the actuator 81b.
FIG. 5C shows a different skid 70d from FIGS. 5A and 5B. It includes a plurality of legs 80a, 80b. The base ends of the plurality of legs 80a, 80b are fixed to the main body 70a, and the distal ends of the legs 80a, 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 those shown in FIGS. 5A and 5B, in that each of the legs 80a and 80b gradually moves outward as it moves away from the main body 70a, and then moves inward as it moves from the middle part to the tip. The leg portions 80a and 80b form an arcuate shape.

As shown in FIG. 4, the unmanned aerial vehicle 70 includes 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 that stores power, such as a battery or a capacitor. The power storage device 71 is attached, for example, inside the main body 70a or to the main body 70a.
The sensing device 72 is composed of a CCD camera, an infrared camera, etc., 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 vertically or horizontally with respect to the bracket, and can change the sensing direction. Note that the horizontal and vertical swinging of the sensing device 72 can be controlled by the control device 76. For example, when controlling the unmanned aircraft 70 by a remote control device, when the control device 76 acquires a control signal transmitted from the remote control device via the communication device 75, the control device 76 controls the sensing device 72 according to the acquired control signal. oscillate horizontally or vertically.

For example, when the unmanned aerial vehicle 70 is flown over a field, the sensing device 72 can sense the field. When the sensing device 72 is a CCD camera, for example, several tens to hundreds of fragment images of the field are captured by aerially photographing the field from a height of about 100 m above the field. A plurality of aerially photographed images, that is, a plurality of images (aerially photographed images) photographed by the sensing device 72 are stored in a storage device 74 provided in the unmanned aerial vehicle 70. The plurality of aerial images stored in the storage device 74 of the unmanned aerial vehicle 70 can be output to the outside via the communication device 75.

Further, like the position detecting device 30, the position detecting device 73 is a device that detects its own position (positioning information including latitude and longitude) using a satellite positioning system, and has the same configuration as the position detecting device 30. The own position detected by the position detection device 73 is sometimes 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, a communication device that supports Wi-Fi (Wireless Fidelity, a registered trademark) of the IEEE802.11 series of communication standards. ), BLE (Bluetooth (registered trademark) Low Energy), LPWA (Low Power, Wide Area), LPWAN (Low-Power Wide-Area Network), etc. can perform wireless communication. Furthermore, the communication device 75 may be a communication device (communication module) that performs wireless communication using a mobile phone communication network, a data communication network, or the like.

The control device 76 is a device that controls the plurality of rotary blades 70c, and includes a CPU and the like. When the unmanned flying object 70 has at least two rotary blades 70c, the control device 76 outputs a control signal to the rotor to make the rotational speed of one blade higher than the rotational speed of the other blade. By making the rotation speed of the blade on the other side smaller, the unmanned flying vehicle can be advanced to the side of one blade, and by making the rotation speed of the blade on the other side smaller than the rotation speed of the other blade, the unmanned flying vehicle can be advanced to the side of the blade on the other side. Move your body forward. That is, the control device 76 controls the traveling direction of the unmanned aerial vehicle 70 by making the rotational speed of the blade on the traveling direction side of the plurality of blades smaller than the rotational speed of the blade on the opposite side to the traveling direction. do. Further, the control device 76 causes the unmanned flying vehicle 70 to hover by keeping the rotational speed of the plurality of blades constant.

Note that the unmanned flying object 70 may be a flying object controlled by a remote control device or a flying object that flies independently, and is not limited thereto.
Now, the unmanned flying object 70 is a flying object that flies in conjunction with the tractor 1. For example, when the tractor 1 is traveling in a field while performing work using 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 using the sensing device 72.

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

For example, as shown in FIG. 6A, when the tractor 1 is performing ground work using the work device 2 while traveling along the straight section L1a of the planned travel line L1, that is, when the tractor 1 is performing ground work using the work device 2, the connecting device (elevating device) 8 is lowered to perform the work. When the device 2 is performing ground work such as plowing on the field, the unmanned flying object 70 is flying in front of the tractor 1 in the direction of travel, as shown in FIGS. 6A and 7A. At the forward flight position D2, the surrounding area on the traveling direction side of the tractor 1 is sensed. That is, the sensing device 72 senses the traveling direction while the tractor 1 is automatically traveling and working. That is, the control device 76 of the unmanned aerial vehicle 70 changes the flight position to a position where the traveling direction side of the vehicle body 3 can be sensed when the work device 2 performs ground work.

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

Further, the unmanned aerial vehicle 70 is operated when the tractor 1 is stopped, for example, when the tractor 1 is stopped at the work start point P2 before starting work, or when the tractor 1 is stopped at the field H1 due to 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 flowchart showing the operation of flying while the tractor and the unmanned flying vehicle cooperate (interlock).

As shown in FIG. 8, when the tractor 1 is driven, the communication device 51 of the tractor 1 transmits field information including the traveling position P1 detected by the position detection device 30 and the position of the field H1 where the tractor 1 is working. The information is transmitted to the unmanned aerial vehicle 70 (S1). In addition, the communication device 51 of the tractor 1 transmits operating information such as the vehicle speed of the tractor 1 and whether the coupling device (elevating device) 8 is ascending or descending to the unmanned aerial vehicle 70 (S2). . That is, the tractor 1 transmits work information related to the work of the tractor 1, such as the traveling position P1, field information, and operation information, to the unmanned flying vehicle 70.

On the other hand, when the communication device 75 of the unmanned aerial vehicle 70 receives the work information (driving position P1, field information, operation information) transmitted from the tractor 1 (S3), it performs operations 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 flying object 70 takes off from the takeoff location 100 and then flies to the field H1 where the tractor 1 is to be worked (S5).

If 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 more (S6, Yes), the control device 76 uses the unmanned flying object 70 to move around the tractor 1 (several meters away from the tractor 1). control to sense the range). (S7: first sensing). In the first sensing, the sensing device 72 is directed toward the tractor 1 to image a range several meters away from the tractor 1 to monitor whether a living body M1 such as an animal or a human is present in the range. In the first sensing, when the living body M1 is detected, 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, it maintains the vehicle stopped without starting automatic travel (S9). If the travel control unit 40A of the tractor 1 does not obtain a warning signal for a predetermined period of time or more, or if it receives a cancellation signal for canceling the warning from the unmanned aircraft 70, it starts automatic travel (S10).

The control device 76 refers to the work information, and if it is determined from the work information that the tractor 1 is traveling while performing ground work (S11, Yes), the control device 76 changes the flight position of the unmanned flying vehicle 70 to the tractor 1. Control is performed to sense the area in front of the tractor 1 (S12: second sensing).
In the second sensing, as shown in FIG. 7A, the sensing device 72 is directed toward the front of the tractor 1 to take an image of the front of the tractor 1 to determine whether there is a living body M1 or an obstacle in front of the tractor 1. to monitor. In the second sensing, if the living body M1 or an obstacle is detected, 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 the warning signal via the communication device 51, it stops automatic travel and stops the tractor 1 (S14). If the travel control unit 40A of the tractor 1 does not obtain a warning signal for a predetermined period of time or more, or if it receives a cancellation signal for canceling the warning from the unmanned aircraft 70, it resumes automatic travel (S15).

The control device 76 refers to the work information, and if it is determined 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 aircraft 70. Control is performed to sense the working device 2 at the rear of the working 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 to capture an image of the surroundings of the working device 2 to monitor whether there is a living body M1 or an obstacle M2 around the working device 2. . In the third sensing, when the living body M1 or the obstacle M2 is detected, the communication device 75 transmits a warning signal to the communication device 51 (S18). When the control device 40 of the tractor 1 acquires the warning signal via the communication device 51, it stops driving the PTO shaft, etc., or stops the tractor 1 (S19). If the control device 40 of the tractor 1 does not receive a warning signal for a predetermined period of time or more, or if it receives a cancellation signal for canceling the warning from the unmanned aircraft 70, it resumes driving the PTO axis or restarting automatic travel ( S20).

As described above, by flying the unmanned flying object 70 in conjunction with the tractor 1, the work can be smoothly performed while the tractor 1 is automatically traveling. That is, the blind spot of the tractor 1 or the working device 2 can be compensated for by the sensing of the unmanned flying vehicle 70, and work efficiency can be improved.
Now, in the embodiment described above, 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 flying object 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 audio, sound, or the like.

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

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

Furthermore, although the flying position of the unmanned flying object 70 is changed in accordance with the elevation of the working device 2, the flying position of the unmanned flying object 70 may be changed when the working device 2 moves in the horizontal direction. As shown in FIG. 9C, for example, the working device 2 is a plow or the like, and by turning at the edge of the field while cultivating the field, the working device 2 is moved from the left side of the moving direction of the tractor 1 to the moving direction. When changing to the right side of the tractor 1, the unmanned flying object 70 also changes its flight position in the horizontal direction from the left side of the traveling direction of the tractor 1 to the right side of the traveling direction.

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

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

The agricultural machine (tractor 1) includes a traveling vehicle body 3 that can raise and lower a working device, and a control device 76 is installed on the working device 2 side when the working device 2 moves up and down, or when it moves horizontally. Change flight position. For example, when the working device 2 ascends or descends, 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; When the unmanned flying object 70 descends from the elevated position, the flying position of the unmanned flying object 70 is set below the working device 2, so that the blind spot of the working device 2 can be sensed mainly.

Alternatively, since the control device 76 of the unmanned flying vehicle 70 changes the flight position of the unmanned flying vehicle 70 when the working device 2 moves in the horizontal direction, even if the ground work on the working device 2 changes, the ground work cannot be changed. can be confirmed.
The agricultural machine (tractor 1) includes a traveling vehicle body 3 that can raise and lower the working device 2, and the control device 76 flies to a position where it can sense the traveling direction side of the traveling vehicle body 3 when the working device 2 performs ground work. Change position. According to this, when the working device 2 is performing ground work, the situation of the working device 2 before the work can be grasped by monitoring the direction of movement 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, while the agricultural machine (tractor 1) is stopped, the surroundings can be monitored.
The unmanned flying 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 , if the sensing device 72 detects a living body, it outputs a warning. According to this, when it is detected that a living body such as an animal or a human being is present on the agricultural machine (tractor 1), a warning can be outputted to keep the living body away from the agricultural machine (tractor 1).

When the sensing device 72 detects a living body, the control device 76 changes the flight position to be around the living body. According to this, the unmanned flying object 70 can approach the living body and issue a warning.
When the sensing device 72 detects a living body while the agricultural machine (tractor 1) is running, a communication device 75 is provided that transmits a stoppage of running 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 vehicle 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. In conjunction with the operation of 1), the flight position relative to the agricultural machine (tractor 1) is changed.
According to this, when the agricultural machine (tractor 1) performs work in the field, the unmanned flying object 70 can change its flight position in conjunction with the operation of the agricultural machine (tractor 1). Monitoring can be performed according to the work in 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 When the sensing device 72 detects a living body, it outputs a warning. According to this, when it is detected that a living body such as an animal or a human being is present on the agricultural machine (tractor 1), a warning can be outputted to keep the living body away from the agricultural machine (tractor 1).

Now, in the embodiment described above, the situation in the traveling direction of the tractor 1 is sensed by the sensing device 72 of the unmanned flying vehicle 70 while the tractor 1 is automatically traveling, but the obstacle detection device 45 of the tractor 1 is The detection area for detecting the obstacle M2 is changed based on the sensing result by the sensing device 72 of the unmanned aerial vehicle 70.
As shown in FIGS. 10 and 11A, when the sensing device 72 detects an object M3 such as a living body M1 or an obstacle M2 while the tractor 1 is traveling and the sensing device 72 is capturing an image in front of the tractor 1. , the communication device 75 of the unmanned aerial vehicle 70 sends 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, to the tractor 1 as a detection result. 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, if 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 to "A12" when the object M3 is detected. change.

More specifically, the obstacle detection devices 45L and 45R calculate an area in which the entire object M3 can fit based on the size (height H10, width L10, depth W10) and position of the object M3, and calculate the calculated area. Set as detection area A12. In other words, the detection area A12 when the sensing device 72 detects the object M3 is set to an area that accommodates the entire object M3, compared to the detection area A11 when the sensing device 72 does not detect the object M3. Ru.

As shown in FIG. 10, the unmanned aerial vehicle 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 of the object M3 detected by the sensing device 72 (height H10, width L10, depth W10) is greater than or equal to a predetermined value, the irradiation device 93 may e.g. is greater than or equal to a predetermined value, the irradiation device 93 irradiates the light source toward the object M3. 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 allow the irradiation light from the object M3 and the irradiation device 93 to enter the detection area A12.
In the embodiment described above, the irradiation device 93 of the unmanned flying vehicle 70 irradiated light toward the object M3 when the object M3 was detected, but when the irradiation device 93 does not detect the object M3, that is, it follows the tractor 1. The light source may be irradiated in the traveling direction of the tractor 1 while the unmanned flying object 70 is flying.

FIG. 12 shows an operation flow in the interaction between the unmanned flying object 70 and the tractor 1. In FIG. 12, for convenience of explanation, it is assumed that the unmanned flying object 70 follows the travel 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 vehicle 70 detects the object M3 (S30), it transmits the detection result of detecting the object M3 to the tractor 1 (S31). The tractor 1 determines whether the detection result of detecting the object M3 from the unmanned aerial vehicle 70 has been obtained (S32), and if the detection result has been obtained (S32, Yes), the The detection area is changed from A11 to A12 (S33). On the other hand, when the tractor 1 does not obtain the detection result of detecting the object M3 from the unmanned flying vehicle 70 (S32, No), the tractor 1 retains the detection area A11 (S34).

Note that when the unmanned flying object 70 has the irradiation device 93, the unmanned flying object 70 also transmits information as to whether or not the object M3 has been irradiated with light to the tractor 1 as a detection result. When the tractor 1 acquires that the object M3 has been irradiated with light from the irradiation device 93, it sets the detection area A12 so that at least part of the light irradiated to the object M3 and the object M3 enter.
Further, the irradiation device 93 may irradiate the light source in the direction of travel of the tractor 1, for example, when the unmanned flying vehicle 70 has not detected an object or when the area around the tractor 1 has become dark. good.

The agricultural support system includes an obstacle detection device 45 that is provided on the agricultural machine (tractor 1) and detects an obstacle, and an obstacle detection device 45 that is provided on the agricultural machine (tractor 1) and detects an obstacle. a travel control unit 40A that performs automatic travel of the agricultural machine (tractor 1) and changes the automatic travel when an obstacle is detected; and a sensing device 72 that senses the situation in the traveling direction of the agricultural machine (tractor 1), and the obstacle detection device 45 changes the detection area in which obstacles are detected based on the sensing result of the sensing device 72. do. According to this, while the agricultural machine (tractor 1) is automatically traveling, first, by sensing the situation in the traveling direction of the agricultural machine (tractor 1) using the unmanned flying vehicle 70, the traveling direction of the agricultural machine (tractor 1) is detected. After the unmanned flying vehicle 70 judges the situation, the obstacle detection device 45 of the agricultural machine (tractor 1) can detect whether there are any obstacles, and the operation can be carried out smoothly. Automatic driving is possible. That is, when the agricultural machine (tractor 1) is automatically traveling, the obstacle detection device 45 changes the detection area for detecting obstacles based on the sensing result by the sensing device 72 of the unmanned flying vehicle 70. Detection can be further improved.

The agricultural support system includes a communication device 75 that is provided on the unmanned flying vehicle 70 and transmits the results of sensing by the sensing device 72 to the agricultural machine (tractor 1). According to this, the unmanned flying object 70 can easily notify the situation in the direction in which the agricultural machine (tractor 1) is moving.
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, the accuracy of object detection by the obstacle detection device 45 can be improved.

The agricultural support system includes an irradiation device 93 that is installed on the unmanned flying vehicle 70 and irradiates a light source toward the object when the size of the object sensed by the sensing device 72 is larger than a predetermined value. According to this, by irradiating the object with a light source using the irradiation device 93, the sensing device 72 can easily grasp the outline of the object, etc., and the accuracy of detection can be improved.
The obstacle detection device 45 sets a detection area on the object when the object is irradiated with a light source. According to this, it is possible to more accurately determine whether an object is an obstacle.

The agricultural support system includes an irradiation device 93 that is installed on the unmanned flying vehicle 70 and irradiates a light source in the direction of movement 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 can make it easier to understand the situation in the direction of movement of the agricultural machine (tractor 1).
In the embodiment described above, as shown in FIG. 11A, the obstacle detection devices 45L and 45R change the detection area to A12 when detecting the object M3, but as shown in FIG. The detection accuracy may be improved by narrowing down the detection area A12 so as to focus. Further, the above-mentioned irradiation device 93 may irradiate the object M3 with infrared light so that the object M3 can be easily recognized by a camera mounted on the tractor 1 or the like.

In the embodiment described above, the unmanned flying vehicle 70 and the tractor 1 are working in conjunction with each other (coordinating), but if an abnormality occurs in the unmanned flying vehicle 70 during cooperation during field work, the unmanned flying vehicle 70 and the tractor 1 The body 70 or the tractor 1 performs a different operation from that 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 aerial vehicle 70 flies over the field H1 based on the flight position D2 detected by the position detection device 73. The robot 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 flying object 70 monitors the reception strength of the radio wave WE1 from the positioning satellite, as shown in FIG. 13, while the unmanned flying object 70 is in flight. When the reception strength of the radio wave WE1 becomes less than the threshold value V1, the control device 76 calculates the elapsed time T1 during which the reception strength becomes less than the threshold value V1. The control device 76 determines that there is an abnormality when the elapsed time T1 is greater than or equal to the predetermined time T2, and determines that there is a malfunction rather than an abnormality when the elapsed time T1 is less than the predetermined time T2.

As described above, if the elapsed time T1 during which the reception strength of the radio wave WE1 is equal to or lower than the threshold value V1 is long, the position detection device 73 cannot accurately detect the flight position D2. It is determined that an abnormality has occurred, and the sensing device 72 senses the direction in which the unmanned aerial vehicle 70 is traveling. For example, the sensing device 72 acquires a captured image in the advancing direction of the unmanned flying vehicle 70, and as shown in FIG. 6B, the control device 76 estimates at least the flight position D3 of the unmanned flying vehicle 70 from the captured image, It flies toward a predetermined return location 101. Upon reaching the sky above the return location 101, the control device 76 causes the unmanned flying vehicle 70 to land at the return location 101. In order to estimate the flight position D3 from the captured image by the control device 76, for example, map data including fields, structures (roads, buildings, utility poles), topography (mountains, rivers), etc. is stored in advance in the storage device 74. Then, the flight position D3 may be estimated by comparing the map data and the captured image and performing matching, or the flight direction and flight position D3 from the current position may be calculated based on changes in the captured image. The flight position D3 may be determined by doing so without any limitation.

On the other hand, when the unmanned aerial vehicle 70 is malfunctioning, the control device 76 controls the flight of the unmanned aerial vehicle 70 based on the flight position D2 detected by the position detection device 73 and the information sensed by the sensing device 72. Good too. For example, the control device 76 acquires the flight position D2 detected by the position detection device 73, and also acquires information such as a 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 calculated flight position (first estimated position) D3 and the flight position (second estimated position) detected by the position detection device 73. If the difference between the first estimated position D3 and the second estimated position D2 is less than or equal to 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, the control device 76 controls the The point is corrected as the flight position D4, and flight control is continued at the corrected flight position D4. Alternatively, if the difference between the first estimated position D3 and the second estimated position D2 is larger than the threshold, the control device 76 refers to the transition of the second estimated position D2 several seconds ago and determines whether the second estimated position D2 is large. If it has changed, the first estimated position D3 is adopted as the flight position D4, and flight control is continued at the adopted flight position D4. Note that the flight position estimation and the like described above are merely examples, and are not limited thereto.

Now, when the unmanned flying object 70 is in poor condition, the control device 76 limits the distance from the tractor 1 during flight according to the elapsed time T1. As shown in FIG. 14, when the unmanned flying object 70 is malfunctioning, the control device 76 uses the flight position D4 obtained from the first estimated position D3 and the second estimated position D2, and the traveling position transmitted from the tractor 1. P1, the horizontal distance [(horizontal distance in the traveling direction (front-back direction), horizontal distance in the width direction)] L30 between the tractor 1 and the unmanned flying object 70 is calculated. The control device 76 determines whether the calculated horizontal distance L30 is less than or equal to the limit distance. The control device 76 causes the unmanned flying object 70 to fly away from the tractor 1 when the horizontal distance L30 is less than or equal to the limit distance. On the other hand, if 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 position obtained from the first estimated position D3 and the second estimated position D2. Note that the control device 76 increases or decreases the limit distance according to the elapsed time T1; the shorter the elapsed time T1 is, the longer the limit distance is, and the longer the elapsed time T1 is, the shorter the limit distance is set.

The tractor 1 includes a PTO shaft that transmits power to the work device 2, a lifting device 8 that raises and lowers the work device 2, and a traveling device 7. During work, the PTO shaft rotates, goes up and down depending on the work. The device 8 and the traveling device 7 are activated. When the unmanned flying object 70 is abnormal, the tractor 1 stops at least the rotation of the PTO shaft, the lifting device 8, and the traveling device 7. Note that the control device 40 can control the rotation of the PTO shaft and the operation and stop of the lifting device 8 and the traveling device 7.

FIG. 15 shows an operation flow in the interaction between the unmanned flying object 70 and the tractor 1. Also in FIG. 15, for convenience of explanation, it is assumed that the unmanned flying object 70 follows the travel of the tractor 1 and flies in the same direction as the traveling direction of the tractor 1 when no malfunction or abnormality occurs.
As shown in FIG. 15, while the unmanned flying object 70 is flying while sensing the area in front of the tractor 1 with the sensing device 72, the control device 76 controls the received strength of the radio wave WE1 from the positioning satellite. Monitor (S40). The control device 76 calculates the elapsed time T1 during which the reception strength 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). If the elapsed time T1 is longer than the predetermined time T2 (S42, Yes), the control device 76 determines that there is an abnormality (S43), and estimates the flight position using the sensing device 72 (S44). The control device 76 continues to control the flight while estimating the flight position, and lands the unmanned flying object 70 at the return location 101 (S45). On the other hand, if 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 unmanned flying object 70 continues to fly while following the tractor 1 (S47). The control device 76 calculates the horizontal distance L30 between the flight position D4 and the traveling position P1 (S48), and if the horizontal distance L30 is less than the limit distance (S49, Yes), the control device 76 moves the unmanned flying object 70 away from the tractor 1. (S50).

In the embodiment described above, an abnormality or malfunction is determined based on the reception strength, but instead of the reception strength, an abnormality or malfunction is determined based on the remaining amount (remaining charge amount) of the power storage device 71. Good too. In this case, the reception strength may be read as the remaining charge amount.
Further, the threshold value V1 corresponding to the reception strength or the remaining charge level may be changed depending on the working conditions. For example, when the work device 2 is a harrow, a rice transplanter, etc., and the work is performed in a place where there is water, the standards are made stricter by increasing the threshold value V1.

The agricultural support system includes an unmanned flying vehicle 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. If an abnormality occurs in the unmanned flying vehicle 70 while the agricultural machine (tractor 1) and the agricultural machine (tractor 1) are working together in the field, the unmanned flying vehicle 70 or the agricultural machine (tractor 1) will Perform a different action. According to this, in a situation where the unmanned flying vehicle 70 and the agricultural machine (tractor 1) are working in a field while working together, the unmanned flying vehicle 70 or the agricultural machine (tractor 1) operates in a manner different from that during the work. Interference with each other can be suppressed by performing the operations. That is, when the agricultural machine (tractor 1) and the unmanned flying vehicle 70 work together in a field, it is possible to appropriately deal with any abnormality in the unmanned flying vehicle.

The unmanned flying object 70 is equipped with a position detection device 73 that detects the position, and when working, it flies over the field based on the position detected by the position detection device 73, and when an abnormality occurs, it stops flying based on the position and uses the sensing device 72. Flight is performed based on information sensed by According to this, when the unmanned flying object 70 flies while detecting the position using the position detection device 73, if an abnormality occurs, the flight is not based on the position but on the basis of the information sensed by the sensing device 72. , the flight of the unmanned aerial vehicle 70 can be stabilized.

In the event of an abnormality, the unmanned flying object 70 flies toward a predetermined return location based on the information and lands at the return location. According to this, in the event of an abnormality, the unmanned flying object 70 can be returned to the return location.
The position detection device 73 is a device that detects the position based on the radio waves of the positioning satellite, and the unmanned flying object 70 determines whether there is an abnormality based on the elapsed time when the reception strength of the radio waves from the positioning satellite becomes less than a threshold value. Decide whether or not. According to this, by determining that there is an abnormality when a change in the reception strength of radio waves from a positioning satellite, that is, when the reception strength becomes less than a threshold value and an accurate position cannot be determined, the flight of the unmanned aerial vehicle 70 is made normal. can change quickly between different states.

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

When the unmanned flying object 70 is in poor condition, the distance from the agricultural machine (tractor 1) during flight is limited depending on the elapsed time. According to this, it is possible to prevent interference between the unmanned flying object 70 and the agricultural machine (tractor 1).
The agricultural machine (tractor 1) has a PTO drive device that transmits power to the work device 2, a lifting device 8 that raises and lowers the work device 2, and a traveling device 7. , the lifting device 8 and the traveling device 7 are operated, and in the event of an abnormality, at least one of the PTO drive device, the lifting device 8 and the traveling device 7 is stopped. According to this, the work can be easily stopped by stopping any one of the PTO drive device, the lifting device 8, and the traveling device 7.
[Second embodiment]
16 to 19 show an agricultural machine (tractor 1) in the second embodiment. Note that the tractor 1 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 protection device 9, and can regulate the skid 70d when the unmanned flying vehicle 70 lands. As shown in FIGS. 18A to 18C, when the unmanned aerial vehicle 70 takes off or lands, a part of the takeoff and landing station 60 contacts the legs 80a, 80b of the skid 70d, so that the skid 70d It is possible to restrict the horizontal movement of.

As shown in FIGS. 16 and 17, specifically, the takeoff and landing station 60 includes 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 protection 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 the 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 cylindrical body, is hollow, and has a space 63 formed therein. As shown in FIGS. 18A to 18C, in the unmanned aerial vehicle 70, when the distance L40 from one leg 80a to the other leg 80b at the time of landing is taken as a reference, the width L41 of the arm 62 is less than or equal to the distance L40. is set to .
As shown in FIG. 16, the arm 62 has a marker 64 that is visible to the unmanned aerial vehicle 70. The marker 64 is formed on the outer surface of the arm 62 and can be recognized from above by the sensing device 72 of the unmanned aerial vehicle 70 when the arm 62 is viewed from above.
When the unmanned flying vehicle 70 lands, the sensing device 72 first recognizes the presence or absence of the tractor 1 from above the field, that is, the position of the marker 64 provided on the arm 62. When the control device 76 of the unmanned aerial vehicle 70 recognizes the marker 64, it flies the unmanned aerial vehicle 70 toward the position of the marker 64, and when it reaches the sky above the marker 64, gradually lowers the altitude of the unmanned aerial vehicle 70. While lowering, the robot lands toward the arm 62 (marker 64).
When the skid 70d is shown in FIG. 18A, the unmanned aerial vehicle 70 finishes landing when the legs 80a, 80b of the skid 70d contact the arm 62. Further, when the skid 70d is shown in FIG. 18B, the unmanned aerial vehicle 70 swings the legs 80a and 80b toward the arm 62 by expanding and contracting the actuators 81a and 81b when the skid 70d reaches the arm 62, Landing ends when the legs 80a, 80b contact 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, 80b come into contact with each other, the legs 80a, 80b are deformed by contact with the arm 62. The unmanned flying object 70 finishes 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 flying object 70 can be landed on the tractor 1.
Now, the unmanned air vehicle 70 may have a cable 77. Next, a case where the unmanned aerial vehicle 70 has the cable 77 will be described.
Cable 77 is a cable that supplies power to unmanned aerial vehicle 70 . As shown in FIG. 24, one end of the cable 77 is provided inside the main body 70a and connected to a power line PW1 that supplies power to the control device 76 and the like via a connector or the like. Alternatively, one end of cable 77 may be connected to power storage device 71. Further, the other end of the cable 77 is connected to a power line PW2 that supplies power to the control device 40 and 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, electric power from the tractor 1 can be supplied to the unmanned flying vehicle 70 via the cable 77, and the unmanned flying vehicle 70 can be flown for a long period of time.
As shown in FIGS. 18A to 18C and FIG. 19, the arm 62 of the takeoff and landing station 60 is provided with a through hole 65 through which a cable 77 is passed, and the space 63 of the arm 62 serves as an accommodation section that can accommodate the cable 77. has been done. A winder 66 for winding up the cable 77 is provided in the housing section. As shown in FIG. 20, the winder 66 includes a cylindrical bobbin (winding section) 66a that is rotatably supported and that winds up the cable 77 by rotation, and a motor 66b that rotates the bobbin 66a. There is. The cable 77 passes through the rotating shaft 66c of the bobbin 66a and reaches the inside of the tractor 1.
Therefore, by rotating the bobbin 66a of the winder 66 with the motor 66b, the cable 77 can be wound up. When the cable 77 is wound around the bobbin 66a, when the cable 77 is pulled by the movement of the unmanned aerial vehicle 70, the bobbin 66a is arbitrarily rotated by the pulling force, and the cable 77 can be paid out. The winder 66 may be provided with a clutch 66d that can disconnect the rotation shaft of the motor 66b and the rotation shaft 66c of the bobbin 66a.
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 to direct the rotation axis of the motor 66b in the direction in which the cable 77 is wound (winding direction). Rotate it. Refers 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) when the rotating shaft of the motor 66b is rotating in the winding direction. . For example, when the cable 77 is pulled by the movement of the unmanned aerial vehicle 70 and the first load or the second load exceeds a predetermined value, the control device 40 stops driving the motor 66b, that is, rotates the motor 66b in the winding direction. stop letting things happen. Alternatively, when the first load or the second load exceeds a predetermined value, the control device 40 rotates the direction of rotation of the motor 66b in the direction opposite to the winding direction to let out the cable 77.
In other words, the control device 40 drives the winder 66 so that the tension acting on the cable 77 is approximately constant.

Now, the unmanned aerial vehicle 70 senses the field H1 from above the tractor 1 before the tractor 1 performs work in the field H1 by automatically traveling, that is, before the work device 2 performs ground work on the field H1. do. For example, the unmanned aerial vehicle 70 takes off from the tractor 1 while the tractor 1 is stopped in the field H1, and the sensing device 72 detects, for example, the state of the field H1 before work, for example, the soil condition of the field H1. Take an image.

Further, as shown in FIG. 21, when the tractor 1 starts traveling and working (starts automatic traveling), the unmanned aerial vehicle 70 directs the sensing device 72 toward the rear side of the working device 2 and The state of the field H1 after the work is sensed. For example, when the tractor 1 is traveling in the field H1 and working with the working device 2, the unmanned flying object 70 flies while following the travel of the tractor 1, and at the same time, the unmanned flying vehicle 70 uses the sensing device 72 to detect the field H1. An image is taken of the state after the work, for example, the soil state (surface unevenness) of the field H1. That is, the unmanned flying object 70 acquires a captured image of the tractor 1 during or after the work.

An image taken by the unmanned aerial vehicle 70 during the work (in-progress image) and an image taken after the work (post-work image) are each transmitted to the tractor 1 via the communication device 75 or the like.
The tractor 1 is configured based on the state of the field H1 when the unmanned aerial vehicle 70 senses the field H1 (the state of the uneven surface before the work, the state of the uneven surface during the work, the state of the uneven surface after the work). Then, the work is performed using the work device 2. Specifically, when the tractor 1 acquires the pre-work image before work, it sets the work device 2 based on the before-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, etc. from the pre-work image. Note that the hardness of the soil, the degree of unevenness of the soil, and the geology of the soil are estimated by comparing the pre-work image with a database of soil information stored in the control device 40 or the like in advance. Soil information associates past captured images with soil hardness, degree of soil unevenness, soil geology, etc., and this allows you to determine soil hardness, soil unevenness, etc. from pre-work images. degree, soil geology, etc. can be estimated. In addition, by applying the pre-work image to a trained model that estimates soil hardness, soil unevenness, and soil geology, the soil hardness, soil unevenness, and soil geology can be estimated. You can.

When the working device 2 is a tilling device, if the hardness of the soil is estimated to be equal to or higher than a threshold value, the speed of tilling performed by the working device 2 (number of rotations of the tilling claws) is set to be lower than a predetermined setting value. If the soil hardness is less than the threshold, the tilling speed is set to the set value. Alternatively, when the working device 2 is a tilling device, the control device 40 controls the area to be tilled per unit time, that is, the moving speed of the tilling device, when the degree of unevenness of the soil is equal to or higher than a threshold value. If 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. Although the above-described embodiment has been described using a tilling device as an example, the working device 2 may be any other device and is not limited thereto.

As shown in FIG. 24, the control device 40 of the tractor 1 includes a work determination section 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 performed 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 after work.

When the work device 2 is a spreading device (a fertilizer spreading device, a pesticide spreading device), the work determining unit 40C determines whether fertilizer spreading or chemical spraying is being performed properly from the in-work image. For example, the work determining unit 40C monitors the spraying state from the image during the work, and determines that the work is appropriate if the fertilizer or chemical is being properly sprayed from the nozzle that performs fertilizer or chemical spraying. On the other hand, the work judgment unit 40C determines that no fertilizer or chemical is being released from the nozzle for spraying fertilizer or chemical, or that the amount of fertilizer or chemical being released from the nozzle for spraying fertilizer or chemical is less than specified. , the work is judged to be inappropriate.

Alternatively, if the working device 2 is a tilling device, a harvesting device, a ridge-raising device, etc., the work determining unit 40C determines whether tilling, harvesting, ridge-raising, etc. are being performed properly from the post-work image. For example, the work determination unit 40C monitors each of the tilling state, harvesting state, and furrowing state from the post-work image, and if the tilling state, harvesting state, and furrowing state are substantially the same as a predetermined state, the work determination unit 40C determines that the work If the tilling state, harvesting state, and ridge formation state are significantly different from predetermined states, the work is judged to be inappropriate.

Note that whether or not the tilling state, harvesting state, and furrowing state are appropriate can be determined by checking the working state indicating the tillage state, tilling state, harvesting state, and furrowing state that are considered appropriate in advance in the control device 40 etc. as a database. The judgment can be made by matching the tilling state, harvesting state, and furrowing state in the database with the tilling state, harvesting state, and furrowing state obtained from the post-work image. Alternatively, the work determination unit 40C applies the after-work image to a trained model that can estimate each of the tilling state, harvesting state, and ridge-standing state, thereby estimating the tilling state, harvesting state, and ridge-standing state after the work. It may also be determined whether the state is appropriate.

The tractor 1 continues the work if the work is appropriate, and if the work determination unit 40C determines that the work is inappropriate, the tractor 1 returns to the position of the inappropriate work and performs the work again using 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 in the field H1 that includes consecutive positions where the work is not appropriate, the tractor 1 , return to the inappropriate range W50 with the work of the work device 2 stopped, restart the work device 2 at the work start point W50a of the inappropriate range W50, and return to the work start end point of the inappropriate range W50. Carry out rework while driving to W50b.

As shown in FIG. 23, the agricultural support system includes a selection section 46. The selection unit 46 is provided on a display device 50 provided on the tractor 1 or on a mobile terminal of a portable computer such as a smartphone, tablet, or notebook computer that can be connected 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 selection section 46 is provided on the display device 50 or the mobile terminal, when a predetermined operation is performed, the selection section 46 is displayed on the display device 50 or the mobile terminal as shown in FIG. The selection unit 46 is a switch for selecting whether to perform the rework after the automatic driving ends or during the automatic driving, and selects either "after the automatic driving ends" or "during automatic driving". can do. When "After automatic travel ends" is selected, as shown in FIG. 22, after passing the automatic travel end point E1, the tractor 1 automatically moves to the inappropriate range W50 and performs the rework. When automatic traveling is selected, as shown in FIG. 22, the tractor 1 automatically returns to the inappropriate range W50 and performs rework after acquiring from the work judgment unit 40C that there is an inappropriate range W50. .

The agricultural support system includes an unmanned flying vehicle 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. In step 1), the work device 2 performs work based on the state of the field when the unmanned aerial vehicle 70 senses the field. According to this, the work device 2 can perform work according to the state of the field sensed by the unmanned aerial vehicle 70, so that work efficiency can be improved.

The agricultural machine (tractor 1) sets the working device 2 if the field condition before work is acquired, and if the field condition is acquired during or after work, it performs the work based on the field condition. . According to this, the work can be performed according to the state of the field detected by the unmanned flying vehicle 70, whether before the work, during the work, or after the work.
The agricultural support system includes a work determination section 40C that determines the appropriateness of the work performed by the work device 2 based on the state of the field during or after work. If it is determined that the work is not appropriate, the operator returns to the position where the work was performed and performs the work again using the work device 2. According to this, after the work is performed by the work device 2, it is possible to easily judge whether the work is inappropriate or not, and if the work is inappropriate, the work is re-performed and the field is finally improved. The overall appropriate level of work can be improved.

The agricultural machine (tractor 1) includes a travel control unit 40A that controls automatic travel, and a selection unit 46 that selects whether to perform rework after automatic travel ends or to perform rework during automatic travel. ing. According to this, when performing work while autonomously traveling, it is possible to easily change whether to perform the re-work either after autonomously traveling or during automatic traveling.
The agricultural machine (tractor 1) includes a cable 77 that supplies power to an unmanned flying vehicle 70 flying over a 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 where an unmanned flying vehicle 70 takes off and lands. The system senses the field conditions during and after work. According to this, the unmanned flying vehicle 70 can be taken off from the agricultural machine (tractor 1) before, during, and after the work, and when necessary, the unmanned flying vehicle 70 can be Monitoring can be carried out.

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

1: Agricultural machinery (tractor)
40A: Travel control unit 45: Obstacle detection device 45L: Obstacle detection device 45R: Obstacle detection device 51: Communication device 70: Unmanned flying vehicle 72: Sensing device 75: Communication device 93: Irradiation device A1: Detection area A11: Detection area A12: Detection area M2: Obstacle M3: Object

Claims (6)

An obstacle detection device that is installed on agricultural machinery and detects obstacles;
a travel control unit that is provided in the agricultural machine and causes the agricultural machine to automatically travel when the obstacle detection device does not detect the obstacle, and changes the automatic travel when the obstacle is detected; ,
a sensing device that is installed on an unmanned flying vehicle and that senses the situation in the direction of movement of the agricultural machine when the agricultural machine is automatically traveling;
Equipped with
The obstacle detection device is an agricultural support system that changes a detection area in which the obstacle is detected based on a result of sensing by the sensing device. The agricultural support system according to claim 1, further comprising a communication device that is provided on the unmanned flying vehicle and that transmits the results of sensing by the sensing device to the agricultural machine. The communication device transmits information regarding the size and position of the sensed object to the agricultural machine as the result,
The agricultural support system according to claim 2, wherein the obstacle detection device changes the detection area based on the size and position of the object. According to any one of claims 1 to 3, further comprising an irradiation device that is provided on the unmanned flying vehicle and that irradiates a light source toward the object when the size of the object sensed by the sensing device is larger than a predetermined value. agricultural support system. The agricultural support system according to claim 4, wherein the obstacle detection device sets a detection area on the object when the object is irradiated with a light source. The agricultural support system according to any one of claims 1 to 4, further comprising an irradiation device that is provided on the unmanned flying vehicle and irradiates a light source in the direction of travel of the agricultural machine.

Images