WO2023203667A1 - 飛行体及び飛行体による作業アシストシステム - Google Patents

飛行体及び飛行体による作業アシストシステム Download PDF

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Publication number
WO2023203667A1
WO2023203667A1 PCT/JP2022/018264 JP2022018264W WO2023203667A1 WO 2023203667 A1 WO2023203667 A1 WO 2023203667A1 JP 2022018264 W JP2022018264 W JP 2022018264W WO 2023203667 A1 WO2023203667 A1 WO 2023203667A1
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WO
WIPO (PCT)
Prior art keywords
work
assist
information
aircraft
flying object
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2022/018264
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English (en)
French (fr)
Japanese (ja)
Inventor
坂野倫祥
丸山一人
後野剛志
別府俊之
本多充
新穂友志
冨田裕貴
山田浩平
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Kubota Corp
Original Assignee
Kubota Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kubota Corp filed Critical Kubota Corp
Priority to JP2024515800A priority Critical patent/JPWO2023203667A1/ja
Priority to PCT/JP2022/018264 priority patent/WO2023203667A1/ja
Publication of WO2023203667A1 publication Critical patent/WO2023203667A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use

Definitions

  • the present invention relates to a flying vehicle and a work assist system using the flying vehicle.
  • Patent Document 1 discloses an aircraft support device equipped with a spraying device for spraying pesticides and the like as an example of agricultural work.
  • Drones are expected to be used for a variety of tasks beyond spraying chemicals, etc.
  • An object of the present invention is to utilize drones in various tasks to reduce the workload in various tasks.
  • the work machine of the present invention is a flying vehicle that provides work assistance to at least one of the work machine and a worker, and includes an assist information acquisition unit that acquires assist information that is information related to the work assistance; an assist control unit that controls assistance by the aircraft, and the assist control unit controls the flying object based on the assist information.
  • the aircraft can provide work assistance for various tasks performed by work machines and workers based on the assist information. Thereby, the work burden on the work machine and the worker can be reduced.
  • the work assist includes monitoring work around the work area by the work machine, inspecting work results of work performed by the work machine, supplying materials to the work machine, and supplying energy to the work machine.
  • this is at least one of supplying a source and transporting materials from the working machine.
  • the work assist includes monitoring work around the work site by the worker, inspecting the work results of the work performed by the worker, supplying materials around the work site by the worker, and Preferably, it is at least one of carrying out materials from around the work site by the worker.
  • the work assist is a work that spans a plurality of the work machines.
  • work that involves multiple work machines, such as transporting materials from one work machine to another is a high-load work.
  • the work can be performed efficiently while reducing the work burden on the worker.
  • the work assist is capable of applying a force in the direction of lifting the working device to at least one of the working device, the worker, and the work object.
  • the work assist is capable of applying a force in a direction to press the working device downward to at least one of the working device, the worker, and the work object. .
  • the flying object can assist the plowing by pressing the working machine downward.
  • a work assist system using an aircraft includes a work machine that performs a predetermined work, and an aircraft that provides work assistance to the work machine, and the work machine transmits assist information that is information related to the work assist.
  • the flying object includes an assist information acquisition section that acquires the assist information, and an assist control section that controls the flying object based on the assist information.
  • the aircraft can provide work assistance for various tasks performed by work machines and workers based on the assist information. Thereby, the work burden on the work machine and the worker can be reduced.
  • the work machine includes an assist information generating section that generates the assist information based on work information that is information related to the work machine itself.
  • the flying object can appropriately perform work assistance based on the assistance information generated by the work machine.
  • the assist information is work information related to work of the work machine
  • the flying object is configured to have an assist information generating unit that generates assist information for the assist control unit based on the work information. It is preferable to have the following.
  • the aircraft can appropriately assist the work using the assist information generated based on the work information acquired from the work machine.
  • the work aircraft includes a flying object recognition unit that recognizes a flying object that assists the work of the work machine, and that the work machine includes a work machine recognition unit that recognizes a work device that assists the work of the work machine. be.
  • each of the work aircraft and the aircraft can recognize the aircraft that assists the work itself and the work machine that assists the work itself. As a result, the aircraft can assist an appropriate work machine in its work.
  • the work assist system using an aircraft of the present invention includes a server, a work machine that performs a predetermined work, and an aircraft that provides work assistance to the work machine, and the server includes information regarding work performed by the work machine.
  • the work machine includes a work information storage unit that stores work information in association with work information that is information related to work assistance necessary for the work, and a work information acquisition unit that acquires the work information;
  • the flying object includes a work control section that controls the work machine based on the work information, and the flying object includes an assist information acquisition section that obtains the assist information, and an assist control section that controls the flying object based on the assist information. Equipped with.
  • the aircraft can provide work assistance for various tasks performed by work machines and workers based on the assist information. Thereby, the work burden on the work machine and the worker can be reduced.
  • the work assist is a work that spans between the plurality of working machines.
  • work that involves multiple work machines, such as transporting materials from one work machine to another is a high-load work.
  • the work can be performed efficiently while reducing the work burden on the worker.
  • the work machine may be an aircraft.
  • FIG. 1 is an overall diagram of a work assist system.
  • FIG. 2 is a functional block diagram showing the configuration of a work assist system. It is a functional block diagram showing the structure of another form of a work assist system. It is a figure which shows an example of another work assistance. It is a figure which shows an example of another work assistance. It is a figure which shows an example of another work assistance. It is a figure which shows an example of another work assistance. It is a figure which shows an example of another work assistance.
  • this flying object 2 supplies materials to a working machine 4 as an example of work assistance. Specifically, it flies between the seedling vehicle W2 (an example of the working machine 4) and the rice transplanter W1 (an example of the industrial machine 4), and transplants the 100 seedlings (an example of materials) loaded in the nursery vehicle W2 into rice. Transfer to machine W1.
  • the aircraft 2 is equipped with a material transport device A1 (an example of the working device 3) for transporting materials such as seedlings 100.
  • the flying object 2 is connected via a cable 55 to a power supply device P such as a battery or a generator mounted on the seedling vehicle W2. Thereby, power is supplied to the aircraft 2 from the power supply device P via the cable 55.
  • a power supply device P such as a battery or a generator mounted on the seedling vehicle W2.
  • the configuration may be such that power is supplied to the flying object 2 wirelessly, and the flying object 2 may be provided with an energy source such as a battery.
  • the flying object 2 is a multicopter that can fly alone. As shown in FIGS. 1 and 2, the flying object 2 has a plurality of propellers 21. Each propeller 21 is driven by the driving force of an electric flight motor 22. The flying object 2 can fly by driving each propeller 21.
  • the flying object 2 can move vertically, longitudinally, and horizontally while floating in the air. Further, the flying object 2 is capable of stopped flight by driving each propeller 21.
  • the work device 3 is a material transport device used for transporting materials.
  • the working device 3 includes a winch (not shown) connected to the aircraft, a wire 5 that can be wound up and fed out by the winch, and a material holding section 51 provided at the tip of the wire 5. (hook).
  • the work device 3 can be replaced with various types of work devices 3 depending on the required work assistance.
  • at least one working device 3 is connected to the flying object 2.
  • two or more working devices 3 may be connected to the flying object 2.
  • the shape of the connection point of the working device 3 to the aircraft 2 may be made common so that various working devices 3 can be exchanged.
  • the flying object 2 By driving each propeller 21, the flying object 2 can move. Thereby, the aircraft 2 can transport materials.
  • the flying object 2 has a satellite positioning device 45.
  • the satellite positioning device 45 receives GPS signals from artificial satellites used in GPS (Global Positioning System). Then, the satellite positioning device 45 calculates the position coordinates of the flying object 2 over time based on the received GPS signal.
  • GPS Global Positioning System
  • the satellite positioning device 45 does not need to use GPS.
  • the satellite positioning device 45 may use GNSS (GLONASS, Galileo, Michibiki, BeiDou, etc.) other than GPS.
  • GNSS GLONASS, Galileo, Michibiki, BeiDou, etc.
  • the flying object 2 also includes a control device in which functional units such as a control unit 23 and an assist information control unit 26 are implemented as software, although the details will be described later.
  • the control device may be provided on the side of the seedling vehicle, or the control device may be provided on both the flying object and the seedling vehicle, and the functional parts may be distributed.
  • information can be transmitted by wireless communication, cable, or the like.
  • the assist information acquisition unit 26 acquires assist information.
  • the assist information acquisition unit 26 acquires assistance information from an external source such as an external server S or work machine 4, for example.
  • the assist information is information regarding work assistance by the flying object 2.
  • the assist information includes, for example, information regarding a work area such as a field where work assistance is performed, information regarding a point where materials are supplied to the working machine 4, information regarding a material discharge point from the working machine, and information regarding a material discharge point from the working machine. This includes assist information regarding the amount of supply, etc., information regarding the position coordinates of the working machine 4 that should perform work assistance, and the like.
  • the control section 23 includes a flight control section 24 and a work control section 25.
  • the flight control unit 24 controls the flight of the flying object 2 (that is, the flight motor 22).
  • the work control unit 25 controls the operation of the work device 3 (in this embodiment, the operation of the winch of the material transport device A1).
  • the position coordinates of the flying object 2 are input to the control unit 23 from the satellite positioning device 27 over time.
  • assist information acquired by the assist information acquisition unit 26 is input to the control unit 23 .
  • the flight control unit 24 controls the flight of the flying object 2 based on the position coordinates of the flying object 2 and the assist information.
  • the work control unit 25 controls the operation of the work device 3 based on the position coordinates and assist information.
  • the control unit 23 (flight control unit 24 and work control unit 25) controls work assistance by the flying object 2.
  • the control section 23 (flight control section 24 and work control section 25) corresponds to the "assist control section" of the present invention.
  • the work assist is transporting the seedlings from the seedling vehicle W2 to the rice transplanter W1. Therefore, the assist information includes information regarding the backup seedling replenishment point of the rice transplanter, the required amount of seedlings at the backup seedling replenishment point, and information regarding the position coordinates of the rice transplanter.
  • the assist information acquisition unit 26 acquires information on the seedling supply point of the rice transplanter and information on the required amount of seedlings at the seedling supply point from among the assist information, for example, when the rice transplanter W1 starts planting work. I'll keep it. Further, the assist information acquisition unit 26 acquires over time the position coordinates of the rice transplanter W1 (information regarding the position coordinates of the rice transplanter W1) calculated by the satellite positioning device 43 included in the rice transplanter W1.
  • the flight control unit 23 Based on the information regarding the position coordinates of the rice transplanter W1 and the information regarding the seedling supply point, the flight control unit 23, when the rice transplanter W1 reaches the seedling supply point or a position a predetermined distance before the seedling supply point, The flight control unit 24 drives and controls the flight motor 22 so that the flying object 2 flies from the seedling vehicle W2 toward the rice transplanter W1 with the spare seedlings loaded on the material transport device A1.
  • the flight control unit 24 controls the flight motor 22 so that the flying object 2 stops flying above the rice transplanter W1.
  • the work control unit 25 controls the operation of the winch and lowers the winch so that the transported seedlings are located at a height near the rice transplanter. Thereby, the seedlings are carried into the rice transplanter W1.
  • the work control unit 25 raises the winch when the seedlings have been carried into the rice transplanter W1. Thereafter, the flight control unit 24 controls the flight motor 22 so that the flying object 2 flies toward the seedling vehicle W2 from above the rice transplanter W1 and lands at a predetermined position.
  • the flying object 2 assists the rice transplanter W1 in planting seedlings.
  • the flying object 2 performs work assistance across a plurality of working machines (in this embodiment, two working machines, the seedling vehicle W2 and the rice transplanter W1).
  • all the operations may be performed automatically, or, for example, some operations such as loading materials onto the material transport device A1 and collecting materials from the material transport device A1 may be performed manually. good.
  • seedlings were used as an example of materials to be carried into the working machine 4, but the material is not limited to the above.
  • the materials may be agricultural materials other than seedlings, such as fertilizers, chemicals, and seeds used in fields, forests, etc.
  • the materials carried into the working machine 4 are not limited to agricultural materials.
  • it may be construction materials used at construction sites or construction sites, such as wood or pipes.
  • the source and destination of materials may not be the work machine 4, but may be near the worker, or may be a material accumulation point provided at a field, forest, construction site, or construction site.
  • the work assist is explained above using the work of carrying in materials as an example, the work assist may also be the work of carrying out the materials.
  • the materials to be carried out include surplus materials among the above materials.
  • materials other than those mentioned above include, for example, crops such as grains such as rice, vegetables, and fruits, and waste materials such as straw and plant stems and leaves.
  • materials to be carried out other than those mentioned above include, for example, materials carried out from construction sites and construction sites, such as construction waste.
  • the flying object 2 is installed, for example, in a rice cart that collects rice grains harvested by a combine harvester.
  • a flying object 2 flies over the paddy wagon and the combine harvester, collects rice grains from the combine harvester, and accumulates them in the paddy wagon.
  • the destination and source of the materials may not be the work machine 4, but may be near the worker, or may be a material accumulation point provided at a field, forest, construction site, or construction site.
  • the work assist may be carrying in an energy source such as gasoline or a battery, or may be carrying out a used energy source such as a used battery.
  • FIG. 2 is a functional block diagram showing the configuration of a work assist system using this flying object 2.
  • a work assist system an aircraft 2, a working machine 4, and a server S are connected via a network N such as an Internet line.
  • the server S is configured by, for example, a general-purpose computer.
  • the server S is equipped with a work information recording section 46.
  • the work information storage unit 46 stores work information that is information related to work performed by the work machine 4.
  • the work information is stored for each work in association with, for example, information indicating a work area such as a field. Further, the work information recording unit 46 stores assist information in association with the work information.
  • the work information includes, for example, information regarding travel control of the work equipment, information regarding the operation control of the work equipment, information regarding the loading point of materials to the working equipment, information regarding the unloading point of materials from the working equipment, and the like.
  • the work information includes information about the planting route by the rice transplanter W1 as information about travel control of the work machine 4.
  • the information regarding the operation control of the working device includes, for example, information regarding the start of the operation of the planting device P, the stop of the operation of the planting device P, and the raising and lowering of the planting device P.
  • the information regarding the material delivery point includes, for example, information regarding the replenishment point of seedlings, chemicals, fertilizers, etc. to the rice transplanter W1.
  • the work machine 4 is equipped with, for example, a satellite positioning device 43, a control section 41, a work information acquisition section 42, and the like.
  • the satellite positioning device 43 receives GPS signals from artificial satellites used in GPS (Global Positioning System). Then, the satellite positioning device calculates the position coordinates of the work implement 4 over time based on the received GPS signal.
  • GPS Global Positioning System
  • the satellite positioning device does not need to use GPS.
  • the satellite positioning device may use GNSS (GLONASS, Galileo, Michibiki, BeiDou, etc.) other than GPS.
  • GNSS GLONASS, Galileo, Michibiki, BeiDou, etc.
  • a work device is a device that performs work on a work target such as a field.
  • a planting device P for planting seedlings in a field is provided as a working device.
  • the work information acquisition unit 42 acquires work information from the work information recording unit 46 of the server S via the network N.
  • the work information acquisition unit 42 transmits the acquired work information to the control unit 41.
  • the control unit 41 acquires the coordinate position of the work implement 4 from the satellite positioning device 43 over time. Further, the control unit 41 acquires work information from the work information acquisition unit 42. The control unit 41 controls the working movement of the working machine 4 based on the acquired coordinate position and work information of the working machine 4. That is, the control unit 41 controls the traveling device, steering device, etc. of the working machine 4 based on the coordinate position of the working machine 4 so that the working machine 4 travels along the traveling route included in the work information. Further, the control unit 41 controls the start and stop of operation, lifting and lowering of the work device of the work machine, etc., based on the coordinate position and work information of the work machine 4.
  • control unit 41 controls the traveling device and the steering device so that the rice transplanter W1 performs seedling planting work along the planting route, and starts and operates the planting device P. Controls stopping, lifting and lowering. Further, the control unit 41 controls the traveling device and the planting device so as to stop the planting work and traveling at the seedling supply point included in the work information.
  • the control section 41 corresponds to the "work control section" of the present invention.
  • the assist information acquisition unit 26 provided in the aircraft 2 transmits the assist information stored in advance in the work information storage unit 46 out of the assist information to the work information storage unit 46 via the network N. Get from.
  • the assist information stored in advance in the work information recording unit 46 includes, for example, assist information related to preset information such as material replenishment points, material discharge points, and material supply amounts. Note that the above-mentioned assist information may be once acquired by the work machine 4 and then acquired by the aircraft 2 via the work machine 4.
  • the assist information that is acquired over time is acquired from the work machine via the network.
  • the assist information acquired over time includes, for example, information regarding the coordinate position of the working machine 4.
  • the assist information acquired over time such as information regarding the coordinate position of the working machine 4 may be acquired directly, for example, by wireless communication with the working machine 4, without going through the network N.
  • FIG. 3 shows another embodiment of a work assist system using an aircraft.
  • the assist information acquisition unit 26 provided in the flying object 2 acquires assist information from the working machine 4 by, for example, wireless communication.
  • the work machine 4 includes an assist information generating section 44 and an assist information transmitting section 45.
  • the assist information generation unit 44 creates assist information based on the work information acquired by the work information acquisition unit 42. Specifically, for example, the assist information generation unit 44 generates assist information by extracting or processing information necessary for assisting the work by the aircraft 2 from the work information.
  • the assist information generation unit 44 generates the assist information by extracting information such as the material replenishment point, material discharge point, and material supply amount from the work information.
  • the assist information transmitter 45 transmits the assist information generated by the assist information generator 45 to the aircraft.
  • the timing at which the assist information transmitter 45 transmits the assist information may be the timing at which the assist information is generated, the timing at which there is a request from the aircraft 2, or any other timing. It's okay.
  • the assist information generation unit 44 may be provided in the aircraft 2.
  • the assist information transmitting unit 45 transmits the work information itself as assist information to the aircraft, and the assist information generating unit 44 provided in the aircraft 2 generates assist information similar to the above. be done.
  • FIG. 4 shows an example of another work assist.
  • the flying object 2 and the work device 3 can have an appropriate configuration depending on the work assist to be performed.
  • the flying object 2 has a balloon portion 4 around the flying object 2 that is annular in plan view.
  • the flying object 2 and the balloon section 4 are configured such that the flying object 2 fits into the hole at the center of the balloon section 4 in a plan view. Thereby, the side part of the flying object 2 is covered with the balloon part 4 over the entire circumference.
  • a gas having a lower specific gravity than air (for example, helium gas, etc.) is sealed inside the balloon part 4. Thereby, the balloon part 4 receives buoyancy in the air. With this configuration, the balloon 4 assists the buoyancy of the flying object 2.
  • this flying object 2 provides pressing force assist to the tractor.
  • the working device 3 is a rod-shaped member A3 that can press a tractor W3 (corresponding to the "working device 4" according to the present invention).
  • the tractor W3 is equipped with a tiller T.
  • the flying object 2 is moved by the rod-like member A3 by driving the flight motor 22 in the direction in which the flying object 2 descends while the lower end of the rod-like member A3 is in contact with the tractor W3. , the tractor W3 can be pushed downward.
  • the flying object 2 can apply a force to the tractor W3 in the direction of pressing the tractor W1 downward as a work assist.
  • the flying object 2 may apply a force in the direction of pressing the tractor W3 downward to any part of the tractor W3 as a work assist.
  • the flying object 2 may apply a force in the direction of pressing the tractor W3 downward to the front end of the tractor W3 as a work assist.
  • the tractor W3 does not need to include a counterweight at the front end of the body.
  • the assist information acquisition unit 26 when the assist information acquisition unit 26 detects that the tractor W3 has started plowing, the flying object 2 applies a force in the direction of pressing the tractor W3 downward as a work assist. The force is applied to the tractor W1, and when it is detected that the tractor W3 has stopped the plowing operation, the force is stopped from being applied. That is, in this embodiment, the assist information acquisition unit 26 acquires commands such as an operation disclosure command, an operation stop command, a rise command, and a descent command of the tilling device T in the tractor as assist information, and uses the assist information to Control work assist.
  • commands such as an operation disclosure command, an operation stop command, a rise command, and a descent command of the tilling device T in the tractor as assist information
  • the assist information acquired by the assist information acquisition unit 26 is not limited to the above information, but may include, for example, information regarding the ground condition of a work site such as a farm field, forest, construction site, or construction site, which is stored in a server or the like. Alternatively, work assistance may be provided when the tractor W3 travels in a specific area.
  • a downward force may be applied by providing a landing point for the flying object 2 on the tractor W3 and landing the flying object 2 at the landing point.
  • the tractor W3 may be provided with a plurality of landing points for the flying object 2, and by changing the landing points of the flying object 2, the point on which the downward force is applied may be changed.
  • an example was shown in which a downward force is temporarily applied to the tractor W3 as an assist, but for example, a winch may be used to wind up a wire or the like provided between the tractor W3 and the aircraft 2. Accordingly, an upward force may be applied to the tractor W3. In this case as well, an upward force may be applied temporarily when the car is sunk, or an upward force may be applied constantly.
  • the object of this work assistance is not limited to the tractor W3, but can also be applied to other working machines such as rice transplanters, direct sowing machines, management machines, and combines, for example. Moreover, it is applicable not only to working machines but also to workers.
  • the aircraft 2 when the assist information acquisition unit 26 detects that the rice transplanter has sunk into soft ground, the aircraft 2 applies a force to the rice transplanter in the direction of lifting the rice transplanter as a work assist. Further, when the assist information acquisition unit 26 detects that the rice transplanter is turning, the aircraft 2 applies a force in the direction of lifting the rice transplanter to the rice transplanter as a work assist.
  • the magnitude of the force in the direction may be large enough to reduce the load acting on the ground from the rice transplanter, or may be large enough to separate the rice transplanter from the ground.
  • the assist information acquired by the assist information acquisition unit 26 includes, for example, information regarding the travel route of the rice transplanter, information regarding the position coordinates of the rice transplanter from the satellite positioning device 43, and detection values of the rotational speed sensors of the wheels. Can be mentioned. That is, turning is detected based on information regarding the travel route and information regarding the position coordinates of the rice transplanter. Furthermore, it is detected that the rice transplanter has sunk into soft ground based on the detected value of the wheel rotation speed sensor and information regarding the position coordinates of the rice transplanter.
  • assist information instead of or in addition to the above, information indicating the ground condition of the work site such as locations of soft ground, information regarding the steering of the steering device, and information regarding the elevation of the planting device are used. be able to.
  • FIG. 5 shows an example of assisting a worker in transporting an object as a work assist.
  • the working device 3 is a hook A4.
  • the worker is holding and carrying the object W4. Then, the worker suspends the object W2 from the hook A4.
  • the device control unit 44 connects each winch 51 (see FIGS. 3 and 4) with a wire. 5 in the winding direction.
  • the flight device 1 can apply a force to the object W2 in the direction of lifting the object W2 held by the operator as a work assist.
  • the assist information acquired by the assist information acquisition unit 26 is, for example, an output value of a load sensor, and work assistance is disclosed based on a change in the output value of the load sensor.
  • the flying object 2 can move in the same direction as the worker's moving direction and at the same speed as the worker's moving speed as a work assist while applying a force in the direction of lifting the object W2 to the object W2. It may be.
  • this flying object 2 can be, for example, the material described in the above embodiment.
  • this flying object 2 can be applied to carry in and out of materials by workers in fields, forests, construction sites, construction sites, and the like.
  • This flying object 2 has two main wings 21a and one tail 21b. These two main wings 21a are tiltable, and by tilting the main wings 21a and changing the attitude of the main wings 21a, flights such as vertical landing flight, hovering flight, and high-speed flight are possible.
  • This aircraft 2 is equipped with a monitoring device A4 as a working device 3 for performing monitoring work.
  • the monitoring device 4A include, but are not limited to, a monitoring camera, an infrared sensor, a thermograph, a laser sensor, an ultrasonic sensor, and the like.
  • the flying object 2 also includes a repelling device as a working device 3 for repelling suspicious persons and birds and beasts.
  • the repelling device is not particularly limited as long as it can repel suspicious persons and birds and beasts, and examples thereof include an ultrasonic generator, a sonic wave generator, a light generator, a stun gun, and the like.
  • the flying object 2 flies over a work area where work is performed by other work machines and workers, such as a field, a mountain forest, or a construction site, and its surrounding area, and performs monitoring work using the monitoring device A4.
  • a notification is sent to, for example, a work machine working in the work area, a mobile terminal owned by a worker, or a manager's terminal.
  • the monitoring device A4 is a monitoring camera, an image captured by the monitoring camera may be transmitted along with the notification.
  • the flying object 2 operates the repelling device A5 to repel suspicious persons and birds and beasts.
  • a notification is sent to the work equipment 4 working in the work area, the mobile terminal of the worker, the administrator's terminal, and the work equipment 4, terminal, etc.
  • the repelling device may be operated after receiving a command signal from the.
  • the monitoring targets are not limited to the above.
  • the weather conditions around the work area may be other than the above.
  • the aircraft has a monitoring device A4 and a repelling device A5.
  • Assist information is not limited to the above information.
  • the assist information may include information indicating the remaining amount of the materials or energy source, or information indicating the remaining amount of the materials or energy source. It may also be an informed material request directive. For example, if the material is a seedling, signals from a seedling remaining amount sensor or a seedling out sensor, and a seedling request command based on these signals correspond to the assist information. For example, when the energy source is a battery, signals from a battery remaining amount sensor or a dead battery sensor, and a request command for seedlings based on these signals correspond to the assist information.
  • the assist information is not limited to the above information.
  • the assist information may include a signal indicating the amount of material accumulated, a signal indicating that the material is full at the accumulation location, and the like. It may be an unloading command based on a signal. For example, if the material is rice grains harvested by a combine harvester, signals from a grain tank remaining capacity sensor or full sensor, and a discharge command based on these signals correspond to the assist information.
  • Assist information is not limited to the above information.
  • the assist information may be an image captured by a camera provided on the flying object 2. That is, the control unit 23 determines whether or not assistance is required based on the captured image acquired by the assist information acquisition unit. The control unit 23 detects that work assistance is required by performing image recognition using a machine-learned neural network on the captured image acquired by the camera.
  • the assist information is not limited to the above information.
  • the assist information may be an operation signal for an artificial operation tool such as a touch button on a remote control or a mobile terminal. Based on this operation signal, it may be configured to detect that work assistance is required.
  • the work assist is not limited to the above.
  • the flying object 2 may perform an inspection work on the work results of another work machine 4 or a worker.
  • inspection work such as checking whether there are any missing plants after planting seedlings using a rice transplanter or checking the status of fertilizer and seed dispersion can be performed.
  • the present invention is not limited to checking work results of agricultural work; for example, checking work results may be work such as checking work results at a construction site or a construction site.
  • the work machine 4 may be provided with a flying object recognition unit that recognizes the flying object 2 that assists its work.
  • the flying object recognition unit associates the working aircraft 4 and the flying object 2 by wireless communication with the single or plural flying objects 2 before starting the work, and 2 may be recognized as the flying object 2 that assists itself.
  • the work information storage unit 46 of the server S includes information linking the work machine 4 and the flying object 2, and the flying object recognition unit identifies the flying object 2 that assists itself based on the information. May be recognized.
  • the aircraft may include a work equipment recognition unit that recognizes a work equipment that assists the work of the aircraft itself.
  • the work equipment recognition unit associates the flying object 2 and the work equipment 4 through wireless communication with one or more work equipment 4 before starting work, and 2 may be recognized as the working machine 4 that it assists.
  • the work information storage unit 46 of the server S includes information linking the work machine 4 and the aircraft 2, and the work machine recognition unit identifies the work machine 4 that it assists based on the information. May be recognized.
  • the working machine 4 may be a flying object.
  • the operating sound of the propeller 21 may be canceled by a plurality of flying objects 2.
  • the operations of the plurality of propellers 21 may be controlled so that their operating sounds cancel each other out.
  • a silencer that generates a sound (noise canceling sound) that cancels the operating sound of the propeller 21 may be provided.
  • the muffling device may be configured to generate noise canceling sound based on the control amount sent to the propeller 21 (flight motor 22).
  • This invention can be utilized for a flying object and a work assistance system by a flying object.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Guiding Agricultural Machines (AREA)
PCT/JP2022/018264 2022-04-20 2022-04-20 飛行体及び飛行体による作業アシストシステム Ceased WO2023203667A1 (ja)

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JP2017100602A (ja) * 2015-12-03 2017-06-08 株式会社プロドローン 無人航空機システム及びそれを用いたロープ掛け方法
WO2017094842A1 (ja) * 2015-12-04 2017-06-08 株式会社ナイルワークス 無人飛行体による薬剤散布装置
JP2017117256A (ja) * 2015-12-25 2017-06-29 井関農機株式会社 作業車両の燃料管理システム
JP2018042477A (ja) * 2016-09-12 2018-03-22 島根県 自動刈取システム
JP2019085104A (ja) * 2017-11-06 2019-06-06 株式会社エアロネクスト 飛行体及び飛行体の制御方法
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JP2017087916A (ja) * 2015-11-09 2017-05-25 株式会社プロドローン 無人移動体の操縦方法および無人移動体監視装置
JP2017100602A (ja) * 2015-12-03 2017-06-08 株式会社プロドローン 無人航空機システム及びそれを用いたロープ掛け方法
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CN121106779A (zh) * 2025-11-11 2025-12-12 吉林大学 一种多功能空地两用农业无人飞艇

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