WO2023203671A1 - Flying device and work assist system - Google Patents

Flying device and work assist system Download PDF

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Publication number
WO2023203671A1
WO2023203671A1 PCT/JP2022/018268 JP2022018268W WO2023203671A1 WO 2023203671 A1 WO2023203671 A1 WO 2023203671A1 JP 2022018268 W JP2022018268 W JP 2022018268W WO 2023203671 A1 WO2023203671 A1 WO 2023203671A1
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WO
WIPO (PCT)
Prior art keywords
flight
work
support body
support
flight device
Prior art date
Application number
PCT/JP2022/018268
Other languages
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
Original Assignee
株式会社クボタ
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Publication date
Application filed by 株式会社クボタ filed Critical 株式会社クボタ
Priority to PCT/JP2022/018268 priority Critical patent/WO2023203671A1/en
Publication of WO2023203671A1 publication Critical patent/WO2023203671A1/en

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    • 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 flight device including a flightable flying object and a work assist system including the flight device.
  • This flight device for example, the one described in Patent Document 1 is already known.
  • This flight device (referred to as a "multicopter” in Patent Document 1) has a flying object that includes a fuselage, a frame, and a rotor unit. This flying object can fly by driving the rotor in the rotor unit.
  • An object of the present invention is to provide a flight device that is easy to fly normally even when it is equipped with a working device that has a relatively large weight.
  • the present invention includes a flying object that has a flight section for flying and that can fly by driving the flight section, a working device that can perform a predetermined work, and a flying object that can fly the flying object or the working device.
  • the present invention includes a support body that applies a support force that is a force in a lifting direction to at least one of the flying object and the working device.
  • a force in the lifting direction acts on at least one of the flying object and the working device, so even if the weight of the working device is relatively large, the flying device can easily fly normally.
  • the support body is configured to apply the support force to at least one of the flying object and the working device by a buoyant force acting on the support body.
  • the support body can be configured by, for example, a balloon or the like. Therefore, a flight device including a support body can be realized with a relatively simple configuration.
  • the support is configured such that the magnitude of buoyancy acting on the support matches or substantially matches the magnitude of gravity acting on the entire flight device.
  • the flying part is movable by driving the flying part.
  • the gravitational force and the buoyancy force acting on the entire flight device compete with each other. Therefore, even if the output of the flight section is relatively low, the flight device is likely to fly normally. This makes it possible to reduce the amount of energy consumed by driving the flight section. Furthermore, since it is permissible to employ a flight section with a relatively low maximum output, it is possible to suppress an increase in the manufacturing cost of the flight device.
  • the support body is configured such that the magnitude of buoyancy acting on the support body is larger than the magnitude of gravity acting on the entire flight device, and by driving the flight unit Preferably, it is movable.
  • the flight device rises due to buoyancy while the drive of the flight section is stopped. Therefore, it is possible to reduce the amount of energy consumed in the flight section when raising the flight device.
  • the support body is configured such that the magnitude of buoyancy acting on the support body is smaller than the magnitude of gravity acting on the entire flight device, and by driving the flight unit Preferably, it is movable.
  • the flight device descends due to gravity while the drive of the flight section is stopped. Therefore, it is possible to reduce the amount of energy consumed in the flight section when lowering the flight device.
  • the support body has a balloon portion configured to receive buoyancy, and the balloon portion is provided so as to surround the working device.
  • the working device is protected by the balloon part. This makes it possible to realize a configuration in which the working device is protected without providing a dedicated member for protecting the working device. This makes it easy to reduce manufacturing costs.
  • the support body has one or more support flight bodies, and the support flight body has a support flight part for flying and drives the support flight part. It is preferable that the supporting body is configured to apply the supporting force to at least one of the flying body and the working device by driving the supporting flying section.
  • the magnitude of the supporting force can be easily adjusted by, for example, adjusting the output of the supporting flying section.
  • the support body has a control section that controls at least one of the flying object and the working device.
  • control section is configured to control the flying object, there is no need to provide the control section on the flying object. Therefore, the manufacturing cost of the aircraft can be reduced.
  • control section is configured to control the work device, there is no need to provide the control section in the work device. Therefore, the manufacturing cost of the working device can be reduced.
  • control section is removable from the support.
  • the control unit can be shared among the flight devices. This makes it easy to reduce the cost of introducing a flight device when a plurality of flight devices are operated.
  • the support body has an energy source capable of supplying energy to at least one of the flying object and the working device.
  • the energy source is removable from the support.
  • the energy source can be shared among the flight devices. This makes it easy to reduce the cost of introducing a flight device when a plurality of flight devices are operated.
  • the support body has a recording section that records the work performed by the work device.
  • the recording section is removable from the support.
  • the recording unit can be shared among the flight devices. This makes it easy to reduce the cost of introducing a flight device when a plurality of flight devices are operated.
  • the support body is rotatable with respect to the working device around a rotation axis extending in the vertical direction, and the support body has a projected area in a predetermined first direction and a projected area in a predetermined first direction. It is preferable that the projected area in a second direction different from the one direction is configured to be different.
  • the support body when the support body is located in the airflow, the support body changes its posture by rotating around the rotation axis, and assumes a posture in which resistance from the airflow is relatively small. This makes it possible to realize a flight device that receives relatively little resistance from airflow.
  • the working device is configured to be movable with respect to the support body.
  • the work device is attached to the support so as to compensate for the deviation in the position of the work device with respect to the target position.
  • the accuracy of the position of the working device relative to the target position tends to be increased.
  • the support body is configured to be able to change the supporting force.
  • the support body is configured to be able to change its shape.
  • auxiliary flying object that is capable of flying and is connected to the working device.
  • Another feature of the present invention is a work assist system including the above-described flying device, wherein the flying device is configured to be able to perform work assist, which is assistance related to work performed by a work machine or a worker, a detection unit that detects that the work assistance is required; and a device control unit that controls the flight device based on a detection result by the detection unit, and the device control unit is configured to allow the detection unit to assist the work.
  • work assist which is assistance related to work performed by a work machine or a worker
  • a detection unit that detects that the work assistance is required
  • a device control unit that controls the flight device based on a detection result by the detection unit, and the device control unit is configured to allow the detection unit to assist the work.
  • the purpose of the present invention is to control the flight device so that the flight device performs the work assistance when it is detected that assistance is required.
  • the present invention it is possible to realize a work assist system in which the required work assistance is performed by a flying device. This makes it possible to reduce the work burden on the work machine or the worker.
  • the flight device is capable of applying a force in a direction to lift the working machine to the working machine as the work assist.
  • the flight device is capable of applying a force to the work machine in a direction to press the work machine downward as the work assist.
  • the flying device can assist the tilling by pushing the working machine downward.
  • a work assist system that can suitably perform assistance regarding work performed by a work machine.
  • the flight device is capable of applying a force to the object in a direction to lift the object held by the worker as the work assist.
  • the worker can hold the object with relatively small force. This makes it possible to realize a work assist system that can reduce the burden on the worker.
  • FIG. 2 is a front view of the flight device and an overall view of the work assist system.
  • FIG. 2 is a plan view of the flight device.
  • FIG. 2 is a partially cutaway front view of the flight device.
  • FIG. 2 is a block diagram showing the configuration of a main unit. It is a figure showing an example of work assist. It is a figure showing an example of work assist. It is a figure showing an example of work assist. It is a figure showing an example of work assist.
  • FIG. 3 is a partially cutaway front view of the flight device in a first alternative embodiment. It is a front view of the flight device in a second alternative embodiment.
  • FIG. 7 is a partially cutaway front view of the flight device in a third alternative embodiment. It is a figure which shows the structure of the support body in 3rd another embodiment. It is a front view of the flight device in other embodiment (4), and an overall view of the work assist system. It is a front view of the flight device in other embodiment (5), and an overall view of
  • the flight device 1 includes a flying object 2, a working device 3, a support 4, and two wires 5.
  • the flying object 2 is a multicopter that can fly alone. As shown in FIGS. 2 and 3, the flying object 2 has a circular shape in plan view. Further, the flying object 2 has a plurality of propellers 21 (corresponding to the "flight section" according to the present invention). Each propeller 21 is driven by the driving force of an electric flight motor 22 (see FIG. 4). The flying object 2 can fly by driving each propeller 21.
  • the flight device 1 includes a propeller 21 for flight, and a flying object 2 that can fly by driving the 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 flying object 2 can fly even when it is incorporated into the flight device 1 or when it is removed from the flight device 1.
  • the working device 3 is a chemical sprayer A1.
  • the chemical spraying machine A1 is capable of performing chemical spraying work on crops (corresponding to the "predetermined work" according to the present invention).
  • the present invention is not limited thereto, and the work device 3 may be any type of device as long as it can perform the work. Further, the working device 3 can be replaced with various types of working devices 3 depending on the required work.
  • the flight device 1 is equipped with a working device 3 that can perform predetermined tasks.
  • the working device 3 is suspended from the aircraft 2 via two wires 5. Further, each wire 5 extends downward from an electric winch 51.
  • the winch 51 is capable of winding up and letting out the wire 5. Note that the winch 51 is attached to the lower end of the flying object 2.
  • the working device 3 can be raised and lowered relative to the flying object 2.
  • the flight device 1 By driving each propeller 21, the flight device 1 is movable. Thereby, the flight device 1 can perform a predetermined work using the work device 3 while moving.
  • the flight device 1 is movable by driving the propeller 21.
  • the support body 4 is attached to the side surface of the aircraft 2. Below, the structure of the support body 4 will be explained in detail.
  • the support body 4 has a balloon portion 41. As shown in FIGS. As shown in FIG. 3, the balloon portion 41 is configured to have a hollow interior.
  • the balloon portion 41 has an annular shape in plan view. Further, the flying object 2 and the balloon section 41 are configured such that the flying object 2 fits into the hole at the center of the balloon section 41 in a plan view. Thereby, the side part of the flying object 2 is covered with the balloon part 41 over the entire circumference.
  • the balloon portion 41 has a floating ring shape.
  • a gas having a lower specific gravity than air (for example, helium gas, etc.) is sealed inside the balloon part 41.
  • the balloon portion 41 receives buoyancy in the air.
  • the support body 4 has a balloon portion 41 configured to receive buoyancy.
  • the support body 4 is configured such that the buoyant force acting on the support body 4 is larger than the gravity that the support body 4 receives on the earth. That is, the support body 4 alone has a buoyancy force greater than gravity, and generates an upward force in the air.
  • the support body 4 applies a supporting force to the flying object 2.
  • the supporting force is a force in a direction that lifts the flying object 2 or the working device 3.
  • the present invention is not limited to this, and the support body 4 may be configured to apply supporting force to the working device 3.
  • the support body 4 when the support body 4 is attached to the working device 3, the supporting body 4 applies a supporting force to the working device 3.
  • the support body 4 may be configured to apply support force to both the flying object 2 and the working device 3.
  • the flight device 1 includes the support body 4 that applies a supporting force, which is a force in the direction of lifting the flight object 2 or the work device 3, to at least one of the flight object 2 and the work device 3. Further, the support body 4 is configured to apply a supporting force to at least one of the flying object 2 and the working device 3 by the buoyancy force acting on the support body 4 .
  • a supporting force which is a force in the direction of lifting the flight object 2 or the work device 3
  • the support body 4 is configured to apply a supporting force to at least one of the flying object 2 and the working device 3 by the buoyancy force acting on the support body 4 .
  • the support body 4 is configured such that the magnitude of the buoyant force acting on the support body 4 matches the magnitude of the gravity force acting on the entire flight device 1.
  • the support body 4 may be configured such that the magnitude of the buoyant force acting on the support body 4 substantially matches the magnitude of the gravity force acting on the entire flight device 1. good. That is, the magnitude of the buoyant force acting on the support body 4 does not have to exactly match the magnitude of the gravitational force acting on the entire flight device 1.
  • the support body 4 is configured such that the magnitude of the buoyancy force acting on the support body 4 matches or substantially matches the magnitude of the gravity force acting on the entire flight device 1.
  • the support body 4 has a main unit 42 and a cable 43.
  • the main unit 42 and the cable 43 are both located in the internal space of the balloon section 41.
  • the main unit 42 is fixed to the balloon part 41. Further, the main unit 42 is connected to the aircraft 2 via a cable 43.
  • the main unit 42 has a device control section 44 (corresponding to the "control section” and “device control section” according to the present invention).
  • the device control unit 44 is configured to control the flight motor 22, the winch 51, and the work device 3.
  • control signal sent from the device control unit 44 to the flight motor 22 is sent via the cable 43. Further, a control signal sent from the device control unit 44 to the winch 51 is sent via a wireless connection. Further, the control signal sent from the device control unit 44 to the working device 3 is sent via a wireless connection.
  • the device control unit 44 can control the flight of the flying object 2 by controlling the flight motor 22. Thereby, the device control unit 44 can control the movement of the flight device 1.
  • the present invention is not limited to this, and the device control section 44 may be configured so that it cannot control the flight motor 22. Further, the device control unit 44 may be configured so as not to be able to control the work device 3.
  • the support body 4 has a device control section 44 that controls at least one of the flying object 2 and the working device 3.
  • the main unit 42 also includes 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 flight device 1 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 calculated positional coordinates of the flight device 1 over time are sent to the device control unit 44.
  • the device control unit 44 can control the movement of the flight device 1 based on the temporal position coordinates of the flight device 1 received from the satellite positioning device 45. Thereby, for example, the device control unit 44 can control the movement of the flight device 1 so that the flight device 1 moves along a predetermined target movement route.
  • the main unit 42 has a recording section 46.
  • the work device 3 is configured to send information indicating the driving state of the work device 3 to the recording unit 46.
  • the recording unit 46 also acquires the position coordinates of the flight device 1 over time from the satellite positioning device 45.
  • the recording unit 46 records the work performed by the work device 3. More specifically, the recording unit 46 records the work history of the working device 3 by associating information indicating the time, information indicating the driving state of the working device 3, and position coordinates of the flying device 1. .
  • the recording unit 46 records each point or area where chemical spraying has been completed in association with the time when the chemical was sprayed at those points or areas. do.
  • the support body 4 has the recording section 46 that records the work performed by the work device 3.
  • the main unit 42 has a battery 47 (corresponding to the "energy source” according to the present invention).
  • the battery 47 can store electric power (corresponding to "energy” according to the present invention). Further, the battery 47 can supply power to the flying object 2, the winch 51, and the working device 3.
  • power is supplied from the battery 47 to the flying object 2 via the cable 43. Further, power is supplied from the battery 47 to the winch 51 via a winch power cable (not shown). Further, power is supplied from the battery 47 to the working device 3 via a working device power cable (not shown).
  • the flight motor 22, winch 51, and working device 3 can be driven by power supplied from the battery 47.
  • the present invention is not limited to this, and the battery 47 may be configured so that it cannot supply power to the flying object 2. Further, the battery 47 may be configured such that it cannot supply power to the working device 3.
  • the support body 4 has a battery 47 that can supply power to at least one of the flying object 2 and the working device 3.
  • the main unit 42 is configured to be detachable from the balloon part 41 and the cable 43.
  • the main unit 42 can then be taken out of the balloon section 41 through a maintenance hole (not shown) provided in the balloon section 41.
  • the main unit 42 can be attached to the support body 4 by the reverse procedure. That is, the main unit 42 can be attached to and detached from the support body 4.
  • the device control section 44 can be attached to and detached from the support body 4. Furthermore, the recording section 46 is removable from the support 4. Further, the battery 47 is removable from the support 4.
  • each element included in the main unit 42 such as the device control section 44, may be a physical device such as a microcomputer, or may be a functional section in software.
  • the flight device 1 is configured to be able to perform work assistance, which is assistance related to work performed by a work machine or a worker.
  • work assistance which is assistance related to work performed by a work machine or a worker.
  • the work assist system SY which is a system including the flight device 1, will be described below.
  • the flying object 2 has a detection section 23.
  • the detection unit 23 detects that work assistance is required.
  • the work assist system SY includes a detection unit 23 that detects that work assistance is required.
  • the detection unit 23 includes the work device 3 and a camera that images the surroundings of the work device 3. Then, the detection 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 work assist system SY may include an operating tool that can be manually operated, and the detection unit 23 may be configured to detect that work assistance is required based on the operation of this operating tool.
  • the detection unit 23 When the detection unit 23 detects that work assistance is required, it sends a predetermined signal to the device control unit 44.
  • the device control unit 44 controls the flight motor 22, winch 51, and working device 3 in response to this signal. That is, the device control unit 44 controls the flight device 1 based on the detection result by the detection unit 23.
  • the work assist system SY includes the device control section 44 that controls the flight device 1 based on the detection result by the detection section 23.
  • the device control unit 44 controls the flight device 1 so that the flight device 1 performs work assistance.
  • the working device 3 is a self-propelled rice transplanter A2 (corresponding to the "working device” according to the present invention).
  • the device control unit 44 operates each winch 51 (see FIGS. 3 and 4) in a direction to wind up the wire 5.
  • the flight device 1 can apply a force in the direction of lifting the rice transplanter A2 to the rice transplanter A2 as a work assist.
  • the flight device 1 when the detection unit 23 detects that the rice transplanter A2 has sunk into soft ground, the flight device 1 applies a force in the direction of lifting the rice transplanter A2 to the rice transplanter as a work assist. Act on A2. Further, when the detection unit 23 detects that the rice transplanter A2 is turning, the flight device 1 applies a force in the direction of lifting the rice transplanter A2 to the rice transplanter A2 as a work assist.
  • the magnitude of the force in the direction of lifting the rice transplanter A2 may be large enough to reduce the load acting on the ground from the rice transplanter A2, or may be large enough to separate the rice transplanter A2 from the ground.
  • the working device 3 is a rod-shaped member A3 that can press a self-propelled tractor W1 (corresponding to the "working machine” according to the present invention).
  • the tractor W1 is equipped with a tillage device T.
  • the flying object 2 has a connecting portion 24.
  • the connecting portion 24 projects downward.
  • the connecting portion 24 is configured to be connectable to the working device 3.
  • the connecting portion 24 may have any configuration as long as it can stably connect the flying object 2 and the working device 3.
  • the rod-shaped member A3 is connected to the connecting portion 24. Then, the flight device 1 lowers the tractor W1 with the rod member A3 by driving the flight motor 22 in the direction in which the flying object 2 descends with the lower end of the rod member A3 in contact with the tractor W1. It can be pushed to the side.
  • the flight device 1 can apply a force to the tractor W1 in the direction of pressing the tractor W1 downward as a work assist.
  • the flight device 1 may apply a force in the direction of pressing the tractor W1 downward to any part of the tractor W1 as a work assist.
  • the flight device 1 may apply a force in the direction of pressing the tractor W1 downward to the front end of the tractor W1 as a work assist.
  • the tractor W1 does not need to include a counterweight at the front end of the body.
  • the flight device 1 when the detection unit 23 detects that the tractor W1 has started plowing, the flight device 1 applies a force to the tractor W1 in the direction of pushing the tractor W1 downward as a work assist. to act on.
  • the working device 3 is a hook A4.
  • the worker is holding and carrying the object W2. Then, the worker suspends the object W2 from the hook A4.
  • the device control unit 44 causes each winch 51 (see FIGS. 3 and 4) to wind the wire 5. operate in the 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 flight device 1 can move in the same direction as the worker's movement 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.
  • a force in the lifting direction acts on at least one of the flying object 2 and the working device 3, so even if the weight of the working device 3 is relatively large, the flying device 1 can operate normally. Easy to fly.
  • the balloon part 41 is directly attached to the side of the flying object 2.
  • the present invention is not limited to this.
  • a first alternative embodiment of the present invention will be described, focusing on the points that are different from the above embodiments.
  • the configuration other than the portions described below is the same as the above embodiment. Further, the same components as in the above embodiment are given the same reference numerals.
  • the support body 4 has a frame portion 48.
  • the frame portion 48 may have the same shape as the outer shape of the flying object 2, although it is not particularly limited.
  • the balloon section 41 is attached to the side of the frame section 48.
  • the flying object 2 is located above the support 4. Further, a frame portion 48 is connected to the lower end of each wire 5. Thereby, the support body 4 is connected to the flying object 2 via the wire 5.
  • the frame portion 48 has a frame connection portion 49.
  • the frame connection portion 49 projects downward.
  • the chemical sprayer A1 which is the working device 3, is connected to the frame connecting portion 49 from below.
  • the frame connecting portion 49 may have any configuration as long as it can stably connect the support body 4 and the working device 3.
  • the balloon portion 41 is provided to surround the working device 3.
  • the main unit 42 is placed on the upper surface of the frame portion 48. Further, the support body 4 has a working device side cable 60. The main unit 42 is connected to the working device 3 via a working device side cable 60.
  • a control signal sent from the device control unit 44 to the working device 3 is sent via the working device side cable 60. Further, power is supplied from the battery 47 to the working device 3 via the working device side cable 60.
  • the support body 4 is configured to be able to change its shape.
  • the balloon part 41 can be folded by releasing the gas inside.
  • the balloon part 41 in a folded state is shown in phantom lines. By folding the balloon portion 41, the shape of the support body 4 changes to a compact shape.
  • the support body 4 has a balloon portion 41 .
  • the present invention is not limited to this.
  • a second alternative embodiment of the present invention will be described, focusing on the points that are different from the above embodiment.
  • the configuration other than the portions described below is the same as the above embodiment. Further, the same components as in the above embodiment are given the same reference numerals.
  • the support body 4 has a support flying body 61 instead of the balloon part 41.
  • the number of support aircraft 61 may be one or more.
  • the support body 4 has two support flying bodies 61.
  • the support body 4 has one or more support flying bodies 61.
  • the support flight object 61 has a plurality of support flight sections 62.
  • the support flying section 62 has a similar structure to the propeller 21.
  • the support flight section 62 is driven by the driving force of an electric support flight vehicle motor (not shown).
  • the support flight object 61 can fly by driving each support flight section 62.
  • the support flight object 61 has a support flight section 62 for flying, and can fly by driving the support flight section 62.
  • the support flying object 61 can move in any of the vertical, longitudinal, and horizontal directions while floating in the air. Further, the support flying object 61 can be stopped in flight by driving each support flight section 62.
  • the support flying object 61 can fly even when it is incorporated into the support body 4 or when it is removed from the support body 4.
  • the support body 4 has an upper frame part 64 and a lower frame part 66.
  • the upper frame part 64 is fixed to the upper surface of the lower frame part 66.
  • the flying object 2 is connected to the upper end of the upper frame section 64 from above via a joint mechanism 68.
  • the support aircraft 61 is connected to the lower frame portion 66 from below via a joint mechanism 68.
  • each joint mechanism 68 may be any type of known mechanism as long as it can stably connect the upper and lower members.
  • the main unit 42 is provided inside the upper frame portion 64.
  • the winch 51 is also provided inside the upper frame portion 64.
  • Each wire 5 extends downward from the upper frame portion 64.
  • the support flying object 61 By driving the support flight section 62, the support flying object 61 can apply a force to the lower frame section 66 in the direction of lifting the lower frame section 66. This force is transmitted from the lower frame part 66 to the flying object 2 via the upper frame part 64. That is, in this configuration, the support body 4 applies a supporting force to the flying object 2 by driving each support flying section 62. Further, the support body 4 applies a supporting force to the working device 3 via each wire 5 by driving each support flying section 62 .
  • the present invention is not limited to this, and the support body 4 may be configured to apply supporting force to only one of the flying body 2 and the working device 3 by driving the support flying section 62. good.
  • the support body 4 is configured to apply a supporting force to at least one of the flying body 2 and the working device 3 by driving the support flying section 62.
  • the support body 4 can change the magnitude of the supporting force by changing the rotational speed of the support flying section 62.
  • the balloon portion 41 has a circular shape (perfect circular shape) in plan view.
  • the present invention is not limited to this.
  • a third alternative embodiment of the present invention will be described, focusing on the points that differ from the above embodiment.
  • the configuration other than the portions described below is the same as the above embodiment. Further, the same components as in the above embodiment are given the same reference numerals.
  • a rod-shaped connecting body 70 extending in the vertical direction is connected to the connecting portion 24.
  • a chemical sprayer A1 is connected to the lower end of the rod-shaped connector 70.
  • the rod-shaped connecting body 70 is provided so as to pass through the two upper and lower ring portions 71.
  • the two ring parts 71 are fixed to the rod-shaped connecting body 70 with a predetermined interval spaced from each other in the vertical direction.
  • the support body 4 has a disk-shaped disk frame portion 73.
  • the balloon section 41 is attached to the side of the disc frame section 73.
  • a through hole 73a is provided in the center of the disc frame portion 73.
  • the rod-shaped connector 70 passes through the through hole 73a. Further, the disc frame portion 73 is sandwiched between the two ring portions 71.
  • the support body 4 is rotatable with respect to the rod-shaped connecting body 70 around the rotation axis P extending in the vertical direction. That is, the support body 4 is rotatable with respect to the working device 3 around the rotation axis P extending in the vertical direction.
  • the support body 4 applies a supporting force due to buoyancy to the flying object 2 and the working device 3 via the upper ring portion 71 and the rod-shaped connecting body 70.
  • the direction of arrow N is “north”
  • the direction of arrow S is “south”
  • the direction of arrow E is “east”
  • the direction of arrow W is “west.”
  • FIG. 11 is a projected view of the support 4 in the north-south direction (corresponding to the "first direction” according to the present invention) in a state where the longitudinal direction of the support 4 in plan view is along the north-south direction.
  • a first projection view Q1 is shown
  • a second projection view Q2 is a projection view of the support body 4 in the east-west direction (corresponding to the "second direction” according to the present invention).
  • the area of the first projection Q1 is smaller than the area of the second projection Q2.
  • the support body 4 is configured so that the projected area in the predetermined first direction is different from the projected area in the second direction, which is different from the first direction.
  • the support body 4 may be configured such that the magnitude of buoyancy acting on the support body 4 is greater than the magnitude of gravity acting on the entire flight device 1.
  • the support body 4 may be configured such that the magnitude of buoyancy acting on the support body 4 is smaller than the magnitude of gravity acting on the entire flight device 1.
  • the support body 4 may be configured to be able to change its supporting force.
  • the balloon part 41 in the support body 4 may be configured to be able to adjust the amount of gas inside the balloon part 41.
  • the magnitude of the buoyant force acting on the support body 4 is changed.
  • the magnitude of the supporting force by the support body 4 changes.
  • the auxiliary flying object 75 may include an auxiliary flying object 75 that is capable of flying and is connected to the working device 3.
  • the auxiliary flying object 75 is connected to the working device 3 via a wire 5 that is different from the wire 5 extending from the flying object 2 .
  • the auxiliary flying object 75 is configured to be able to fly using the same mechanism as the flying object 2.
  • auxiliary flying objects 75 are provided.
  • the present invention is not limited thereto, and the number of auxiliary flying objects 75 provided may be one, or three or more.
  • each auxiliary flying object 75 may be controlled by the device control unit 44, for example.
  • the flying object 2 may be located above the supporting body 4, and the flying object 2 may be connected to the supporting body 4 via a rod-shaped connecting member 77.
  • the number of connecting members 77 is not particularly limited, but may be three, as shown in FIG. 13, for example.
  • the support body 4 has a frame 78 with a balloon.
  • the balloon-equipped frame 78 includes a balloon that receives buoyancy similarly to the balloon portion 41 in the above embodiment, and a frame structure.
  • the main unit 42 is placed on the upper surface of the frame 78 with a balloon. Further, the working device 3 is connected to the lower end of the frame 78 with a balloon.
  • the working device 3 is configured to be movable in the horizontal direction with respect to the balloon-equipped frame 78. Note that the working device 3 may be configured to be movable relative to the balloon-equipped frame 78 by, for example, an actuator such as an electric motor.
  • the working device 3 is configured to be movable with respect to the support body 4.
  • the detection unit 23 is attached to the lower surface of the balloon-equipped frame 78.
  • the device control unit 44 may be configured to control the flight motor 22, winch 51, and work device 3 based on various information.
  • the information may be, for example, information obtained by a mobile sensor or a fixed sensor located at the work site or around the work site.
  • the mobile sensor may be, for example, a sensor provided in a self-propelled work machine.
  • the fixed sensor may be, for example, a multi-functional scarecrow, a GPS base station, a surveillance camera, a sensor provided in a wildlife damage prevention fence, or the like.
  • the information may be, for example, information obtained from smart machines linked to the supply chain.
  • the device control unit 44 acquires operation information of a grain dryer that is equipped with a harvesting device as the work device 3 and is configured as a smart machine linked to the supply chain, and based on the operation information, The device control unit 44 may control the flight motor 22, winch 51, and working device 3 so that the timing of harvesting is optimal.
  • a tilling rotor is provided as the working device 3, and the device control unit 44 drives the flight motor 22 in the direction in which the flying object 2 descends, so that the flying device 1 presses the tilling rotor downward. It may also be configured to fly. Thereby, it is possible to realize the flight device 1 that can perform plowing work equivalent to plowing work using a conventional work vehicle.
  • Some or all of the detection unit 23, device control unit 44, and recording unit 46 may be provided outside the flight device 1. For example, It may be provided in the management computer.
  • the flight device 1 may be configured to cancel the operating sound of the propeller 21.
  • the operations of the plurality of propellers 21 may be controlled so that their operating sounds cancel each other out.
  • the flight device 1 may be provided with a silencer that generates a sound (noise canceling sound) that cancels the operating sound of the propeller 21.
  • the silencer may be configured to generate a noise canceling sound based on the control amount sent to the flight motor 22.
  • Each element constituting the flight device 1 may be designed so that it can be used between various types of flight devices 1.
  • the connection mechanism between the wire 5 and the working device 3 is designed as a common standard for various types of working devices 3, and is configured so that various types of working devices 3 can be connected to the wire 5. You can leave it there.
  • the connection mechanism between the flying object 2 and the supporting body 4 is designed as a common standard for various types of flying objects 2 and supporting bodies 4. It may be configured such that any type of support body 4 can be connected in any combination.
  • the propeller 21 may be configured to be rotatable about the axis of rotation of the propeller 21 that extends in the left-right direction of the aircraft. That is, the propeller 21 may be of a so-called tilt type. With this configuration, the flight device 1 is capable of vertical takeoff and landing, hovering flight, and high-speed horizontal flight.
  • the present invention can be used in a flight device equipped with a flightable flying object and a work assist system equipped with a flight device.
  • Flight device 2 Flying object 3
  • Working device 4 Support body 21 Propeller (flight part) 23
  • Balloon section 44 Device control section (control section) 46
  • Recording section 47 Battery (energy source) 61
  • Support flight vehicle 62 Support flight section 75
  • Auxiliary flight vehicle A2 Rice transplanter (work machine)
  • P Rotation axis SY Work assist system W1 Tractor (work equipment) W2 Object

Abstract

A flying device (1) comprising: a flying body (2) that has a flight part for flying and that is capable of flying when the flight part is driven; a work-performing device (3) capable of performing a predetermined work; and a support body (4) that uses a support force, which is a force in a direction for lifting the flying body (2) or the work-performing device (3), on at least one of the flying body (2) and the work-performing device (3).

Description

飛行装置及び作業アシストシステムFlight equipment and work assist systems
　本発明は、飛行可能な飛行体を備える飛行装置、及び、飛行装置を備える作業アシストシステムに関する。 The present invention relates to a flight device including a flightable flying object and a work assist system including the flight device.
　上述のような飛行装置として、例えば、特許文献１に記載のものが既に知られている。この飛行装置（特許文献１では「マルチコプター」）は、胴体部、フレーム、ローターユニットにより構成された飛行体を有している。この飛行体は、ローターユニットにおけるローターを駆動することによって飛行可能である。 As the above-mentioned flight device, for example, the one described in Patent Document 1 is already known. This flight device (referred to as a "multicopter" in Patent Document 1) has a flying object that includes a fuselage, a frame, and a rotor unit. This flying object can fly by driving the rotor in the rotor unit.
特開２０１４－２２７０１６号公報Japanese Patent Application Publication No. 2014-227016
　特許文献１に記載の飛行装置において、所定の作業を実施可能な作業装置を設けることが考えられる。しかしながら、作業装置の重量が比較的大きい場合、ローターにより生じる揚力に対して飛行装置の重量が大き過ぎることにより、飛行装置が正常に飛行できない事態が想定される。 In the flight device described in Patent Document 1, it is conceivable to provide a work device that can perform a predetermined work. However, when the weight of the working device is relatively large, it is assumed that the weight of the flying device is too large relative to the lift force generated by the rotor, so that the flying device cannot fly normally.
　本発明の目的は、比較的大きな重量を有する作業装置を備える場合であっても正常に飛行しやすい飛行装置を提供することである。 An object of the present invention is to provide a flight device that is easy to fly normally even when it is equipped with a working device that has a relatively large weight.
　本発明の特徴は、飛行するための飛行部を有すると共に、前記飛行部を駆動することによって飛行可能な飛行体と、所定の作業を実施可能な作業装置と、前記飛行体または前記作業装置を持ち上げる方向の力である支持力を前記飛行体及び前記作業装置の少なくとも一方に作用させる支持体と、を備えることにある。 Features of the present invention include a flying object that has a flight section for flying and that can fly by driving the flight section, a working device that can perform a predetermined work, and a flying object that can fly the flying object or the working device. The present invention includes a support body that applies a support force that is a force in a lifting direction to at least one of the flying object and the working device.
　本発明であれば、飛行体及び作業装置の少なくとも一方に、持ち上げる方向の力が作用するため、作業装置の重量が比較的大きい場合であっても、飛行装置が正常に飛行しやすい。 According to the present invention, a force in the lifting direction acts on at least one of the flying object and the working device, so even if the weight of the working device is relatively large, the flying device can easily fly normally.
　即ち、本発明であれば、比較的大きな重量を有する作業装置を備える場合であっても正常に飛行しやすい飛行装置を実現できる。 That is, according to the present invention, it is possible to realize a flight device that can easily fly normally even when it is equipped with a working device that has a relatively large weight.
　さらに、本発明において、前記支持体は、前記支持体に作用する浮力により、前記支持力を前記飛行体及び前記作業装置の少なくとも一方に作用させるように構成されていると好適である。 Further, in the present invention, it is preferable that the support body is configured to apply the support force to at least one of the flying object and the working device by a buoyant force acting on the support body.
　この構成によれば、支持体を例えばバルーン等によって構成することができる。そのため、比較的簡素な構成で、支持体を備える飛行装置を実現することができる。 According to this configuration, the support body can be configured by, for example, a balloon or the like. Therefore, a flight device including a support body can be realized with a relatively simple configuration.
　さらに、本発明において、前記支持体は、前記支持体に作用する浮力の大きさが、飛行装置全体に作用する重力の大きさに一致するように、または、略一致するように構成されており、前記飛行部を駆動することによって移動可能であると好適である。 Furthermore, in the present invention, the support is configured such that the magnitude of buoyancy acting on the support matches or substantially matches the magnitude of gravity acting on the entire flight device. , it is preferable that the flying part is movable by driving the flying part.
　この構成によれば、飛行装置全体に作用する重力と浮力とが拮抗することとなる。そのため、飛行部の出力が比較的低い場合であっても、飛行装置が正常に飛行しやすい。これにより、飛行部の駆動により消費されるエネルギーの量を低減することが可能となる。また、最大出力が比較的低い飛行部を採用することが許容されるため、飛行装置の製造コストの増大を抑制することが可能となる。 According to this configuration, the gravitational force and the buoyancy force acting on the entire flight device compete with each other. Therefore, even if the output of the flight section is relatively low, the flight device is likely to fly normally. This makes it possible to reduce the amount of energy consumed by driving the flight section. Furthermore, since it is permissible to employ a flight section with a relatively low maximum output, it is possible to suppress an increase in the manufacturing cost of the flight device.
　さらに、本発明において、前記支持体は、前記支持体に作用する浮力の大きさが、飛行装置全体に作用する重力の大きさよりも大きいように構成されており、前記飛行部を駆動することによって移動可能であると好適である。 Furthermore, in the present invention, the support body is configured such that the magnitude of buoyancy acting on the support body is larger than the magnitude of gravity acting on the entire flight device, and by driving the flight unit Preferably, it is movable.
　この構成によれば、飛行部の駆動を停止した状態で、飛行装置は、浮力によって上昇することとなる。従って、飛行装置を上昇させる際に飛行部において消費されるエネルギーの量を低減することが可能となる。 According to this configuration, the flight device rises due to buoyancy while the drive of the flight section is stopped. Therefore, it is possible to reduce the amount of energy consumed in the flight section when raising the flight device.
　さらに、本発明において、前記支持体は、前記支持体に作用する浮力の大きさが、飛行装置全体に作用する重力の大きさよりも小さいように構成されており、前記飛行部を駆動することによって移動可能であると好適である。 Furthermore, in the present invention, the support body is configured such that the magnitude of buoyancy acting on the support body is smaller than the magnitude of gravity acting on the entire flight device, and by driving the flight unit Preferably, it is movable.
　この構成によれば、飛行部の駆動を停止した状態で、飛行装置は、重力によって下降することとなる。従って、飛行装置を下降させる際に飛行部において消費されるエネルギーの量を低減することが可能となる。 According to this configuration, the flight device descends due to gravity while the drive of the flight section is stopped. Therefore, it is possible to reduce the amount of energy consumed in the flight section when lowering the flight device.
　さらに、本発明において、前記支持体は、浮力を受けるように構成されたバルーン部を有しており、前記バルーン部は、前記作業装置の周囲を囲む状態で設けられていると好適である。 Further, in the present invention, it is preferable that the support body has a balloon portion configured to receive buoyancy, and the balloon portion is provided so as to surround the working device.
　この構成によれば、バルーン部によって作業装置が保護される。これにより、作業装置を保護するために専用の部材を設けることなく、作業装置が保護される構成を実現できる。これにより、製造コストが低減しやすい。 According to this configuration, the working device is protected by the balloon part. This makes it possible to realize a configuration in which the working device is protected without providing a dedicated member for protecting the working device. This makes it easy to reduce manufacturing costs.
　さらに、本発明において、前記支持体は、一つまたは複数の支持飛行体を有しており、前記支持飛行体は、飛行するための支持飛行部を有すると共に、前記支持飛行部を駆動することによって飛行可能であり、前記支持体は、前記支持飛行部を駆動することにより、前記支持力を前記飛行体及び前記作業装置の少なくとも一方に作用させるように構成されていると好適である。 Furthermore, in the present invention, the support body has one or more support flight bodies, and the support flight body has a support flight part for flying and drives the support flight part. It is preferable that the supporting body is configured to apply the supporting force to at least one of the flying body and the working device by driving the supporting flying section.
　この構成によれば、支持体を備える飛行装置を確実に実現しやすい。また、この構成によれば、例えば支持飛行部の出力を調節することにより、支持力の大きさを容易に調節することができる。 According to this configuration, it is easy to reliably realize a flight device equipped with a support body. Moreover, according to this configuration, the magnitude of the supporting force can be easily adjusted by, for example, adjusting the output of the supporting flying section.
　さらに、本発明において、前記支持体は、前記飛行体及び前記作業装置の少なくとも一方を制御する制御部を有していると好適である。 Furthermore, in the present invention, it is preferable that the support body has a control section that controls at least one of the flying object and the working device.
　この構成によれば、例えば制御部が飛行体を制御するように構成されている場合、飛行体に制御部を設ける必要がない。そのため、飛行体の製造コストを低減できる。 According to this configuration, for example, if the control section is configured to control the flying object, there is no need to provide the control section on the flying object. Therefore, the manufacturing cost of the aircraft can be reduced.
　また、例えば制御部が作業装置を制御するように構成されている場合、作業装置に制御部を設ける必要がない。そのため、作業装置の製造コストを低減できる。 Furthermore, for example, if the control section is configured to control the work device, there is no need to provide the control section in the work device. Therefore, the manufacturing cost of the working device can be reduced.
　さらに、本発明において、前記制御部は、前記支持体に対して着脱可能であると好適である。 Furthermore, in the present invention, it is preferable that the control section is removable from the support.
　この構成によれば、支持体から制御部を取り外すことにより、支持体や制御部のメンテナンスが容易になりやすい。また、複数の飛行装置を運用する場合に、飛行装置間で制御部を共用することができる。これにより、複数の飛行装置を運用する場合における飛行装置の導入コストを低減しやすい。 According to this configuration, maintenance of the support and the control section is likely to be facilitated by removing the control section from the support. Furthermore, when operating a plurality of flight devices, the control unit can be shared among the flight devices. This makes it easy to reduce the cost of introducing a flight device when a plurality of flight devices are operated.
　さらに、本発明において、前記支持体は、前記飛行体及び前記作業装置の少なくとも一方にエネルギーを供給可能なエネルギー源を有していると好適である。 Furthermore, in the present invention, it is preferable that the support body has an energy source capable of supplying energy to at least one of the flying object and the working device.
　この構成によれば、飛行体及び作業装置の少なくとも一方を、比較的長時間に亘って駆動可能な飛行装置を実現しやすい。 According to this configuration, it is easy to realize a flight device that can drive at least one of the flying object and the working device for a relatively long period of time.
　さらに、本発明において、前記エネルギー源は、前記支持体に対して着脱可能であると好適である。 Furthermore, in the present invention, it is preferable that the energy source is removable from the support.
　この構成によれば、支持体からエネルギー源を取り外すことにより、支持体やエネルギー源のメンテナンスが容易になりやすい。また、複数の飛行装置を運用する場合に、飛行装置間でエネルギー源を共用することができる。これにより、複数の飛行装置を運用する場合における飛行装置の導入コストを低減しやすい。 According to this configuration, maintenance of the support and the energy source is likely to be facilitated by removing the energy source from the support. Furthermore, when operating a plurality of flight devices, the energy source can be shared among the flight devices. This makes it easy to reduce the cost of introducing a flight device when a plurality of flight devices are operated.
　さらに、本発明において、前記支持体は、前記作業装置により実施された作業を記録する記録部を有していると好適である。 Furthermore, in the present invention, it is preferable that the support body has a recording section that records the work performed by the work device.
　この構成によれば、記録部により記録された内容に基づいて、実施された作業を評価することが可能な飛行装置を実現できる。 According to this configuration, it is possible to realize a flight device that can evaluate the performed work based on the content recorded by the recording unit.
　さらに、本発明において、前記記録部は、前記支持体に対して着脱可能であると好適である。 Furthermore, in the present invention, it is preferable that the recording section is removable from the support.
　この構成によれば、支持体から記録部を取り外すことにより、支持体や記録部のメンテナンスが容易になりやすい。また、複数の飛行装置を運用する場合に、飛行装置間で記録部を共用することができる。これにより、複数の飛行装置を運用する場合における飛行装置の導入コストを低減しやすい。 According to this configuration, maintenance of the support and the recording section is likely to be facilitated by removing the recording section from the support. Furthermore, when operating a plurality of flight devices, the recording unit can be shared among the flight devices. This makes it easy to reduce the cost of introducing a flight device when a plurality of flight devices are operated.
　さらに、本発明において、前記支持体は、上下方向に延びる回転軸芯周りに、前記作業装置に対して回転可能であり、前記支持体は、所定の第１方向での投影面積と、前記第１方向とは異なる第２方向での投影面積と、が異なるように構成されていると好適である。 Furthermore, in the present invention, the support body is rotatable with respect to the working device around a rotation axis extending in the vertical direction, and the support body has a projected area in a predetermined first direction and a projected area in a predetermined first direction. It is preferable that the projected area in a second direction different from the one direction is configured to be different.
　この構成によれば、支持体が気流の中に位置する場合、支持体は、回転軸芯周りに回転することによって姿勢が変化し、気流から受ける抵抗が比較的小さい姿勢となる。これにより、気流から受ける抵抗が比較的小さくなる飛行装置を実現できる。 According to this configuration, when the support body is located in the airflow, the support body changes its posture by rotating around the rotation axis, and assumes a posture in which resistance from the airflow is relatively small. This makes it possible to realize a flight device that receives relatively little resistance from airflow.
　さらに、本発明において、前記作業装置は、前記支持体に対して移動可能に構成されていると好適である。 Furthermore, in the present invention, it is preferable that the working device is configured to be movable with respect to the support body.
　この構成によれば、飛行部を駆動することによる飛行装置の位置制御の精度が比較的低い場合であっても、目標位置に対する作業装置の位置のずれを補完するように作業装置を支持体に対して移動させれば、目標位置に対する作業装置の位置の精度が高くなりやすい。 According to this configuration, even if the accuracy of controlling the position of the flight device by driving the flight section is relatively low, the work device is attached to the support so as to compensate for the deviation in the position of the work device with respect to the target position. On the other hand, if it is moved, the accuracy of the position of the working device relative to the target position tends to be increased.
　従って、この構成によれば、目標位置に対する作業装置の位置の精度が高くなりやすい飛行装置を実現できる。 Therefore, according to this configuration, it is possible to realize a flight device in which the accuracy of the position of the working device with respect to the target position is likely to be high.
　さらに、本発明において、前記支持体は、前記支持力を変更可能に構成されていると好適である。 Furthermore, in the present invention, it is preferable that the support body is configured to be able to change the supporting force.
　この構成によれば、飛行部の出力の大きさや、作業装置の重量等に応じて、支持力を適切に設定しやすい飛行装置を実現できる。 According to this configuration, it is possible to realize a flight device in which the supporting force can be easily set appropriately according to the magnitude of the output of the flight section, the weight of the working device, etc.
　さらに、本発明において、前記支持体は、形状変更可能に構成されていると好適である。 Furthermore, in the present invention, it is preferable that the support body is configured to be able to change its shape.
　この構成によれば、飛行装置を建物内等に収納する際に、支持体の形状を、収納しやすい形状に変更可能な飛行装置を実現できる。 According to this configuration, when storing the flight device in a building or the like, it is possible to realize a flight device in which the shape of the support body can be changed to a shape that is easy to store.
　さらに、本発明において、飛行可能であると共に前記作業装置に接続された補助飛行体を備えると好適である。 Furthermore, in the present invention, it is preferable to include an auxiliary flying object that is capable of flying and is connected to the working device.
　この構成によれば、補助飛行体によって作業装置の位置や姿勢が適切な状態に維持される飛行装置を実現できる。 According to this configuration, it is possible to realize a flight device in which the position and attitude of the working device are maintained in an appropriate state by the auxiliary flying object.
　本発明の別の特徴は、上記の飛行装置を備える作業アシストシステムであって、前記飛行装置は、作業機または作業者により行われる作業に関するアシストである作業アシストを実行可能に構成されており、前記作業アシストが必要であることを検知する検知部と、前記検知部による検知結果に基づいて前記飛行装置を制御する装置制御部と、を備え、前記装置制御部は、前記検知部により前記作業アシストが必要であることが検知された場合、前記飛行装置が前記作業アシストを実行するように、前記飛行装置を制御することにある。 Another feature of the present invention is a work assist system including the above-described flying device, wherein the flying device is configured to be able to perform work assist, which is assistance related to work performed by a work machine or a worker, a detection unit that detects that the work assistance is required; and a device control unit that controls the flight device based on a detection result by the detection unit, and the device control unit is configured to allow the detection unit to assist the work. The purpose of the present invention is to control the flight device so that the flight device performs the work assistance when it is detected that assistance is required.
　本発明であれば、必要とされる作業アシストが飛行装置により実行される作業アシストシステムを実現できる。これにより、作業機または作業者の作業負担を軽減することが可能となる。 According to the present invention, it is possible to realize a work assist system in which the required work assistance is performed by a flying device. This makes it possible to reduce the work burden on the work machine or the worker.
　さらに、本発明において、前記飛行装置は、前記作業アシストとして、前記作業機を持ち上げる方向の力を前記作業機に作用させることが可能であると好適である。 Furthermore, in the present invention, it is preferable that the flight device is capable of applying a force in a direction to lift the working machine to the working machine as the work assist.
　この構成によれば、例えば、作業機が作業中にぬかるみにはまった場合に作業機がぬかるみから抜け出すことをアシストすることができる。このように、作業機により行われる作業に関するアシストを好適に実行可能な作業アシストシステムを実現できる。 According to this configuration, for example, when the work machine gets stuck in mud during work, it is possible to assist the work machine to get out of the mud. In this way, it is possible to realize a work assist system that can suitably perform assistance regarding work performed by a work machine.
　さらに、本発明において、前記飛行装置は、前記作業アシストとして、前記作業機を下側へ押し付ける方向の力を前記作業機に作用させることが可能であると好適である。 Further, in the present invention, it is preferable that the flight device is capable of applying a force to the work machine in a direction to press the work machine downward as the work assist.
　この構成によれば、例えば、作業機が耕耘作業を行っているときに、飛行装置が作業機を下側へ押し付けることによって、耕耘をアシストすることができる。このように、作業機により行われる作業に関するアシストを好適に実行可能な作業アシストシステムを実現できる。 According to this configuration, for example, when the working machine is performing tillage work, the flying device can assist the tilling by pushing the working machine downward. In this way, it is possible to realize a work assist system that can suitably perform assistance regarding work performed by a work machine.
　さらに、本発明において、前記飛行装置は、前記作業アシストとして、前記作業者が保持する物体を持ち上げる方向の力を前記物体に作用させることが可能であると好適である。 Further, in the present invention, it is preferable that the flight device is capable of applying a force to the object in a direction to lift the object held by the worker as the work assist.
　この構成によれば、作業者は、比較的小さな力で物体を保持することができる。これにより、作業者の負担を軽減することが可能な作業アシストシステムを実現できる。 According to this configuration, the worker can hold the object with relatively small force. This makes it possible to realize a work assist system that can reduce the burden on the worker.
飛行装置の正面図、且つ、作業アシストシステムの全体図である。FIG. 2 is a front view of the flight device and an overall view of the work assist system. 飛行装置の平面図である。FIG. 2 is a plan view of the flight device. 飛行装置の一部破断正面図である。FIG. 2 is a partially cutaway front view of the flight device. メインユニットに関する構成を示すブロック図である。FIG. 2 is a block diagram showing the configuration of a main unit. 作業アシストの一例を示す図である。It is a figure showing an example of work assist. 作業アシストの一例を示す図である。It is a figure showing an example of work assist. 作業アシストの一例を示す図である。It is a figure showing an example of work assist. 第１別実施形態における飛行装置の一部破断正面図である。FIG. 3 is a partially cutaway front view of the flight device in a first alternative embodiment. 第２別実施形態における飛行装置の正面図である。It is a front view of the flight device in a second alternative embodiment. 第３別実施形態における飛行装置の一部破断正面図である。FIG. 7 is a partially cutaway front view of the flight device in a third alternative embodiment. 第３別実施形態における支持体の構成を示す図である。It is a figure which shows the structure of the support body in 3rd another embodiment. その他の実施形態（４）における飛行装置の正面図、且つ、作業アシストシステムの全体図である。It is a front view of the flight device in other embodiment (4), and an overall view of the work assist system. その他の実施形態（５）における飛行装置の正面図、且つ、作業アシストシステムの全体図である。It is a front view of the flight device in other embodiment (5), and an overall view of the work assist system.
　本発明を実施するための形態について、図面に基づき説明する。 Embodiments for carrying out the present invention will be described based on the drawings.
　〔飛行装置の全体構成〕
　図１に示すように、飛行装置１は、飛行体２と、作業装置３と、支持体４と、２本のワイヤ５と、を備えている。 [Overall configuration of flight device]
As shown in FIG. 1, the flight device 1 includes a flying object 2, a working device 3, a support 4, and two wires 5.
　本実施形態において、飛行体２は、単独で飛行可能なマルチコプターである。図２及び図３に示すように、飛行体２は、平面視で円形状に構成されている。また、飛行体２は、複数のプロペラ２１（本発明に係る「飛行部」に相当）を有している。各プロペラ２１は、電動の飛行用モータ２２（図４参照）の駆動力によって駆動する。そして、飛行体２は、各プロペラ２１を駆動することによって飛行可能である。 In this embodiment, the flying object 2 is a multicopter that can fly alone. As shown in FIGS. 2 and 3, the flying object 2 has a circular shape in plan view. Further, the flying object 2 has a plurality of propellers 21 (corresponding to the "flight section" according to the present invention). Each propeller 21 is driven by the driving force of an electric flight motor 22 (see FIG. 4). The flying object 2 can fly by driving each propeller 21.
　即ち、飛行装置１は、飛行するためのプロペラ２１を有すると共に、プロペラ２１を駆動することによって飛行可能な飛行体２を備えている。 That is, the flight device 1 includes a propeller 21 for flight, and a flying object 2 that can fly by driving the propeller 21.
　より具体的には、飛行体２は、各プロペラ２１を駆動することにより、空中に浮かんだ状態で、上下方向、前後方向、左右方向の何れにも移動することが可能である。また、飛行体２は、各プロペラ２１を駆動することにより、停止飛行が可能である。 More specifically, 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.
　尚、飛行体２は、飛行装置１に組み込まれた状態でも、また、飛行装置１から取り外された状態でも、飛行可能である。 Note that the flying object 2 can fly even when it is incorporated into the flight device 1 or when it is removed from the flight device 1.
　図１に示す例において、作業装置３は、薬剤散布機Ａ１である。薬剤散布機Ａ１は、作物に対する薬剤散布作業（本発明に係る「所定の作業」に相当）を実施可能である。ただし、本発明はこれに限定されず、作業装置３は、作業を実施可能であれば、いかなる種類の装置であっても良い。また、作業装置３は、必要とされる作業に応じて、様々な種類の作業装置３に交換することができる。 In the example shown in FIG. 1, the working device 3 is a chemical sprayer A1. The chemical spraying machine A1 is capable of performing chemical spraying work on crops (corresponding to the "predetermined work" according to the present invention). However, the present invention is not limited thereto, and the work device 3 may be any type of device as long as it can perform the work. Further, the working device 3 can be replaced with various types of working devices 3 depending on the required work.
　即ち、飛行装置１は、所定の作業を実施可能な作業装置３を備えている。 That is, the flight device 1 is equipped with a working device 3 that can perform predetermined tasks.
　図１及び図３に示すように、作業装置３は、２本のワイヤ５を介して、飛行体２から吊り下げられている。また、各ワイヤ５は、電動のウインチ５１から下側へ延びている。ウインチ５１は、ワイヤ５を巻き取り及び繰り出し可能である。尚、ウインチ５１は、飛行体２の下端部に取り付けられている。 As shown in FIGS. 1 and 3, the working device 3 is suspended from the aircraft 2 via two wires 5. Further, each wire 5 extends downward from an electric winch 51. The winch 51 is capable of winding up and letting out the wire 5. Note that the winch 51 is attached to the lower end of the flying object 2.
　各ウインチ５１がワイヤ５を巻き取ることにより、作業装置３は飛行体２に近付く。これにより、作業装置３は上昇する。 As each winch 51 winds up the wire 5, the working device 3 approaches the aircraft 2. This causes the working device 3 to rise.
　各ウインチ５１がワイヤ５を繰り出すことにより、作業装置３は飛行体２から遠ざかる。これにより、作業装置３は下降する。 As each winch 51 pays out the wire 5, the working device 3 moves away from the flying object 2. As a result, the working device 3 descends.
　この構成により、図１に示すように、作業装置３は、飛行体２に対して昇降可能である。 With this configuration, as shown in FIG. 1, the working device 3 can be raised and lowered relative to the flying object 2.
　そして、各プロペラ２１を駆動することにより、飛行装置１は移動可能である。これにより、飛行装置１は、移動しながら、作業装置３によって所定の作業を実施できる。 By driving each propeller 21, the flight device 1 is movable. Thereby, the flight device 1 can perform a predetermined work using the work device 3 while moving.
　即ち、飛行装置１は、プロペラ２１を駆動することによって移動可能である。 That is, the flight device 1 is movable by driving the propeller 21.
　図２及び図３に示すように、支持体４は、飛行体２の側面部に取り付けられている。以下では、支持体４の構成について詳述する。 As shown in FIGS. 2 and 3, the support body 4 is attached to the side surface of the aircraft 2. Below, the structure of the support body 4 will be explained in detail.
　〔支持体の構成〕
　図２及び図３に示すように、支持体４は、バルーン部４１を有している。図３に示すように、バルーン部４１は、内部が空洞であるように構成されている。 [Structure of support]
As shown in FIGS. 2 and 3, the support body 4 has a balloon portion 41. As shown in FIGS. As shown in FIG. 3, the balloon portion 41 is configured to have a hollow interior.
　図２に示すように、バルーン部４１は、平面視で円環状に構成されている。また、平面視におけるバルーン部４１の中央の穴部分に飛行体２が嵌まるように、飛行体２及びバルーン部４１が構成されている。これにより、飛行体２の側部は、全周に亘って、バルーン部４１に覆われている。 As shown in FIG. 2, the balloon portion 41 has an annular shape in plan view. Further, the flying object 2 and the balloon section 41 are configured such that the flying object 2 fits into the hole at the center of the balloon section 41 in a plan view. Thereby, the side part of the flying object 2 is covered with the balloon part 41 over the entire circumference.
　以上の構成により、バルーン部４１は、浮き輪状の形状を有している。 With the above configuration, the balloon portion 41 has a floating ring shape.
　バルーン部４１の内部には、空気より比重の小さいガス（例えばヘリウムガス等）が封入される。これにより、バルーン部４１は、空気中において浮力を受ける。 A gas having a lower specific gravity than air (for example, helium gas, etc.) is sealed inside the balloon part 41. As a result, the balloon portion 41 receives buoyancy in the air.
　即ち、支持体４は、浮力を受けるように構成されたバルーン部４１を有している。 That is, the support body 4 has a balloon portion 41 configured to receive buoyancy.
　ここで、支持体４は、支持体４に作用する浮力が、支持体４が地球上において受ける重力より大きいように構成されている。即ち、支持体４は、単独では重力より浮力が大きく、空気中において上向きの力を生ずる。 Here, the support body 4 is configured such that the buoyant force acting on the support body 4 is larger than the gravity that the support body 4 receives on the earth. That is, the support body 4 alone has a buoyancy force greater than gravity, and generates an upward force in the air.
　これにより、支持体４は、支持力を飛行体２に作用させる。尚、本明細書において、支持力とは、飛行体２または作業装置３を持ち上げる方向の力である。 Thereby, the support body 4 applies a supporting force to the flying object 2. Note that in this specification, the supporting force is a force in a direction that lifts the flying object 2 or the working device 3.
　尚、本発明はこれに限定されず、支持体４は、支持力を作業装置３に作用させるように構成されていても良い。例えば、支持体４が作業装置３に取り付けられている場合、支持体４は、支持力を作業装置３に作用させることとなる。また、支持体４は、支持力を飛行体２及び作業装置３の両方に作用させるように構成されていても良い。 Note that the present invention is not limited to this, and the support body 4 may be configured to apply supporting force to the working device 3. For example, when the support body 4 is attached to the working device 3, the supporting body 4 applies a supporting force to the working device 3. Further, the support body 4 may be configured to apply support force to both the flying object 2 and the working device 3.
　このように、飛行装置１は、飛行体２または作業装置３を持ち上げる方向の力である支持力を飛行体２及び作業装置３の少なくとも一方に作用させる支持体４を備えている。また、支持体４は、支持体４に作用する浮力により、支持力を飛行体２及び作業装置３の少なくとも一方に作用させるように構成されている。 In this way, the flight device 1 includes the support body 4 that applies a supporting force, which is a force in the direction of lifting the flight object 2 or the work device 3, to at least one of the flight object 2 and the work device 3. Further, the support body 4 is configured to apply a supporting force to at least one of the flying object 2 and the working device 3 by the buoyancy force acting on the support body 4 .
　また、支持体４は、支持体４に作用する浮力の大きさが、飛行装置１全体に作用する重力の大きさに一致するように構成されている。 Further, the support body 4 is configured such that the magnitude of the buoyant force acting on the support body 4 matches the magnitude of the gravity force acting on the entire flight device 1.
　尚、本発明はこれに限定されず、支持体４は、支持体４に作用する浮力の大きさが、飛行装置１全体に作用する重力の大きさに略一致するように構成されていても良い。即ち、支持体４に作用する浮力の大きさは、飛行装置１全体に作用する重力の大きさに、厳密に一致していなくても良い。 Note that the present invention is not limited to this, and the support body 4 may be configured such that the magnitude of the buoyant force acting on the support body 4 substantially matches the magnitude of the gravity force acting on the entire flight device 1. good. That is, the magnitude of the buoyant force acting on the support body 4 does not have to exactly match the magnitude of the gravitational force acting on the entire flight device 1.
　このように、支持体４は、支持体４に作用する浮力の大きさが、飛行装置１全体に作用する重力の大きさに一致するように、または、略一致するように構成されている。 In this way, the support body 4 is configured such that the magnitude of the buoyancy force acting on the support body 4 matches or substantially matches the magnitude of the gravity force acting on the entire flight device 1.
　〔メインユニットについて〕
　図３に示すように、支持体４は、メインユニット４２及びケーブル４３を有している。メインユニット４２及びケーブル４３は、何れも、バルーン部４１の内部空間に位置している。 [About the main unit]
As shown in FIG. 3, the support body 4 has a main unit 42 and a cable 43. The main unit 42 and the cable 43 are both located in the internal space of the balloon section 41.
　メインユニット４２は、バルーン部４１に固定されている。また、メインユニット４２は、ケーブル４３を介して、飛行体２に接続されている。 The main unit 42 is fixed to the balloon part 41. Further, the main unit 42 is connected to the aircraft 2 via a cable 43.
　図４に示すように、メインユニット４２は、装置制御部４４（本発明に係る「制御部」及び「装置制御部」に相当）を有している。装置制御部４４は、飛行用モータ２２、ウインチ５１、作業装置３を制御するように構成されている。 As shown in FIG. 4, the main unit 42 has a device control section 44 (corresponding to the "control section" and "device control section" according to the present invention). The device control unit 44 is configured to control the flight motor 22, the winch 51, and the work device 3.
　尚、本実施形態において、装置制御部４４から飛行用モータ２２へ送られる制御信号は、ケーブル４３を介して送られる。また、装置制御部４４からウインチ５１へ送られる制御信号は、無線接続を介して送られる。また、装置制御部４４から作業装置３へ送られる制御信号は、無線接続を介して送られる。 In this embodiment, the control signal sent from the device control unit 44 to the flight motor 22 is sent via the cable 43. Further, a control signal sent from the device control unit 44 to the winch 51 is sent via a wireless connection. Further, the control signal sent from the device control unit 44 to the working device 3 is sent via a wireless connection.
　装置制御部４４は、飛行用モータ２２を制御することにより、飛行体２の飛行を制御可能である。これにより、装置制御部４４は、飛行装置１の移動を制御可能である。 The device control unit 44 can control the flight of the flying object 2 by controlling the flight motor 22. Thereby, the device control unit 44 can control the movement of the flight device 1.
　尚、本発明はこれに限定されず、装置制御部４４は、飛行用モータ２２を制御できないように構成されていても良い。また、装置制御部４４は、作業装置３を制御できないように構成されていても良い。 Note that the present invention is not limited to this, and the device control section 44 may be configured so that it cannot control the flight motor 22. Further, the device control unit 44 may be configured so as not to be able to control the work device 3.
　即ち、支持体４は、飛行体２及び作業装置３の少なくとも一方を制御する装置制御部４４を有している。 That is, the support body 4 has a device control section 44 that controls at least one of the flying object 2 and the working device 3.
　また、メインユニット４２は、衛星測位装置４５を有している。衛星測位装置４５は、ＧＰＳ（グローバル・ポジショニング・システム）で用いられる人工衛星からのＧＰＳ信号を受信する。そして、衛星測位装置４５は、受信したＧＰＳ信号に基づいて、飛行装置１の位置座標を経時的に算出する。 The main unit 42 also includes 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 flight device 1 over time based on the received GPS signal.
　尚、本発明はこれに限定されない。衛星測位装置４５は、ＧＰＳを利用するものでなくても良い。例えば、衛星測位装置４５は、ＧＰＳ以外のＧＮＳＳ（ＧＬＯＮＡＳＳ、Ｇａｌｉｌｅｏ、みちびき、ＢｅｉＤｏｕ等）を利用するものであっても良い。 However, the present invention is not limited to this. The satellite positioning device 45 does not need to use GPS. For example, the satellite positioning device 45 may use GNSS (GLONASS, Galileo, Michibiki, BeiDou, etc.) other than GPS.
　算出された飛行装置１の経時的な位置座標は、装置制御部４４へ送られる。装置制御部４４は、衛星測位装置４５から受け取った飛行装置１の経時的な位置座標に基づいて、飛行装置１の移動を制御可能である。これにより、例えば、装置制御部４４は、予め決められた目標移動経路に沿って飛行装置１が移動するように、飛行装置１の移動を制御可能である。 The calculated positional coordinates of the flight device 1 over time are sent to the device control unit 44. The device control unit 44 can control the movement of the flight device 1 based on the temporal position coordinates of the flight device 1 received from the satellite positioning device 45. Thereby, for example, the device control unit 44 can control the movement of the flight device 1 so that the flight device 1 moves along a predetermined target movement route.
　また、メインユニット４２は、記録部４６を有している。作業装置３は、作業装置３の駆動状態を示す情報を、記録部４６へ送るように構成されている。また、記録部４６は、衛星測位装置４５から、飛行装置１の経時的な位置座標を取得する。 Furthermore, the main unit 42 has a recording section 46. The work device 3 is configured to send information indicating the driving state of the work device 3 to the recording unit 46. The recording unit 46 also acquires the position coordinates of the flight device 1 over time from the satellite positioning device 45.
　そして、記録部４６は、作業装置３により実施された作業を記録する。より具体的には、記録部４６は、時刻を示す情報と、作業装置３の駆動状態を示す情報と、飛行装置１の位置座標と、を対応付けることにより、作業装置３による作業履歴を記録する。 Then, the recording unit 46 records the work performed by the work device 3. More specifically, the recording unit 46 records the work history of the working device 3 by associating information indicating the time, information indicating the driving state of the working device 3, and position coordinates of the flying device 1. .
　例えば、作業装置３が薬剤散布機Ａ１である場合、記録部４６は、薬剤散布が完了した各地点または各エリアと、それらの地点またはエリアにおいて薬剤が散布された時刻と、を対応付けて記録する。 For example, when the work device 3 is a chemical sprayer A1, the recording unit 46 records each point or area where chemical spraying has been completed in association with the time when the chemical was sprayed at those points or areas. do.
　このように、支持体４は、作業装置３により実施された作業を記録する記録部４６を有している。 In this way, the support body 4 has the recording section 46 that records the work performed by the work device 3.
　また、メインユニット４２は、バッテリー４７（本発明に係る「エネルギー源」に相当）を有している。バッテリー４７は、電力（本発明に係る「エネルギー」に相当）を貯留可能である。また、バッテリー４７は、飛行体２、ウインチ５１、作業装置３に電力を供給可能である。 Furthermore, the main unit 42 has a battery 47 (corresponding to the "energy source" according to the present invention). The battery 47 can store electric power (corresponding to "energy" according to the present invention). Further, the battery 47 can supply power to the flying object 2, the winch 51, and the working device 3.
　尚、本実施形態において、バッテリー４７から飛行体２へ供給される電力は、ケーブル４３を介して供給される。また、バッテリー４７からウインチ５１へ供給される電力は、ウインチ用電力ケーブル（図示せず）を介して供給される。また、バッテリー４７から作業装置３へ供給される電力は、作業装置用電力ケーブル（図示せず）を介して供給される。 Note that in this embodiment, power is supplied from the battery 47 to the flying object 2 via the cable 43. Further, power is supplied from the battery 47 to the winch 51 via a winch power cable (not shown). Further, power is supplied from the battery 47 to the working device 3 via a working device power cable (not shown).
　飛行用モータ２２、ウインチ５１、作業装置３は、バッテリー４７から供給される電力により駆動可能である。 The flight motor 22, winch 51, and working device 3 can be driven by power supplied from the battery 47.
　尚、本発明はこれに限定されず、バッテリー４７は、飛行体２に電力を供給できないように構成されていても良い。また、バッテリー４７は、作業装置３に電力を供給できないように構成されていても良い。 Note that the present invention is not limited to this, and the battery 47 may be configured so that it cannot supply power to the flying object 2. Further, the battery 47 may be configured such that it cannot supply power to the working device 3.
　このように、支持体４は、飛行体２及び作業装置３の少なくとも一方に電力を供給可能なバッテリー４７を有している。 In this way, the support body 4 has a battery 47 that can supply power to at least one of the flying object 2 and the working device 3.
　本実施形態において、メインユニット４２は、バルーン部４１及びケーブル４３から取り外すことができるように構成されている。そして、メインユニット４２は、バルーン部４１に設けられたメンテナンス孔（図示せず）を介して、バルーン部４１の外に取り出すことができる。また、これとは逆の手順により、メインユニット４２は、支持体４に取り付けることができる。即ち、メインユニット４２は、支持体４に対して着脱可能である。 In this embodiment, the main unit 42 is configured to be detachable from the balloon part 41 and the cable 43. The main unit 42 can then be taken out of the balloon section 41 through a maintenance hole (not shown) provided in the balloon section 41. Moreover, the main unit 42 can be attached to the support body 4 by the reverse procedure. That is, the main unit 42 can be attached to and detached from the support body 4.
　この構成により、装置制御部４４は、支持体４に対して着脱可能である。また、記録部４６は、支持体４に対して着脱可能である。また、バッテリー４７は、支持体４に対して着脱可能である。 With this configuration, the device control section 44 can be attached to and detached from the support body 4. Furthermore, the recording section 46 is removable from the support 4. Further, the battery 47 is removable from the support 4.
　尚、メインユニット４２に含まれる装置制御部４４等の各要素は、マイクロコンピュータ等の物理的な装置であっても良いし、ソフトウェアにおける機能部であっても良い。 Note that each element included in the main unit 42, such as the device control section 44, may be a physical device such as a microcomputer, or may be a functional section in software.
　〔作業アシストシステムについて〕
　図５から図７に示すように、飛行装置１は、作業機または作業者により行われる作業に関するアシストである作業アシストを実行可能に構成されている。以下では、飛行装置１を備えるシステムである作業アシストシステムＳＹについて説明する。 [About the work assist system]
As shown in FIGS. 5 to 7, the flight device 1 is configured to be able to perform work assistance, which is assistance related to work performed by a work machine or a worker. The work assist system SY, which is a system including the flight device 1, will be described below.
　図４に示すように、飛行体２は、検知部２３を有している。検知部２３は、作業アシストが必要であることを検知する。 As shown in FIG. 4, the flying object 2 has a detection section 23. The detection unit 23 detects that work assistance is required.
　即ち、作業アシストシステムＳＹは、作業アシストが必要であることを検知する検知部２３を備えている。 That is, the work assist system SY includes a detection unit 23 that detects that work assistance is required.
　本実施形態において、検知部２３は、作業装置３や、作業装置３の周囲を撮像するカメラを含んでいる。そして、検知部２３は、カメラにより取得された撮像画像に対して、機械学習されたニューラルネットワークを利用した画像認識を行うことによって、作業アシストが必要であることを検知する。 In the present embodiment, the detection unit 23 includes the work device 3 and a camera that images the surroundings of the work device 3. Then, the detection 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.
　尚、本発明はこれに限定されない。例えば、作業アシストシステムＳＹが人為操作可能な操作具を備えると共に、検知部２３が、この操作具の操作に基づいて、作業アシストが必要であることを検知するように構成されていても良い。 However, the present invention is not limited to this. For example, the work assist system SY may include an operating tool that can be manually operated, and the detection unit 23 may be configured to detect that work assistance is required based on the operation of this operating tool.
　検知部２３は、作業アシストが必要であることを検知すると、所定の信号を装置制御部４４へ送る。装置制御部４４は、この信号に応じて、飛行用モータ２２、ウインチ５１、作業装置３を制御する。即ち、装置制御部４４は、検知部２３による検知結果に基づいて飛行装置１を制御する。 When the detection unit 23 detects that work assistance is required, it sends a predetermined signal to the device control unit 44. The device control unit 44 controls the flight motor 22, winch 51, and working device 3 in response to this signal. That is, the device control unit 44 controls the flight device 1 based on the detection result by the detection unit 23.
　このように、作業アシストシステムＳＹは、検知部２３による検知結果に基づいて飛行装置１を制御する装置制御部４４を備えている。 In this way, the work assist system SY includes the device control section 44 that controls the flight device 1 based on the detection result by the detection section 23.
　より具体的には、装置制御部４４は、検知部２３により作業アシストが必要であることが検知された場合、飛行装置１が作業アシストを実行するように、飛行装置１を制御する。 More specifically, when the detection unit 23 detects that work assistance is required, the device control unit 44 controls the flight device 1 so that the flight device 1 performs work assistance.
　例えば、図５に示す例において、作業装置３は、自走可能な田植機Ａ２（本発明に係る「作業機」に相当）である。この例において、装置制御部４４は、各ウインチ５１（図３、図４参照）を、ワイヤ５を巻き取る方向に作動させる。これにより、飛行装置１は、作業アシストとして、田植機Ａ２を持ち上げる方向の力を田植機Ａ２に作用させることが可能である。 For example, in the example shown in FIG. 5, the working device 3 is a self-propelled rice transplanter A2 (corresponding to the "working device" according to the present invention). In this example, the device control unit 44 operates each winch 51 (see FIGS. 3 and 4) in a direction to wind up the wire 5. Thereby, the flight device 1 can apply a force in the direction of lifting the rice transplanter A2 to the rice transplanter A2 as a work assist.
　図５に示す例では、検知部２３により、田植機Ａ２が軟弱地盤に沈み込んだことが検知された場合に、飛行装置１は、作業アシストとして、田植機Ａ２を持ち上げる方向の力を田植機Ａ２に作用させる。また、検知部２３により、田植機Ａ２が旋回することが検知された場合に、飛行装置１は、作業アシストとして、田植機Ａ２を持ち上げる方向の力を田植機Ａ２に作用させる。 In the example shown in FIG. 5, when the detection unit 23 detects that the rice transplanter A2 has sunk into soft ground, the flight device 1 applies a force in the direction of lifting the rice transplanter A2 to the rice transplanter as a work assist. Act on A2. Further, when the detection unit 23 detects that the rice transplanter A2 is turning, the flight device 1 applies a force in the direction of lifting the rice transplanter A2 to the rice transplanter A2 as a work assist.
　尚、田植機Ａ２を持ち上げる方向の力の大きさは、田植機Ａ２から地面に作用する荷重を低減する程度の大きさでも良いし、田植機Ａ２が地面から離間する程度の大きさでも良い。 Note that the magnitude of the force in the direction of lifting the rice transplanter A2 may be large enough to reduce the load acting on the ground from the rice transplanter A2, or may be large enough to separate the rice transplanter A2 from the ground.
　また、図６に示す例において、作業装置３は、自走可能なトラクタＷ１（本発明に係る「作業機」に相当）を押圧可能な棒状部材Ａ３である。この例において、トラクタＷ１は、耕耘装置Ｔを備えている。 In the example shown in FIG. 6, the working device 3 is a rod-shaped member A3 that can press a self-propelled tractor W1 (corresponding to the "working machine" according to the present invention). In this example, the tractor W1 is equipped with a tillage device T.
　また、図３及び図６に示すように、飛行体２は、接続部２４を有している。接続部２４は、下方に突出している。そして、接続部２４は、作業装置３を接続可能に構成されている。 Furthermore, as shown in FIGS. 3 and 6, the flying object 2 has a connecting portion 24. The connecting portion 24 projects downward. The connecting portion 24 is configured to be connectable to the working device 3.
　尚、接続部２４は、飛行体２と作業装置３とを安定的に接続できる構成であれば、いかなる構成であっても良い。 Note that the connecting portion 24 may have any configuration as long as it can stably connect the flying object 2 and the working device 3.
　図６に示すように、棒状部材Ａ３は、接続部２４に接続されている。そして、飛行装置１は、棒状部材Ａ３の下端部がトラクタＷ１に接当した状態で、飛行体２が下降する方向に飛行用モータ２２を駆動することにより、棒状部材Ａ３によって、トラクタＷ１を下側へ押し付けることができる。 As shown in FIG. 6, the rod-shaped member A3 is connected to the connecting portion 24. Then, the flight device 1 lowers the tractor W1 with the rod member A3 by driving the flight motor 22 in the direction in which the flying object 2 descends with the lower end of the rod member A3 in contact with the tractor W1. It can be pushed to the side.
　この構成により、飛行装置１は、作業アシストとして、トラクタＷ１を下側へ押し付ける方向の力をトラクタＷ１に作用させることが可能である。 With this configuration, the flight device 1 can apply a force to the tractor W1 in the direction of pressing the tractor W1 downward as a work assist.
　尚、飛行装置１は、作業アシストとして、トラクタＷ１を下側へ押し付ける方向の力を、トラクタＷ１の何れの部位に作用させても良い。例えば、図６に示すように、飛行装置１は、作業アシストとして、トラクタＷ１を下側へ押し付ける方向の力を、トラクタＷ１の前端部に作用させても良い。この場合、トラクタＷ１は、機体前端部におけるカウンタウエイトを備えていなくても良い。 Note that the flight device 1 may apply a force in the direction of pressing the tractor W1 downward to any part of the tractor W1 as a work assist. For example, as shown in FIG. 6, the flight device 1 may apply a force in the direction of pressing the tractor W1 downward to the front end of the tractor W1 as a work assist. In this case, the tractor W1 does not need to include a counterweight at the front end of the body.
　図６に示す例では、検知部２３により、トラクタＷ１が耕耘作業を開始したことが検知された場合に、飛行装置１は、作業アシストとして、トラクタＷ１を下側へ押し付ける方向の力をトラクタＷ１に作用させる。 In the example shown in FIG. 6, when the detection unit 23 detects that the tractor W1 has started plowing, the flight device 1 applies a force to the tractor W1 in the direction of pushing the tractor W1 downward as a work assist. to act on.
　また、図７に示す例において、作業装置３は、フックＡ４である。この例においては、作業者が、物体Ｗ２を保持しながら運んでいる。そして、作業者は、フックＡ４に物体Ｗ２を吊り下げる。 Furthermore, in the example shown in FIG. 7, the working device 3 is a hook A4. In this example, the worker is holding and carrying the object W2. Then, the worker suspends the object W2 from the hook A4.
　ここで、検知部２３により、フックＡ４に物体Ｗ２が吊り下げられたことが検知された場合に、装置制御部４４は、各ウインチ５１（図３、図４参照）を、ワイヤ５を巻き取る方向に作動させる。これにより、飛行装置１は、作業アシストとして、作業者が保持する物体Ｗ２を持ち上げる方向の力を物体Ｗ２に作用させることが可能である。 Here, when the detection unit 23 detects that the object W2 is suspended from the hook A4, the device control unit 44 causes each winch 51 (see FIGS. 3 and 4) to wind the wire 5. operate in the direction. Thereby, 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.
　さらに、飛行装置１は、物体Ｗ２を持ち上げる方向の力を物体Ｗ２に作用させた状態で、作業アシストとして、作業者の移動する方向と同じ方向に、作業者の移動速度と同じ速度で移動可能であっても良い。 Furthermore, the flight device 1 can move in the same direction as the worker's movement 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.
　以上で説明した構成であれば、飛行体２及び作業装置３の少なくとも一方に、持ち上げる方向の力が作用するため、作業装置３の重量が比較的大きい場合であっても、飛行装置１が正常に飛行しやすい。 With the configuration described above, a force in the lifting direction acts on at least one of the flying object 2 and the working device 3, so even if the weight of the working device 3 is relatively large, the flying device 1 can operate normally. Easy to fly.
　即ち、以上で説明した構成であれば、比較的大きな重量を有する作業装置３を備える場合であっても正常に飛行しやすい飛行装置１を実現できる。 That is, with the configuration described above, it is possible to realize a flight device 1 that is easy to fly normally even when it is equipped with a working device 3 having a relatively large weight.
　〔第１別実施形態〕
　上記実施形態においては、飛行体２の側部にバルーン部４１が直接的に取り付けられている。 [First alternative embodiment]
In the embodiment described above, the balloon part 41 is directly attached to the side of the flying object 2.
　しかしながら、本発明はこれに限定されない。以下では、本発明に係る第１別実施形態について、上記実施形態とは異なる点を中心に説明する。以下で説明している部分以外の構成は、上記実施形態と同様である。また、上記実施形態と同様の構成については、同じ符号を付している。 However, the present invention is not limited to this. Below, a first alternative embodiment of the present invention will be described, focusing on the points that are different from the above embodiments. The configuration other than the portions described below is the same as the above embodiment. Further, the same components as in the above embodiment are given the same reference numerals.
　第１別実施形態においては、図８に示すように、支持体４はフレーム部４８を有している。フレーム部４８は、特に限定されないが、飛行体２の外形と同じ形状を有していても良い。そして、フレーム部４８の側部にバルーン部４１が取り付けられている。 In a first alternative embodiment, as shown in FIG. 8, the support body 4 has a frame portion 48. The frame portion 48 may have the same shape as the outer shape of the flying object 2, although it is not particularly limited. The balloon section 41 is attached to the side of the frame section 48.
　飛行体２は、支持体４の上方に位置している。また、各ワイヤ５の下端に、フレーム部４８が接続されている。これにより、支持体４は、ワイヤ５を介して飛行体２に接続されている。 The flying object 2 is located above the support 4. Further, a frame portion 48 is connected to the lower end of each wire 5. Thereby, the support body 4 is connected to the flying object 2 via the wire 5.
　また、図８に示すように、フレーム部４８は、フレーム接続部４９を有している。フレーム接続部４９は、下方に突出している。そして、作業装置３である薬剤散布機Ａ１は、フレーム接続部４９に下方から接続されている。 Further, as shown in FIG. 8, the frame portion 48 has a frame connection portion 49. The frame connection portion 49 projects downward. The chemical sprayer A1, which is the working device 3, is connected to the frame connecting portion 49 from below.
　尚、フレーム接続部４９は、支持体４と作業装置３とを安定的に接続できる構成であれば、いかなる構成であっても良い。 Note that the frame connecting portion 49 may have any configuration as long as it can stably connect the support body 4 and the working device 3.
　この構成においては、図８に示すように、バルーン部４１は、作業装置３の周囲を囲む状態で設けられている。 In this configuration, as shown in FIG. 8, the balloon portion 41 is provided to surround the working device 3.
　また、図８に示すように、メインユニット４２は、フレーム部４８の上面に載置されている。また、支持体４は、作業装置側ケーブル６０を有している。メインユニット４２は、作業装置側ケーブル６０を介して、作業装置３に接続されている。 Further, as shown in FIG. 8, the main unit 42 is placed on the upper surface of the frame portion 48. Further, the support body 4 has a working device side cable 60. The main unit 42 is connected to the working device 3 via a working device side cable 60.
　装置制御部４４から作業装置３へ送られる制御信号は、作業装置側ケーブル６０を介して送られる。また、バッテリー４７から作業装置３へ供給される電力は、作業装置側ケーブル６０を介して供給される。 A control signal sent from the device control unit 44 to the working device 3 is sent via the working device side cable 60. Further, power is supplied from the battery 47 to the working device 3 via the working device side cable 60.
　また、図８に示すように、支持体４は、形状変更可能に構成されている。詳述すると、バルーン部４１は、内部のガスを抜くことにより、折り畳むことができる。図８には、折り畳まれた状態のバルーン部４１が、仮想線にて示されている。バルーン部４１を折り畳むことにより、支持体４の形状が、コンパクトな形状に変化することとなる。 Furthermore, as shown in FIG. 8, the support body 4 is configured to be able to change its shape. To explain in detail, the balloon part 41 can be folded by releasing the gas inside. In FIG. 8, the balloon part 41 in a folded state is shown in phantom lines. By folding the balloon portion 41, the shape of the support body 4 changes to a compact shape.
　〔第２別実施形態〕
　上記実施形態においては、支持体４はバルーン部４１を有している。 [Second alternative embodiment]
In the embodiment described above, the support body 4 has a balloon portion 41 .
　しかしながら、本発明はこれに限定されない。以下では、本発明に係る第２別実施形態について、上記実施形態とは異なる点を中心に説明する。以下で説明している部分以外の構成は、上記実施形態と同様である。また、上記実施形態と同様の構成については、同じ符号を付している。 However, the present invention is not limited to this. Below, a second alternative embodiment of the present invention will be described, focusing on the points that are different from the above embodiment. The configuration other than the portions described below is the same as the above embodiment. Further, the same components as in the above embodiment are given the same reference numerals.
　第２別実施形態においては、図９に示すように、支持体４はバルーン部４１に代えて、支持飛行体６１を有している。 In a second alternative embodiment, as shown in FIG. 9, the support body 4 has a support flying body 61 instead of the balloon part 41.
　支持飛行体６１の個数は、一つであっても良いし、複数であっても良い。図９に示す例では、支持体４は二つの支持飛行体６１を有している。 The number of support aircraft 61 may be one or more. In the example shown in FIG. 9, the support body 4 has two support flying bodies 61.
　このように、支持体４は、一つまたは複数の支持飛行体６１を有している。 In this way, the support body 4 has one or more support flying bodies 61.
　支持飛行体６１は、複数の支持飛行部６２を有している。支持飛行部６２は、プロペラ２１と同様の構造を有している。支持飛行部６２は、電動の支持飛行体用モータ（図示せず）の駆動力によって駆動する。そして、支持飛行体６１は、各支持飛行部６２を駆動することによって飛行可能である。 The support flight object 61 has a plurality of support flight sections 62. The support flying section 62 has a similar structure to the propeller 21. The support flight section 62 is driven by the driving force of an electric support flight vehicle motor (not shown). The support flight object 61 can fly by driving each support flight section 62.
　即ち、支持飛行体６１は、飛行するための支持飛行部６２を有すると共に、支持飛行部６２を駆動することによって飛行可能である。 That is, the support flight object 61 has a support flight section 62 for flying, and can fly by driving the support flight section 62.
　より具体的には、支持飛行体６１は、各支持飛行部６２を駆動することにより、空中に浮かんだ状態で、上下方向、前後方向、左右方向の何れにも移動することが可能である。また、支持飛行体６１は、各支持飛行部６２を駆動することにより、停止飛行が可能である。 More specifically, by driving each support flight section 62, the support flying object 61 can move in any of the vertical, longitudinal, and horizontal directions while floating in the air. Further, the support flying object 61 can be stopped in flight by driving each support flight section 62.
　尚、支持飛行体６１は、支持体４に組み込まれた状態でも、また、支持体４から取り外された状態でも、飛行可能である。 Note that the support flying object 61 can fly even when it is incorporated into the support body 4 or when it is removed from the support body 4.
　また、図９に示すように、支持体４は上側フレーム部６４及び下側フレーム部６６を有している。上側フレーム部６４は、下側フレーム部６６の上面に固定されている。上側フレーム部６４の上端部に、ジョイント機構６８を介して、上側から飛行体２が接続されている。また、下側フレーム部６６に、ジョイント機構６８を介して、下側から支持飛行体６１が接続されている。 Further, as shown in FIG. 9, the support body 4 has an upper frame part 64 and a lower frame part 66. The upper frame part 64 is fixed to the upper surface of the lower frame part 66. The flying object 2 is connected to the upper end of the upper frame section 64 from above via a joint mechanism 68. Further, the support aircraft 61 is connected to the lower frame portion 66 from below via a joint mechanism 68.
　尚、各ジョイント機構６８は、上下二つの部材を安定的に連結可能な機構であれば、公知のいかなる種類の機構であっても良い。 Note that each joint mechanism 68 may be any type of known mechanism as long as it can stably connect the upper and lower members.
　また、図９に示すように、メインユニット４２は、上側フレーム部６４の内部に設けられている。また、図９には示されていないが、ウインチ５１も上側フレーム部６４の内部に設けられている。そして、各ワイヤ５は、上側フレーム部６４から下側へ延びている。 Further, as shown in FIG. 9, the main unit 42 is provided inside the upper frame portion 64. Although not shown in FIG. 9, the winch 51 is also provided inside the upper frame portion 64. Each wire 5 extends downward from the upper frame portion 64.
　支持飛行体６１は、支持飛行部６２を駆動することにより、下側フレーム部６６を持ち上げる方向の力を、下側フレーム部６６に作用させることができる。この力は、下側フレーム部６６から上側フレーム部６４を介して飛行体２へ伝わる。即ち、この構成において、支持体４は、各支持飛行部６２を駆動することにより、支持力を飛行体２に作用させる。また、支持体４は、各支持飛行部６２を駆動することにより、各ワイヤ５を介して、支持力を作業装置３に作用させる。 By driving the support flight section 62, the support flying object 61 can apply a force to the lower frame section 66 in the direction of lifting the lower frame section 66. This force is transmitted from the lower frame part 66 to the flying object 2 via the upper frame part 64. That is, in this configuration, the support body 4 applies a supporting force to the flying object 2 by driving each support flying section 62. Further, the support body 4 applies a supporting force to the working device 3 via each wire 5 by driving each support flying section 62 .
　ただし、本発明はこれに限定されず、支持体４は、支持飛行部６２を駆動することにより、支持力を飛行体２及び作業装置３のうち一方のみに作用させるように構成されていても良い。 However, the present invention is not limited to this, and the support body 4 may be configured to apply supporting force to only one of the flying body 2 and the working device 3 by driving the support flying section 62. good.
　即ち、支持体４は、支持飛行部６２を駆動することにより、支持力を飛行体２及び作業装置３の少なくとも一方に作用させるように構成されている。 That is, the support body 4 is configured to apply a supporting force to at least one of the flying body 2 and the working device 3 by driving the support flying section 62.
　尚、支持体４は、支持飛行部６２の回転速度を変化させることにより、支持力の大きさを変化させることが可能である。 Note that the support body 4 can change the magnitude of the supporting force by changing the rotational speed of the support flying section 62.
　〔第３別実施形態〕
　上記実施形態においては、バルーン部４１は、平面視において円形状（真円形状）である。 [Third alternative embodiment]
In the embodiment described above, the balloon portion 41 has a circular shape (perfect circular shape) in plan view.
　しかしながら、本発明はこれに限定されない。以下では、本発明に係る第３別実施形態について、上記実施形態とは異なる点を中心に説明する。以下で説明している部分以外の構成は、上記実施形態と同様である。また、上記実施形態と同様の構成については、同じ符号を付している。 However, the present invention is not limited to this. Below, a third alternative embodiment of the present invention will be described, focusing on the points that differ from the above embodiment. The configuration other than the portions described below is the same as the above embodiment. Further, the same components as in the above embodiment are given the same reference numerals.
　第３別実施形態においては、図１０に示すように、上下方向に延びる棒状接続体７０が、接続部２４に接続されている。そして、棒状接続体７０の下端に、薬剤散布機Ａ１が接続されている。 In the third alternative embodiment, as shown in FIG. 10, a rod-shaped connecting body 70 extending in the vertical direction is connected to the connecting portion 24. A chemical sprayer A1 is connected to the lower end of the rod-shaped connector 70.
　また、棒状接続体７０は、上下二つのリング部７１を貫通する状態で設けられている。二つのリング部７１は、互いに上下方向に所定の間隔を空けた状態で、棒状接続体７０に固定されている。 Further, the rod-shaped connecting body 70 is provided so as to pass through the two upper and lower ring portions 71. The two ring parts 71 are fixed to the rod-shaped connecting body 70 with a predetermined interval spaced from each other in the vertical direction.
　また、支持体４は、円板状の円板フレーム部７３を有している。円板フレーム部７３の側部にバルーン部４１が取り付けられている。 Further, the support body 4 has a disk-shaped disk frame portion 73. The balloon section 41 is attached to the side of the disc frame section 73.
　円板フレーム部７３の中央部に、貫通孔７３ａが設けられている。棒状接続体７０は、貫通孔７３ａを貫通している。また、円板フレーム部７３は、二つのリング部７１の間に挟まれている。 A through hole 73a is provided in the center of the disc frame portion 73. The rod-shaped connector 70 passes through the through hole 73a. Further, the disc frame portion 73 is sandwiched between the two ring portions 71.
　この構成により、支持体４は、上下方向に延びる回転軸芯Ｐ周りに、棒状接続体７０に対して回転可能である。即ち、支持体４は、上下方向に延びる回転軸芯Ｐ周りに、作業装置３に対して回転可能である。 With this configuration, the support body 4 is rotatable with respect to the rod-shaped connecting body 70 around the rotation axis P extending in the vertical direction. That is, the support body 4 is rotatable with respect to the working device 3 around the rotation axis P extending in the vertical direction.
　尚、支持体４は、浮力による支持力を、上側のリング部７１、棒状接続体７０を介して、飛行体２及び作業装置３に作用させる。 Note that the support body 4 applies a supporting force due to buoyancy to the flying object 2 and the working device 3 via the upper ring portion 71 and the rod-shaped connecting body 70.
　ここで、図１１において、矢印Ｎの方向を「北」、矢印Ｓの方向を「南」、矢印Ｅの方向を「東」、矢印Ｗの方向を「西」とする。 Here, in FIG. 11, the direction of arrow N is "north," the direction of arrow S is "south," the direction of arrow E is "east," and the direction of arrow W is "west."
　図１１に示すように、バルーン部４１は、平面視において楕円状の外形を有している。そして、図１１には、支持体４の平面視における長手方向が南北方向に沿っている状態での、南北方向（本発明に係る「第１方向」に相当）での支持体４の投影図である第１投影図Ｑ１と、東西方向（本発明に係る「第２方向」に相当）での支持体４の投影図である第２投影図Ｑ２と、が示されている。図１１に示すように、第１投影図Ｑ１の面積は、第２投影図Ｑ２の面積よりも小さい。 As shown in FIG. 11, the balloon portion 41 has an elliptical outer shape in plan view. FIG. 11 is a projected view of the support 4 in the north-south direction (corresponding to the "first direction" according to the present invention) in a state where the longitudinal direction of the support 4 in plan view is along the north-south direction. A first projection view Q1 is shown, and a second projection view Q2 is a projection view of the support body 4 in the east-west direction (corresponding to the "second direction" according to the present invention). As shown in FIG. 11, the area of the first projection Q1 is smaller than the area of the second projection Q2.
　このように、支持体４は、所定の第１方向での投影面積と、第１方向とは異なる第２方向での投影面積と、が異なるように構成されている。 In this way, the support body 4 is configured so that the projected area in the predetermined first direction is different from the projected area in the second direction, which is different from the first direction.
　〔その他の実施形態〕
　（１）支持体４は、支持体４に作用する浮力の大きさが、飛行装置１全体に作用する重力の大きさよりも大きいように構成されていても良い。 [Other embodiments]
(1) The support body 4 may be configured such that the magnitude of buoyancy acting on the support body 4 is greater than the magnitude of gravity acting on the entire flight device 1.
　（２）支持体４は、支持体４に作用する浮力の大きさが、飛行装置１全体に作用する重力の大きさよりも小さいように構成されていても良い。 (2) The support body 4 may be configured such that the magnitude of buoyancy acting on the support body 4 is smaller than the magnitude of gravity acting on the entire flight device 1.
　（３）支持体４は、支持力を変更可能に構成されていても良い。例えば、支持体４におけるバルーン部４１が、バルーン部４１の内部のガスの量を調節可能に構成されていても良い。バルーン部４１の内部のガスの量を調節することにより、支持体４に作用する浮力の大きさが変化する。これにより、支持体４による支持力の大きさが変化する。 (3) The support body 4 may be configured to be able to change its supporting force. For example, the balloon part 41 in the support body 4 may be configured to be able to adjust the amount of gas inside the balloon part 41. By adjusting the amount of gas inside the balloon part 41, the magnitude of the buoyant force acting on the support body 4 is changed. Thereby, the magnitude of the supporting force by the support body 4 changes.
　（４）図１２に示すように、飛行可能であると共に作業装置３に接続された補助飛行体７５を備えていても良い。図１２に示す例では、補助飛行体７５は、飛行体２から延びるワイヤ５とは異なるワイヤ５を介して作業装置３に接続されている。補助飛行体７５は、飛行体２と同様の機構によって飛行可能に構成されている。 (4) As shown in FIG. 12, it may include an auxiliary flying object 75 that is capable of flying and is connected to the working device 3. In the example shown in FIG. 12 , the auxiliary flying object 75 is connected to the working device 3 via a wire 5 that is different from the wire 5 extending from the flying object 2 . The auxiliary flying object 75 is configured to be able to fly using the same mechanism as the flying object 2.
　尚、図１２に示す例では、二つの補助飛行体７５が備えられている。しかしながら、本発明はこれに限定されず、補助飛行体７５の設けられる個数は、一つであっても良いし、三つ以上であっても良い。 In the example shown in FIG. 12, two auxiliary flying objects 75 are provided. However, the present invention is not limited thereto, and the number of auxiliary flying objects 75 provided may be one, or three or more.
　各補助飛行体７５の飛行は、例えば、装置制御部４４によって制御されても良い。 The flight of each auxiliary flying object 75 may be controlled by the device control unit 44, for example.
　（５）図１３に示すように、飛行体２が支持体４の上側に位置すると共に、飛行体２が、棒状の連結部材７７を介して、支持体４に連結されていても良い。連結部材７７の個数は特に限定されないが、例えば、図１３に示すように、三つであっても良い。 (5) As shown in FIG. 13, the flying object 2 may be located above the supporting body 4, and the flying object 2 may be connected to the supporting body 4 via a rod-shaped connecting member 77. The number of connecting members 77 is not particularly limited, but may be three, as shown in FIG. 13, for example.
　図１３に示す例では、支持体４は、バルーン付きフレーム７８を有している。バルーン付きフレーム７８は、上記実施形態におけるバルーン部４１と同様に浮力を受けるバルーンと、フレーム構造体と、を含んでいる。メインユニット４２は、バルーン付きフレーム７８の上面に載置されている。また、作業装置３は、バルーン付きフレーム７８の下端部に接続されている。 In the example shown in FIG. 13, the support body 4 has a frame 78 with a balloon. The balloon-equipped frame 78 includes a balloon that receives buoyancy similarly to the balloon portion 41 in the above embodiment, and a frame structure. The main unit 42 is placed on the upper surface of the frame 78 with a balloon. Further, the working device 3 is connected to the lower end of the frame 78 with a balloon.
　そして、作業装置３は、バルーン付きフレーム７８に対して、水平方向に移動可能に構成されている。尚、作業装置３は、例えば電動モータ等のアクチュエータによって、バルーン付きフレーム７８に対して移動可能に構成されていても良い。 The working device 3 is configured to be movable in the horizontal direction with respect to the balloon-equipped frame 78. Note that the working device 3 may be configured to be movable relative to the balloon-equipped frame 78 by, for example, an actuator such as an electric motor.
　このように、作業装置３は、支持体４に対して移動可能に構成されている。 In this way, the working device 3 is configured to be movable with respect to the support body 4.
　尚、図１３に示す例では、バルーン付きフレーム７８の下面に、検知部２３が取り付けられている。 In the example shown in FIG. 13, the detection unit 23 is attached to the lower surface of the balloon-equipped frame 78.
　（６）装置制御部４４は、種々の情報に基づいて、飛行用モータ２２、ウインチ５１、作業装置３を制御するように構成されていても良い。当該情報は、例えば、作業対象地あるいは作業対象地の周辺に位置する移動式のセンサや固定式のセンサにより得られる情報であっても良い。この場合、移動式のセンサは、例えば、自走可能な作業機に備わるセンサであっても良い。また、固定式のセンサは、例えば、多機能かかし、ＧＰＳ基地局、監視カメラ、鳥獣害防止柵に備わるセンサ等であっても良い。 (6) The device control unit 44 may be configured to control the flight motor 22, winch 51, and work device 3 based on various information. The information may be, for example, information obtained by a mobile sensor or a fixed sensor located at the work site or around the work site. In this case, the mobile sensor may be, for example, a sensor provided in a self-propelled work machine. Further, the fixed sensor may be, for example, a multi-functional scarecrow, a GPS base station, a surveillance camera, a sensor provided in a wildlife damage prevention fence, or the like.
　また、当該情報は、例えば、サプライチェーンに紐づくスマート機械から得られた情報であっても良い。この場合、例えば、作業装置３として収穫装置が備えられ、サプライチェーンに紐づくスマート機械として構成された穀物乾燥機の稼働情報を装置制御部４４が取得すると共に、当該稼働情報に基づいて、穀物の収穫タイミングが最適となるように、装置制御部４４が飛行用モータ２２、ウインチ５１、作業装置３を制御しても良い。 Additionally, the information may be, for example, information obtained from smart machines linked to the supply chain. In this case, for example, the device control unit 44 acquires operation information of a grain dryer that is equipped with a harvesting device as the work device 3 and is configured as a smart machine linked to the supply chain, and based on the operation information, The device control unit 44 may control the flight motor 22, winch 51, and working device 3 so that the timing of harvesting is optimal.
　（７）作業装置３として耕耘ロータが備えられると共に、装置制御部４４が、飛行体２が下降する方向に飛行用モータ２２を駆動することにより、飛行装置１が耕耘ロータを下側へ押し付けながら飛行するように構成されていても良い。これにより、従来の作業車両を利用した耕耘作業と同等の耕耘作業を実施可能な飛行装置１を実現できる。 (7) A tilling rotor is provided as the working device 3, and the device control unit 44 drives the flight motor 22 in the direction in which the flying object 2 descends, so that the flying device 1 presses the tilling rotor downward. It may also be configured to fly. Thereby, it is possible to realize the flight device 1 that can perform plowing work equivalent to plowing work using a conventional work vehicle.
　（８）検知部２３、装置制御部４４、記録部４６のうち、一部または全てが飛行装置１の外部に備えられていても良いのであって、例えば、飛行装置１の外部に設けられた管理コンピュータに備えられていても良い。 (8) Some or all of the detection unit 23, device control unit 44, and recording unit 46 may be provided outside the flight device 1. For example, It may be provided in the management computer.
　（９）飛行装置１が、プロペラ２１の作動音を打ち消すよう構成されてもよい。例えば、複数のプロペラ２１が、互いに作動音を打ち消すように動作制御されてもよい。例えば、プロペラ２１の作動音を打ち消す音（ノイズキャンセル音）を発生する消音装置が飛行装置１に設けられてもよい。その消音装置が、飛行用モータ２２へ送られる制御量に基づいてノイズキャンセル音を生成するように構成されてもよい。 (9) The flight device 1 may be configured to cancel the operating sound of the propeller 21. For example, the operations of the plurality of propellers 21 may be controlled so that their operating sounds cancel each other out. For example, the flight device 1 may be provided with a silencer that generates a sound (noise canceling sound) that cancels the operating sound of the propeller 21. The silencer may be configured to generate a noise canceling sound based on the control amount sent to the flight motor 22.
　（１０）飛行装置１を構成する各要素が、様々な形態の飛行装置１の間で流用可能なように設計されてもよい。例えば、ワイヤ５と作業装置３との間の接続機構が、様々な種類の作業装置３における共通規格として設計されており、様々な種類の作業装置３をワイヤ５に接続可能なように構成されていても良い。また、例えば、飛行体２と支持体４との間の接続機構が、様々な種類の飛行体２や支持体４における共通規格として設計されており、様々な種類の飛行体２と、様々な種類の支持体４と、を任意に組み合わせて接続可能なように構成されていても良い。 (10) Each element constituting the flight device 1 may be designed so that it can be used between various types of flight devices 1. For example, the connection mechanism between the wire 5 and the working device 3 is designed as a common standard for various types of working devices 3, and is configured so that various types of working devices 3 can be connected to the wire 5. You can leave it there. Furthermore, for example, the connection mechanism between the flying object 2 and the supporting body 4 is designed as a common standard for various types of flying objects 2 and supporting bodies 4. It may be configured such that any type of support body 4 can be connected in any combination.
　（１１）プロペラ２１は、プロペラ２１の回転軸を機体左右方向に延びる軸芯周りに回転可能なように構成されていても良い。即ち、プロペラ２１は所謂ティルト式であっても良い。この構成であれば、飛行装置１は、垂直離着陸、ホバリング飛行、及び高速水平飛行が可能である。 (11) The propeller 21 may be configured to be rotatable about the axis of rotation of the propeller 21 that extends in the left-right direction of the aircraft. That is, the propeller 21 may be of a so-called tilt type. With this configuration, the flight device 1 is capable of vertical takeoff and landing, hovering flight, and high-speed horizontal flight.
　尚、上述の実施形態（別実施形態を含む、以下同じ）で開示される構成は、矛盾が生じない限り、他の実施形態で開示される構成と組み合わせて適用することが可能である。また、本明細書において開示された実施形態は例示であって、本発明の実施形態はこれに限定されず、本発明の目的を逸脱しない範囲内で適宜改変することが可能である。 Note that the configurations disclosed in the above-described embodiments (including other embodiments, the same applies hereinafter) can be applied in combination with the configurations disclosed in other embodiments as long as no contradiction occurs. Further, the embodiments disclosed in this specification are illustrative, and the embodiments of the present invention are not limited thereto, and can be modified as appropriate without departing from the purpose of the present invention.
　本発明は、飛行可能な飛行体を備える飛行装置、及び、飛行装置を備える作業アシストシステムに利用可能である。 INDUSTRIAL APPLICABILITY The present invention can be used in a flight device equipped with a flightable flying object and a work assist system equipped with a flight device.
　１　　　飛行装置
　２　　　飛行体
　３　　　作業装置
　４　　　支持体
　２１　　プロペラ（飛行部）
　２３　　検知部
　４１　　バルーン部
　４４　　装置制御部（制御部）
　４６　　記録部
　４７　　バッテリー（エネルギー源）
　６１　　支持飛行体
　６２　　支持飛行部
　７５　　補助飛行体
　Ａ２　　田植機（作業機）
　Ｐ　　　回転軸芯
　ＳＹ　　作業アシストシステム
　Ｗ１　　トラクタ（作業機）
　Ｗ２　　物体 1 Flight device 2 Flying object 3 Working device 4 Support body 21 Propeller (flight part)
23 Detection section 41 Balloon section 44 Device control section (control section)
46 Recording section 47 Battery (energy source)
61 Support flight vehicle 62 Support flight section 75 Auxiliary flight vehicle A2 Rice transplanter (work machine)
P Rotation axis SY Work assist system W1 Tractor (work equipment)
W2 Object

Claims (22)

  1. 　飛行するための飛行部を有すると共に、前記飛行部を駆動することによって飛行可能な飛行体と、
    　所定の作業を実施可能な作業装置と、
    　前記飛行体または前記作業装置を持ち上げる方向の力である支持力を前記飛行体及び前記作業装置の少なくとも一方に作用させる支持体と、を備える飛行装置。     A flying object having a flight part for flying and capable of flying by driving the flight part;
    A work device capable of carrying out a predetermined work;
    A flight device comprising: a support body that applies a supporting force, which is a force in a direction of lifting the flying object or the working device, to at least one of the flying object and the working device.
  2. 　前記支持体は、前記支持体に作用する浮力により、前記支持力を前記飛行体及び前記作業装置の少なくとも一方に作用させるように構成されている請求項１に記載の飛行装置。 The flight device according to claim 1, wherein the support body is configured to apply the support force to at least one of the flying object and the work device by a buoyant force acting on the support body.
  3. 　前記支持体は、前記支持体に作用する浮力の大きさが、飛行装置全体に作用する重力の大きさに一致するように、または、略一致するように構成されており、
    　前記飛行部を駆動することによって移動可能である請求項２に記載の飛行装置。     The support body is configured such that the magnitude of the buoyant force acting on the support body matches or substantially matches the magnitude of the gravitational force acting on the entire flight device,
    The flight device according to claim 2, wherein the flight device is movable by driving the flight section.
  4. 　前記支持体は、前記支持体に作用する浮力の大きさが、飛行装置全体に作用する重力の大きさよりも大きいように構成されており、
    　前記飛行部を駆動することによって移動可能である請求項２に記載の飛行装置。     The support body is configured such that a buoyant force acting on the support body is larger than a gravitational force acting on the entire flight device,
    The flight device according to claim 2, wherein the flight device is movable by driving the flight section.
  5. 　前記支持体は、前記支持体に作用する浮力の大きさが、飛行装置全体に作用する重力の大きさよりも小さいように構成されており、
    　前記飛行部を駆動することによって移動可能である請求項２に記載の飛行装置。     The support body is configured such that a buoyant force acting on the support body is smaller than a gravitational force acting on the entire flight device,
    The flight device according to claim 2, wherein the flight device is movable by driving the flight section.
  6. 　前記支持体は、浮力を受けるように構成されたバルーン部を有しており、
    　前記バルーン部は、前記作業装置の周囲を囲む状態で設けられている請求項２から５の何れか一項に記載の飛行装置。     The support has a balloon portion configured to receive buoyancy,
    The flight device according to any one of claims 2 to 5, wherein the balloon portion is provided so as to surround the working device.
  7. 　前記支持体は、一つまたは複数の支持飛行体を有しており、
    　前記支持飛行体は、飛行するための支持飛行部を有すると共に、前記支持飛行部を駆動することによって飛行可能であり、
    　前記支持体は、前記支持飛行部を駆動することにより、前記支持力を前記飛行体及び前記作業装置の少なくとも一方に作用させるように構成されている請求項１に記載の飛行装置。     The support body has one or more support flying bodies,
    The support flight object has a support flight section for flying, and can fly by driving the support flight section,
    The flight device according to claim 1, wherein the support body is configured to apply the support force to at least one of the flying body and the working device by driving the support flying section.
  8. 　前記支持体は、前記飛行体及び前記作業装置の少なくとも一方を制御する制御部を有している請求項１から７の何れか一項に記載の飛行装置。 The flight device according to any one of claims 1 to 7, wherein the support body has a control section that controls at least one of the flying object and the working device.
  9. 　前記制御部は、前記支持体に対して着脱可能である請求項８に記載の飛行装置。 The flight device according to claim 8, wherein the control unit is removable from the support.
  10. 　前記支持体は、前記飛行体及び前記作業装置の少なくとも一方にエネルギーを供給可能なエネルギー源を有している請求項１から９の何れか一項に記載の飛行装置。 The flight device according to any one of claims 1 to 9, wherein the support body has an energy source capable of supplying energy to at least one of the flying object and the working device.
  11. 　前記エネルギー源は、前記支持体に対して着脱可能である請求項１０に記載の飛行装置。 The flight device according to claim 10, wherein the energy source is removable from the support.
  12. 　前記支持体は、前記作業装置により実施された作業を記録する記録部を有している請求項１から１１の何れか一項に記載の飛行装置。 The flight device according to any one of claims 1 to 11, wherein the support body has a recording section that records the work performed by the work device.
  13. 　前記記録部は、前記支持体に対して着脱可能である請求項１２に記載の飛行装置。 The flight device according to claim 12, wherein the recording section is removable from the support.
  14. 　前記支持体は、上下方向に延びる回転軸芯周りに、前記作業装置に対して回転可能であり、
    　前記支持体は、所定の第１方向での投影面積と、前記第１方向とは異なる第２方向での投影面積と、が異なるように構成されている請求項１から１３の何れか一項に記載の飛行装置。     The support body is rotatable with respect to the working device around a rotation axis extending in an up-down direction,
    Any one of claims 1 to 13, wherein the support body is configured to have a projected area in a predetermined first direction and a projected area in a second direction different from the first direction. Flight equipment described in.
  15. 　前記作業装置は、前記支持体に対して移動可能に構成されている請求項１から１４の何れか一項に記載の飛行装置。 The flight device according to any one of claims 1 to 14, wherein the working device is configured to be movable with respect to the support body.
  16. 　前記支持体は、前記支持力を変更可能に構成されている請求項１から１５の何れか一項に記載の飛行装置。 The flight device according to any one of claims 1 to 15, wherein the support body is configured to be able to change the support force.
  17. 　前記支持体は、形状変更可能に構成されている請求項１から１６の何れか一項に記載の飛行装置。 The flight device according to any one of claims 1 to 16, wherein the support body is configured to be changeable in shape.
  18. 　飛行可能であると共に前記作業装置に接続された補助飛行体を備える請求項１から１７の何れか一項に記載の飛行装置。 The flight device according to any one of claims 1 to 17, comprising an auxiliary flying vehicle that is capable of flying and is connected to the working device.
  19. 　請求項１から１８の何れか一項に記載の飛行装置を備える作業アシストシステムであって、
    　前記飛行装置は、作業機または作業者により行われる作業に関するアシストである作業アシストを実行可能に構成されており、
    　前記作業アシストが必要であることを検知する検知部と、
    　前記検知部による検知結果に基づいて前記飛行装置を制御する装置制御部と、を備え、
    　前記装置制御部は、前記検知部により前記作業アシストが必要であることが検知された場合、前記飛行装置が前記作業アシストを実行するように、前記飛行装置を制御する作業アシストシステム。     A work assist system comprising the flight device according to any one of claims 1 to 18,
    The flight device is configured to be able to perform work assistance, which is assistance related to work performed by a work machine or a worker,
    a detection unit that detects that the work assistance is required;
    a device control unit that controls the flight device based on the detection result by the detection unit,
    The device control unit is a work assist system that controls the flight device so that the flight device executes the work assist when the detection unit detects that the work assist is necessary.
  20. 　前記飛行装置は、前記作業アシストとして、前記作業機を持ち上げる方向の力を前記作業機に作用させることが可能である請求項１９に記載の作業アシストシステム。 The work assist system according to claim 19, wherein the flight device is capable of applying a force in a direction to lift the work machine to the work machine as the work assist.
  21. 　前記飛行装置は、前記作業アシストとして、前記作業機を下側へ押し付ける方向の力を前記作業機に作用させることが可能である請求項１９または２０に記載の作業アシストシステム。 The work assist system according to claim 19 or 20, wherein the flight device is capable of applying a force to the work machine in a direction to press the work machine downward as the work assist.
  22. 　前記飛行装置は、前記作業アシストとして、前記作業者が保持する物体を持ち上げる方向の力を前記物体に作用させることが可能である請求項１９から２１の何れか一項に記載の作業アシストシステム。 The work assist system according to any one of claims 19 to 21, wherein the flight device is capable of applying a force to the object in a direction to lift the object held by the worker as the work assist.
PCT/JP2022/018268 2022-04-20 2022-04-20 Flying device and work assist system WO2023203671A1 (en)

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JP2005271831A (en) * 2004-03-26 2005-10-06 Chugoku Electric Power Co Inc:The Unmanned flying object using floating gas
WO2017154472A1 (en) * 2016-03-10 2017-09-14 パナソニックＩｐマネジメント株式会社 Flying object
JP2019193766A (en) * 2018-04-25 2019-11-07 株式会社荏原製作所 Fire-extinguishing system using drone
JP2021046161A (en) * 2019-09-20 2021-03-25 株式会社フジタ Water bottom shape measuring apparatus

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005271831A (en) * 2004-03-26 2005-10-06 Chugoku Electric Power Co Inc:The Unmanned flying object using floating gas
WO2017154472A1 (en) * 2016-03-10 2017-09-14 パナソニックＩｐマネジメント株式会社 Flying object
JP2019193766A (en) * 2018-04-25 2019-11-07 株式会社荏原製作所 Fire-extinguishing system using drone
JP2021046161A (en) * 2019-09-20 2021-03-25 株式会社フジタ Water bottom shape measuring apparatus

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