WO2024142259A1 - 作業機 - Google Patents

作業機 Download PDF

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Publication number
WO2024142259A1
WO2024142259A1 PCT/JP2022/048215 JP2022048215W WO2024142259A1 WO 2024142259 A1 WO2024142259 A1 WO 2024142259A1 JP 2022048215 W JP2022048215 W JP 2022048215W WO 2024142259 A1 WO2024142259 A1 WO 2024142259A1
Authority
WO
WIPO (PCT)
Prior art keywords
work
thrust
ground surface
flying object
attitude
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2022/048215
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
阪口和央
藤原徹也
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kubota Corp
Original Assignee
Kubota Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kubota Corp filed Critical Kubota Corp
Priority to PCT/JP2022/048215 priority Critical patent/WO2024142259A1/ja
Priority to JP2024567039A priority patent/JPWO2024142259A1/ja
Priority to EP22970053.9A priority patent/EP4644261A1/en
Publication of WO2024142259A1 publication Critical patent/WO2024142259A1/ja
Priority to US19/222,424 priority patent/US20250287876A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/60—Tethered aircraft
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D75/00—Accessories for harvesters or mowers
    • A01D75/28—Control mechanisms for harvesters or mowers when moving on slopes; Devices preventing lateral pull
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/40—Control within particular dimensions
    • G05D1/49—Control of attitude, i.e. control of roll, pitch or yaw
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/69—Coordinated control of the position or course of two or more vehicles
    • G05D1/692—Coordinated control of the position or course of two or more vehicles involving a plurality of disparate vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/69—Coordinated control of the position or course of two or more vehicles
    • G05D1/695—Coordinated control of the position or course of two or more vehicles for maintaining a fixed relative position of the vehicles, e.g. for convoy travelling or formation flight
    • G05D1/696—Coordinated control of the position or course of two or more vehicles for maintaining a fixed relative position of the vehicles, e.g. for convoy travelling or formation flight involving a plurality of vehicles coupled together
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/69—Coordinated control of the position or course of two or more vehicles
    • G05D1/698—Control allocation
    • G05D1/6985—Control allocation using a lead vehicle, e.g. primary-secondary arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/40—UAVs specially adapted for particular uses or applications for agriculture or forestry operations
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/15—Specific applications of the controlled vehicles for harvesting, sowing or mowing in agriculture or forestry
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/20—Land use
    • G05D2107/21—Farming, e.g. fields, pastures or barns
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/20—Aircraft, e.g. drones
    • G05D2109/25—Rotorcrafts
    • G05D2109/254—Flying platforms, e.g. multicopters

Definitions

  • the present invention relates to a work machine that includes an aircraft and a work device.
  • Patent Document 1 discloses an aircraft support device equipped with a spraying device for spraying pesticides, etc., as an example of agricultural work.
  • the working machine of the present invention is characterized by comprising a working device capable of performing work on the ground surface, an aircraft that flies by generating thrust, a connecting mechanism that connects the working device and the aircraft, and an attitude control unit that controls at least one of the aircraft and the connecting mechanism to control the attitude of the working device.
  • the attitude of the work device is controlled by controlling at least one of the flying object and the connecting mechanism, making it possible to perform work on the ground surface appropriately.
  • the above features allow the flying object to be disconnected from the working device during flight, reducing the possibility of the flying object crashing. For example, if it becomes difficult to control the flying object's attitude due to a strong wind, the connection can be released to reduce the load on the flight and prevent the object from crashing.
  • the above features cushion the impact from the working device, reducing the possibility of damage to the connecting device and the flying object.
  • the apparatus further includes a slope acquisition unit that acquires slope information indicating the slope of the ground surface, and the attitude control unit controls the attitude of the work device according to the slope information acquired by the slope acquisition unit.
  • the above features allow the attitude of the work device to be controlled according to the slope of the ground surface, making it possible to perform work on the ground surface more appropriately.
  • the communication device 13 communicates with the remote controller held by the operator and with the higher-level agricultural management system.
  • the communication device 13 also communicates with the communication device 43 of the work device 4.
  • the control device 50 controls the operation of the work device 4.
  • the control device 50 includes a memory (HDD, non-volatile RAM, etc., not shown) that stores programs corresponding to the functional modules, and a CPU (not shown) that executes the programs.
  • the functions of each functional unit are realized by the CPU executing the programs.
  • the control device 50 includes a non-transitory recording medium that stores the programs.
  • the attitude control unit 22 controls at least one of the flying object 2 and the connecting mechanism 3 to control the attitude of the working device 4. This is explained in detail below.
  • the attitude control unit 22 may control only one of the flying object 2 and the connecting mechanism 3, or may control both the flying object 2 and the connecting mechanism 3.
  • the control by the attitude control unit 22 may be performed as follows.
  • a sensor such as a camera or LiDAR (which may also serve as the tilt detection device 14) provided on the flying object 2 detects the work results performed by the work device 4.
  • the attitude control unit 22 controls the attitude of the work device 4 according to the work results detected by the sensor. For example, when the work results are worse than a preset standard, the attitude control unit 22 controls the attitude of the work device 4 so as to improve the work results.
  • the work results are the planting depth and the presence or absence of missing stalks (missing seedlings).
  • the working device 4 includes a thrust generating device 45.
  • the control device 50 includes a thrust control unit 51.
  • the thrust generating device 45 is a device that generates thrust and presses the working device 4 toward the ground surface.
  • the thrust generating device 45 is a propeller that is driven to rotate (an example of a "main propeller").
  • the number of thrust generating devices 45 may be two as in the illustrated example, or one, three or more. Multiple thrust generating devices 45 may be arranged coaxially as in the illustrated example, or may be arranged on different rotation axes.
  • the working device 4 may be equipped with multiple types of thrust generating devices 45 that differ in size and output.
  • the thrust generating device 45 may be driven by the power of a PTO shaft whose drive shaft branches off from the engine of the working device 4.
  • a clutch is provided between the engine and the thrust generating device 45 to turn the thrust generating device 45 on and off.
  • the thrust generating device 45 may be driven by an electric motor.
  • examples of the method of supplying power to the electric motor include wired power supply from the working device 4, wired power supply from the flying object 2 via an electric wire installed along the connecting mechanism 3, and wireless power supply from the flying object 2.
  • the working device 4 also includes a protective body 45a.
  • the protective body 45a is disposed around the propeller, which is the thrust generating device 45.
  • the protective body 45a is a cage-shaped member formed by bending a rod-shaped member.
  • the protective body 45a may include a mesh-shaped member or a plate-shaped member.
  • the protective body 45a may cover a part of the thrust generating device 45. It is preferable that the protective body 45a cover the entire side surface of the thrust generating device 45. It is preferable that the protective body 45a cover the entire upper surface of the thrust generating device 45. It is preferable that the protective body 45a cover the entire lower surface of the thrust generating device 45.
  • the thrust control unit 51 controls the thrust generating device 45 according to the inclination information acquired by the inclination acquisition unit 23. For example, the thrust control unit 51 controls the thrust generating device 45 so that the thrust increases as the inclination of the ground surface increases.
  • the thrust control unit 51 may stop the thrust generating device 45 when the inclination of the ground surface is smaller than a predetermined threshold value.
  • the thrust control unit 51 may be capable of controlling the direction of the thrust generated by the thrust generating device 45.
  • the thrust control unit 51 may control the thrust generating device 45 based on the tilt information acquired by the tilt acquisition unit 23 so that the direction of the thrust generated by the thrust generating device 45 is perpendicular to the ground surface.
  • the thrust generating device 45 may include, in addition to a propeller (main propeller) that is driven to generate thrust, an auxiliary propeller (not shown) that rotates upon receiving at least a portion of the downwash from the flying body 2.
  • the thrust generating device 45 may be configured to use the energy received by the auxiliary propeller from the downwash to drive the main propeller.
  • the shape of the auxiliary propeller is one that easily rotates upon receiving the downwash from the flying body 2 located above the working device 4.
  • a generator may be connected to the auxiliary propeller, and the generated electricity may be used to drive the main propeller.
  • the connecting mechanism 3 includes a flexible wire.
  • the entire connecting mechanism 3 may be made of a rigid body.
  • the change mechanism 31 may be a mechanism that expands and contracts to change its length, or a mechanism that bends to change the connection angle.
  • the connecting mechanism 3 does not need to include the buffer mechanism 33.
  • the working device 4 does not need to be equipped with a protective body 45a.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Catching Or Destruction (AREA)
  • Soil Working Implements (AREA)
PCT/JP2022/048215 2022-12-27 2022-12-27 作業機 Ceased WO2024142259A1 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
PCT/JP2022/048215 WO2024142259A1 (ja) 2022-12-27 2022-12-27 作業機
JP2024567039A JPWO2024142259A1 (https=) 2022-12-27 2022-12-27
EP22970053.9A EP4644261A1 (en) 2022-12-27 2022-12-27 Work machine
US19/222,424 US20250287876A1 (en) 2022-12-27 2025-05-29 Work machine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2022/048215 WO2024142259A1 (ja) 2022-12-27 2022-12-27 作業機

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US19/222,424 Continuation US20250287876A1 (en) 2022-12-27 2025-05-29 Work machine

Publications (1)

Publication Number Publication Date
WO2024142259A1 true WO2024142259A1 (ja) 2024-07-04

Family

ID=91716742

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2022/048215 Ceased WO2024142259A1 (ja) 2022-12-27 2022-12-27 作業機

Country Status (4)

Country Link
US (1) US20250287876A1 (https=)
EP (1) EP4644261A1 (https=)
JP (1) JPWO2024142259A1 (https=)
WO (1) WO2024142259A1 (https=)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPWO2024142237A1 (https=) * 2022-12-27 2024-07-04
WO2024142220A1 (ja) * 2022-12-27 2024-07-04 株式会社クボタ 飛行体

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1159596A (ja) * 1997-08-19 1999-03-02 Toshiba Corp 情報収集装置
US20190047694A1 (en) * 2016-02-03 2019-02-14 Israel Aerospace Industries Ltd. Aerial platforms for aerial spraying and methods for controlling the same
CN111070217A (zh) * 2019-12-07 2020-04-28 北京大学 一种基于无人机搭载机械臂的采茶装置
WO2020137242A1 (ja) 2018-12-28 2020-07-02 株式会社クボタ 飛行体の支援装置、及び飛行体の支援システム
JP2020199818A (ja) * 2019-06-07 2020-12-17 有限会社渥美不動産アンドコーポレーション 配送システム、飛行体、および、コントローラ
JP2021504790A (ja) * 2017-12-18 2021-02-15 エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ 無人機又は農業用無人機の制御方法、及び無人機の制御装置
KR102346816B1 (ko) * 2021-04-27 2022-01-04 서자호 무인 굴삭용 드론

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1159596A (ja) * 1997-08-19 1999-03-02 Toshiba Corp 情報収集装置
US20190047694A1 (en) * 2016-02-03 2019-02-14 Israel Aerospace Industries Ltd. Aerial platforms for aerial spraying and methods for controlling the same
JP2021504790A (ja) * 2017-12-18 2021-02-15 エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ 無人機又は農業用無人機の制御方法、及び無人機の制御装置
WO2020137242A1 (ja) 2018-12-28 2020-07-02 株式会社クボタ 飛行体の支援装置、及び飛行体の支援システム
JP2020199818A (ja) * 2019-06-07 2020-12-17 有限会社渥美不動産アンドコーポレーション 配送システム、飛行体、および、コントローラ
CN111070217A (zh) * 2019-12-07 2020-04-28 北京大学 一种基于无人机搭载机械臂的采茶装置
KR102346816B1 (ko) * 2021-04-27 2022-01-04 서자호 무인 굴삭용 드론

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP4644261A1

Also Published As

Publication number Publication date
JPWO2024142259A1 (https=) 2024-07-04
US20250287876A1 (en) 2025-09-18
EP4644261A1 (en) 2025-11-05

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