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WO2024171291A1 - Engin volant sans pilote embarqué, système de gestion, système d'emballage, procédé de gestion et programme informatique - Google Patents

Engin volant sans pilote embarqué, système de gestion, système d'emballage, procédé de gestion et programme informatique Download PDF

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Publication number
WO2024171291A1
WO2024171291A1 PCT/JP2023/004971 JP2023004971W WO2024171291A1 WO 2024171291 A1 WO2024171291 A1 WO 2024171291A1 JP 2023004971 W JP2023004971 W JP 2023004971W WO 2024171291 A1 WO2024171291 A1 WO 2024171291A1
Authority
WO
WIPO (PCT)
Prior art keywords
unmanned aerial
aerial vehicle
package
harvester
harvested
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/JP2023/004971
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English (en)
Japanese (ja)
Inventor
忠久 増本
健一 金光
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 JP2025500458A priority Critical patent/JPWO2024171291A1/ja
Priority to PCT/JP2023/004971 priority patent/WO2024171291A1/fr
Publication of WO2024171291A1 publication Critical patent/WO2024171291A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/083—Shipping

Definitions

  • This disclosure relates to unmanned aerial vehicles, management systems, package systems, management methods, and computer programs.
  • Unmanned aerial vehicles are aircraft that cannot accommodate people due to their structure, but can fly remotely or automatically.
  • Rotary-wing unmanned aerial vehicles are unmanned aerial vehicles that obtain lift using propellers that rotate around an axis, i.e. rotors.
  • Small unmanned aerial vehicles equipped with multiple rotors are also called “drones,” “multirotors,” or “multicopters,” and are widely used for aerial photography, surveying, logistics, and pesticide spraying.
  • Patent Document 1 describes an unmanned aerial vehicle (unmanned flying object) that changes its flight position in conjunction with the operation of agricultural machinery.
  • a harvest management system is a harvest management system that uses an unmanned aerial vehicle to acquire crops harvested from a field by a mobile agricultural machine, and an acquisition device used to acquire the crops is connected to the unmanned aerial vehicle and moves together with the unmanned aerial vehicle, and the unmanned aerial vehicle includes a receiving device that receives position information indicating the position of the agricultural machine in the field or the position where the agricultural machine plans to discharge the crops, a flying device that flies the unmanned aerial vehicle, and a control device that controls the operation of the flying device to fly the unmanned aerial vehicle to a position where a first crop stored in the agricultural machine or a second crop discharged from the agricultural machine can be acquired, and the first crop or the second crop is acquired using the acquisition device connected to the unmanned aerial vehicle.
  • An unmanned aerial vehicle is an unmanned aerial vehicle that transports crops harvested from a field, and includes a flight device that flies the unmanned aerial vehicle, a control device that controls the operation of the flight device, a communication device that receives package position information indicating a first position where a target package to be transported that includes the crop is located and package weight information indicating the weight of the target package, and a support device that can support the target package.
  • the control device determines whether the target package can be transported to a second position different from the first position based on the package weight information, and if it determines that the target package can be transported, controls the flight device to fly the unmanned aerial vehicle to the first position, causes the support device to support the target package, and controls the flight device to fly the unmanned aerial vehicle to the second position.
  • a management system is a management system that manages transportation operations of an unmanned aerial vehicle, and includes a communication device that receives package location information indicating a first location where a package containing harvested produce is located in a field, and a control device that controls the operation of the unmanned aerial vehicle that supports a structure, and the control device detaches the structure from the unmanned aerial vehicle when the unmanned aerial vehicle is to support the package.
  • an unmanned aerial vehicle acquires the harvested goods harvested by an agricultural machine.
  • the unmanned aerial vehicle acquires the harvested goods from the agricultural machine without landing on the ground.
  • the unmanned aerial vehicle acquires the harvested goods from a position above the agricultural machine. Since there is no need to secure ground surface for a transport vehicle to run alongside the agricultural machine, crop harvesting can be performed easily and efficiently.
  • an unmanned aerial vehicle capable of carrying a target package can fly to a first location where the target package is located and support and carry the target package, thereby enabling efficient transportation of harvested produce.
  • harvested produce can be transported efficiently by having the unmanned aerial vehicle that was performing an operation to support a structure transport the package.
  • the weight of the package that the unmanned aerial vehicle can transport can be increased.
  • FIG. 1 is a block diagram illustrating schematic examples of rotary drive devices that rotate rotors in an unmanned aerial vehicle having multiple rotors.
  • 1 is a plan view showing a schematic diagram of one basic configuration example of an unmanned aerial vehicle equipped with multiple rotors.
  • 1 is a side view showing a schematic diagram of one basic configuration example of an unmanned aerial vehicle equipped with multiple rotors.
  • FIG. 13 is a plan view showing a schematic diagram of another basic configuration example of an unmanned aerial vehicle having multiple rotors.
  • FIG. 1 is a block diagram showing an example of a basic configuration of a battery-powered multicopter.
  • FIG. 1 is a block diagram showing an example of the basic configuration of a series hybrid drive type multicopter.
  • FIG. 1 is a block diagram showing an example of a basic configuration of a parallel hybrid drive type multicopter.
  • FIG. 1 illustrates an example of a harvest management system.
  • FIG. 1 is a side view illustrating a schematic example of a harvester.
  • FIG. 2 is a block diagram showing a configuration example of a harvester.
  • 1 is a block diagram showing an example configuration of an unmanned aerial vehicle;
  • 2 is a block diagram showing an example of the configuration of a management device and a terminal device;
  • FIG. 2 is a schematic diagram illustrating an example of an unmanned aerial vehicle having an acquisition device connected thereto;
  • FIG. 1 illustrates a field in which a harvester harvests a crop.
  • FIG. 11 is a flowchart showing an example of an operation for acquiring crops harvested by a harvester from a field using an unmanned aerial vehicle.
  • FIG. 13 shows an unmanned aerial vehicle moving to a storehouse for storing harvested products.
  • FIG. 2 is a schematic diagram illustrating another example of an unmanned aerial vehicle having an acquisition device connected thereto.
  • FIG. 2 shows a vacuum hose extending from a suction machine positioned in a field and an unmanned aerial vehicle supporting the vacuum hose.
  • FIG. 2 illustrates a drain hose extending from the harvester and an unmanned aerial vehicle supporting the drain hose.
  • FIG. 1 illustrates an example of a small unmanned aerial vehicle for harvesting crops.
  • FIG. 1 is a diagram illustrating an example of an agricultural machine.
  • 11A and 11B are diagrams illustrating an example of an operation for scooping up a bale discharged from a baler.
  • 11A and 11B are diagrams illustrating an example of an operation for scooping up a bale discharged from a baler.
  • 11A and 11B are diagrams illustrating an example of an operation for scooping up a bale discharged from a baler.
  • 10 is a flowchart illustrating an example process for determining an unmanned aerial vehicle from among a plurality of unmanned aerial vehicles to deliver a package of produce.
  • 10 is a flowchart illustrating an example process for determining an unmanned aerial vehicle from among a plurality of unmanned aerial vehicles to deliver a package of produce.
  • 10 is a flowchart illustrating an example process for determining an unmanned aerial vehicle from among a plurality of unmanned aerial vehicles to deliver a package of produce.
  • FIG. 1 illustrates an example of a farm field in which an unmanned aerial vehicle operates to retrieve and transport a package.
  • FIG. 11 is a flowchart illustrating an example of a process for determining whether an unmanned aerial vehicle itself is capable of transporting a target package.
  • FIG. 1 illustrates an example of an unmanned aerial vehicle supporting a work implement.
  • 11 is a flowchart showing an example of an operation for causing an unmanned aerial vehicle supporting a work machine to separate the work machine and transport harvested products.
  • FIG. 1 is a diagram showing an unmanned aerial vehicle supporting a work machine performing work in a farm field.
  • FIG. 1 is a diagram showing an unmanned aerial vehicle supporting a work machine performing work in a farm field.
  • FIG. 2 is a diagram showing an unmanned aerial vehicle with a work machine separated therefrom.
  • An unmanned aerial vehicle with multiple rotors includes a rotary drive device that rotates the rotors (hereinafter, sometimes referred to as "propellers").
  • a rotary drive device that rotates the rotors
  • multicopters such an unmanned aerial vehicle will be referred to as a "multicopters.”
  • FIG. 1A is a block diagram showing four examples of the rotary drive device 3 in this disclosure.
  • a flying device 1 that flies a multicopter is equipped with multiple rotors 2 and rotary drive devices 3.
  • the first rotary drive device 3A shown in FIG. 1A has a plurality of electric motors (hereinafter referred to as "motors") 14 that rotate a plurality of rotors 2, and a battery 52 that stores power to be supplied to each motor 14.
  • the battery 52 is, for example, a secondary battery such as a polymer-type lithium-ion battery.
  • Each rotor 2 is connected to the output shaft of the corresponding motor 14 and rotated by the motor 14.
  • the storage capacity of the battery 52 can be increased by making the battery 52 larger, but making the battery 52 larger results in an increase in weight.
  • the second rotary drive device 3B shown in FIG. 1A has a power transmission system 23 mechanically connected to the rotor 2, and an internal combustion engine 7a that provides a driving force (torque) to the power transmission system 23.
  • the power transmission system 23 includes mechanical components such as gears or belts, and transmits the torque of the output shaft of the internal combustion engine 7a to the rotor 2.
  • the internal combustion engine 7a can efficiently generate mechanical energy by burning fuel. Examples of the internal combustion engine 7a may include a gasoline engine, a diesel engine, and a hydrogen engine. Furthermore, the number of internal combustion engines 7a included in the rotary drive device 3B is not limited to one.
  • the third rotary drive device 3C shown in FIG. 1A has multiple motors 14, a power buffer 9 that stores power to be supplied to each motor 14, a power generator 8 such as an alternator that generates power, and an internal combustion engine 7a that provides mechanical energy for power generation to the power generator 8.
  • a typical example of the power buffer 9 is a battery such as a secondary battery, but it may also be a capacitor.
  • the power generator 8 generates power using the driving force (mechanical energy) of the internal combustion engine 7a, making it possible to increase the payload and/or flight time.
  • This type of drive is called “series hybrid drive”.
  • the power generator 8 and internal combustion engine 7a in series hybrid drive are called “range extenders" because they extend the flight distance of the multicopter.
  • the fourth rotary drive device 3D shown in FIG. 1A has multiple motors 14, a power buffer 9 that stores the power to be supplied to each motor 14, a power generation device 8 such as an alternator that generates power, an internal combustion engine 7a that provides the driving force for generating power to the power generation device 8, and a power transmission system 23 that transmits the driving force generated by the internal combustion engine 7a to the rotor 2 to rotate the rotor 2. At least one of the multiple rotors 2 is rotated by the internal combustion engine 7a, and the other rotors 2 are rotated by the motor 14.
  • the mechanical energy generated by the internal combustion engine 7a can also be used to rotate the rotor 2 without being converted into electric power, making it possible to increase the efficiency of energy utilization.
  • This type of drive is called a "parallel hybrid drive.”
  • FIG. 1B is a plan view that shows a schematic example of one basic configuration of multicopter 10.
  • the configuration example of FIG. 1B includes a first rotation drive device 3A shown in FIG. 1A as the rotation drive device 3. That is, the rotation drive device 3 (3A) in this example includes a motor 14 and a battery 52.
  • FIG. 1C is a side view that shows a schematic example of multicopter 10.
  • the multicopter 10 shown in Figures 1B and 1C comprises multiple rotors 2, an aircraft body 4, and an aircraft frame 5 that supports the rotors 2 and the aircraft body 4.
  • the aircraft frame 5 supports the aircraft body 4 at its center, and rotatably supports the multiple rotors 2 with multiple arms 5A extending outward from the center.
  • a motor 14 that rotates the rotors 2 is provided near the tip of each arm 5A.
  • the aircraft body 4 and the aircraft frame 5 are sometimes collectively referred to as the "aircraft 11.”
  • the multicopter 10 is a quad-type multicopter (quadcopter) equipped with four rotors 2.
  • the rotors 2 located on one diagonal line rotate in the same direction (clockwise or counterclockwise), but the rotors 2 located on different diagonals rotate in the opposite direction.
  • the aircraft body 4 includes a control device 4a that controls the operation of the devices and components mounted on the multicopter 10, a group of sensors 4b connected to the control device 4a, a communication device 4c connected to the control device 4a, and a battery 52.
  • the control device 4a may include, for example, a flight control device such as a flight controller, and a higher-level computer (companion computer).
  • the companion computer can perform advanced computational processing such as image processing, obstacle detection, and obstacle avoidance based on the sensor data acquired by the sensor group 4b.
  • the sensor group 4b may include an acceleration sensor, an angular velocity sensor, a geomagnetic sensor, an air pressure sensor, an altitude sensor, a temperature sensor, a flow rate sensor, an imaging device, a laser sensor, an ultrasonic sensor, an obstacle contact sensor, and a GNSS (Global Navigation Satellite System) receiver.
  • the acceleration sensor and the angular velocity sensor may be mounted on the aircraft body 4 as components of an IMU (Inertial Measurement Unit), for example.
  • IMU Inertial Measurement Unit
  • laser sensors may include a laser range finder used to measure the distance to the ground, and a two-dimensional or three-dimensional LiDAR (light detection and ranging).
  • the communication device 4c may include a wireless communication module for transmitting and receiving signals via an antenna between a transmitter on the ground or a ground station (Ground Control Station: GCS), a mobile communication module using a cellular communication network, and the like.
  • the communication device 4c may receive signals such as control commands transmitted from the ground, and transmit sensor data such as image data acquired by the sensor group 4b as telemetry information.
  • the communication device 4c may have a function for communicating between multicopters, and a function for satellite communication.
  • the control device 4a can be connected to a computer on the cloud via the communication device 4c. Some or all of the functions of the companion computer may be executed by a computer on the cloud.
  • the battery 52 is a secondary battery that can store power by charging and supply power to the motor 14 by discharging.
  • the battery 52 and the multiple motors 14 rotate the multiple rotors 2, making it possible to generate the desired thrust.
  • Each of the multiple rotors 2 generally has multiple blades with a fixed pitch angle, and generates thrust by rotation.
  • the pitch angle may be variable. It is not necessary for all of the multiple rotors 2 to have the same diameter (propeller diameter), and one or more rotors 2 may have a larger diameter than the other rotors 2.
  • the thrust (static thrust) generated by the rotating rotor 2 is generally proportional to the cube of the diameter of the rotor 2.
  • the rotor 2 with a relatively large diameter may be referred to as the "main rotor” and the rotor 2 with a relatively small diameter may be referred to as the "sub rotor”.
  • the configuration of the rotation drive device 3 may include a rotor 2 that can generate a relatively large thrust and a rotor 2 with a relatively small thrust.
  • the rotor 2 capable of generating a relatively large thrust may be referred to as the "main rotor”
  • the rotor 2 capable of generating a relatively small thrust may be referred to as the "sub-rotor”.
  • the rotor 2 capable of generating a relatively large thrust per rotation may be referred to as the "main rotor", and the rotor 2 capable of generating a relatively small thrust per rotation may be referred to as the "sub-rotor”.
  • the main rotor may be positioned further inward than the sub-rotor.
  • each rotor 2 may be positioned so that the distance from the center of the aircraft to the rotation axis of each main rotor is shorter than the distance from the center of the aircraft to the rotation axis of each sub-rotor.
  • the rotary drive device 3 has multiple motors 14.
  • the rotary drive device 3 may include an internal combustion engine 7a.
  • FIG. 1D is a plan view showing a basic configuration example of a multicopter 10 including a second rotary drive device 3B as the rotary drive device 3.
  • an internal combustion engine 7a is supported by the aircraft body 4.
  • the driving force generated by the internal combustion engine 7a is transmitted to the multiple rotors 2 by multiple power transmission systems 23, causing each rotor 2 to rotate.
  • the control device 4a can change the rotation speed of each rotor 2 by controlling each power transmission system 23.
  • the rotary drive device 3B may include a mechanism for changing the pitch angle of each blade of the multiple rotors 2.
  • the control device 4a may adjust the lift generated by each rotor 2 by controlling the mechanism to change the pitch angle of the blades.
  • the diameter of one or more rotors 2 rotated by the internal combustion engine 7a may be made larger than the diameter of the other rotors 2 rotated by the motor 14.
  • the internal combustion engine 7a may be used to rotate the main rotor, and the motor 14 may be used to rotate the sub-rotor.
  • the main rotor is primarily used to generate thrust, and the sub-rotor is used to generate thrust and control attitude.
  • the main rotor may be called the "booster rotor" and the sub-rotor may be called the "attitude control rotor.”
  • the internal combustion engine is used to both generate thrust and generate electricity.
  • the driving force (torque) generated by the internal combustion engine to either the rotor or the generator, or both, it is possible to achieve a good balance between thrust generation and electricity generation.
  • Equipping a multicopter with an internal combustion engine and using the engine to generate thrust and/or electricity contributes to an increase in payload and flight time. It is desirable to control the attitude of a multicopter by rotating the propellers with a motor, which has better response characteristics than an internal combustion engine. For this reason, in applications where the attitude of the multicopter needs to be precisely controlled, it is desirable to employ a parallel hybrid drive or series hybrid drive in order to increase the payload and flight time. Note that if the rotary drive device 3 is equipped with a mechanism for changing the pitch angle of each of the blades of the multiple rotors 2, the attitude can also be adjusted by changing the pitch angle of each blade.
  • multicopters are currently being used for spraying pesticides or monitoring crop growth conditions, but by connecting a variety of ground working machines (hereinafter sometimes simply referred to as "working machines") to a multicopter, it becomes possible to perform various agricultural tasks from the air.
  • Working machines for agricultural use are sometimes called "implements.” Examples of working machines may include sprayers that spray pesticides on crops, mowers, seeders, spreaders, rakes, balers, harvesters, plows, harrows, or rotary machines.
  • Work vehicles such as tractors are not included in the "working machines” in this disclosure.
  • the multicopter 10 is connected to a working machine 200 that can, for example, spray pesticides or fertilizers on a field or crops in the field.
  • a working machine 200 that can, for example, spray pesticides or fertilizers on a field or crops in the field.
  • the increase in payload and flight time makes it possible to realize a larger and/or more multifunctional working machine 200.
  • ground tasks agricultural tasks
  • the working machine 200 may be equipped with a mechanism such as a robot hand. In that case, one working machine 200 can perform a variety of ground tasks.
  • the working machine 200 can also transport agricultural materials or harvested products over a wide area.
  • the multicopter 10 may suspend and tow the work machine 200 by a cable.
  • the work machine 200 towed by the multicopter 10 may perform ground work while being towed while the multicopter 10 is flying or hovering.
  • the work machine 200 during work may be in the air or on the ground.
  • the multicopter 10 is equipped with a power supply device 76.
  • the power supply device 76 is a device that supplies power to the work machine 200 from a driving energy source such as the battery 52 or the power generation device 8 equipped in the multicopter 10. Various functions of the work machine 200 can be performed by this power.
  • the work machine 200 is equipped with actuators such as motors that operate with power obtained from the power supply device 76 of the multicopter 10. It is preferable that the work machine 200 is equipped with a battery that stores power.
  • the ESC 16 described later may be included in the control device 4a.
  • the battery-powered multicopter 10 includes a plurality of rotors 12, a plurality of motors 14 for rotating the rotors 12, a plurality of ESCs (Electric Speed Controllers) 16 each having a motor drive circuit for driving the motors 14, a battery 52 for supplying power to the corresponding motors 14 via each ESC 16, a control device 4a for controlling the ESCs 16 to fly while controlling the attitude, a sensor group 4b, a communication device 4c, and a power supply device 76 electrically connected to the battery 52.
  • the rotor 12 is an example of the rotor 2. In FIG.
  • the rotor 12, the motor 14, and the ESC 16 are each shown as one block, but the number of the rotors 12, the motors 14, and the ESCs 16 is multiple. This is also true for FIG. 2B and FIG. 2C.
  • the control device 4a can receive control commands wirelessly from, for example, a ground station 6 on the ground via the communication device 4c.
  • the number of ground stations 6 is not limited to one, and may be distributed in multiple locations.
  • the communication device 4c can also receive control commands wirelessly from a control device of a pilot on the ground.
  • the control device 4a may have a function to automatically or autonomously perform each operation of takeoff, flight, obstacle avoidance, and landing based on sensor data obtained from the sensor group 4b.
  • the control device 4a may be configured to communicate with the work machine 200 connected to the power supply device 76 and obtain a signal indicating the state of the work machine 200 from the work machine 200.
  • the control device 4a may also provide the work machine 200 with a signal that controls the operation of the work machine 200.
  • the work machine 200 may generate a signal instructing the operation of the multicopter 10 and transmit it to the control device 4a.
  • Such communication between the control device 4a and the work machine 200 may be performed by wire or wirelessly.
  • the series hybrid drive type multicopter 10 like the battery drive type multicopter 10, includes multiple rotors 12, multiple motors 14, multiple ESCs 16, a control device 4a, a sensor group 4b, and a communication device 4c.
  • the illustrated series hybrid drive type multicopter 10 further includes an internal combustion engine 7a, a fuel tank 7b that stores fuel for the internal combustion engine 7a, a power generation device 8 that is driven by the internal combustion engine 7a to generate electric power, a power buffer 9 that temporarily stores the electric power generated by the power generation device 8, and a power supply device 76 that is electrically connected to the power buffer 9.
  • the power buffer 9 is, for example, a battery such as a secondary battery.
  • the electric power generated by the power generation device 8 is supplied to the motor 14 via the power buffer 9 and the ESC 16.
  • the electric power generated by the power generation device 8 can also be supplied to the work machine 200 via the power supply device 76.
  • FIG. 2C is a block diagram showing an example of the basic configuration of a parallel hybrid drive type multicopter 10.
  • the parallel hybrid drive type multicopter 10 like the series hybrid drive type multicopter 10, includes a plurality of rotors 12, a plurality of motors 14 for driving the rotors 12, a plurality of ESCs 16, a control device 4a, a group of sensors 4b, a communication device 4c, an internal combustion engine 7a, a fuel tank 7b, a power generation device 8, a power buffer 9, and a power supply device 76.
  • the parallel hybrid drive type multicopter 10 further includes a drive train 27 for transmitting the driving force of the internal combustion engine 7a, and a rotor 22 that rotates by receiving the driving force of the internal combustion engine 7a from the drive train 27.
  • a drive train 27 for transmitting the driving force of the internal combustion engine 7a
  • a rotor 22 that rotates by receiving the driving force of the internal combustion engine 7a from the drive train 27.
  • One of the rotor 12 and the rotor 22 may be called the “first rotor” and the other may be called the “second rotor” to distinguish them from each other.
  • the number of rotors 22 connected to the drive train 27 and rotating may be one or more.
  • the internal combustion engine 7a In a parallel hybrid drive type multicopter 10, the internal combustion engine 7a not only drives the power generation device 8 to generate electricity, but also mechanically transmits energy to the rotor 22 to rotate the rotor 22. On the other hand, in a series hybrid drive type multicopter 10, all of the rotors 12 rotate using the electricity generated by the power generation device 8. For this reason, in a series hybrid drive type multicopter 10, if the power generation device 8 is, for example, a fuel cell, the internal combustion engine 7a is not an essential component.
  • harvest management system uses an unmanned aerial vehicle 10 to acquire crops harvested from a field by an agricultural machine.
  • the agricultural machine of this embodiment may be a mobile agricultural machine capable of harvesting crops in a field while moving.
  • the agricultural machine may be, for example, a harvester, a tractor, or an agricultural mobile robot.
  • the entire agricultural machine and a working implement attached to or pulled by the agricultural machine such as a tractor may function as a single "agricultural machine.”
  • FIG. 3 is a diagram showing an example of a harvest management system 1000 according to this embodiment.
  • the harvest management system 1000 includes an agricultural machine 100, an unmanned aerial vehicle 10, a terminal device 400, and a management device 600.
  • a harvester is shown as an example of the agricultural machine 100.
  • the unmanned aerial vehicle 10 is, for example, the multicopter described above.
  • the harvester 100 may be, for example, a combine harvester.
  • the harvester 100 harvests crops in the field, threshes the harvested crops, stores the harvested crops after threshing, and discharges the harvested crops.
  • the crops in the field may be plants from which grains can be harvested, such as rice, wheat, corn, and soybeans, but are not limited to these.
  • the unmanned aerial vehicle 10 acquires and transports the harvested crops harvested by the harvester 100 from the field.
  • the harvester 100 has an automatic driving function. That is, the harvester 100 can run by the action of a control device, not manually.
  • the control device in this embodiment is provided inside the harvester 100, and can control both the speed and steering of the harvester 100.
  • the harvester 100 may run automatically not only in a field, but also outside the field (e.g., on a road).
  • the harvester 100 has devices used for positioning or self-location estimation, such as a GNSS unit and a LiDAR sensor.
  • the control device of the harvester 100 causes the harvester 100 to run automatically based on the position of the harvester 100 and information on the target route.
  • the unmanned aerial vehicle 10 has an autonomous flight function and can fly through the action of a control device.
  • the unmanned aerial vehicle 10 is equipped with devices used for positioning or self-location estimation, such as a GNSS unit and a LiDAR sensor.
  • the control device of the unmanned aerial vehicle 10 automatically flies the unmanned aerial vehicle 10 based on the position of the unmanned aerial vehicle 10 and information on the target flight route.
  • the terminal device 400 is a computer used by a user to remotely monitor the harvester 100 and the unmanned aerial vehicle 10.
  • the management device 600 is a computer managed by the business operator who operates the harvest management system 1000.
  • the harvester 100, the unmanned aerial vehicle 10, the terminal device 400, and the management device 600 can communicate with each other via the network 80.
  • the harvest management system 1000 may include multiple harvesters 100 and/or multiple unmanned aerial vehicles 10.
  • the harvest management system 1000 may also include other agricultural machinery.
  • the management device 600 is a computer that manages agricultural work and transportation work performed by the harvester 100 and the unmanned aerial vehicle 10.
  • the management device 600 may be, for example, a server computer that centrally manages information about a farm field on the cloud and supports agriculture by utilizing data on the cloud.
  • the management device 600 for example, creates a work plan for the harvester 100 and the unmanned aerial vehicle 10, and causes the harvester 100 and the unmanned aerial vehicle 10 to perform agricultural work according to the work plan.
  • the management device 600 generates a target route in the farm field based on information input by a user using the terminal device 400 or another device.
  • the management device 600 may further generate and edit an environmental map based on data collected by the harvester 100, the unmanned aerial vehicle 10, other moving objects, etc.
  • the management device 600 transmits the generated work plan, target route, and environmental map data to the harvester 100 and the unmanned aerial vehicle 10.
  • the harvester 100 and unmanned aerial vehicle 10 automatically move and perform various tasks based on this data.
  • the terminal device 400 is a computer used by a user located away from the harvester 100 and the unmanned aerial vehicle 10.
  • the terminal device 400 shown in FIG. 3 is a laptop computer, but is not limited to this.
  • the terminal device 400 may be a stationary computer such as a desktop PC (Personal Computer), or a mobile terminal such as a smartphone or tablet computer.
  • the terminal device 400 may be used to remotely monitor the harvester 100 and the unmanned aerial vehicle 10, or to remotely operate the harvester 100 and the unmanned aerial vehicle 10.
  • the terminal device 400 can display on a display image captured by a camera (imaging device) provided on each of the harvester 100 and the unmanned aerial vehicle 10.
  • the terminal device 400 can also display on a display a setting screen for a user to input information required to create a work plan for the harvester 100 (e.g., a schedule for each agricultural work).
  • a user inputs the required information on the setting screen and performs a transmission operation
  • the terminal device 400 transmits the input information to the management device 600.
  • the management device 600 creates a work plan based on that information.
  • the terminal device 400 may further have a function of displaying a setting screen on the display for the user to input information necessary to set the target route.
  • the harvester 100 includes a vehicle body 101 and a traveling device 102.
  • the traveling device 102 shown in the example is a crawler type traveling device, but may be a traveling device including wheels with tires.
  • a cabin 110 is provided above the vehicle body 101.
  • a harvesting device 103 for harvesting crops is provided in front of the traveling device 102, and the height of the harvesting device 103 can be adjusted.
  • a reel 109 for raising the stalks of the crops is provided above the harvesting device 103, and the height of the reel 109 can be adjusted.
  • a threshing device 105 and a tank 106 for storing the harvested crops are provided side by side in the left-right direction behind the cabin 110.
  • a transport device 104 for transporting the harvested crops is provided between the harvesting device 103 and the threshing device 105.
  • the threshing device 105 threshes the harvested crops.
  • the tank 106 stores the harvested crops obtained by threshing the grains and the like.
  • a straw waste processing device 108 is provided behind the threshing device 105.
  • the straw waste processing device 108 cuts the stalks and the like after the harvested grains and the like have been removed into small pieces and discharges them to the outside.
  • the tank 106 may be provided with a discharge
  • the harvester 100 in this embodiment can operate in both a manual operation mode and an automatic operation mode.
  • the harvester 100 can run unmanned.
  • the harvester 100 can run unmanned while performing the operation of harvesting crops in a field.
  • the harvester 100 includes a prime mover (engine) 111 and a transmission 112. Inside the cabin 110, a driver's seat, operating levers, an operating terminal, and a group of switches for operation are provided.
  • the harvester 100 may include at least one sensing device that senses the environment around the harvester 100, and a control device that processes sensing data output from the at least one sensing device.
  • the harvester 100 includes multiple sensing devices.
  • the sensing devices may be a LiDAR sensor 125, a camera 126, and an obstacle sensor 127.
  • the cameras 126 may be installed, for example, on the front, back, left and right sides of the harvester 100.
  • the cameras 126 capture images of the environment around the harvester 100 and generate image data.
  • the images captured by the cameras 126 may be output to a control device mounted on the harvester 100 and transmitted to a terminal device 400 for remote monitoring.
  • the images may also be used to monitor the harvester 100 when it is operating unmanned.
  • the LiDAR sensor 125 illustrated in FIG. 4 is disposed at the front and rear of the harvester 100.
  • the LiDAR sensor 125 may also be provided at the side of the harvester 100.
  • the harvester 100 may be provided with a plurality of LiDAR sensors disposed at different positions and in different orientations.
  • the LiDAR sensor 125 may be a 3D-LiDAR sensor, but may also be a 2D-LiDAR sensor.
  • the LiDAR sensor 125 senses the environment around the harvester 100 and outputs sensing data.
  • the LiDAR sensor 125 repeatedly outputs sensor data indicating the distance and direction to each measurement point of an object present in the surrounding environment, or the three-dimensional or two-dimensional coordinate values of each measurement point.
  • the sensor data output from the LiDAR sensor 125 is processed by the control device of the harvester 100.
  • the control device can estimate the self-position of the harvester 100 by matching the sensor data with an environmental map.
  • the control device can further detect obstacles and other objects present in the vicinity of the harvester 100 based on the sensor data.
  • the control device can also generate or edit an environmental map using algorithms such as Simultaneous Localization and Mapping (SLAM).
  • SLAM Simultaneous Localization and Mapping
  • the obstacle sensor 127 illustrated in FIG. 4 is provided on the side of the harvester 100.
  • the obstacle sensor 127 may also be located in other locations.
  • the obstacle sensor 127 may be provided on the front and rear of the harvester 100.
  • the obstacle sensor 127 may include, for example, a laser scanner or ultrasonic sonar.
  • the obstacle sensor 127 is used to detect surrounding obstacles during automatic driving and to stop or detour the harvester 100.
  • the LiDAR sensor 125 may be used as one of the obstacle sensors 127.
  • the harvester 100 is equipped with a positioning device 121 that detects the geographic coordinates of the position of the harvester 100.
  • the positioning device 121 is, for example, a GNSS unit.
  • the GNSS unit 121 includes a GNSS receiver.
  • the GNSS receiver may include an antenna that receives signals from GNSS satellites and a processor that calculates the position of the harvester 100 based on the signals received by the antenna.
  • the GNSS unit 121 receives satellite signals transmitted from multiple GNSS satellites and performs positioning based on the satellite signals.
  • GNSS is a general term for satellite positioning systems such as GPS (Global Positioning System), QZSS (Quasi-Zenith Satellite System, for example, Michibiki), GLONASS, Galileo, and BeiDou.
  • the GNSS unit 121 is provided at the top of the cabin 110, but may be provided at another location.
  • the control device of the harvester 100 may use sensing data acquired by sensing devices such as the camera 126 and/or LiDAR sensor 125 for positioning, in addition to the positioning results from the GNSS unit 121. If there are features that function as feature points in the environment in which the harvester 100 travels, the position and orientation of the harvester 100 can be estimated with high accuracy based on the data acquired by the camera 126 and/or LiDAR sensor 125 and an environmental map pre-stored in the storage device. The position of the harvester 100 can be identified with higher accuracy by correcting or complementing the position data based on satellite signals using the data acquired by the camera 126 and/or LiDAR sensor 125.
  • the prime mover 111 may be, for example, a diesel engine.
  • An electric motor may be used instead of a diesel engine.
  • the transmission 112 can change the propulsive force and travel speed of the harvester 100 by changing the speed.
  • the transmission 112 can also switch the harvester 100 between forward and reverse.
  • the running direction of the harvester 100 can be changed by varying the rotational speeds of the left and right wheels equipped with tracks and by varying the rotational directions of the left and right wheels.
  • the harvester 100 is equipped with a running device equipped with tires
  • the harvester 100 is equipped with a power steering device, and the running direction of the harvester 100 can be changed by controlling the power steering device to change the turning angle of the steering wheels (also referred to as the "steering angle").
  • the harvester 100 shown in FIG. 4 is capable of manned operation, but may also be capable of unmanned operation only. In that case, the harvester 100 may not be provided with components that are only required for manned operation, such as the cabin 110, steering device, and driver's seat.
  • the unmanned harvester 100 can travel autonomously or by remote control by a user.
  • FIG. 5 is a block diagram showing an example configuration of the harvester 100.
  • the harvester 100 can communicate with the terminal device 400 and the management device 600 via the network 80 (FIG. 3).
  • the harvester 100 and the unmanned aerial vehicle 10 may communicate with each other via the network 80, or may communicate directly without using the network 80.
  • the harvester 100 illustrated in FIG. 5 includes a GNSS unit 121, an inertial measurement unit (IMU) 122, a LiDAR sensor 125, a camera 126, an obstacle sensor 127, an operation terminal 131, an operation switch group 132, a drive unit 140, a power transmission mechanism 141, a sensor group 150, a control unit 160, and a communication unit 190. These components are connected to each other via a bus so that they can communicate with each other.
  • IMU inertial measurement unit
  • the GNSS unit 121 includes, for example, a GNSS receiver and an RTK receiver.
  • the sensor group 150 detects various states of the harvester 100.
  • the sensor group 150 includes an operation lever sensor 151, a rotation sensor 152, and a load sensor 156.
  • the control device 160 includes a processor 161, a RAM (Random Access Memory) 162, a ROM (Read Only Memory) 163, a storage device 164, and multiple electronic control units (ECUs) 165 to 167.
  • Figure 5 shows components that are relatively highly related to the operation of the automatic driving of the harvester 100, and other components are not shown.
  • the GNSS unit 121 receives satellite signals transmitted from multiple GNSS satellites and generates GNSS data based on the satellite signals.
  • the GNSS data is generated in a predetermined format, such as the NMEA-0183 format.
  • the GNSS data may include, for example, values indicating the identification number, elevation angle, azimuth angle, and reception strength of each satellite from which the satellite signal is received.
  • the GNSS unit 121 may perform positioning of the harvester 100 using RTK (Real Time Kinematic)-GNSS. Positioning using RTK-GNSS utilizes satellite signals transmitted from multiple GNSS satellites as well as correction signals transmitted from a reference station.
  • the reference station may be installed near the field where the harvester 100 performs work travel (e.g., within 10 km of the harvester 100).
  • the reference station generates a correction signal, for example in RTCM format, based on the satellite signals received from multiple GNSS satellites and transmits it to the GNSS unit 121.
  • the RTK receiver 122 includes an antenna and a modem, and receives the correction signal transmitted from the reference station.
  • the GNSS unit 121 corrects the positioning results based on the correction signal.
  • Position data including latitude, longitude, and altitude information is obtained by high-precision positioning using RTK-GNSS.
  • the GNSS unit 121 calculates the position of the harvester 100 at a frequency of, for example, about 1 to 10 times per second.
  • the positioning method is not limited to RTK-GNSS, and any positioning method (such as interferometric positioning or relative positioning) that can obtain position data with the required accuracy can be used.
  • positioning may be performed using a Virtual Reference Station (VRS) or a Differential Global Positioning System (DGPS). If position data with the required accuracy can be obtained without using a correction signal transmitted from a reference station, position data may be generated without using a correction signal. In that case, the GNSS unit 121 does not need to be equipped with an RTK receiver.
  • VRS Virtual Reference Station
  • DGPS Differential Global Positioning System
  • the position of the harvester 100 is estimated by other methods rather than relying on signals from an RTK receiver.
  • the position of the harvester 100 can be estimated by matching data output from the LiDAR sensor 125 and/or camera 126 with a high-precision environmental map.
  • the IMU 122 may include a three-axis acceleration sensor and a three-axis gyroscope.
  • the IMU 122 may also include an orientation sensor such as a three-axis geomagnetic sensor.
  • the IMU 122 functions as a motion sensor and can output signals indicative of various quantities such as the acceleration, speed, displacement, and attitude of the harvester 100.
  • the output signal of the IMU 122 can be used to complement the position data.
  • the IMU 122 can measure the tilt and minute movements of the harvester 100. By using the data acquired by the IMU 122 to complement the position data based on the satellite signals, the positioning performance can be improved.
  • the position and orientation of the harvester 100 can be estimated with higher accuracy based on the signals output from the IMU 122.
  • the signals output from the IMU 122 can be used to correct or complement the position calculated based on the satellite signals and correction signals.
  • the IMU 122 outputs signals at a higher frequency than position detection using satellite signals. Using these high-frequency signals, the position and orientation of the harvester 100 can be measured at a higher frequency (e.g., 10 Hz or more).
  • a three-axis acceleration sensor and a three-axis gyroscope may be provided separately.
  • the IMU 122 may be included in the GNSS unit 121.
  • the camera 126 is an imaging device that captures the environment around the harvester 100.
  • the camera 126 includes an image sensor, such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor).
  • the camera 126 may also include an optical system including one or more lenses, and a signal processing circuit.
  • the camera 126 captures the environment around the harvester 100 while the harvester 100 is traveling, and generates image (e.g., video) data.
  • the camera 126 can capture video at a frame rate of, for example, 3 frames per second (fps) or more.
  • the images generated by the camera 126 can be used, for example, when a remote monitor uses the terminal device 400 to check the environment around the harvester 100.
  • the images generated by the camera 126 may be used for positioning or obstacle detection. Multiple cameras 126 may be provided at different positions on the harvester 100, or a single camera may be provided. A visible camera that generates a visible light image and an infrared camera that generates an infrared image may be provided separately. Both a visible camera and an infrared camera may be provided as cameras that generate images for surveillance. The infrared camera may also be used to detect obstacles at night.
  • the obstacle sensor 127 detects objects present in the vicinity of the harvester 100.
  • the obstacle sensor 127 may include, for example, a laser scanner or an ultrasonic sonar. When an object is present closer than a predetermined distance from the obstacle sensor 127, the obstacle sensor 127 outputs a signal indicating the presence of an obstacle.
  • Multiple obstacle sensors 127 may be provided at different positions on the harvester 100. For example, multiple laser scanners and multiple ultrasonic sonars may be disposed at different positions on the harvester 100. By providing multiple obstacle sensors 127, blind spots in monitoring obstacles around the harvester 100 can be reduced.
  • the operation lever sensor 151 detects the operation of the operation lever by the user in the cabin 110.
  • the output signal of the operation lever sensor 151 is used for operation control by the control device 160.
  • the rotation sensor 152 measures the rotation speed of the axle of the traveling device 102, i.e., the number of rotations per unit time.
  • the rotation sensor 152 may be, for example, a sensor using a magnetoresistive element (MR), a Hall element, or an electromagnetic pickup.
  • the rotation sensor 152 outputs, for example, a numerical value indicating the number of rotations per minute (unit: rpm) of the axle.
  • the rotation sensor 152 is used, for example, to measure the speed of the harvester 100.
  • the load sensor 156 is provided at the bottom of the tank 106 and detects the weight of the harvest in the tank 106. By detecting the weight of the harvest in the tank 106, the control device 160 can recognize the storage state of the harvest in the tank 106.
  • a yield sensor and a taste sensor may be provided inside or around the tank 106. The taste sensor outputs data such as the moisture value and protein value of the harvest as quality data.
  • the drive unit 140 includes various devices necessary for driving the harvester 100 to travel, such as the prime mover 111 and the transmission 112.
  • the prime mover 111 may be equipped with an internal combustion engine, such as a diesel engine.
  • the drive unit 140 may be equipped with an electric motor for traction instead of or in addition to the internal combustion engine.
  • the power transmission mechanism 141 transmits the power generated by the prime mover 111 to various devices that perform the harvesting operation.
  • the devices that perform the harvesting operation are the reaping device 103, the transport device 104, the threshing device 105, the tank 106, the straw waste processing device 108, the reel 109, etc.
  • the harvester 100 may also be provided with a power source (such as an electric motor) separate from the prime mover 111 that supplies power to at least one of these devices that perform the harvesting operation.
  • Processor 161 may be, for example, a semiconductor integrated circuit including a central processing unit (CPU).
  • processor 161 may be realized by a microprocessor or a microcontroller.
  • processor 161 may be realized by an FPGA (Field Programmable Gate Array) equipped with a CPU, a GPU (Graphics Processing Unit), an ASIC (Application Specific Integrated Circuit), an ASSP (Application Specific Standard Product), or a combination of two or more circuits selected from among these circuits.
  • Processor 161 sequentially executes a computer program stored in ROM 163, which describes a set of instructions for executing at least one process, to realize the desired process.
  • ROM 163 is, for example, a writable memory (e.g., a PROM), a rewritable memory (e.g., a flash memory), or a read-only memory.
  • ROM 163 stores a program that controls the operation of processor 161.
  • ROM 163 does not have to be a single storage medium, but may be a collection of multiple storage media. Part of the collection of multiple storage media may be a removable memory.
  • RAM 162 provides a working area for temporarily expanding the control program stored in ROM 163 at boot time.
  • RAM 162 does not need to be a single storage medium, but may be a collection of multiple storage media.
  • the storage device 164 includes one or more storage media such as a flash memory or a magnetic disk.
  • the storage device 164 stores various data generated by the GNSS unit 121, the LiDAR sensor 125, the camera 126, the obstacle sensor 127, the sensor group 150, and the control device 160.
  • the data stored in the storage device 164 may include map data (environmental map) of the environment in which the harvester 100 travels, and target route data for automatic driving.
  • the environmental map includes information on multiple farm fields in which the harvester 100 performs agricultural work and the roads in the surrounding areas.
  • the environmental map and the target route may be generated by the processor of the management device 600.
  • the control device 160 may have a function of generating or editing the environmental map and the target route.
  • the control device 160 can edit the environmental map and the target route acquired from the management device 600 according to the travel environment of the harvester 100.
  • the storage device 164 also stores the data of the work plan received by the communication device 190 from the management device 600.
  • the storage device 164 also stores computer programs that cause the processor 161 and the ECUs 165-167 to execute various operations, which will be described later.
  • Such computer programs may be provided to the harvester 100 via a storage medium (e.g., a semiconductor memory or an optical disk) or a telecommunications line (e.g., the Internet).
  • a storage medium e.g., a semiconductor memory or an optical disk
  • a telecommunications line e.g., the Internet
  • the control device 160 includes multiple ECUs 165-167.
  • the ECU 165 controls the driving speed and turning operation of the harvester 100 by controlling the prime mover 111, the transmission 112, the traveling gear 102, and the like included in the drive device 140.
  • the ECU 165 performs calculations and control to realize autonomous driving based on data output from the GNSS unit 121, the camera 126, the obstacle sensor 127, the LiDAR sensor 125, the sensor group 150, and the processor 161.
  • the ECU 165 identifies the position of the harvester 100 based on data output from at least one of the GNSS unit 121, the camera 126, and the LiDAR sensor 125.
  • the ECU 165 may determine the position of the harvester 100 based only on data output from the GNSS unit 121.
  • the ECU 165 may estimate or correct the position of the harvester 100 based on data acquired by the camera 126 and/or the LiDAR sensor 125.
  • the ECU 165 may estimate the position of the harvester 100 by matching data output from the LiDAR sensor 125 and/or the camera 126 with an environmental map. During autonomous driving, the ECU 165 performs calculations necessary for the harvester 100 to travel along the target route based on the estimated position of the harvester 100.
  • the ECU 166 may determine the destination of the harvester 100 based on the work plan stored in the memory device 164, and may determine a target route from the start point of the movement of the harvester 100 to the destination point.
  • the ECU 166 may perform a process to detect objects located in the vicinity of the harvester 100 based on the data output from the camera 126, the obstacle sensor 127, and the LiDAR sensor 125.
  • the ECU 167 controls the operation of the power transmission mechanism 141 and other components to cause the various harvesting devices described above to perform the desired operations.
  • control device 160 allows the control device 160 to realize automatic driving and crop harvesting operations.
  • control device 160 controls the drive device 140 based on the measured or estimated position of the harvester 100 and the target route. This allows the control device 160 to drive the harvester 100 along the target route.
  • the multiple ECUs included in the control device 160 can communicate with each other according to a vehicle bus standard such as CAN (Controller Area Network). A faster communication method such as in-vehicle Ethernet (registered trademark) may be used instead of CAN.
  • CAN Controller Area Network
  • a faster communication method such as in-vehicle Ethernet (registered trademark) may be used instead of CAN.
  • FIG. 5 each of the ECUs 165 to 167 is shown as an individual block, but each of these functions may be realized by multiple ECUs.
  • An in-vehicle computer that integrates at least some of the functions of the ECUs 165 to 167 may be provided.
  • the control device 160 may include ECUs other than the ECUs 165 to 167, and any number of ECUs may be provided depending on the functions.
  • Each ECU includes a processing circuit including one or more processors.
  • the processor 161 may be integrated with any of the ECUs included in the control device 160.
  • the communication device 190 is a device including circuits for communicating with the unmanned aerial vehicle 10, the terminal device 400, and the management device 600.
  • the communication device 190 includes circuits for wireless communication with the communication device of the unmanned aerial vehicle 10. This allows the unmanned aerial vehicle 10 to perform a desired operation and to obtain information from the unmanned aerial vehicle 10.
  • the communication device 190 may further include an antenna and communication circuits for transmitting and receiving signals via the network 80 between the communication devices of the terminal device 400 and the management device 600.
  • the network 80 may include, for example, a cellular mobile communication network such as 3G, 4G, or 5G, and the Internet.
  • the communication device 190 may have a function for communicating with a mobile terminal used by a supervisor located near the harvester 100. Communication may be performed between such a mobile terminal in accordance with any wireless communication standard, such as Wi-Fi (registered trademark), cellular mobile communication such as 3G, 4G, or 5G, or Bluetooth (registered trademark).
  • Wi-Fi registered trademark
  • cellular mobile communication
  • the operation terminal 131 is a terminal through which a user performs operations related to the traveling of the harvester 100 and the operation of the unmanned aerial vehicle 10, and is also referred to as a virtual terminal (VT).
  • the operation terminal 131 may include a display device such as a touch screen, and/or one or more buttons.
  • the display device may be, for example, a liquid crystal or organic light-emitting diode (OLED) display.
  • OLED organic light-emitting diode
  • By operating the operation terminal 131 a user can perform various operations such as switching the automatic driving mode on/off, recording or editing an environmental map, and setting a target route. At least some of these operations can also be realized by operating the operation switch group 132.
  • the operation terminal 131 may be configured to be detachable from the harvester 100.
  • a user at a location away from the harvester 100 may operate the detached operation terminal 131 to control the operation of the harvester 100.
  • the user may operate a computer on which necessary application software is installed, such as a terminal device 400, instead of the operation terminal 131 to control the operation of the harvester 100.
  • FIG. 6 is a block diagram showing an example of the configuration of the unmanned aerial vehicle 10.
  • the unmanned aerial vehicle 10 shown in FIG. 6 has the same components as the unmanned aerial vehicle 10 shown in FIG. 2A. However, the power supply device 76 and the work machine 200 shown in FIG. 2A are omitted from FIG. 6.
  • the control device 4a has a processor 41, a RAM 42, a ROM 43, and a storage device 44.
  • FIG. 6 shows a GNSS unit 61, an IMU 62, an altitude sensor 63, a LiDAR sensor 65, a camera 66, and a load sensor 67 as examples of the sensor group 4b.
  • the various components of the unmanned aerial vehicle 10 can be connected to each other so that they can communicate with each other via a bus.
  • FIG. 6 shows components that are relatively highly related to the operation of the autonomous flight of the unmanned aerial vehicle 10, and the other components are omitted from the illustration.
  • the unmanned aerial vehicle 10 may be equipped with an internal combustion engine 7a, a fuel tank 7b, and a power generation device 8, as shown in FIG. 2B or FIG. 2C. Furthermore, as shown in FIG. 2C, the unmanned aerial vehicle 10 may be equipped with at least one rotor 22 driven by the internal combustion engine 7a.
  • the unmanned aerial vehicle 10 may employ a "series hybrid” or "parallel hybrid” drive system.
  • the GNSS unit 61 is an example of a positioning device that detects the geographic coordinates of the position of the unmanned aerial vehicle 10.
  • the GNSS receiver included in the GNSS unit 61 receives satellite signals transmitted from multiple GNSS satellites and generates GNSS data based on the satellite signals.
  • the GNSS unit 61 illustrated in FIG. 6 may use RTK-GNSS to perform positioning of the unmanned aerial vehicle 10.
  • RTK-GNSS By using RTK-GNSS, it is possible to perform positioning with an accuracy of, for example, a few centimeters.
  • Position data including latitude, longitude, and altitude information is obtained by high-precision positioning using RTK-GNSS.
  • the GNSS unit 61 calculates the position of the unmanned aerial vehicle 10 at a frequency of, for example, about 1 to 10 times per second.
  • the positioning method is not limited to RTK-GNSS, and any positioning method (such as interferometric positioning or relative positioning) that can obtain position data with the required accuracy can be used.
  • positioning may be performed using VRS or DGPS. If position data with the required accuracy can be obtained without using a correction signal transmitted from a reference station, position data may be generated without using a correction signal. In that case, the GNSS unit 61 does not need to be equipped with an RTK receiver.
  • the position of the unmanned aerial vehicle 10 can be estimated by other methods, not relying on signals from an RTK receiver.
  • the position of the unmanned aerial vehicle 10 can be estimated by matching data output from the LiDAR sensor 65 and/or camera 66 with a high-precision environmental map.
  • the IMU 62 may include a three-axis acceleration sensor and a three-axis gyroscope.
  • the IMU 62 may include an orientation sensor such as a three-axis geomagnetic sensor.
  • the IMU 62 functions as a motion sensor and can output signals indicating various quantities such as the acceleration, speed, displacement, and attitude of the unmanned aerial vehicle 10. Based on the signals output from the IMU 62 in addition to the satellite signals and correction signals, the position and orientation of the unmanned aerial vehicle 10 can be estimated with higher accuracy.
  • the signals output from the IMU 62 can be used to correct or complement the position calculated based on the satellite signals and correction signals.
  • the IMU 62 outputs signals at a higher frequency than the GNSS receiver.
  • the position and orientation of the unmanned aerial vehicle 10 can be measured at a higher frequency (e.g., 10 Hz or higher).
  • a higher frequency e.g. 10 Hz or higher.
  • a three-axis acceleration sensor and a three-axis gyroscope may be provided separately.
  • the IMU 62 may be included in the GNSS unit 61.
  • the altitude sensor 63 measures the altitude of the unmanned aerial vehicle 10 and outputs a signal indicating that altitude.
  • Altitude refers to the vertical distance between a reference plane (e.g., the ground surface) and the aircraft.
  • the altitude sensor 63 can be realized, for example, by a barometer, a GNSS receiver, or a ranging sensor that measures the distance from the aircraft to the ground, or a combination of these.
  • the LiDAR sensor 65 may be a 3D-LiDAR sensor, but may also be a 2D-LiDAR sensor.
  • the LiDAR sensor 65 senses the environment around the unmanned aerial vehicle 10 and outputs sensing data.
  • the LiDAR sensor 65 repeatedly outputs sensor data indicating the distance and direction to each measurement point of an object present in the surrounding environment, or the three-dimensional or two-dimensional coordinate values of each measurement point.
  • Multiple LiDAR sensors 65 may be provided at multiple positions, such as the front, rear, left, right, etc. of the unmanned aerial vehicle 10.
  • the sensor data output from the LiDAR sensor 65 is processed by the control device 4a.
  • the control device 4a can estimate the self-position of the unmanned aerial vehicle 10 by matching the sensor data with an environmental map.
  • the control device 4a can further detect objects such as obstacles present in the vicinity of the unmanned aerial vehicle 10 based on the sensor data.
  • the control device 4a may generate or edit an environmental map using an algorithm such as SLAM.
  • the camera 66 is an imaging device that captures the environment around the unmanned aerial vehicle 10.
  • the camera 66 includes an image sensor such as a CCD or CMOS.
  • the camera 66 may also include an optical system including one or more lenses, and a signal processing circuit.
  • the camera 66 captures the environment around the unmanned aerial vehicle 10 while the unmanned aerial vehicle 10 is flying, and generates image (e.g., video) data.
  • the camera 66 can capture video at a frame rate of, for example, 3 (fps) or more.
  • the images generated by the camera 66 can be used, for example, when a remote monitor uses the terminal device 400 to check the environment around the unmanned aerial vehicle 10.
  • the images generated by the camera 66 may be used for positioning or obstacle detection.
  • Multiple cameras 66 may be provided at different positions on the unmanned aerial vehicle 10, or a single camera may be provided.
  • a visible camera that generates visible light images and an infrared camera that generates infrared images may be provided separately. Both a visible camera and an infrared camera may be provided as cameras that generate images for monitoring. Infrared cameras can also be used to detect obstacles at night.
  • the load sensor 67 detects the weight of an object connected to the unmanned aerial vehicle 10, such as the work machine 200.
  • the control device 4a can determine whether the weight of the object connected to the unmanned aerial vehicle 10 is appropriate, for example, by comparing the weight of the object connected to the unmanned aerial vehicle 10 with the maximum payload capacity of the unmanned aerial vehicle 10.
  • the control device 4a can also calculate the amount of power and/or fuel consumed for flight based on the weight of the object connected to the unmanned aerial vehicle 10.
  • the processor 41 may be, for example, a semiconductor integrated circuit including a central processing unit (CPU).
  • the ROM 43 may be, for example, a writable memory (for example, a PROM), a rewritable memory (for example, a flash memory), or a read-only memory.
  • the RAM 42 provides a working area for loading the control program stored in the ROM 43 once at boot time.
  • the detailed configurations of the processor 41, RAM 42, and ROM 43 are similar to those of the processor 161, RAM 162, and ROM 163, and therefore detailed description thereof will be omitted here.
  • the processor 41 may operate as the flight controller and companion computer described above.
  • the storage device 44 includes one or more storage media such as a flash memory or a magnetic disk.
  • the storage device 44 stores various data generated by the sensor group 4b and the control device 4a.
  • the data stored in the storage device 44 may include map data (environmental map) of the environment in which the unmanned aerial vehicle 10 flies, and data of a target flight path for autonomous flight.
  • the environmental map includes information on multiple farm fields in which the unmanned aerial vehicle 10 performs work and their surroundings.
  • the environmental map and the target flight path may be generated by a processor in the management device 600.
  • the control device 4a may have a function for generating or editing the environmental map and the target flight path.
  • the control device 4a can edit the environmental map and the target flight path acquired from the management device 600 according to the flight environment of the unmanned aerial vehicle 10.
  • the storage device 44 also stores the data of the work plan received by the communication device 4c from the management device 600.
  • the storage device 44 also stores computer programs that cause the processor 41 to execute various operations described below.
  • Such computer programs may be provided to the unmanned aerial vehicle 10 via a storage medium (e.g., a semiconductor memory or an optical disk) or a telecommunications line (e.g., the Internet).
  • a storage medium e.g., a semiconductor memory or an optical disk
  • a telecommunications line e.g., the Internet
  • Such computer programs may be sold as commercial software.
  • the communication device 4c is a device including a circuit for communicating with the harvester 100, the terminal device 400, and the management device 600.
  • the communication device 4c includes a circuit for wireless communication with the communication device 190 of the harvester 100. This allows the harvester 100 to perform a desired operation and to obtain information from the harvester 100.
  • the communication device 4c may further include an antenna and a communication circuit for transmitting and receiving signals via the network 80 between the communication devices of the terminal device 400 and the management device 600.
  • the communication device 4c may have a function for communicating with a mobile terminal used by an observer located near the unmanned aerial vehicle 10. Communication may be performed between such a mobile terminal in accordance with any wireless communication standard, such as cellular mobile communication such as Wi-Fi (registered trademark), 3G, 4G, or 5G, or Bluetooth (registered trademark).
  • FIG. 7 is a block diagram showing an example of the configuration of the management device 600 and the terminal device 400.
  • the management device 600 includes a storage device 650, a processor 660, a ROM 670, a RAM 680, and a communication device 690. These components are connected to each other via a bus so that they can communicate with each other.
  • the management device 600 manages the schedule of agricultural work performed by the harvester 100 and the unmanned aerial vehicle 10, and can function as a cloud server that supports agriculture by utilizing the data it manages.
  • a user can input information required for creating a work plan using the terminal device 400 and upload the information to the management device 600 via the network 80.
  • the management device 600 can create a schedule of agricultural work, i.e., a work plan, based on the information.
  • the management device 600 can further generate or edit an environmental map.
  • the environmental map may be distributed from a computer external to the management device 600.
  • the communication device 690 is a communication module for communicating with the harvester 100, the unmanned aerial vehicle 10, and the terminal device 400 via the network 80.
  • the communication device 690 can perform wired communication conforming to a communication standard such as IEEE 1394 (registered trademark) or Ethernet (registered trademark).
  • the communication device 690 may also perform wireless communication conforming to the Bluetooth (registered trademark) standard or the Wi-Fi standard, or cellular mobile communication such as 3G, 4G, or 5G.
  • Processor 660 may be, for example, a semiconductor integrated circuit including a central processing unit (CPU).
  • ROM 670 may be, for example, a writable memory (for example, a PROM), a rewritable memory (for example, a flash memory), or a read-only memory.
  • RAM 680 provides a working area for loading the control program stored in ROM 670 once at boot time.
  • the detailed configurations of processor 660, ROM 670, and RAM 680 are similar to those of processor 161, ROM 163, and RAM 162, and therefore will not be described in detail here.
  • the storage device 650 mainly functions as database storage.
  • the storage device 650 may be, for example, a magnetic storage device or a semiconductor storage device.
  • the storage device 650 may be a device independent of the management device 600.
  • the storage device 650 may be a storage device connected to the management device 600 via the network 80, such as a cloud storage device.
  • the terminal device 400 includes an input device 420, a display device 430, a storage device 450, a processor 460, a ROM 470, a RAM 480, and a communication device 490. These components are connected to each other via a bus so that they can communicate with each other.
  • the input device 420 is a device for converting instructions from a user into data and inputting the data to a computer.
  • the input device 420 may be, for example, a keyboard, a mouse, or a touch panel.
  • the display device 430 may be, for example, a liquid crystal display or an organic EL display.
  • the processor 460, ROM 470, RAM 480, storage device 450, and communication device 490 are described in the hardware configuration examples of the harvester 100, the unmanned aerial vehicle 10, and the management device 600, and therefore their description will be omitted.
  • an acquisition device used to acquire the harvested product is connected to the unmanned aerial vehicle 10 and moves together with the unmanned aerial vehicle 10, and the acquisition device is used to acquire the harvested product.
  • the acquisition device may be an example of a work machine 200.
  • the acquisition device may be detachable from the unmanned aerial vehicle 10, or may be configured as one unit with the body of the unmanned aerial vehicle 10.
  • the operation of the acquisition device may be controlled by the control device 4a of the unmanned aerial vehicle 10. Communication between the unmanned aerial vehicle 10 and the acquisition device may be performed wired or wirelessly. Power required for the operation of the acquisition device may be supplied to the acquisition device from the unmanned aerial vehicle 10 via the power supply device 76, or the acquisition device may be equipped with a battery.
  • the acquisition device may be equipped with a control device that controls the operation of the acquisition device, in which case the control device 4a controls the operation of the acquisition device by communicating with the control device of the acquisition device.
  • FIG. 8 is a schematic diagram showing an example of an unmanned aerial vehicle 10 connected to an acquisition device.
  • the acquisition device is a suction machine 210a.
  • the suction machine 210a acquires the harvested product stored in the tank 106 of the harvester 100 by suctioning it.
  • the harvested product is, for example, grains. By suctioning the harvested product, it is possible to transfer the harvested product from the harvester 100 to the unmanned aerial vehicle 10.
  • the unmanned aerial vehicle 10 is provided with a coupling device 18, and the suction machine 210a is coupled to the coupling device 18.
  • the method of coupling the suction machine 210a to the coupling device 18 is arbitrary.
  • the suction machine 210a may be coupled to the coupling device 18 using a link mechanism, or the suction machine 210a may be coupled to the coupling device 18 using a fastener such as a bolt.
  • the suction machine 210a includes a nozzle 211, a suction blower 212, and a tank 215.
  • the suction blower 212 is sometimes referred to as a suction pump.
  • the unmanned aerial vehicle 10 is flown so that the tip of the nozzle 211 is positioned inside the tank 106 of the harvester 100, and the suction blower 212 is operated to suck up the harvested product inside the tank 106.
  • the harvested product can be obtained by storing the sucked up harvested product in the tank 215.
  • the suction machine 210a is, for example, a centrifugal separator.
  • the centrifugal separator is sometimes called a cyclone separator.
  • the technology for separating the sucked-up harvested product and air using the centrifugal separator is well known, so a detailed explanation is omitted here.
  • a suction machine that employs a method other than the centrifugal separator may also be used as the suction machine 210a.
  • Nozzle 211 can be extended or retracted by operating actuator 216.
  • the orientation of nozzle 211 can also be changed by operating actuator 217. For example, when landing unmanned aerial vehicle 10 on the ground, nozzle 211 can be prevented from interfering with the ground by shortening the length of nozzle 211 and orienting the extension direction of nozzle 211 closer to the horizontal direction.
  • the LiDAR sensor 65 and camera 66 are positioned in a location that makes it easy to monitor the harvest acquisition operation using the acquisition device.
  • the LiDAR sensor 65 and camera 66 are provided on the skid 19 of the unmanned aerial vehicle 10.
  • a LiDAR sensor 65 and camera 66 used to control the flight of the unmanned aerial vehicle 10 may be provided separately from these.
  • the LiDAR sensor 65 and camera 66 may also be provided in the acquisition device.
  • FIG. 9 is a diagram showing a field 70 in which a harvester 100 harvests crops.
  • the harvester 100 of this embodiment harvests crops while traveling autonomously through the field 70.
  • the harvester 100 performs operations to harvest crops while traveling along a preset target route 73.
  • the positioning of the harvester 100 is performed mainly based on data output from the GNSS unit 121.
  • the position of the harvester 100 may be estimated based on data output from the LiDAR sensor 125 and/or the camera 126.
  • the field 70 includes a work area 71 where the harvester 100 harvests crops, and a headland 72 located near the outer periphery of the field 70.
  • the user can set in advance which areas of the field 70 on the map correspond to the work area 71 and the headland 72.
  • the harvester 100 automatically travels from the start point of the work to the end point of the work along a target route 73 as shown in FIG. 9.
  • the target route 73 shown in FIG. 9 is merely an example, and the method of defining the target route 73 is arbitrary.
  • the target route 73 may be created based on a user's operation, or may be created automatically.
  • the target route 73 may be created, for example, so as to cover the entire work area 71 in the field 70.
  • FIG. 10 is a flowchart showing an example of the operation of acquiring the crop harvested from the field 70 by the harvester 100 using the unmanned aerial vehicle 10.
  • the harvester 100 harvests crops while traveling automatically along the target route 73.
  • the processor 161 (FIG. 5) of the harvester 100 causes the ECU 165 to execute control for automatically driving the harvester 100 along the target route 73, and causes the ECU 167 to execute control for the crop harvesting operation.
  • the ECU 165 controls the operation of the drive unit 140 to drive the harvester 100 automatically.
  • the ECU 167 controls the operation of the power transmission mechanism 141 to cause various devices that perform the crop harvesting operation to perform the desired operation.
  • the reaping device 103 reaps the crops in the field 70.
  • the threshing device 105 threshes the harvested crops.
  • the tank 106 stores the harvested product obtained by threshing the grains, etc.
  • the straw waste processing device 108 finely cuts the stalks, etc. after the grains, etc. of the harvested product have been removed, and releases them to the outside.
  • the processor 41 (FIG. 6) of the unmanned aerial vehicle 10 controls the operation of the flight device 1 (FIG. 1) to fly the unmanned aerial vehicle 10.
  • the processor 41 flies the unmanned aerial vehicle 10 so as to approach the harvester 100 (step S101 in FIG. 10).
  • the unmanned aerial vehicle 10 and the harvester 100 communicate data with each other via the communication device 4C and the communication device 190.
  • the processor 161 of the harvester 100 transmits the geographic coordinate information of the position of the harvester 100 obtained from the GNSS unit 121 to the unmanned aerial vehicle 10 via the communication device 190.
  • the processor 41 of the unmanned aerial vehicle 10 sets the geographic coordinate position of the harvester 100 as the target position. Since the position of the harvester 100 changes as it moves, the target position is updated from time to time. The processor 41 flies the unmanned aerial vehicle 10 so that it reaches the latest target position. The target position may be set based on the geographic coordinates of the harvester 100, and the direction and speed of travel of the harvester 100. The processor 41 flies the unmanned aerial vehicle 10 so that it is positioned above the harvester 100.
  • FIGS. 11A to 11C are diagrams showing an example of the operation of using an unmanned aerial vehicle 10 to acquire harvested products stored in a tank 106 of a harvester 100.
  • the insides of tanks 106 and 215 are shown as see-through views in Figs. 11A to 11C.
  • an opening 106a is provided in the upper portion 106u of the tank 106 of the harvester 100.
  • the processor 41 flies the unmanned aerial vehicle 10 so that the tip (lower end) 211a of the nozzle 211 is positioned inside the tank 106.
  • the processor 41 aligns the nozzle 211 with the opening 106a using the output signals of the LiDAR sensor 65 and/or the camera 66.
  • the processor 41 uses, for example, an estimation model generated by machine learning to identify point cloud data representing the opening 106a and point cloud data representing the nozzle 211 from the three-dimensional point cloud data output by the LiDAR sensor 65.
  • the estimation model is pre-stored in the storage device 44.
  • the processor 41 can insert the nozzle 211 into the opening 106a by flying the unmanned aerial vehicle 10 so that the tip 211a of the nozzle 211 is positioned within the range of the opening 106a in a plan view seen in a direction along the vertical direction, and by lowering the unmanned aerial vehicle 10.
  • the processor 41 may insert the nozzle 211 into the opening 106a using data output by the camera 66 after capturing an image of the nozzle 211 and the opening 106a.
  • the processor 41 identifies an image representing the opening 106a and an image representing the nozzle 211 from the image data output by the camera 66, for example, using an estimation model generated by machine learning.
  • the processor 41 can insert the nozzle 211 into the opening 106a by flying the unmanned aerial vehicle 10 so that the tip 211a of the nozzle 211 is positioned within the range of the opening 106a in a planar view, and by descending the unmanned aerial vehicle 10.
  • FIG. 11B shows the operation of the suction machine 210a sucking up the harvested product 310 stored in the tank 106 of the harvester 100.
  • the processor 41 can adjust the length of the nozzle 211 by operating the actuator 216 ( Figure 8).
  • the processor 41 operates the suction blower 212 to start suctioning the harvest 310 in the tank 106 (step S102 in Figure 10).
  • the harvest 310 is transferred from the tank 106 to the suction machine 210a through the nozzle 211.
  • the suctioned harvest 310 is stored in the tank 215. By inserting the nozzle 211 into the tank 106 and suctioning the harvest 310, the harvest 310 can be easily transferred from the harvester 100 to the unmanned aerial vehicle 10.
  • the unmanned aerial vehicle 10 When harvesting the harvest 310 in the tank 106, the unmanned aerial vehicle 10 may be landed on the harvester 100.
  • the unmanned aerial vehicle 10 may be landed on the upper portion 106u of the tank 106. This can prevent misalignment between the unmanned aerial vehicle 10 and the harvester 100, allowing the harvesting operation of the harvest 310 to be performed stably.
  • the rotor 2 may be rotated so as to generate a lift force large enough to prevent the unmanned aerial vehicle 10 from rising. By generating such a lift force, the weight of the unmanned aerial vehicle 10 placed on the harvester 100 during landing can be reduced.
  • the processor 41 may rotate the rotor 2 so as to generate lift corresponding to the suction force of the suction machine 210a.
  • a downward force acts on the unmanned aerial vehicle 10 due to a reaction to the suction action of the suction machine 210a, but such a downward force can be offset by generating lift in the rotor 2.
  • the unmanned aerial vehicle 10 may be provided with a connection device that connects the unmanned aerial vehicle 10 to the harvester 100 when harvesting the harvest 310 from the harvester 100. This can prevent misalignment between the unmanned aerial vehicle 10 and the harvester 100, and can stably obtain the harvest.
  • a skid 19 is used as such a connection device.
  • the upper part 106u of the tank 106 may have a magnetic material, and the skid 19 may have an electromagnet at its lower part.
  • the skid 19 and the tank 106 are connected by the processor 41 turning on the electromagnet.
  • the skid 19 and the tank 106 may each be provided with a connection device that connects them to each other.
  • the nozzle 211 may be provided with a "flange" that spreads in an approximately horizontal direction.
  • the flange can be opened and closed in an umbrella shape inside the tank 106, and the nozzle 211 is provided with an actuator that opens and closes the flange.
  • the horizontal length of the flange in the open state is greater than the diameter of the opening 106a, and the nozzle 211 can be prevented from slipping out of the tank 106.
  • the processor 41 can detect the weight of the harvest 310 stored in the tank 215 using a load sensor 67 ( Figure 6).
  • the load sensor 67 is provided, for example, in the connecting device 18, and detects the weight of the suction machine 210a to which the tank 215 is attached. By comparing the weight of the suction machine 210a when the tank 215 is empty with the weight of the suction machine 210a when the harvest 310 is stored in the tank 215, the weight of the harvest 310 stored in the tank 215 can be calculated.
  • the weight of the harvested product 310 stored in the tank 215 may be detected using a load sensor provided in the tank 215.
  • the processor 41 determines whether the weight of the harvest accumulated in the tank 215 is equal to or greater than a first predetermined value (step S103 in FIG. 10).
  • the first predetermined value is, for example, 80-100% of the maximum weight of the harvest 310 that can be stored in the tank 215, but is not limited to this value.
  • the first predetermined value may be set based on the weight (payload) that the unmanned aerial vehicle 10 can carry.
  • the first predetermined value may also be set based on the remaining amount of an energy source for flying the unmanned aerial vehicle 10.
  • the remaining amount of an energy source for flying the unmanned aerial vehicle 10 is, for example, the remaining amount of the battery 52 ( Figure 2A) and/or the remaining amount of fuel in the fuel tank 7b ( Figure 2B).
  • the processor 41 While the weight of the harvest accumulated in the tank 215 is less than the first predetermined value, the processor 41 continues to suck up the harvest 310 with the suction machine 210a.
  • the processor 41 determines that the weight of the harvest accumulated in the tank 215 is equal to or greater than the first predetermined value, it stops the operation of the suction blower 212 and stops the suction of the harvest 310 with the suction machine 210a (step S104).
  • the processor 41 may control the on/off of the suction operation of the suction machine 210a by comparing the weight of the suction machine 210a equipped with the tank 215 with the maximum load capacity of the unmanned aerial vehicle 10. For example, when the weight of the suction machine 210a, which sucks up the harvested crop 310 and stores it in the tank 215, reaches 80-100% of the maximum load capacity, the suction of the harvested crop 310 by the suction machine 210a may be stopped.
  • FIG. 11C is a diagram showing the unmanned aerial vehicle 10 detaching from the harvester 100.
  • the processor 41 causes the unmanned aerial vehicle 10 to detach from the harvester 100 by raising the unmanned aerial vehicle 10 above the harvester 100.
  • the processor 41 After the unmanned aerial vehicle 10 is released from the harvester 100, the processor 41 has the unmanned aerial vehicle 10 transport the harvested goods to a predetermined location (step S106). For example, the processor 41 moves the unmanned aerial vehicle 10 to a building for storing the harvested goods.
  • FIG. 12 is a diagram showing the unmanned aerial vehicle 10 moving to a storage facility 78 for storing the harvested goods.
  • the processor 41 sets the geographic coordinate position of the storage facility 78 or its surrounding area as the target position.
  • the processor 41 flies the unmanned aerial vehicle 10 so as to reach the set target position.
  • the unmanned aerial vehicle 10 arrives at the storage facility 78 or its surrounding area, the harvested goods in the tank 215 are transferred to the storage facility 78.
  • the unmanned aerial vehicle 10, whose tank 215 is now empty, may return to the field 70 and resume the work of obtaining the harvested goods.
  • the above-mentioned operation of the unmanned aerial vehicle 10 to obtain the harvested product can be performed even when the harvester 100 is moving.
  • work efficiency can be improved.
  • the processor 41 may control the unmanned aerial vehicle 10 to wait at a predetermined position.
  • the predetermined position where the unmanned aerial vehicle 10 waits can be set to any position that does not interfere with the harvesting operation by the harvester 100. If it does not interfere with the harvesting operation by the harvester 100, the predetermined position may be set to a position within the work area 71 where harvesting operation has already been completed. The predetermined position may also be set to a position outside the field 70.
  • the processor 161 determines whether the weight of the crop accumulated in the tank 106 is equal to or greater than a second predetermined value. For example, the processor 161 determines whether the value of the weight of the crop in the tank 106 detected by the load sensor 156 is equal to or greater than a second predetermined value.
  • the second predetermined value is, for example, 50-90% of the maximum weight of the crop that can be stored in the tank 106, but is not limited to this value.
  • the processor 161 While the amount of harvest accumulated in the tank 106 is less than the second predetermined value, the processor 161 does not send a command to the unmanned aerial vehicle 10 to fly the unmanned aerial vehicle 10 to the position of the harvester 100. While the processor 41 has not received a command, it causes the unmanned aerial vehicle 10 to wait at a predetermined position.
  • the processor 161 determines that the weight of the harvest accumulated in the tank 106 has reached or exceeded a second predetermined value, it transmits a command to the unmanned aerial vehicle 10 via the communication device 190 to fly the unmanned aerial vehicle 10 to the location of the harvester 100.
  • the processor 41 receives the command, it flies the unmanned aerial vehicle 10 to the location of the harvester 100 and performs an operation to acquire the harvest stored in the tank 106 of the harvester 100.
  • the unmanned aerial vehicle 10 may receive data indicating the weight of the harvest accumulated in the tank 106 of the harvester 100, and the processor 41 of the unmanned aerial vehicle 10 may determine whether the weight of the harvest accumulated in the tank 106 has reached or exceeded a second predetermined value. If the processor 41 determines that the weight of the harvest accumulated in the tank 106 has reached or exceeded the second predetermined value, it may fly the unmanned aerial vehicle 10 to the position of the harvester 100 and perform an operation to obtain the harvest stored in the tank 106 of the harvester 100.
  • the harvester 100 which harvests the crops while traveling within the field 70, and a transport vehicle that transports the harvested crop run side by side, and the transport vehicle receives the harvested crop discharged by the harvester 100 and stores it on the bed of the transport vehicle.
  • This allows the harvester 100 to transfer the harvested crop to the transport vehicle while harvesting the crops. Since there is no need to interrupt the harvesting work to transfer the harvested crops stored in the harvester 100 to the transport vehicle waiting at the outer periphery of the field 70, the crops can be harvested efficiently.
  • this method requires that a ground surface be secured within the field 70 that allows the transport vehicle to run side by side with the harvester 100, and depending on the field 70, it may not be easy to secure such a ground surface.
  • the unmanned aerial vehicle 10 acquires the harvested product harvested by the harvester 100.
  • the unmanned aerial vehicle 10 can acquire the harvested product from the harvester 100 without landing on the ground.
  • the unmanned aerial vehicle 10 can acquire the harvested product from a position above the harvester 100. Since there is no need to secure ground surface for a transport vehicle to run alongside the harvester 100, crop harvesting can be performed easily and efficiently.
  • FIG. 13 is a schematic diagram of another example of an unmanned aerial vehicle 10 connected to an acquisition device.
  • the acquisition device is a robot arm 210b.
  • the robot arm 210b has a gripper 221.
  • the robot arm 210b has a plurality of actuators, and by driving these actuators, it is possible to move the joints of the robot arm 210b and cause the gripper 221 to grasp an object.
  • the number of robot arms 210b connected to the unmanned aerial vehicle 10 is arbitrary, and may be one or three or more.
  • the gripper 22 grips a vacuum hose extending from a suction machine placed outside or inside the field 70.
  • FIG. 14 is a diagram showing a vacuum hose 226 extending from a suction machine 225 placed inside the field 70, and an unmanned aerial vehicle 10 supporting the vacuum hose 226.
  • FIG. 15 is a diagram showing an unmanned aerial vehicle 10 flying such that the end of the vacuum hose 226 gripped by the gripper 221 is located inside the tank 106 of the harvester 100.
  • the vacuum hose 226 may be supported by two or more unmanned aerial vehicles 10 working together, or by a single unmanned aerial vehicle 10. By having two or more unmanned aerial vehicles 10 working together to support the vacuum hose 226, the vacuum hose 226 can be supported stably.
  • the processor 41 of the unmanned aerial vehicle 10 flies the unmanned aerial vehicle 10 so that the end of the vacuum hose 226 gripped by the gripper 221 is positioned inside the tank 106 of the harvester 100.
  • the suction machine 225 performs a suction operation, so that the harvest 310 in the tank 106 is sucked up and transferred from the harvester 100 to the suction machine 225 through the vacuum hose 226.
  • the harvest 310 can be transferred to the suction machine 225 located at a position away from the harvester 100.
  • the gripper 221 of the robot arm 210b may grasp the exhaust hose extending from the harvester 100.
  • FIG. 16 is a diagram showing a discharge hose 228 extending from the harvester 100, and an unmanned aerial vehicle 10 supporting the discharge hose 228.
  • the discharge hose 228 may be supported by two or more unmanned aerial vehicles 10 working together, or by a single unmanned aerial vehicle 10. By having two or more unmanned aerial vehicles 10 working together to support the discharge hose 228, the discharge hose 228 can be supported stably.
  • the harvester 100 is equipped with a discharge device 107 that discharges the harvested product from the tank 106.
  • the discharge device 107 is equipped with a transport device such as a screw conveyor, and can move the harvested product in the tank 106 upward and discharge the harvested product to the outside.
  • the discharge device 107 is capable of raising and lowering and rotating.
  • the discharge device 107 can be a discharge device mounted on a known harvester, a detailed description thereof will be omitted here.
  • one end of the discharge hose 228 is connected to a discharge port at the tip of the discharge device 107.
  • the processor 41 of the unmanned aerial vehicle 10 flies the unmanned aerial vehicle 10 so that the position of the other end of the discharge hose 228 held by the gripper 221 is the position of the loading platform of a transport vehicle 227 placed outside the field 70 or within the field 70.
  • the discharge device 107 discharges the harvest, and the harvest is discharged from the tank 106 and transported from the harvester 100 to the transport vehicle 227 through the discharge hose 228.
  • the harvest can be transported to the transport vehicle 227 located away from the harvester 100.
  • a container may be placed outside or inside the field 70, and the harvested product may be transported to the container.
  • a discharge device that discharges the harvested product from the tank 106 may be placed adjacent to the harvester 100 as a separate unit from the harvester 100.
  • the robot arm 210b connected to the unmanned aerial vehicle 10 may be equipped with a vacuum gripper.
  • Figures 17A to 17C are diagrams showing an example of an operation in which the unmanned aerial vehicle 10 is used to acquire the harvested product 310a stored in the container 232 of the harvester 100a.
  • the robot arm 210b is equipped with a vacuum gripper 222.
  • the operation of the robot arm 210b and the vacuum gripper 222 may be controlled by the processor 41 of the unmanned aerial vehicle 10.
  • a robot arm 231 is provided on the vehicle body 230 of the harvester 100a, and the robot arm 231 is used to harvest crops.
  • the crops in the field are, for example, but not limited to, vegetables, fruits, etc.
  • crops are harvested from trees 75 in the field.
  • a container 232 is placed on the vehicle body 230.
  • the harvested crops 310a are placed into the container 232 by the robot arm 231, and the harvested crops 310a are stored in the container 232.
  • the vacuum gripper 222 is capable of adsorbing multiple harvested crops 310a simultaneously.
  • the processor 41 of the unmanned aerial vehicle 10 flies the unmanned aerial vehicle 10 so that the vacuum gripper 222 can pick up and acquire the harvest 310a in the container 232.
  • the processor 41 aligns the vacuum gripper 222 with the container 232 using the output signal of the LiDAR sensor 65 and/or the camera 66.
  • the vacuum gripper 222 can be aligned with the container 232 by detecting the positions of the vacuum gripper 222 and the container 232 from the three-dimensional point cloud data and/or image data using an estimation model generated by machine learning.
  • the processor 41 can fly the unmanned aerial vehicle 10 so that the vacuum gripper 222 is positioned within the range of the container 232 in a planar view, while lowering the unmanned aerial vehicle 10, thereby bringing the vacuum gripper 222 into contact with the harvest 310a in the container 232.
  • FIG. 17B is a diagram showing the operation of the vacuum gripper 222 adsorbing the harvest 310a in the container 232.
  • the processor 41 detaches the unmanned aerial vehicle 10 from the harvester 100a.
  • FIG. 17C is a diagram showing the unmanned aerial vehicle 10 detaching from the harvester 100a.
  • the processor 41 detaches the unmanned aerial vehicle 10 from the harvester 100a by raising the unmanned aerial vehicle 10 above the harvester 100a.
  • the processor 41 After detaching the unmanned aerial vehicle 10 from the harvester 100a, the processor 41 causes the unmanned aerial vehicle 10 to transport the harvested goods to a predetermined location. For example, the processor 41 moves the unmanned aerial vehicle 10 to a structure for storing the harvested goods. When the unmanned aerial vehicle 10 arrives at the storage facility 78 or the area surrounding it, the harvested goods are transferred to the storage facility 78. After releasing the harvested goods, the unmanned aerial vehicle 10 may return to the field 70 to resume the task of obtaining the harvested goods.
  • the unmanned aerial vehicle 10 picks up the harvested crops stored in the harvester 100a while it is harvesting crops and removes them from the harvester 100a, allowing for efficient crop harvesting.
  • the unmanned aerial vehicle 10 acquires the harvest from the harvester 100a, but this is not limited to this.
  • the unmanned aerial vehicle 10 may acquire the harvest stored in a transport vehicle.
  • the unmanned aerial vehicle 10 may use a hook to lift and transport the container 232, which is detachably attached to the harvester 100a.
  • Figures 18A to 18C are diagrams showing an example of an operation in which the unmanned aerial vehicle 10 acquires the container 232 storing the harvested product 310a.
  • the acquisition device is a hook 210c.
  • the hook 210c is connected to the connecting device 18 via a wire 223.
  • a rod, a robot arm, etc. may be used instead of the wire 223.
  • the hook 210c may be provided with an actuator that moves the latch, in which case the processor 41 of the unmanned aerial vehicle 10 may control the opening and closing of the latch.
  • the container 232 is provided with wires 223 that connect the ends of the container 232 together.
  • the wires 223 connect, for example, the four corners of the opening of the container 232 together.
  • a handle may be provided on the container 232 instead of the wires 223.
  • the processor 41 of the unmanned aerial vehicle 10 flies the unmanned aerial vehicle 10 so that the container 232 can be lifted by the hook 210c.
  • the processor 41 aligns the hook 210c with the wire 223 using the output signal of the LiDAR sensor 65 and/or the camera 66.
  • the hook 210c and the wire 223 can be aligned by detecting the positions of the hook 210c and the wire 223 from the three-dimensional point cloud data and/or image data using an estimation model generated by machine learning.
  • the processor 41 lowers the unmanned aerial vehicle 10 and brings the hook 210c into contact with the wire 223, thereby allowing the wire 223 to be hung on the hook 210c.
  • the task of hanging the wire 223 on the hook 210c may be performed by a human being.
  • FIG. 18B is a diagram showing the state in which the wire 223 is hooked onto the hook 210c.
  • the processor 41 detaches the unmanned aerial vehicle 10 from the harvester 100a.
  • FIG. 18C is a diagram showing the unmanned aerial vehicle 10 detaching from the harvester 100a.
  • the processor 41 detaches the unmanned aerial vehicle 10 from the harvester 100a by raising the unmanned aerial vehicle 10 above the harvester 100a.
  • the container 232 can be lifted by the hook 210c.
  • An empty container 232 carried by another unmanned aerial vehicle 10 may be set on the harvester 100a. This allows the harvester 100a to continue harvesting operations.
  • the processor 41 After detaching the unmanned aerial vehicle 10 from the harvester 100a, the processor 41 causes the unmanned aerial vehicle 10 to transport the container 232 to a predetermined location. For example, the processor 41 moves the unmanned aerial vehicle 10 to a structure for storing the harvested product. When the unmanned aerial vehicle 10 arrives at the storage facility 78 or the surrounding area, the harvested product in the container 232 is transferred to the storage facility 78. The unmanned aerial vehicle 10 may return to the field 70 again with the emptied container 232 hoisted thereon, and set the container 232 on the harvester 100a.
  • the unmanned aerial vehicle 10 lifts and transports the container 232 of the harvester 100a that is harvesting crops, allowing the crops to be harvested efficiently.
  • the unmanned aerial vehicle 10 lifts the container 232 placed on the harvester 100a, but this is not limited to this.
  • the unmanned aerial vehicle 10 may lift and transport the container 232 placed on a transport vehicle.
  • the tank 106 of the harvester 100 may be detachable from the harvester 100, in which case the unmanned aerial vehicle 10 may lift and transport the tank 106 of the harvester 100.
  • FIG. 18D is a diagram showing an example of a small unmanned aerial vehicle 240 that harvests crops.
  • the unmanned aerial vehicle 240 is provided with a robot arm 231, and the unmanned aerial vehicle 240 harvests the crops using the robot arm 231.
  • the unmanned aerial vehicle 240 places the harvested material 310a into the container 232, whereby the harvested material 310a is stored.
  • a transport vehicle may be used as the harvester 100a.
  • FIG 19 is a diagram showing an example of the agricultural machine 100.
  • a baler 302 which is an example of a working machine, is towed by a tractor 301.
  • the working machine 302 towed by the tractor 301 and the tractor 301 as a whole function as a single "agricultural machine.”
  • the baler 302 is pulled by the tractor 301 to collect grass contained in a swath (row of collected grass) formed in the field 70, and forms the collected grass into a predetermined shape to form a bale 310b.
  • the baler 302 discharges the formed bale 310b, for example, to the rear of the baler 302.
  • the structure of the baler is publicly known, so a detailed description will be omitted here.
  • FIGS 20A to 20C are diagrams showing an example of the operation of scooping up the bale 310b discharged from the baler 302.
  • the acquisition device is the bucket 210d.
  • the bucket 210d is connected to the coupling device 18 via the arm 235.
  • the arm 235 may be provided with a number of actuators that move the arm 235 itself and the bucket 210d, in which case the processor 41 of the unmanned aerial vehicle 10 may drive these actuators.
  • the bale 310b can be transported by scooping it up using the bucket 210d.
  • the processor 41 of the unmanned aerial vehicle 10 causes the unmanned aerial vehicle 10 to wait near the planned discharge position of the bale 310b.
  • the tractor 301 or the baler 302 transmits position information indicating the planned discharge position of the bale 310b to the unmanned aerial vehicle 10.
  • the position information includes geographic coordinate information.
  • the processor 41 flies the unmanned aerial vehicle 10 to a position where it can acquire the bale 310b discharged from the baler 302, and causes the unmanned aerial vehicle 10 to wait. For example, as shown in FIG. 20A, the unmanned aerial vehicle 10 waits slightly behind the planned discharge position of the bale 310b on the travel path of the baler 302.
  • the tractor 301 or the baler 302 transmits a signal to the unmanned aerial vehicle 10 notifying the discharge of the bale 310b.
  • the processor 41 lowers the unmanned aerial vehicle 10 and scoops up the discharged bale 310b with the bucket 210d.
  • Figure 20B shows the operation of scooping up the bale 310b, which has been discharged from the baler 302 and is rolling on the ground, with the bucket 210d.
  • the processor 41 uses the output signal of the LiDAR sensor 65 and/or the camera 66 to move the bucket 210d to a position where the bale 310b can be acquired.
  • an estimation model generated by machine learning can be used to detect the positions of the bale 310b and the bucket 210d from the 3D point cloud data and/or image data. By bringing the bale 310b and the bucket 210d closer to each other, the bale 310b can be placed inside the bucket 210d.
  • FIG. 20C is a diagram showing the unmanned aerial vehicle 10 ascending with the bail 310b contained within the bucket 210d.
  • the processor 41 After detaching the unmanned aerial vehicle 10 from the baler 302, the processor 41 causes the unmanned aerial vehicle 10 to transport the bale 310b to a predetermined location. For example, the processor 41 moves the unmanned aerial vehicle 10 to a structure for storing harvested products. When the unmanned aerial vehicle 10 arrives at the storage shed 78 or the area surrounding it, the bale 310b is transferred to the storage shed 78. The unmanned aerial vehicle 10 may return to the field 70 again to retrieve the bale 310b.
  • Each of the above-mentioned acquisition devices used to acquire the harvested crops is detachable from the unmanned aerial vehicle 10, but is not limited to this.
  • Each of the acquisition devices may be integrally attached to the unmanned aerial vehicle 10.
  • multiple packages of harvested produce may be generated that need to be transported to a specified location, such as an area where a storage facility is located.
  • the transportation of such multiple packages may be shared among multiple unmanned aerial vehicles 10.
  • an unmanned aerial vehicle 10 that is suitable for transporting the package is selected from among the multiple unmanned aerial vehicles 10.
  • FIG. 21, 22, and 23 are flow charts showing an example of a process for determining an unmanned aerial vehicle 10 that will transport a package of harvested produce from among a plurality of unmanned aerial vehicles 10.
  • FIG. 24 is a diagram showing an example of a farm field 70 in which an unmanned aerial vehicle 10 retrieves and transports a package.
  • a small unmanned aerial vehicle 240 (FIG. 18D) harvests crops from trees 75 in a field 70.
  • a transport vehicle 320 for storing the harvested crops is disposed in the field 70.
  • a container 330 is disposed on the transport vehicle 320.
  • the unmanned aerial vehicle 240 places the harvested crop 310a into the container 330, so that the harvested crop is stored in the container 330.
  • the container 330 is detachable from the transport vehicle 320.
  • the package of the harvested crop that the unmanned aerial vehicle 10 transports is, for example, the container 330 in which the harvested crop is stored.
  • the unmanned aerial vehicle 10 acquires and transports the container 330 in which the harvested crop is stored.
  • the transport vehicle 320 may be the harvester 100a described above.
  • the container 330 may be the container 232 (FIG. 18D).
  • the transport vehicle 320 may include the components shown in FIG. 5.
  • the transport vehicle 320 can communicate with the terminal device 400 and the management device 600 via the network 80 (FIG. 3).
  • the transport vehicle 320 and the unmanned aerial vehicle 10 may communicate with each other via the network 80, or may communicate directly without using the network 80.
  • the transport vehicle 320 may be capable of manned operation, or may only be capable of unmanned operation. If the transport vehicle 320 is only capable of unmanned operation, the components necessary only for manned operation, such as a steering device and a driver's seat, may not be provided in the transport vehicle 320. If the transport vehicle 320 does not harvest crops, the components for harvesting crops may not be provided in the transport vehicle 320.
  • the processor 161 ( Figure 5) of the transport vehicle 320 can communicate with the unmanned aerial vehicle 10, the terminal device 400, and the management device 600 via the communication device 190.
  • the processor 41 ( Figure 6) of the unmanned aerial vehicle 10 can communicate with the transport vehicle 320, the terminal device 400, and the management device 600 via the communication device 4C.
  • transport vehicles 320a-320e are located in the field 70 as transport vehicles 320.
  • Unmanned aerial vehicles 10a-10d are performing work as unmanned aerial vehicles 10.
  • the load sensor 156 (Fig. 5) of the transport vehicle 320a detects the weight of the container 330. If the harvest 310a (Fig. 18D) is stored in the container 330, the load sensor 156 detects the weight of the container 330 including the stored harvest 310a.
  • the processor 161 of the transport vehicle 320a determines whether the weight of the container 330 detected by the load sensor 156 is equal to or greater than a third predetermined value.
  • the third predetermined value is, for example, the weight of the container 330 when the harvested product 310a is stored in the container 330 in an amount that is approximately 50-90% of the volume of the container 330, but is not limited to this value.
  • the processor 161 determines that the weight of the container 330 is equal to or greater than the third predetermined value, it transmits package weight information indicating the weight of the container 330, which is the target package, and package position information indicating the geographic coordinates of the location of the container 330, to the management device 600.
  • the processor 161 can obtain information on the geographic coordinates of the location of the container 330 from the information output by the GNSS unit 121.
  • the processor 161 also transmits a request signal to the management device 600 to request the transportation of the container 330.
  • Each of the unmanned aerial vehicles 10a-10d transmits availability information indicating the availability of its own payload to the management device 600.
  • the availability represents the weight of packages that the unmanned aerial vehicle 10 can further load.
  • the availability can be calculated, for example, from the difference between the maximum payload of the unmanned aerial vehicle 10 and the weight of the object that the unmanned aerial vehicle 10 is currently carrying.
  • the availability may also be calculated taking into account the weight of fuel carried by the unmanned aerial vehicle 10.
  • the processor 41 of the unmanned aerial vehicle 10 can detect the weight of the object currently being loaded using a load sensor 67 ( Figure 6).
  • the load sensor 67 is provided, for example, in the coupling device 18, and detects the weight of the object coupled to the coupling device 18.
  • Information regarding the maximum load capacity of the unmanned aerial vehicle 10 is pre-stored in the storage device 44.
  • the processor 41 of each of the unmanned aerial vehicles 10a-10d transmits availability information to the management device 600.
  • the processor 41 of the unmanned aerial vehicle 10 further transmits remaining energy information indicating the remaining amount of the energy source for flying the unmanned aerial vehicle 10 to the management device 600.
  • the remaining amount of the energy source for flying the unmanned aerial vehicle 10 is, for example, the remaining amount of the battery 52 (FIG. 2A) and/or the remaining amount of fuel in the fuel tank 7b (FIG. 2B).
  • the processor 41 can obtain information on the remaining amount of the battery 52 from information output by the battery management system (BMS) of the battery 52.
  • BMS battery management system
  • a fuel sensor that detects the remaining amount of fuel is provided in the fuel tank 7b, and the processor 41 can obtain information on the remaining amount of fuel from the output signal of the fuel sensor.
  • the processor 41 of the unmanned aerial vehicle 10 further transmits unmanned aerial vehicle position information indicating the geographic coordinates of the position of the unmanned aerial vehicle 10 to the management device 600.
  • the processor 41 can obtain information on the geographic coordinates of the position of the unmanned aerial vehicle 10 from information output by the GNSS unit 61.
  • the processor 41 of each of the unmanned aerial vehicles 10a-10d transmits remaining energy information and unmanned aerial vehicle position information to the management device 600.
  • the processor 660 (FIG. 7) of the management device 600 can communicate with the unmanned aerial vehicle 10, the transport vehicle 320a, and the terminal device 400 via the communication device 690.
  • the communication device 690 receives the above-mentioned package weight information, package position information, request signal, availability information, remaining energy information, and unmanned aerial vehicle position information.
  • the processor 660 determines which of the multiple unmanned aerial vehicles 10a-10d is to transport the target package 330 to a predetermined location.
  • the predetermined location is a location in the storage facility 78 or the area surrounding it.
  • the processor 660 selects a candidate for the transport unmanned aerial vehicle 10 from among the multiple unmanned aerial vehicles 10a-10d based on the package weight information and availability information (step S201 in FIG. 21).
  • FIG. 22 is a flowchart showing an example of the details of the processing in step S201.
  • the processor 660 selects as a candidate for the transport unmanned aerial vehicle 10 an unmanned aerial vehicle for which the weight of the package that can be further loaded, obtained from the availability information, is equal to or greater than the weight indicated by the package weight information.
  • the processor 660 acquires package weight information and availability information for each of the unmanned aerial vehicles 10a-10d (step S211).
  • the package weight information indicates the weight value W1 of the target package 330.
  • the availability information indicates the weight value W2 of additional packages that can be loaded.
  • the processor 660 compares the magnitude relationship between weight value W1 and weight value W2 for each of the unmanned aerial vehicles 10a-10d (step S212).
  • the processor 660 selects an unmanned aerial vehicle whose weight value W2 is equal to or greater than weight value W1 as a candidate for the transport unmanned aerial vehicle 10 (step S213).
  • the processor 660 does not select an unmanned aerial vehicle whose weight value W2 is less than weight value W1 as a candidate for the transport unmanned aerial vehicle 10 (step S214).
  • FIG. 23 is a flowchart showing an example of the details of the processing in step S202.
  • the energy consumption rate represents the amount of power and/or fuel consumed per unit distance to fly the unmanned aerial vehicle 10.
  • Information on the geographic coordinates of the location to which the target package 330 is to be delivered (e.g., a location in the storage facility 78 or the area surrounding it) is pre-stored in the storage device 650.
  • the processor 660 calculates the distance between the current position of the unmanned aerial vehicle 10 and the position of the target package 330, and also calculates the distance between the position of the target package 330 and the destination position.
  • the processor 660 calculates the amount of energy consumed (first energy consumption) when the unmanned aerial vehicle 10 flies from its current position to the position of the target package 330.
  • the processor 660 also calculates the amount of energy consumed (second energy consumption) when the unmanned aerial vehicle 10 supporting the target package 330 flies from the position of the target package 330 to the destination position, assuming that the unmanned aerial vehicle 10 supports the target package 330.
  • the processor 660 can calculate the remaining energy R1 when the unmanned aerial vehicle 10 supporting the target package 330 flies to the destination position based on the current remaining energy, the first energy consumption, and the second energy consumption.
  • the processor 660 calculates the remaining energy R1 for each of the one or more unmanned aerial vehicles 10 selected in step S213 ( Figure 22) (step S221 in Figure 23).
  • the processor 660 compares the calculated remaining energy amount R1 with a fourth predetermined value (step S222).
  • the fourth predetermined value is any value greater than zero.
  • the fourth predetermined value is, for example, a value corresponding to a remaining energy amount of 10-20%, but is not limited to this.
  • the processor 660 selects an unmanned aerial vehicle whose remaining energy R1 is equal to or greater than the fourth predetermined value as a candidate for the transport unmanned aerial vehicle 10 (step S223).
  • the processor 660 does not select an unmanned aerial vehicle whose remaining energy R1 is less than the fourth predetermined value as a candidate for the transport unmanned aerial vehicle 10 (step S224).
  • the processor 660 determines the transport unmanned aerial vehicle 10 to transport the target package 330 from among the one or more unmanned aerial vehicle 10 selected in step S223 (step S203 in FIG. 21). For example, the processor 660 determines the unmanned aerial vehicle 10 with the shortest distance between the current position of the unmanned aerial vehicle 10 and the position of the target package 330 as the transport unmanned aerial vehicle 10. Also, for example, the unmanned aerial vehicle 10 with the largest remaining energy R1 may be determined as the transport unmanned aerial vehicle 10.
  • the processor 660 determines that the unmanned aerial vehicle 10b is the transport unmanned aerial vehicle.
  • the processor 660 outputs an instruction to the unmanned aerial vehicle 10b to transport the target package 330 to be transported.
  • the processor 660 also outputs package location information indicating the geographic coordinates of the location of the target package 330 to the unmanned aerial vehicle 10b.
  • the processor 41 of the unmanned aerial vehicle 10b When the processor 41 of the unmanned aerial vehicle 10b receives the transport command and the package location information, it flies the unmanned aerial vehicle 10b to the location of the target package 330.
  • the target package 330 is, for example, a container 232 (FIGS. 18A-18D).
  • the unmanned aerial vehicle 10b is provided with, for example, a hook 210c as a support device for supporting the target package 330.
  • the unmanned aerial vehicle 10b reaches the airspace above the container 232, it can acquire the container 232 by the method described using FIGS. 18A-18C.
  • the unmanned aerial vehicle 10b After acquiring the container 232, the unmanned aerial vehicle 10b flies toward the storage facility 78 or the surrounding area to which it is to be transported.
  • the unmanned aerial vehicle 10b arrives at the storage facility 78 or the surrounding area, the harvested crop is transferred to the storage facility 78.
  • an unmanned aerial vehicle 10 suitable for transporting the target package 330 is selected from among a plurality of unmanned aerial vehicles 10.
  • the weight value W1 of the target package 330 is compared with the weight value W2 of the package that the unmanned aerial vehicle 10 can further carry, and the unmanned aerial vehicle 10 that satisfies the condition that the weight value W2 is equal to or greater than the weight value W1 is determined to be the unmanned aerial vehicle 10 for transport.
  • the remaining energy R1 is calculated assuming that the unmanned aerial vehicle 10 has supported the target package 330 and flown to the destination location.
  • the unmanned aerial vehicle 10 that satisfies the condition that the remaining energy R1 is equal to or greater than a fourth predetermined value is determined to be the unmanned aerial vehicle 10 for transport. This makes it possible to prevent the unmanned aerial vehicle 10 from being unable to fly while transporting the target package 330.
  • the process of determining the transport unmanned aerial vehicle 10 based on the remaining energy R1 may be omitted.
  • the process of determining the unmanned aerial vehicle 10 that will transport the target package 330 is performed by the management device 600, but it may also be performed by the terminal device 400.
  • the unmanned aerial vehicle 10 itself may determine whether or not it is capable of transporting the target package 330.
  • FIG. 25 is a flowchart showing an example of a process for determining whether the unmanned aerial vehicle 10 itself is capable of transporting the target package 330.
  • a container 330 placed on a transport vehicle 320a is treated as a target package to be transported, and the process in which the unmanned aircraft 10 itself determines whether or not it is capable of transporting the target package 330 is described.
  • the processor 161 of the transport vehicle 320a determines that the weight of the container 330 is equal to or greater than the third predetermined value, it transmits package weight information indicating the weight of the container 330, which is the target package, and package location information indicating the geographic coordinates of the location of the container 330, to the multiple unmanned aerial vehicles 10.
  • the processor 161 also transmits a request signal to the multiple unmanned aerial vehicles 10 to request the transport of the container 330.
  • the processor 41 of the unmanned aerial vehicle 10 generates availability information, remaining energy information, and unmanned aerial vehicle position information.
  • the communication device 4C of the unmanned aerial vehicle 10 receives the above package weight information, package position information, and request signal.
  • the processor 41 acquires package weight information and availability information (step S311).
  • the package weight information indicates the weight value W1 of the target package 330.
  • the availability information indicates the weight value W2 of a package that can be loaded further.
  • the processor 41 compares the magnitude relationship between the weight value W1 and the weight value W2 (step S312).
  • processor 41 determines that transport of target package 330 is impossible (step S316). In this case, transport of target package 330 is not performed. If weight value W2 is equal to or greater than weight value W1, processor 41 calculates remaining energy amount R1 (step S313).
  • Information showing the relationship between the energy consumption rate of the flying unmanned aerial vehicle 10 and the weight of the object carried by the unmanned aerial vehicle 10, for example a map showing this relationship, is pre-stored in the storage device 44.
  • Information on the geographic coordinates of the location to which the target package 330 is to be delivered (for example, a location in the storage facility 78 or in the area surrounding it) is pre-stored in the storage device 44.
  • the processor 41 calculates the distance between the current position of the unmanned aerial vehicle 10 and the position of the target package 330, and also calculates the distance between the position of the target package 330 and the destination position.
  • the processor 41 calculates the amount of energy consumed (first energy consumption) when the unmanned aerial vehicle 10 flies from the current position to the position of the target package 330.
  • the processor 41 also calculates the amount of energy consumed (second energy consumption) when the unmanned aerial vehicle 10 supporting the target package 330 flies from the position of the target package 330 to the destination position, assuming that the unmanned aerial vehicle 10 supports the target package 330.
  • the processor 41 calculates the remaining energy R1 when the unmanned aerial vehicle 10 supporting the target package 330 flies to the destination position, based on the current remaining energy, the first energy consumption, and the second energy consumption.
  • the processor 41 compares the calculated remaining energy R1 with a fourth predetermined value (step S314). If the remaining energy R1 is less than the fourth predetermined value, the processor 41 determines that the target package 330 cannot be transported (step S316). In this case, the target package 330 is not transported. If the remaining energy R1 is equal to or greater than the fourth predetermined value, the processor 41 determines that the target package 330 can be transported (step S315).
  • the processor 41 outputs information indicating the result of the determination as to whether or not the target package 330 can be transported to the outside via the communication device 4C. This allows the processor 41 to notify other unmanned aerial vehicles 10 and the management device 600, etc., that it is capable of transporting the target package 330, or that it is unable to transport the target package 330.
  • the processor 41 determines that the target package 330 can be transported, it flies the unmanned aerial vehicle 10 to the location of the target package 330.
  • the target package 330 is, for example, a container 232 (FIGS. 18A-18D).
  • the unmanned aerial vehicle 10 is provided with, for example, a hook 210c as a support device for supporting the target package 330.
  • the unmanned aerial vehicle 10 reaches the airspace above the container 232, it can acquire the container 232 by the method described using FIGS. 18A-18C.
  • the processor 41 flies the unmanned aerial vehicle 10 that has acquired the container 232 toward the storage facility 78 or the surrounding area where the harvest is to be transported.
  • the unmanned aerial vehicle 10 arrives at the storage facility 78 or the surrounding area, the harvest is transferred to the storage facility 78.
  • the process of determining whether the target package 330 can be transported based on the remaining energy R1 may be omitted.
  • the unmanned aerial vehicle 10 capable of transporting the target package 330 flies to the location where the target package 330 is located and supports and transports the target package 330, thereby enabling efficient transportation of harvested crops.
  • the processor 41 may determine that the target package 330 can be transported if the total weight of one or more packages that the unmanned aerial vehicle 10 will support when supporting the target package 330 is equal to or less than the maximum load capacity. The processor 41 determines that the target package 330 cannot be transported if the total weight exceeds the maximum load capacity.
  • the processor 41 determines that the target package 330 can be transported if the sum of the weight value indicated by the package weight information and the weight value of the one or more other packages is less than the maximum load capacity. The processor 41 determines that the target package 330 cannot be transported if the sum of the weight value indicated by the package weight information and the weight value of the one or more other packages exceeds the maximum load capacity.
  • the unmanned aerial vehicle 10 Even if the unmanned aerial vehicle 10 is already supporting a package, if there is sufficient carrying capacity, it can support another package, allowing for efficient transport of harvested goods.
  • Harvester 100a and/or unmanned aerial vehicle 240 as illustrated in Figures 18A-18D operate as a packaging system that packages the harvested product. As described above, container 232 in which the harvested product is stored becomes the package.
  • Robot arm 231 provided on harvester 100a and/or unmanned aerial vehicle 240 operates as a packaging device that packages the harvested product.
  • the processor of harvester 100a and/or unmanned aerial vehicle 240 controls the operation of robot arm 231, which is the packaging device.
  • processor 161 of harvester 100a controls the operation of robot arm 231.
  • the package is, for example, a storage section in which the harvested product is stored.
  • the package may be, for example, the tank 106 described above that stores the harvested product. In this case, the tank 106 is separable from the harvester 100.
  • the package may be, for example, a wrapped mass of the harvested product, such as the bale 310b described above.
  • the processor 161 of the harvester 100a may adjust the amount of crop harvested by the robotic arm 231 and change the weight of the container 232 containing the harvested product based on the carrying capacity of the unmanned aerial vehicle 10 that is carrying the package of harvested product.
  • the processor 41 of the unmanned aerial vehicle 10 transmits availability information indicating the weight value W2 of further packages that can be loaded to the harvester 100a.
  • the processor 161 of the harvester 100a adjusts the amount of crops harvested by the robot arm 231 so that the weight value W1 of the container 232 does not exceed the weight value W2.
  • the weight of the container 232 containing the harvested goods can be adjusted according to the carrying capacity of the unmanned aerial vehicle 10, thereby allowing the unmanned aerial vehicle 10 to transport the container 232.
  • the number of harvested goods placed in the container 232 may be adjusted in order to adjust the weight of the container 232.
  • the processor 161 of the harvester 100a may move the harvester 100a, in which the container 232 is placed, to a position where the unmanned aerial vehicle 10 can acquire the container 232. Even if the location where the crops were harvested is an area where it is difficult for the unmanned aerial vehicle 10 to enter, by moving the location of the package, the unmanned aerial vehicle 10 can acquire the package.
  • the process of changing the weight of the container 232 containing the harvested product based on the carrying capacity of the unmanned aerial vehicle 10 may be performed by the management device 600.
  • the processor 660 of the management device 600 transmits an instruction to the harvester 100a to change the weight of the container 232 containing the harvested product based on the availability information and remaining energy information of the unmanned aerial vehicle 10.
  • the processor 660 can calculate the weight of the container 232 that the unmanned aerial vehicle 10 can transport to the destination location based on the availability information and remaining energy information, for example, by using a map showing the relationship between the energy consumption rate of the unmanned aerial vehicle 10 and the weight of the object carried by the unmanned aerial vehicle 10.
  • the processor 660 instructs the harvester 100a to ensure that the weight of the container 232 does not exceed the calculated transportable weight.
  • the weight of the container 232 was adjusted, but in a configuration in which the unmanned aerial vehicle 10 supports multiple packages, the number of packages supported by the unmanned aerial vehicle 10 may be changed based on the carrying capacity of the unmanned aerial vehicle 10.
  • the unmanned aerial vehicle 10 can carry the packages.
  • the baler 302 forms a bale 310b, such as that illustrated in FIG. 19, the bale 310b becomes a package of the harvested product.
  • the weight or number of the bale 310b may be varied depending on the carrying capacity of the unmanned aerial vehicle 10.
  • the unmanned aerial vehicle 10 transports a package of harvested goods, but may transport unpackaged harvested goods.
  • the processor 161 of the harvester 100a may transmit harvest weight information indicating the weight of the harvested goods and harvest position information indicating the geographic coordinates of the location of the harvested goods to the management device 600 and/or the unmanned aerial vehicle 10.
  • the processor 660 of the management device 600 determines, based on the harvest weight information and the harvest position information, from among the multiple unmanned aerial vehicles 10, a transport unmanned aerial vehicle 10 that will transport the harvested goods to the destination location (e.g., a location in the storage facility 78 or the area surrounding it).
  • the processor 41 of the unmanned aerial vehicle 10 determines, based on the harvest weight information and the harvest position information, whether the harvested goods can be transported to the destination location. If it is determined that the harvested goods can be transported, the processor 41 flies the unmanned aerial vehicle 10 to the location of the harvested goods, causes the acquisition device 210 to acquire the harvested goods, and flies the unmanned aerial vehicle 10 to the destination location.
  • the unmanned aerial vehicle 10 capable of transporting harvested goods can fly to the location where the harvested goods are located, pick up the harvested goods, and transport them, allowing for efficient transport of the harvested goods.
  • the unmanned aerial vehicle 10 can perform various tasks other than transporting harvested crops. For example, the unmanned aerial vehicle 10 performs the task of supporting and transporting any structure.
  • the structure that the unmanned aerial vehicle 10 supports and transports is, for example, a work machine 200. By supporting the work machine 200, the unmanned aerial vehicle 10 can transport the work machine 200 to a desired location or assist the work of the work machine 200.
  • FIG. 26 is a diagram showing an example of an unmanned aerial vehicle 10 supporting a work machine 200a.
  • the type of work machine 200a is arbitrary.
  • the work machine 200a is a grass cutter.
  • a rod 261 extends upward from the top of the main body of the work machine 200a.
  • a hook 262 is provided on the top of the rod 261.
  • the hook 262 has a shape that allows hook 210c connected to the unmanned aerial vehicle 10 to be hung thereon.
  • the hook 262 is, for example, a ring hook.
  • the rod 261 is rotatably attached to the main body of the work machine 200a, and the angle of the rod 261 relative to the main body of the work machine 200a can be freely changed.
  • a wire or the like may be used instead of the rod 261.
  • the method by which the unmanned aerial vehicle 10 supports the work machine 200a is arbitrary, and a mechanism different from the above may be used.
  • the work machine 200a is separated from the unmanned aerial vehicle 10 that supports it, and is used to transport the harvested crops.
  • FIG. 27 is a flow chart showing an example of an operation for detaching the work implement 200a from the unmanned aerial vehicle 10 supporting the work implement 200a and transporting harvested crops.
  • FIGS. 28A and 28B are diagrams showing the unmanned aerial vehicle 10 supporting the work implement 200a performing work in a field 70.
  • FIG. 28C is a diagram showing the unmanned aerial vehicle 10 with the work implement 200a detached.
  • the unmanned aerial vehicle 10 supports the work machine 200a, for example, in a warehouse or the surrounding area (step S401).
  • the processor 41 of the unmanned aerial vehicle 10 flies the unmanned aerial vehicle 10 supporting the work machine 200a, and transports the work machine 200a to the area where the work machine 200a will perform work.
  • the area where the work machine 200a will perform work is, for example, within the field 70 or the area surrounding the field 70.
  • the area in which the work machine 200a works is a farm field 70. If the work machine 200a is a grass cutter, the work machine 200a cuts grass.
  • Figure 28A shows the work machine 200a working on a slope 70b with a relatively large inclination angle.
  • Figure 28B shows the work machine 200a working on a relatively flat ground surface 70a. Even when working on a slope 70b with a relatively large inclination angle, the unmanned aerial vehicle 10 supports the work machine 200a, allowing the work machine 200a to perform work stably.
  • the processor 161 ( Figure 5) of the transport vehicle 320 transmits package weight information indicating the weight of the container 330, which is the target package, and package position information indicating the geographic coordinates of the location of the container 330, to the unmanned aerial vehicle 10.
  • the processor 161 also transmits a request signal to the unmanned aerial vehicle 10 to request the transport of the container 330.
  • the communication device 4C of the unmanned aerial vehicle 10 receives the package weight information, package position information, and request signal (step S402).
  • the processor 41 of the unmanned aerial vehicle 10 determines whether it is possible to release the support of the work machine 200a and transport the package 330 (step S403).
  • the processor 41 causes the unmanned aerial vehicle 10 to continue supporting the work machine 200a performing the work. For example, as shown in FIG. 28A, when the work machine 200a is performing work on a slope 70b with a relatively large inclination angle, support of the work machine 200a is continued. In this case, the package 330 is not transported. This allows the work machine 200a to perform its work appropriately.
  • the processor 41 causes the unmanned aerial vehicle 10 to release support for the working machine 200a (step S404). For example, as shown in FIG. 28B, if the working machine 200a is performing work on a relatively flat ground surface 70a, the processor 41 releases support for the working machine 200a.
  • FIG. 28C shows the unmanned aerial vehicle 10 with the working machine 200a separated after support for the working machine 200a has been released.
  • the processor 41 can separate the hook 210c and the hook 262 by controlling the operation of the latch so that the latch of the hook 210c is in an open state and flying the unmanned aerial vehicle 10 so that the hook 210c moves diagonally downward relative to the hook 262 of the work machine 200a. This allows the work machine 200a to be separated from the unmanned aerial vehicle 10. The separated work machine 200a may continue to perform work.
  • the processor 41 flies the unmanned aerial vehicle 10, which has released its support for the work machine 200a, to the position of the target package 330 indicated by the package position information.
  • the target package 330 is, for example, a container 232 ( Figures 18A-18D).
  • the unmanned aerial vehicle 10 that has reached the airspace above the container 232 can support the container 232 in the manner described using Figures 18A-18C.
  • the processor 41 flies the unmanned aerial vehicle 10 supporting the container 232 toward the destination storage facility 78 or the area surrounding it (step S405). When the unmanned aerial vehicle 10 arrives at the storage facility 78 or the area surrounding it, the harvest is transferred to the storage facility 78.
  • the transport of the harvested crops can be carried out efficiently.
  • the weight of the package 330 that the unmanned aerial vehicle 10 can transport can be increased.
  • the processor 41 may determine whether it is possible to have the unmanned aerial vehicle 10 release support for the work machine 200a and transport the package 330 based on the degree of progress of the work of the work machine 200a. For example, if the degree of progress of the work of the work machine 200a is relatively low, the work machine 200a can be appropriately performed by having the unmanned aerial vehicle 10 continue to support the work machine 200a performing the work. If the degree of progress of the work of the work machine 200a is relatively high, the unmanned aerial vehicle 10 is caused to release support for the work machine 200a and transport the package 330.
  • the unmanned aerial vehicle 10 may release support for the work machine 200a and transport the package 330. For example, if there is time until the work deadline of the work machine 200a and the deadline for transporting the package 330 is approaching, the unmanned aerial vehicle 10 may release support for the work machine 200a and transport the package 330.
  • step S403 after determining whether the package 330 can be transported based on the state of the work machine 200a, it may be further determined whether the package 330 can be transported based on the weight of the package 330 and/or the remaining amount of the energy source of the unmanned aerial vehicle 10.
  • the processor 41 determines whether the unmanned aerial vehicle 10 can transport the package 330 to the destination position based on the package weight information.
  • the processor 41 also determines whether the unmanned aerial vehicle 10 can transport the package 330 to the destination position based on the remaining amount of the energy source.
  • the processor 41 can perform processing such as that described using FIG. 25 to determine whether the package 330 can be transported.
  • support of the work machine 200a may be released when the unmanned aerial vehicle 10 transporting the work machine 200a reaches the destination without determining whether the package 330 can be transported based on the state of the work machine 200a. For example, if there is no need for the unmanned aerial vehicle 10 to support the work machine 200a performing work, support of the work machine 200a may be released when the destination is reached, and the unmanned aerial vehicle 10 may be flown to the position of the package 330 to support the package 330.
  • the process of determining whether the package 330 can be transported may be performed by the processor 660 of the management device 600 and/or the processor 460 of the terminal device 400.
  • the various processes described above may be performed by at least two of the processors 41, 660, and 460 in cooperation with each other.
  • Systems that perform the various processes described above can also be retrofitted to unmanned aerial vehicles and/or agricultural machinery that do not have those functions. Such systems can be manufactured and sold independently of unmanned aerial vehicles and agricultural machinery. Computer programs used in such systems can also be manufactured and sold independently of unmanned aerial vehicles and agricultural machinery.
  • the computer programs can be provided, for example, by being stored on a non-transitory computer-readable storage medium.
  • the computer programs can also be provided by downloading via a telecommunications line (for example, the Internet).
  • the present disclosure includes the systems, unmanned aerial vehicles, methods, and computer programs described below.
  • a harvest management system that uses an unmanned aerial vehicle to acquire crops harvested from a field by a mobile agricultural machine, a harvesting device used to harvest the crop is connected to the unmanned aerial vehicle and moves together with the unmanned aerial vehicle;
  • the unmanned aerial vehicle includes: a receiving device that receives position information indicating a position of the agricultural machine within the farm field or a position where the agricultural machine is scheduled to unload harvested products;
  • a flight device that flies the unmanned aerial vehicle; a control device that controls the operation of the flight device to fly the unmanned aerial vehicle to a position where the first harvest product stored in the agricultural machine or the second harvest product discharged from the agricultural machine can be acquired; Equipped with acquiring the first harvest product or the second harvest product using the acquisition device connected to the unmanned aerial vehicle;
  • Harvest management system that uses an unmanned aerial vehicle to acquire crops harvested from a field by a mobile agricultural machine, a harvesting device used to harvest the crop is connected to the unmanned aerial vehicle and moves together with the unmanned aerial vehicle;
  • the unmanned aerial vehicle includes:
  • the above method requires that a ground surface be secured within the field that allows the transport vehicle to run alongside the agricultural machinery, and in some fields it may not be easy to secure such a ground surface.
  • an unmanned aerial vehicle acquires the harvested goods harvested by an agricultural machine.
  • the unmanned aerial vehicle acquires the harvested goods from the agricultural machine without landing on the ground.
  • the unmanned aerial vehicle acquires the harvested goods from a position above the agricultural machine. Since there is no need to secure ground surface for a transport vehicle to run alongside the agricultural machine, crop harvesting can be performed easily and efficiently.
  • the acquisition device includes an aspirator; The harvest management system described in item A1, wherein the suction machine suctions and obtains the first harvest product stored in the agricultural machine.
  • the first harvested product is stored in a tank of the agricultural machine;
  • the suction device is provided with a nozzle,
  • the control device controls the unmanned aerial vehicle to fly so that an end of the nozzle is located within the tank,
  • the harvest management system of claim A2 wherein the first harvest material is transferred from the agricultural machine to the aspirator through the nozzle.
  • the nozzle makes it easy to transfer crops from the agricultural machinery to the unmanned aerial vehicle.
  • the harvested material can be sucked up and stored in a tank connected to the drone.
  • the acquisition device further includes a sensor for detecting a weight of the first harvest product stored in the tank, A harvest management system as described in item A4, wherein when the weight value detected by the sensor becomes equal to or greater than a first predetermined value, the suction machine stops suctioning the first harvest product.
  • the first harvested product is stored in a tank of the agricultural machine;
  • the acquisition device includes a gripper capable of gripping a vacuum hose extending from a suction machine disposed outside the field or within the field, the control device controls the unmanned aerial vehicle to fly so that an end of the vacuum hose gripped by the gripper is positioned within the tank;
  • the harvest management system of any of items A1 to A5, wherein the first harvest product is transferred from the agricultural machine to the aspirator through the vacuum hose.
  • Crop harvesting can be done more efficiently by using a vacuum hose to suck up the crops from the agricultural machinery that is harvesting the crops.
  • the capture device includes a vacuum gripper; A harvest management system described in any of items A1 to A7, wherein the vacuum gripper adsorbs and acquires the first harvest product stored in the agricultural machine.
  • Crop harvesting can be carried out efficiently by having an unmanned aerial vehicle pick up the crops stored by the agricultural machinery that is harvesting the crops and remove them from the agricultural machinery.
  • the agricultural machine includes a sensor for detecting a weight of the first harvest product stored in the agricultural machine
  • the control device includes: When the weight value detected by the sensor of the agricultural machine is less than a second predetermined value, control is performed to make the unmanned aerial vehicle wait at a predetermined position; A harvest management system described in any of items A1 to A9, which controls the unmanned aerial vehicle to fly to a position where the first harvest product stored in the agricultural machine can be obtained when the weight value detected by the sensor of the agricultural machine is greater than or equal to the second predetermined value.
  • the unmanned aerial vehicle can pick up the harvested goods, improving work efficiency.
  • the first crop is discharged from a discharge hose extending from the agricultural machine;
  • the acquisition device includes a gripper capable of gripping the drain hose, the control device controls the unmanned aerial vehicle to fly so that the position of the end of the discharge hose gripped by the gripper is a position where the first harvested product can be discharged into a transport vehicle or a container placed outside or within the field;
  • the harvest can be transferred to a vehicle or container located away from the agricultural machinery.
  • Crop harvesting can be done more efficiently by using a discharge hose to transport the crops discharged from agricultural machinery that is harvesting crops.
  • the acquisition device can be operated appropriately depending on the environment in which the harvest is acquired.
  • the first harvested product is stored in a container that is detachably provided to the agricultural machine, the capture device includes a hook; A harvest management system described in any of items A1 to A13, wherein the control device controls the flight of the unmanned aerial vehicle so as to lift the container using the hook.
  • the container can be lifted using a hook to retrieve the harvest from the agricultural machinery.
  • Work efficiency can be improved by obtaining harvested products from agricultural machinery that continues harvesting while moving.
  • the capture device includes a bucket; A harvest management system described in any of items A1 to A15, wherein the control device controls the unmanned aerial vehicle to fly so as to scoop up the second harvest product discharged from the agricultural machine with the bucket.
  • the control device includes: a control for causing the unmanned aerial vehicle to wait at a position where the second harvested product is to be discharged before the agricultural machine discharges the second harvested product; and a control for flying the unmanned aerial vehicle so as to scoop up the second harvested product discharged from the agricultural machine with the bucket.
  • An unmanned aerial vehicle for acquiring crops harvested from a field by a mobile agricultural machine, a capture device for capturing crops is connected to the unmanned aerial vehicle;
  • the unmanned aerial vehicle includes: a receiving device that receives position information indicating a position of the agricultural machine within the farm field or a position where the agricultural machine is scheduled to unload harvested products;
  • a flight device that flies the unmanned aerial vehicle;
  • a control device that controls the operation of the flight device to fly the unmanned aerial vehicle to a position where the first harvest product stored in the agricultural machine or the second harvest product discharged from the agricultural machine can be acquired; Equipped with acquiring the first harvested product or the second harvested product using the acquisition device;
  • Unmanned aerial vehicle Unmanned aerial vehicle.
  • an unmanned aerial vehicle acquires the harvested goods harvested by an agricultural machine.
  • the unmanned aerial vehicle acquires the harvested goods from the agricultural machine without landing on the ground.
  • the unmanned aerial vehicle acquires the harvested goods from a position above the agricultural machine. Since there is no need to secure ground surface for a transport vehicle to run alongside the agricultural machine, crop harvesting can be performed easily and efficiently.
  • a harvest management method for acquiring crops harvested from a field by a mobile agricultural machine using an unmanned aerial vehicle comprising: a harvesting device used to harvest the crop is connected to the unmanned aerial vehicle and moves together with the unmanned aerial vehicle; flying the unmanned aerial vehicle to a position where the first harvest stored in the agricultural machine or the second harvest discharged from the agricultural machine can be acquired based on position information indicating the position of the agricultural machine in the field or the position where the agricultural machine is scheduled to discharge the harvest; acquiring the first crop or the second crop using the acquisition device coupled to the unmanned aerial vehicle;
  • a harvest management method comprising:
  • an unmanned aerial vehicle acquires the harvested goods harvested by an agricultural machine.
  • the unmanned aerial vehicle acquires the harvested goods from the agricultural machine without landing on the ground.
  • the unmanned aerial vehicle acquires the harvested goods from a position above the agricultural machine. Since there is no need to secure ground surface for a transport vehicle to run alongside the agricultural machine, crop harvesting can be performed easily and efficiently.
  • a computer program that causes a computer to execute control of an operation of acquiring crops harvested by a mobile agricultural machine from a field using an unmanned aerial vehicle, a harvesting device used to harvest the crop is connected to the unmanned aerial vehicle and moves together with the unmanned aerial vehicle;
  • the computer program comprises: flying the unmanned aerial vehicle to a position where the first harvest stored in the agricultural machine or the second harvest discharged from the agricultural machine can be acquired based on position information indicating the position of the agricultural machine in the field or the position where the agricultural machine is scheduled to discharge the harvest; acquiring the first crop or the second crop using the acquisition device coupled to the unmanned aerial vehicle;
  • an unmanned aerial vehicle acquires the harvested goods harvested by an agricultural machine.
  • the unmanned aerial vehicle acquires the harvested goods from the agricultural machine without landing on the ground.
  • the unmanned aerial vehicle acquires the harvested goods from a position above the agricultural machine. Since there is no need to secure ground surface for a transport vehicle to run alongside the agricultural machine, crop harvesting can be performed easily and efficiently.
  • An unmanned aerial vehicle for transporting harvested crops from a field A flight device that flies the unmanned aerial vehicle; A control device for controlling the operation of the flight device; a communication device that receives package location information indicative of a first location where a target package containing the harvested produce is located, and package weight information indicative of a weight of the target package; a support device capable of supporting the target package; Equipped with The control device includes: determining whether the target package can be transported to a second location different from the first location based on the package weight information; If it is determined that the target package can be delivered, controlling the flight device to fly the unmanned aerial vehicle to the first location; having the support device support the target package; An unmanned aerial vehicle that controls the flight device to fly the unmanned aerial vehicle to the second location.
  • An unmanned aerial vehicle capable of carrying a target package flies to a first location where the target package is located and supports and carries the target package, thereby enabling efficient transportation of harvested produce.
  • the control device includes: If the weight value of the package that can be loaded further, obtained from the availability of the loading capacity, is equal to or greater than the weight value indicated by the package weight information, the target package is determined to be transportable; An unmanned aerial vehicle as described in item B1, which determines that the target package cannot be transported if the weight value of the package that can be further loaded is less than the weight value indicated by the package weight information.
  • the unmanned aerial vehicle Even if the unmanned aerial vehicle is already supporting a package, if there is sufficient carrying capacity, it can support another package, allowing for efficient transport of harvested goods.
  • the control device includes: If a total weight value of one or more packages that the unmanned aerial vehicle will support when supporting the target package is equal to or less than a predetermined weight value, the unmanned aerial vehicle determines that the target package is transportable; An unmanned aerial vehicle described in item B1 or B2, which determines that the target package cannot be transported if the total weight value exceeds the specified weight value.
  • the unmanned aerial vehicle Even if the unmanned aerial vehicle is already supporting a package, if there is sufficient carrying capacity, it can support another package, allowing for efficient transport of harvested goods.
  • the controller If the unmanned aerial vehicle is already supporting one or more other packages that are different from the target package, the controller: If the sum of the weight value indicated by the package weight information and the weight value of the one or more other packages is equal to or less than the predetermined weight value, the target package is determined to be transportable; An unmanned aerial vehicle as described in item B3, which determines that the target package cannot be transported if the sum of the weight value indicated by the package weight information and the weight value of the one or more other packages exceeds the specified weight value.
  • the unmanned aerial vehicle Even if the unmanned aerial vehicle is already supporting a package, if there is sufficient carrying capacity, it can support another package, allowing for efficient transport of harvested goods.
  • the control device includes: calculating a remaining amount of the energy source when the unmanned aerial vehicle carrying the target package reaches the second location, assuming the unmanned aerial vehicle is carrying the target package; If the calculated remaining amount of the energy source is greater than a predetermined value, it is determined that the target package is transportable; An unmanned aerial vehicle as described in item B5, which determines that the target package cannot be transported if the calculated remaining amount of the energy source is below the specified value.
  • the control device includes: calculating a first energy consumption when flying the unmanned aerial vehicle from a current location to the first location, and a second energy consumption when flying the unmanned aerial vehicle carrying the target package from the first location to the second location;
  • the unmanned aerial vehicle described in item B6 further comprising: a calculation of the remaining energy source when the unmanned aerial vehicle supporting the target package reaches the second position based on the first energy consumption amount and the second energy consumption amount.
  • a management system for determining an unmanned aerial vehicle for transporting crops harvested from a farm field from among a plurality of unmanned aerial vehicles a communication device that receives package location information indicating a first location where a target package to be transported including the harvested product is located, package weight information indicating a weight of the target package, and availability information indicating an availability status regarding a payload of each of the plurality of unmanned aerial vehicles; a processing device that determines, based on the package weight information and the availability information, a transport unmanned aerial vehicle from among the plurality of unmanned aerial vehicles that will transport the target package to a second location different from the first location; Equipped with A management system in which the processing device uses the communication device to output instructions to transport the target package to the determined transport unmanned aerial vehicle.
  • an unmanned aerial vehicle Even if an unmanned aerial vehicle is already carrying a package, if the unmanned aerial vehicle has sufficient carrying capacity, it can carry another package, making the transportation of harvested goods more efficient.
  • the processing device includes: A management system described in item B9 or B10, further determining the transport unmanned aerial vehicle from among the plurality of unmanned aerial vehicles based on the remaining amount of energy source used for flight of each of the plurality of unmanned aerial vehicles.
  • the processing device calculates, for each of the plurality of unmanned aerial vehicles, a remaining amount of the energy source when the unmanned aerial vehicles assume that the unmanned aerial vehicles support the target package and fly to the second position; determining an unmanned aerial vehicle having the calculated remaining amount of the energy source greater than a predetermined value as the unmanned aerial vehicle for transport; A management system as described in item B11, in which an unmanned aerial vehicle whose calculated remaining amount of the energy source is below the specified value is not determined to be the unmanned aerial vehicle for transport.
  • the processing device for each of the plurality of unmanned aerial vehicles, Calculating a first energy consumption amount when flying the unmanned aerial vehicle from a current location to the first location, and a second energy consumption amount when supporting the target package and flying it from the first location to the second location;
  • the management system described in item B12 further comprising: a calculation of a remaining amount of the energy source when the target package is supported and flown to the second position based on the first energy consumption amount and the second energy consumption amount.
  • a packaging system for packaging crops harvested from a field comprising: a packaging device for packaging the harvested product; A control device for controlling an operation of the packaging device; Equipped with A packaging system, wherein the control device changes the weight or number of packages of harvest produce by the packaging device based on the carrying capacity of an unmanned aerial vehicle carrying the packages of harvest.
  • the packages can be transported by the unmanned aerial vehicle by changing the weight or number of packages according to the carrying capacity of the unmanned aerial vehicle.
  • the packages can be transported by the unmanned aerial vehicle.
  • the control device controls the unmanned aerial vehicle to move the package to a position where the package can be acquired by the unmanned aerial vehicle.
  • the unmanned aerial vehicle can still retrieve the package by moving the package's location.
  • An unmanned aerial vehicle for transporting harvested crops from a field A flight device that flies the unmanned aerial vehicle; A control device for controlling the operation of the flight device; a communication device that receives harvest location information indicating a first location where the harvest is located and harvest weight information indicating a weight of the harvest; A support device for supporting the harvested product; Equipped with The control device includes: determining whether the harvest can be transported to a second location different from the first location based on the harvest weight information; When it is determined that the harvested product can be transported, the flight device is controlled to fly the unmanned aerial vehicle to the first location; The support device supports the harvested product; and an unmanned aerial vehicle that controls the flight device to fly the unmanned aerial vehicle to the second location.
  • the unmanned aerial vehicle capable of transporting the harvested crop flies to the first location where the harvested crop is located and supports and transports the harvested crop, thereby enabling the harvested crop to be transported efficiently.
  • a management system for managing transportation operations of unmanned aerial vehicles a communication device for receiving package location information indicative of a first location of a package including produce harvested in a field; A control device that controls the operation of the unmanned aerial vehicle supporting the structure; Equipped with A management system in which the control device separates the structure from the unmanned aerial vehicle when the unmanned aerial vehicle is caused to support the package.
  • the harvested produce can be transported more efficiently.
  • the weight of the package that the unmanned aerial vehicle can carry can be increased.
  • the structure is a work machine
  • the control device includes: Controlling the operation of the unmanned aerial vehicle to support and transport the work implement to a predetermined area within or around the field; causing the unmanned aerial vehicle to release support for the work machine in the predetermined area; flying the unmanned aerial vehicle with the support of the work machine released to the first position; having the unmanned aerial vehicle support the package; The management system of item C1, wherein the unmanned aerial vehicle supporting the package is flown to a second location different from the first location.
  • harvested produce By having the package carried by an unmanned aerial vehicle that also carries the work equipment, harvested produce can be transported more efficiently.
  • the weight of the package that the unmanned aerial vehicle can carry can be increased.
  • the control device is a management system described in item C2, in which the control device causes the unmanned aerial vehicle to release support for the work machine when the work machine is in an area where work can be performed without being supported by the unmanned aerial vehicle.
  • the control device includes: The management system described in item C3, which causes the unmanned aerial vehicle to release support for the work machine when the communication device receives a request to transport the package and the work machine is in an area where work can be performed without being supported by the unmanned aerial vehicle.
  • the work machine By releasing the support of the work machine only when a request to transport a package is received, the work machine can perform its work more efficiently.
  • the control device includes: A management system as described in item C4, in which when the communication device receives a request to transport the package but the work machine is in an area that requires support from the unmanned aerial vehicle, the unmanned aerial vehicle continues to support the work machine performing the work.
  • the unmanned aerial vehicle can continue to support the work machine performing the work, allowing the work machine to carry out the work appropriately.
  • the communication device further receives package weight information indicative of a weight of the package;
  • the control device includes: determining whether the unmanned aerial vehicle is capable of transporting the package to the second location based on the package weight information; A management system described in any of items C1 to C6, wherein if it is determined that the unmanned aerial vehicle is capable of transporting the specified package, the unmanned aerial vehicle with the structure detached is flown to the first position to support the package.
  • An unmanned aerial vehicle that supports and transports a structure, a communication device for receiving package location information indicative of a first location of a package including produce harvested in a field; A control device that controls an operation of supporting the structure; Equipped with The control device separates the structure from the unmanned aerial vehicle when the control device causes the unmanned aerial vehicle to support the package.
  • the harvested produce can be transported more efficiently.
  • the weight of the package that the unmanned aerial vehicle can carry can be increased.
  • a method for managing a transportation operation of an unmanned aerial vehicle comprising: receiving package location information indicating a first location of a package including harvested produce in the field; Controlling the movement of the unmanned aerial vehicle supporting a structure; separating the structure from the unmanned aerial vehicle when the unmanned aerial vehicle is supporting the package; (c) a method of administration;
  • the harvested produce can be transported more efficiently.
  • the weight of the package that the unmanned aerial vehicle can carry can be increased.
  • a computer program for causing a computer to execute management of a transportation operation of an unmanned aerial vehicle comprises: receiving package location information indicating a first location of a package including harvested produce in the field; Controlling the movement of the unmanned aerial vehicle supporting a structure; separating the structure from the unmanned aerial vehicle when the unmanned aerial vehicle is supporting the package; A computer program for causing the computer to execute the above.
  • the harvested produce can be transported more efficiently.
  • the weight of the package that the unmanned aerial vehicle can carry can be increased.
  • the technology disclosed herein is particularly useful in the agricultural field, where unmanned aerial vehicles are used.
  • Flight device 2: Rotor (propeller), 3: Rotation drive device, 4: Aircraft body, 4a: Control device, 4b: Sensor group, 4c: Communication device, 5: Aircraft frame, 6: Ground station, 7a: Internal combustion engine, 7b: Fuel tank, 8: Power generation device, 9: Power buffer, 10: Unmanned aerial vehicle (multicopter), 11: Aircraft, 12: Rotor, 14: Motor, 16: ESC, 18: Coupling device, 19: Skid, 22: Rotor, 23: Power transmission system, 27: Drive train, 41: Processor, 42: RAM, 43: ROM, 44: Storage device, 52: Battery, 61: GNSS unit (positioning device), 62: Inertial measurement unit (IMU), 63: Altitude sensor, 65: LiDAR sensor, 66: camera, 67: load sensor, 70: field, 71: working area, 72: headland, 73: target route, 75: trees, 76: power supply device, 78: storage, 100: agricultural machine (harvester),

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Abstract

Un système de gestion, selon un mode de réalisation de la présente invention, gère le travail de transport d'un engin volant sans pilote embarqué, et comprend : un dispositif de communication qui reçoit des informations d'emplacement d'emballage indiquant un premier emplacement auquel se trouve un emballage qui contient une matière récoltée qui a été récolté dans un champ ; et un dispositif de commande qui commande les actions d'un engin volant sans pilote embarqué qui supporte une structure. Dans un cas où le dispositif de commande amène l'engin volant sans pilote embarqué à supporter l'emballage, le dispositif de commande amène la structure à être séparée de l'engin volant sans pilote embarqué.
PCT/JP2023/004971 2023-02-14 2023-02-14 Engin volant sans pilote embarqué, système de gestion, système d'emballage, procédé de gestion et programme informatique Ceased WO2024171291A1 (fr)

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