JP2018030560A - Agriculture multicopter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an agriculture multicopter which can expand a range of work to which the agriculture multicopter can be applied.SOLUTION: An agriculture multicopter includes: a body; arms attached to the body; rotors, each of which is attached to the arm and generates a lift force; and a work device which is attached to a lower part of the body and conducts work related to agriculture. The work device has: a frame detachably attached to the body; and a work tool detachably attached to the frame.SELECTED DRAWING: Figure 3

Description

  The present invention relates to an agricultural multicopter.

In recent years, multicopters that can fly unmanned by a plurality of rotor blades have been widely used, and attempts have been made to use multicopters for agriculture.
Patent Document 1 discloses a multicopter capable of loading an agricultural tank or a fertilizer tank. The multicopter includes a machine frame main body, a plurality of arms extending radially from the machine frame main body, and a rotor provided at the tip of the arm, and holds the tank detachably on the lower surface of the machine frame main body. It has a mechanism.

Utility Model Registration No. 3204505

The multi-copter disclosed in Patent Document 1 can be attached and detached by a holding mechanism provided in the machine frame body, but it is difficult to attach and detach a wide variety of articles used in agriculture. The scope of difficult work is limited.
The present invention has been made to solve the above-described problems of the prior art, and provides an agricultural multi-copter that can expand the range of applicable work.

  An agricultural multicopter according to an aspect of the present invention includes a main body, a plurality of arms attached to the main body, a rotor attached to the arm and generating lift, and attached to a lower portion of the main body and agriculture. A work device that performs work related to the work body, the work device having a frame that is detachably attached to the main body, and a work tool that is detachably attached to the frame.

  According to the agricultural multicopter, since the work device has a frame that is detachably attached to the main body and a work tool that is detachably attached to the frame, the contents of the work Accordingly, in addition to being able to replace the work device, it is also possible to replace the work tool. Therefore, it is possible to attach various work devices and work tools to the main body, and the range of applicable work can be expanded.

It is a perspective view of the agricultural multicopter. It is a partially omitted top view of an agricultural multicopter. It is a partially omitted front view of the agricultural multicopter. It is a principal part enlarged view of FIG. It is a side view of a main body, a frame, and a work tool. It is the perspective view which looked at the main body from the lower part. It is the perspective view which looked at the frame from the upper part. It is a disassembled perspective view of a frame. It is the perspective view which looked at the container and the mounting body from the upper part. It is AA sectional drawing of FIG. It is BB sectional drawing of FIG. It is a top view of a container. It is CC sectional drawing of FIG. It is DD sectional drawing of FIG. It is the perspective view which isolate | separated the mounting body from the container. It is a top view which shows the state which mounted | wore the frame with the container. It is a top view which shows the state in the middle of removing a container from a flame | frame. It is the perspective view which looked at the frame from the lower part.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a perspective view showing an agricultural multicopter (hereinafter simply referred to as “multicopter”) according to an embodiment of the present invention.
The multicopter 1 is a rotary wing aircraft that can fly unmannedly by a plurality of rotary wings, and is a flying body called a drone, for example. The multicopter 1 may fly by remote control by wireless or wired communication, or may fly by autonomous control without depending on the remote device.

The multicopter 1 includes a machine body 2 and a work device 10.
First, the airframe 2 will be described. As shown in FIGS. 1 and 2, the airframe 2 has a main body 3, an arm 4, and a rotor 5.
As shown in FIGS. 3 to 6, the main body 3 includes a first plate 6, a second plate 7, a connection portion 8, and a first connection portion 9.

The 1st plate 6 and the 2nd plate 7 are flat form, and are arrange | positioned mutually parallel and spaced apart. The first plate 6 is located in the upper part of the main body 3. The second plate 7 is disposed below the first plate 6 and is located at the lower part of the main body 3.
As shown in FIG. 2, the first plate 6 has a first edge 61, a second edge 62, a third edge 63, and a fourth edge 64 in a top view. The first edge 61 is located on one side in a top view. The second edge 62 is located on the opposite side (the other side) from the first edge 61 in a top view. The third edge 63 is located on one end side in a direction orthogonal to a straight line connecting the first edge 61 and the second edge 62 (a direction orthogonal to the one side and the other side). The fourth edge portion 64 is located on the side opposite to the third edge portion 63.

Hereinafter, for convenience of explanation, the direction in which the first edge 61 is located is the front, the direction in which the second edge 62 is located is the rear, the direction in which the third edge 63 is located is the left, and the fourth edge 64 is the position. The direction to do is called the right side. The direction from the first edge 61 side to the second edge 62 side or the second edge 62 side to the first edge 61 side is referred to as the front-rear direction, and the direction orthogonal to the front-rear direction is referred to as the width direction.
The first plate 6 has a support portion (hereinafter referred to as “upper support portion”) that supports the base end portion of the arm 4 from above. The number of upper support portions is set according to the number of arms 4. In the case of this embodiment, since the number of the arms 4 is 6, six upper support portions (first upper support portion 11 to sixth upper support portion 16) are provided.

  The first upper support portion 11 is provided at a corner (front left portion) between the first edge portion 61 and the third edge portion 63. The second upper support portion 12 is provided at a corner (front right portion) between the first edge portion 61 and the fourth edge portion 64. The third upper support portion 13 is provided at a corner (rear left portion) between the second edge portion 62 and the third edge portion 63. The fourth upper support portion 14 is provided at a corner (rear right portion) between the second edge portion 62 and the fourth edge portion 64. The fifth upper support portion 15 is provided at a position near the first edge portion 61 (toward the left front portion) of the third edge portion 63. The sixth upper support portion 16 is provided at a position of the fourth edge portion 63 near the first edge portion 61 (toward the right portion front side). The first upper support portion 11 to the sixth upper support portion 16 are each formed with a hole 6a. Further, each of the first upper support portion 11, the second upper support portion 12, the third upper support portion 13, and the fourth upper support portion 14 is formed with an arcuate groove 17.

As shown in FIGS. 1 and 2, a battery 20 is mounted on the upper surface of the first plate 6. The upper part and the periphery of the battery 20 are covered with a cover 65.
As shown in FIG. 6, the second plate 7 is formed in substantially the same shape as the first plate 6, and in a top view, the first edge 71, the second edge 72, the third edge 73, It has four edges 74. The first edge 71 is located below the first edge 61. The second edge 72 is located below the second edge 62. The third edge 73 is located below the third edge 63. The fourth edge 74 is located below the fourth edge 64.

In the present embodiment, the first edge portions 61 and 71 constitute the first edge portion of the main body 3, the second edge portions 62 and 72 constitute the second edge portion of the main body 3, and the third edge portions 63 and 73. Constitutes the third edge of the body 3 and the fourth
The edges 64 and 74 constitute the fourth edge of the main body 3.
The second plate 7 has a support portion (hereinafter referred to as “lower support portion”) that supports the base end portion of the arm 4 from below. The number of lower support parts is the same as the number of upper support parts, and in the case of the present embodiment, six lower support parts (first lower support part 21 to sixth lower support part 26) are provided.

  The first lower support portion 21 is provided at a corner (front left portion) between the first edge portion 71 and the third edge portion 73. The second lower support portion 22 is provided at a corner (front right portion) between the first edge portion 71 and the fourth edge portion 74. The third lower support portion 23 is provided at a corner (rear left portion) between the second edge portion 72 and the third edge portion 73. The fourth lower support portion 24 is provided at a corner (rear right portion) between the second edge portion 72 and the fourth edge portion 74. The fifth lower support portion 25 is provided at a position near the first edge 71 (closer to the left front) of the third edge 73. The sixth lower support portion 26 is provided at a position of the fourth edge portion 74 near the first edge portion 71 (rightward front portion). A hole 7a is formed in each of the first lower support portion 21 to the sixth lower support portion 26. The first lower support portion 21, the second lower support portion 22, the third lower support portion 23, and the fourth lower support portion 24 are each formed with an arcuate groove 27.

  As shown in FIGS. 3 to 6, the connection portion 8 connects the first plate 6 and the second plate 7. In the present embodiment, the connection portion 8 is composed of four connection plates 8A, 8B, 8C, and 8D. The four connection plates 8A, 8B, 8C, 8D are arranged in a rectangular frame shape when viewed from above. Specifically, as illustrated in FIG. 6, the connection plate 8 </ b> A is disposed on the first edge portions 61 and 71 side (front side). The connection plate 8B is disposed on the second edge 62, 72 side (rear side). The connection plate 8C is disposed on the third edge 63, 73 side (left side). The connection plate 8D is disposed on the fourth edge portions 64 and 74 side (right side). The four connection plates 8 </ b> A, 8 </ b> B, 8 </ b> C, and 8 </ b> D have upper ends connected to the first plate 6 and lower ends connected to the second plate 7. Thereby, the 1st plate 6 and the 2nd plate 7 are connected to the up-down direction at intervals. The first plate 6 and the second plate 7 are also connected by a support member 80 described later.

  As shown in FIGS. 3-6, the 1st connection part 9 is provided in the lower part (frame 31 side mentioned later) of the main body 3. As shown in FIG. Specifically, the first connecting portion 9 protrudes downward (toward the frame 31) from the lower surface of the second plate 7. Although the number of the 1st connection parts 9 is not limited, in the case of this embodiment, the four 1st connection parts 9 are provided. Hereinafter, when distinguishing about the four 1st connection parts 9, it describes as 1st connection part 9A, 1st connection part 9B, 1st connection part 9C, and 1st connection part 9D for convenience.

The first connecting portion 9 </ b> A is provided in the vicinity of the first lower support portion 21. The first connecting portion 9 </ b> B is provided in the vicinity of the third lower support portion 23. The first connecting portion 9 </ b> C is provided in the vicinity of the second lower support portion 22. The first connecting portion 9 </ b> D is provided in the vicinity of the fourth lower support portion 24.
Each first connecting portion 9 has a circular hole 9a penetrating from the first edge portion 71 side (front side) toward the second edge portion 72 side (rear side). The center holes of the circular holes 9a provided in the first connecting part 9A and the first connecting part 9B are located on the same straight line. The center holes of the circular holes 9a provided in the first connecting portion 9C and the first connecting portion 9D are located on the same straight line. A connecting member 47 described later is inserted into the circular hole 9a.

  As shown in FIG. 1 and FIG. 6, the main body 3 has notches 3a and 3b. Specifically, the first plate 6 is provided with a notch 3a, and the second plate 7 is provided with a notch 3b. The notch 3 a is formed by cutting the center of the first edge 61 of the first plate 6 in an arc shape toward the second edge 62. The cutout portion 3 b is formed by cutting out the central portion of the first edge portion 71 of the second plate 7 toward the second edge portion 72 in an arc shape. The notch 3a and the notch 3b are provided at positions that overlap in the vertical direction. The notch 3a and the notch 3b expose the supply port 35 of the container 33 constituting the tank 32 in a state where the tank 32 described later is mounted on the main body 3.

As shown in FIGS. 3, 5, and 6, the main body 3 is attached with a support member 80 that supports the base end portion of the arm 4 between the upper support portion and the lower support portion described above. In the present embodiment, the support member 80 includes a first support member 80A, a second support member 80B, a third support member 80C, a fourth support member 80D, a fifth support member 80E, and a sixth support member 80E.
Each support member 80 has an insertion portion 80a and an attachment portion 80b. The insertion portion 80a is formed in a cylindrical shape, and the base end portion of the arm 4 is inserted. The attachment portion 80 b is attached between the upper support portion of the first plate 6 and the lower support portion of the second plate 7. Specifically, the first support member 80 </ b> A is attached between the first upper support portion 11 and the first lower support portion 21. The second support member 80 </ b> B is attached between the second upper support portion 12 and the second lower support portion 22. The third support member 80 </ b> C is attached between the third upper support portion 13 and the third lower support portion 23. The fourth support member 80 </ b> D is attached between the fourth upper support portion 14 and the fourth lower support portion 24. The fifth support member 80E is attached between the fifth upper support portion 15 and the fifth lower support portion 25. The sixth support member 80 </ b> F is attached between the sixth upper support portion 16 and the sixth lower support portion 26.

  The attachment portion 80b is provided with a through hole (not shown) penetrating the attachment portion 80b in the vertical direction. By attaching a bolt (not shown) so as to penetrate the through hole, the hole 6a of the first plate 6, and the hole 7a of the second plate 7, and fastening a nut to the bolt, the mounting portion 80b Is attached between the upper support portion of the first plate 6 and the lower support portion of the second plate 7. Thereby, the first plate 6 and the second plate 7 are connected via the support member 80.

As shown in FIGS. 1 to 3, a plurality of arms 4 are attached to the main body 3. In the present embodiment, six arms 4 are attached to the main body 3. Hereinafter, for convenience, the six arms 4 are referred to as a first arm 41, a second arm 42, a third arm 43, a fourth arm 44, a fifth arm 45, and a sixth arm 46, respectively.
The base end portion of the arm 4 is supported by a support member 80 between the first plate 6 and the second plate 7. Specifically, the base end portion of the first arm 41 is supported by the first support member 80A. The base end portion of the second arm 42 is supported by the second support member 80B. The base end portion of the third arm 43 is supported by the third support member 80C. The base end portion of the fourth arm 44 is supported by the fourth support member 80D. The base end portion of the fifth arm 45 is supported by the fifth support member 80E. The base end portion of the sixth arm 46 is supported by the sixth support member 80F.

  As shown in FIG. 6, among the six arms, the support members 80 that support the base ends of the first arm 41, the second arm 42, the third arm 43, and the fourth arm 44 have pins 48 respectively. It is attached. An upper end portion of the pin 48 is fitted in the groove 17 of the upper support portion, and a lower end portion thereof is fitted in the groove 18 of the lower support portion. The pin 48 is movable along the curvature of the groove 17 and the groove 18. By moving the pin 48 along the curvature of the grooves 17 and 18, the first arm 41, the second arm 42, the third arm 43, and the fourth arm 44 move around the holes 6a and 7a (support points) ( (See arrow C in FIG. 2). By this movement, the positional relationship between the six arms can be changed. Specifically, the six arms have a first position that extends radially from the main body 3 in different directions, a first direction (left direction) that is one direction away from the main body 3, and a direction opposite to the first direction. It can be changed to a second position extending in a certain second direction (right direction). In the first position, the first arm 41 to the sixth arm 46 are in a solid line position in FIG. In the 2nd position, the 1st arm 41-the 4th arm 44 are in the virtual line (two-dot chain line) position of Drawing 2, and the 5th arm 45 and the 6th arm 46 are in a solid line position.

Although not shown, a fastening tool for fastening the support member 80 between the upper support portion and the lower support portion to fix the position of the arm is provided on the upper portion of the pin 48. Further, at the lower part of the pin 48, a retaining portion for preventing the slipping from the grooves 17, 18 is provided.
As shown in FIG. 1, a rotor 5 is attached to each of the plurality of arms 4. Each rotor 5 is attached to the tip of each of the first arm 41 to the sixth arm 46. The rotor 5 is composed of an electric motor (DC motor or the like). The rotor 5 is driven by electric power supplied from the battery 20. A blade (propeller) 30 is attached to the upper part of the rotating shaft of the rotor 5. The rotor 5 and the blade 30 constitute a rotor blade that generates lift for the multicopter 1 to fly. Adjacent rotors 5 rotate in opposite directions. The number of rotors 5 is the same as the number of arms 4. In the present embodiment, since the number of arms 4 is six, six rotors 5 are provided. However, the number of rotors 5 is not limited to six, and can be changed according to the required lift and the like. For example, multicopter 1
May be a tricopter having three rotors 5, a quadcopter having four rotors 5, a hexacopter having six rotors 5, or eight rotors. It may be an octocopter. When the number of rotors 5 is changed, the number of arms 4 is also changed according to the number of rotors 5.

Although not shown, the main body 3 is equipped with a GPS antenna, an attitude control device, various sensors (gyro sensor, acceleration sensor, etc.) and the like as devices for controlling the flight operation of the airframe 2.
Next, the working device 10 will be described.
The work apparatus 10 is an apparatus that performs work related to agriculture. Examples of the working device 10 include a spraying device that sprays agricultural chemicals and fertilizers on a farm, an imaging device (camera) that photographs the farm, a temperature sensor (such as an infrared sensor) that detects the farm temperature, and a farm color (a crop color). ) Can be exemplified. In the case of this embodiment, the working device 10 is a spraying device.

As shown in FIGS. 1, 3, and 5, the work apparatus 10 includes a frame 31 and a work tool 32. In the case of this embodiment in which the working device 10 is a spraying device, the work tool 32 is a tank. The working device 10 also includes a pump 60 and a nozzle 70 which will be described later.
First, the frame 31 of the work apparatus 10 will be described.
The frame 31 is detachably attached to the lower part of the main body 3. A work tool 32 is detachably attached to the frame 31.

As shown in FIGS. 4, 5, 7, 8, and the like, the frame 31 includes a substrate 27, a second connecting portion 28, and a mounting portion 29.
As shown in FIGS. 7 and 8, the substrate 27 has a shape in which a part of a substantially rectangular flat plate is notched in a top view, and has four sides (first side 271, second side 272, 3 sides 273 and 4th sides 274). The first side 271 is located on the first edge 61 side (front side). The second side 272 is located on the second edge 62 side (rear side). The third side 273 is located on the third edge 63 side (left side). The fourth side 274 is located on the fourth edge 64 side (right side).

  The board | substrate 27 has the notch part 27a and the opening part 27b. The notch 27 a is provided on the first side 271. Specifically, the cutout portion 27a is formed by cutting out the central portion of the first side 271 in an arc shape toward the second side 272 side (rear side). The notch 27a is provided to expose a supply port 35 of the container 33 described later. The opening 27b has a substantially rectangular shape and is provided on the rear portion (the second side 272 side) of the substrate 27. As shown in FIG. 18, the pump 60 is attached to the inside of the opening 27 b via the attachment tool 100. Thereby, the pump 60 is attached to the rear side (the second edge portion 62 side) of the frame 31. The pump 60 is driven by power supply from the battery 20.

  The fixture 100 includes a support plate 101 and vertical members 102L and 102R. The support plate 101 is disposed in parallel with the substrate 27, and is provided below the opening 27b and above guide members 91L and 91R described later. The support plate 101 is a rectangular flat plate as viewed from above, and extends from the third side 273 side (left side) of the substrate 27 toward the fourth side 274 side (right side). The vertical members 102 </ b> L and 102 </ b> R connect the support plate 101 and the substrate 27. Specifically, the vertical member 102L connects one end side (left end side) of the support plate 101 and the vicinity of one edge (left edge) of the opening 27b. The vertical member 102R connects the other end side (right end side) of the support plate 101 and the vicinity of the other edge (right edge) of the opening 27b. In the present embodiment, the vertical members 102L and 102R are each composed of two bolts.

  The pump 60 is installed and fixed between the vertical member 102L and the vertical member 102R and above the support plate 101. The upper part of the pump 60 is located in the opening 27 b, and the other part is located below the substrate 27. As a result, the pump 60 can be arranged without projecting greatly below the substrate 27, and the frame 31 can be configured compactly. The second plate 7 of the main body 3 is located above the pump 60. Accordingly, since the pump 60 is surrounded by the second plate 7, the support plate 101, and the vertical members 102L and 102R, it is possible to prevent foreign matter from colliding with the pump 60 and dust and the like from adhering thereto.

  The second connecting portion 28 is provided on the upper portion (the main body 3 side) of the frame 31. The second connecting portion 28 protrudes upward (toward the main body 3) from the upper surface of the substrate 27. Although the number of the 2nd connection parts 28 is not limited, the same number as the 1st connection parts 9 is provided. In the case of the present embodiment, since four first connecting portions 9 are provided, four second connecting portions 28 are also provided. Hereinafter, when distinguishing about the four 2nd connection parts 28, it describes as 2nd connection part 28A, 2nd connection part 28B, 2nd connection part 28C, and 2nd connection part 28D for convenience.

In a state where the frame 31 is mounted on the main body 3, the second connecting portion 28A is located in the vicinity of the front of the first connecting portion 9A. The 2nd connection part 28B is located in the front vicinity of the 1st connection part 9B. The second connecting portion 28C is located near the front of the first connecting portion 9C. The second connecting portion 28D is located near the front of the first connecting portion 9D.
The 2nd connection part 28 has the circular hole 28a penetrated toward the 2nd edge part 72 side (rear side) from the 1st edge part 71 side (front side). The central holes of the circular holes 28a provided in the second connecting portion 28A and the second connecting portion 28B are located on the same straight line. The central holes of the circular holes 28a provided in the second connecting portion 28C and the second connecting portion 28D are located on the same straight line.

  A connecting member 47 is inserted into the circular hole 9 a of the first connecting part 9 and the circular hole 28 a of the second connecting part 28. The connecting member 47 is composed of two cylindrical pipes. One connecting member 47 is inserted into the circular hole 9a of the first connecting portions 9A and 9B and the circular hole 28a of the second connecting portions 28A and 28B. The other connecting member 47 is inserted into the circular hole 9a of the first connecting portions 9C and 9D and the circular hole 28a of the second connecting portions 28C and 28D.

  Thereby, the 1st connection part 9 and the 2nd connection part 28 are connected. As a result, the frame 31 is attached to the main body 3. The connecting member 47 is fixed to the first connecting portion 9 and the second connecting portion 28 by a detachable fixing means such as a screw or a pin. By releasing the fixing, the connecting member 47 is released from the circular hole 9a and the circular hole 28a. Can be pulled out. By pulling out the connecting member 47 from the circular holes 9 a and 28 a, the connection between the first connecting portion 9 and the second connecting portion 28 is released, and the frame 31 can be removed from the main body 3.

As described above, the first connecting portion 9 provided at the lower portion (the frame 31 side) of the main body 3 and the second connecting portion 28 provided at the upper portion (the main body 3 side) of the frame 31 are detachably connected. By being connected by the member 47, the frame 31 can be easily attached to and detached from the main body 3 with a simple configuration.
As shown in FIGS. 5 to 8, the mounting portion 29 is provided in the lower portion of the frame 31 (on the side opposite to the second connecting portion 28). The mounting portion 29 includes mounting plates 90L and 90R, guide members 91L and 91R, a connecting rod 92, and brackets 93L and 93R.

  The mounting plate 90L is provided on the left side (the third side 273 side) of the frame 31. The mounting plate 90 </ b> R is provided on the right side (the fourth side 274 side) of the frame 31. The mounting plates 90L and 90R are arranged in parallel to each other and extend from the first side 271 side (front side) toward the second side 272 side (rear side). The mounting plates 90L and 90R have mounting grooves 90a and mounting holes 90b.

  The guide member 91L is fitted into the mounting groove 90a of the mounting plate 90L, and is fixed to the inner surface of the mounting plate 90L (the surface facing the mounting plate 90R). The guide member 91R is fitted into the mounting groove 90a of the mounting plate 90R, and is fixed to the inner surface of the mounting plate 90R (the surface facing the mounting plate 90L). The guide members 91L and 91R are arranged in parallel to each other and extend from the first side 271 side (front side) toward the second side 272 side (rear side). The guide members 91L and 91R have an upper plate 91U and a lower plate 91D, respectively. The upper plate 91U and the lower plate 91D are arranged with a gap in the vertical direction. As shown in FIG. 4, a protrusion 40 of the mounting body 39 described later is fitted into the gap between the upper plate 91U and the lower plate 91D. As shown in FIGS. 5 and 8, each of the upper plate 91U and the lower plate 91D has a through hole 91a at the front and a through hole 91b at the rear. As will be described later, a pin 94 is inserted into the through holes 91a and 91b with the mounting body 39 mounted.

One end of the connecting rod 92 is inserted into the mounting hole 90b of the mounting plate 90L, and the other end is inserted into the mounting hole 90b of the mounting plate 90R. Accordingly, the connecting rod 92 is attached to the mounting plate 90L and the mounting plate 90.
R is connected. The number of connecting rods 92 is not limited, but in the present embodiment, two connecting rods 92 are provided at intervals in the front-rear direction. As shown in FIG. 18, a pump 60 is disposed between the two connecting rods 92.

The bracket 93L is fixed to the outer surface of the mounting plate 90L (the surface opposite to the mounting plate 90R). The bracket 93R is fixed to the outer surface of the mounting plate 90R (the surface opposite to the mounting plate 90L). A leg portion 95L described later is attached to the bracket 93L. A leg portion 95R described later is attached to the bracket 93R.
Next, the work tool 32 of the work apparatus 10 will be described.

  As shown in FIGS. 1 and 3 to 5, the work tool 32 is attached to the lower portion of the main body 3. Specifically, the work tool 32 is detachably attached to the frame 31. The work tool 32 is a tool used for work related to agriculture. In the case of this embodiment, since the work tool 32 is a tank, it is described as “tank 32” in the following description. However, the work tool 32 is not limited to a tank and can be changed according to the type of work.

  Hereinafter, the configuration of the tank 32 will be described mainly with reference to FIGS. The tank 32 has a container 33 and a lid 34 (see FIG. 15). The container 33 forms an internal space in which scattered material to be sprayed on the farm is accommodated. Examples of the sprayed material include fertilizer, water, and agricultural chemicals. The container 33 has a supply port 35 for supplying the scattered material to the internal space. The supply port 35 is formed on the upper surface of the container 33 and protrudes in a cylindrical shape from the upper surface. In a state where the tank 32 is mounted on the main body 3, the supply port 35 is positioned on the front side (first edge portion 61 side) of the container 33. Hereinafter, the direction relating to the container 33 will be described with reference to the state where the tank 32 is mounted on the main body 3.

The lid 34 is detachably attached to the supply port 35 with a screw or the like. A hose (not shown) connected to the suction port of the pump 60 can be inserted into the lid 34. Note that the hose may be connected to the bottom surface of the container 33.
The material of the tank 32 is not particularly limited, but is preferably made of synthetic resin because it is lighter than metal. Moreover, when forming from a transparent or translucent synthetic resin, it is preferable at the point which can confirm the residual amount of a scattered matter from the outside.

The container 33 has a length (front-rear direction length) in a direction from the second edge 62 side (rear side) toward the first edge 61 side (front side) (a slide movement direction described later). It is formed longer than the length (width direction length) in the direction from the side (left side) toward the fourth edge 64 side (right side) (direction perpendicular to the slide movement direction).
Hereinafter, the inner surface and the outer surface of the container 33 will be described.

First, the inner surface of the container 33 will be described.
The inner surface of the container 33 has a receiving surface 36 that receives the scattered material accommodated in the container 33. The receiving surface 36 is a surface with which the scattered matter accommodated in the container 33 comes into contact, and constitutes an inner side surface and an inner bottom surface of the container 33. In the case of this embodiment, these side surfaces and the bottom surface are continuous with a gentle curved surface, so that the receiving surface 36 does not have a clear boundary between the side surface and the bottom surface. It may be a receiving surface 36 with a clear boundary in between.

Hereinafter, in describing the receiving surface 36, in order to help understanding the positional relationship between the container 33 and the main body 3, in FIG. 12, the first edge 61 side (front side) is indicated by an arrow 610 and the second edge 62 side ( The rear side is indicated by an arrow 620, the third edge 63 side (left side) is indicated by an arrow 630, and the fourth edge 64 side (right side) is indicated by an arrow 640.
As shown in FIG. 13, the receiving surface 36 has a first bending portion 51 and a second bending portion 52. Further, as shown in FIG. 11, the receiving surface 36 has a third bending portion 53 and a fourth bending portion 54. The first bending portion 51 transitions while curving in a direction (downward) away from the main body 3 as it goes from the first edge portion 61 side (front side) to the second edge portion 62 side (rear side). The second bending portion 52 is shifted while being bent in a direction (downward) away from the main body 3 from the second edge 62 side (rear side) toward the first edge 61 side (front side). The third bending portion 53 transitions while curving in a direction (downward) away from the main body 3 from the third edge 63 side (left side) toward the fourth edge 64 side (right side). The fourth bending portion 54 is curved while being bent in a direction (downward) away from the main body 3 from the fourth edge 64 side (right side) toward the third edge 63 side (left side).

  In the present embodiment, a plane portion 55 that constitutes a horizontal plane is provided between the first bending portion 51 and the second bending portion 52 and between the third bending portion 53 and the fourth bending portion 54. Yes. However, the first bending portion 51 and the second bending portion 52 are made continuous, and the third bending portion 53 and the fourth bending portion 54 are made continuous, so that the plane portion 55 may not be provided. That is, the receiving surface 36 may have a flat part or may not have a flat part. When the receiving surface 36 does not have a flat portion, for example, the receiving surface 36 can be formed in a hemispherical shape.

  As described above, when the receiving surface 36 of the container 33 has the first bending portion 51 and the second bending portion 52, when the attitude of the multicopter 1 at the time of flight changes, according to the change in the attitude. Since the sprayed material in the container 33 smoothly moves along the first curved portion 51 and the second curved portion 52, the scattered material is prevented from being biased toward the front and rear portions in the container 33. Therefore, even if the attitude of the multicopter 1 changes, the weight balance is maintained well, and stable flight is possible. Further, since the receiving surface 36 includes the third bending portion 53 and the fourth bending portion 54, when the posture of the multicopter 1 at the time of flight changes, the dispersion in the container 33 is performed according to the change in the posture. Since the objects smoothly move along the third curved portion 53 and the fourth curved portion 54, the scattered matter is prevented from being biased to the left and right portions in the container 33. Therefore, even if the attitude of the multicopter 1 changes, the weight balance is maintained well, and stable flight is possible.

  As shown in FIG. 14, the receiving surface 36 includes a first transition portion 56, a second transition portion 57, a third transition portion 58, and a fourth transition portion 59. The first transition part 56 transitions while curving from the first edge 61 side (front side) to the third edge part 63 side (left side) in a top view. The second transition portion 57 transitions while curving from the first edge 61 side (front side) to the fourth edge portion 64 side (right side) in a top view. The third transition portion 58 transitions while curving from the second edge portion 62 side (rear side) to the third edge portion 63 side (left side) in a top view. The fourth transition portion 59 transitions while curving from the second edge portion 62 side (rear side) to the fourth edge portion 64 side (right side) in a top view. The first transition part 56 and the second transition part 57 are separated from each other as they approach the center O of the container 33. The third transition portion 58 and the fourth transition portion 59 are separated from each other as the center O of the container 33 is approached.

  Between the 1st transition part 56 and the 2nd transition part 57, the 1st intermediate part 81 extended linearly in top view is provided. Between the third transition part 58 and the fourth transition part 59, a second intermediate part 82 that extends linearly in a top view is provided. The first intermediate portion 81 and the second intermediate portion 82 are parallel to each other in a top view and extend from the third edge 61 side (left side) to the fourth edge 62 side (right side). A curved third intermediate portion 83 is provided between the first transition portion 56 and the third transition portion 58. A curved fourth intermediate portion 84 is provided between the second transition portion 57 and the fourth transition portion 59. The third intermediate portion 83 and the fourth intermediate portion 84 gently bulge in a direction away from each other across the center O of the container 33. The first intermediate portion 81 and the second intermediate portion 82 may be formed in a curved shape, and the third intermediate portion 81 and the fourth intermediate portion 84 may be formed in a linear shape.

  As described above, since the receiving surface 36 of the container 33 includes the first transition portion 56, the second transition portion 57, the third transition portion 58, and the fourth transition portion 59, the attitude of the multicopter 1 at the time of flight changes. In this case, the spatter in the container 33 smoothly moves along each transition part (the first transition part 56 to the fourth transition part 59) according to the change in the posture. To prevent bias. Therefore, even if the attitude of the multicopter 1 changes, the weight balance is maintained well, and stable flight is possible.

Next, the outer surface of the container 33 (the outer surface of the receiving surface 36) will be described.
In the present embodiment, the outer surface 136 of the container 33 has a shape corresponding to the receiving surface (inner surface) 36 (a shape along the receiving surface 36 on the outer side of the receiving surface 36). That is, like the receiving surface 36, the outer surface 136 has a curved portion, a transition portion, a flat portion, and an intermediate portion. Hereinafter, the curved portion of the outer surface 136 is referred to as “outer curved portion”, the transition portion of the outer surface 136 is referred to as “outer transition portion”, the transition portion of the outer surface 136 is referred to as “outer transition portion”, and the flat portion of the outer surface 136 is referred to as “outer flat portion”. Called. An intermediate portion of the outer surface 136 is referred to as an “outer intermediate portion”.

  As shown in FIG. 5, the outer surface 136 has a first outer curved portion 151 and a second outer curved portion 152. As shown in FIGS. 4, 10, and 11, the outer surface 136 includes a third outer curved portion 153 and a fourth outer curved portion 154. The first outer curved portion 151 transitions while curving in a direction (downward) away from the main body 3 from the first edge 61 side (front side) toward the second edge 62 side (rear side). The second outer curved portion 152 transitions while curving in a direction (downward) away from the main body 3 from the second edge 62 side (rear side) toward the first edge 61 side (front side). The third outer curved portion 153 moves while curving in a direction (downward) away from the main body 3 from the third edge 63 side (left side) toward the fourth edge 64 side (right side). The fourth outer curved portion 154 moves while curving in a direction (downward) away from the main body 3 from the fourth edge 64 side (right side) toward the third edge 63 side (left side).

  In the present embodiment, an outer flat surface portion that forms a horizontal plane between the first outer curved portion 151 and the second outer curved portion 152 and between the third outer curved portion 153 and the fourth outer curved portion 154. 155 is provided. However, the first outer curved portion 151 and the second outer curved portion 152 are made continuous, and the third outer curved portion 153 and the fourth outer curved portion 154 are made continuous, so that the outer flat portion 155 may not be provided. . That is, the outer surface 136 may have a flat part or may not have a flat part. When the outer surface 136 does not have a flat portion, for example, the outer surface 136 can be formed in a hemispherical shape.

  As shown in FIG. 12, the outer surface 136 includes a first outer transition portion 156, a second outer transition portion 157, a third outer transition portion 158, and a fourth outer transition portion 159. The first outer transition part 156 transitions while curving from the first edge 61 side (front side) to the third edge 63 side (left side) in a top view. The second outer transition portion 157 transitions while curving from the first edge 61 side (front side) to the fourth edge portion 64 side (right side) in a top view. The third outer transition portion 58 transitions while curving from the second edge 62 side (rear side) to the third edge 63 side (left side) in a top view. The fourth outer transition portion 59 transitions while curving from the second edge 62 side (rear side) to the fourth edge 64 side (right side) in a top view. The first outer transition portion 156 and the second outer transition portion 157 are separated from each other as the center O of the container 33 is approached. The third outer transition portion 158 and the fourth outer transition portion 159 are separated from each other as the center O of the container 33 is approached.

  Between the 1st outer side transition part 156 and the 2nd outer side transition part 157, the 1st outer side intermediate part 181 extended linearly in top view is provided. Between the third outer transition portion 158 and the fourth outer transition portion 159, a second outer intermediate portion 182 that extends linearly in a top view is provided. The first outer intermediate portion 181 and the second outer intermediate portion 182 are parallel to each other in a top view and extend from the third edge portion 61 side (left side) toward the fourth edge portion 62 side (right side). . A curved third outer intermediate portion 183 is provided between the first outer transition portion 156 and the third outer transition portion 158. A curved fourth outer intermediate portion 184 is provided between the second outer transition portion 157 and the fourth outer transition portion 159. The third outer intermediate portion 183 and the fourth outer intermediate portion 184 gently bulge away from each other across the center O of the container 33. The first outer intermediate portion 181 and the second outer intermediate portion 182 may be formed in a curved shape, and the third outer intermediate portion 81 and the fourth outer intermediate portion 184 may be formed in a linear shape.

  As described above, the outer surface 136 of the container 33 has the first outer transition portion 156 and the second outer transition portion 157, so that the air hitting the container 33 when the multicopter 1 flies can be moved to the first outer transition portion 156. The second outer transition portion 157, the third outer transition portion 158, and the fourth outer transition portion 159 can escape. Thereby, since the air resistance which the container 33 receives can be reduced, even if the multicopter 1 receives strong wind at the time of flight, it becomes possible to fly stably.

In the above embodiment, the outer surface 136 of the container 33 has a shape corresponding to the receiving surface (inner surface) 36, but the outer surface 136 may not have a shape corresponding to the receiving surface (inner surface) 36. . That is, the container 33 may have the curved portion and the transition portion described above on both the inner surface and the outer surface, or only on the inner surface (receiving surface).
As shown in FIGS. 10 to 12, 14, and the like, the container 33 has an outer side (outer surface 136) outside the receiving surface 36.
) Has a recess 37. Although the number of the recessed parts 37 is not limited, in this embodiment, the recessed part 37 is formed in the four places of the receiving surface 36 at the groove shape extended in an up-down direction. Hereinafter, for convenience, the four concave portions 37 are referred to as a first concave portion 371, a second concave portion 372, a third concave portion 373, and a fourth concave portion 374, respectively. The first recess 371 is provided between the first transition part 56 and the third intermediate part 83. The second recess 372 is provided between the second transition portion 57 and the fourth intermediate portion 84. The third recess 373 is provided between the third transition part 58 and the third intermediate part 83. The fourth recess 374 is provided between the fourth transition part 59 and the fourth intermediate part 84.

The concave portions 37 (first concave portion 371, second concave portion 372, third concave portion 373, and fourth concave portion 374) serve as clues that can be hooked with fingers when the tank 32, which will be described later, slides, and facilitates sliding movement. To do.
As shown in FIGS. 10 to 12 and 15, the recess 37 is provided with a holding portion 38 for holding the mounting body 39. The holding portion 38 is a plate-like portion provided at the upper end of the concave portion 37, and the upper surface of the plate-like portion is continuous with the upper surface of the container 33. A through hole 38 a is formed in the holding portion 38. In the present embodiment, the holding portion 38 is provided in each of four concave portions (first concave portion 371, second concave portion 372, third concave portion 373, and fourth concave portion 374), and each holding portion 38 has a through hole 38a. Is formed. Note that the position of the holding portion 38 is not limited to the upper end of the concave portion 37, and may be provided, for example, in the middle of the concave portion 37 in the vertical direction.

  As shown in FIGS. 9 to 11, 15, and the like, the mounting body 39 has a flat plate shape and is held on the top of the container 33. In the present embodiment, the outer shape of the mounting body 39 is substantially rectangular when viewed from above, and has four sides (a first side 391, a second side 392, a third side 393, and a fourth side 394). Yes. The first side 391 is located on the first edge 61 side (front side). The second side 392 is located on the second edge 62 side (rear side). The third side 393 is located on the third edge 63 side (left side). The fourth side 394 is located on the fourth edge 64 side (right side).

  The length (front-rear direction length) of the mounting body 39 in the direction from the first side 391 to the second side 392 is shorter than the front-rear direction length of the container 33. The length in the direction from the third side 393 to the fourth side 394 (width direction length) is longer than the width direction length of the container 33. Therefore, as shown in FIGS. 10, 11, and 16, both ends in the width direction of the mounting body 39 protrude outward in the width direction from both ends in the width direction of the container 33. Hereinafter, this protruding portion is referred to as a “projecting portion 40”. The protruding portion 40 is a portion supported by the guide members 91 </ b> L and 91 </ b> R when the mounting body 39 is mounted on the mounting portion 29 provided on the frame 31.

The length of the mounting body 39 in the front-rear direction is slightly shorter than the length of the guide members 91L and 91R, and is approximately equal to the distance between the through hole 91a and the through hole 91b.
When the mounting body 39 is mounted on the mounting portion 29 of the frame 31, the pin 94 is inserted through the through holes 91b of the guide members 91L and 91R in advance. Then, as shown in FIGS. 4, 5, and 15 to 17, the protruding portion 40 of the mounting body 39 is fitted into the gap between the upper plate 91 </ b> U and the lower plate 91 </ b> D of the guide members 91 </ b> L and 91 </ b> R. Until the protruding portion 40 of the first and second projections 40 abuts on the pin 94, the slide portion 40 is slid backward along the guide members 91L and 91R (on the second edge portion 62 side). Thereafter, the tank (work implement) 32 is mounted on the mounting portion 29 of the frame 31 by inserting the pin 94 into the through hole 91a of the guide members 91L and 91R. As shown in FIGS. 5 and 16, in this state (referred to as the mounted state), the mounting body 39 is sandwiched between the pins 94 from the front and the back, and therefore the tank (working tool) 32 is prevented from being detached from the mounting portion 29. . As shown in FIGS. 1 and 2, in the mounted state, the supply port 35 of the tank 32 is in a position overlapping the notches 3 a and 3 b of the main body 3 and is exposed from the notches 3 a and 3 b in the top view. . Thereby, spatter can be supplied from the supply port 35 into the tank 32 even in the mounted state.

When the tank 32 is detached from the mounting portion 29, the pin 94 is removed from the through holes 91a and 91b, and then the tank 32 is slid forward (to the first edge portion 61 side) along the guide members 91L and 91R (see FIG. (See the phantom lines in FIGS. 2 and 5 and FIGS. 16 and 17). Thereby, the tank 32 can be detached from the mounting portion 29 and removed.
By removing the tank 32 from the mounting portion 29, the sprayed material can be easily supplied from the supply port 35 into the tank 32. Further, the inside of the tank 32 can be easily cleaned. Further, since the supply port 35 of the tank 32 is provided on the end side (first edge 61 side) of the container 33 in the slide movement direction, the tank 32 can be shifted in the slide movement direction without completely removing the tank 32. In addition, it becomes possible to easily supply the sprinkled material into the tank 32. The “slide movement direction” refers to the direction in which the tank 32 can move in the mounted state, in other words, the movement direction when the tank 32 is detached (the direction of arrow A in FIGS. 2, 5, and 16).

  The sliding direction of the tank (work implement) 32 is a direction orthogonal to the first direction (left direction) and the second direction (right direction) described above. That is, the sliding movement direction of the tank (working tool) 32 is a direction orthogonal to the extending direction when the arm 4 is at the second position. Thereby, in the state which made the arm 4 the 2nd position, a large space is formed in a slide movement direction. Therefore, the tank 32 can be easily attached and detached.

In addition, since the pump 60 is attached to the frame 31 on the rear side (the end side opposite to the sliding movement direction), the hose connected to the pump 60 is not obstructive when the tank 32 slides. .
As described above, the frame 31 of the main body 3 has the mounting portion 29 to which the tank (working tool) 32 is detachably attached. Therefore, the tank 32 is slid and moved relative to the frame 31. It can be easily attached and detached.

  Further, the first concave portion 371 and the second concave portion 372 of the container 33 are located on the front side in the slide movement direction, and the third concave portion 373 and the fourth concave portion 374 are located on the rear side in the slide movement direction. Therefore, when the container 33 is slid and moved, the fingers are first hooked and moved on the first recess 371 and the second recess 372, and the fingers are hooked and moved on the third recess 373 and the fourth recess 374 from the middle. The container 33 can be pulled out easily and smoothly.

  As shown in FIGS. 9 to 11 and 15, the mounting body 39 includes a first through hole 39 a, a second through hole 39 b, and a notch 39 c. The first through hole 39a is provided at a position overlapping the through hole 38a in the vertical direction. Specifically, the first through hole 39a is formed in the vicinity of the corner between the first side 391 and the third side 393, in the vicinity of the corner between the first side 391 and the fourth side 394, and the second side 392 and the third side. It is provided in the vicinity of the corner of 393 and in the vicinity of the corner of the second side 392 and the fourth side 394, respectively. As shown in FIGS. 10 and 11, the mounting body 39 is in contact with the upper surface of the container 33 by inserting the bolt 85 into the first through hole 39 a and the through hole 38 a and fastening the nut 86 to the bolt 85. Held in. Here, since the holding portion 38 is provided in the concave portion 37, the bolt 85 and the nut 86 do not protrude outside the container 33, and the air resistance when the multicopter 1 flies can be reduced. It is also excellent in appearance.

  Two second through holes 39b are provided. One second through hole 39b is provided in the vicinity of the corner of the first side 391 and the third side 393 and closer to the third side 393 than the first through hole 39a. The other second through hole 39b is provided near the corner of the first side 391 and the fourth side 394 and closer to the fourth side 394 than the first through hole 39a. The two second through holes 39 b are located above the recess 37. The second through-hole 39b serves as a clue that a finger can be caught when the tank 32 slides, and facilitates the slide movement.

  The notch 39c is provided on the first side 391. Specifically, the cutout portion 39c is formed by cutting out the central portion of the first side 391 in an arc shape toward the second side 392 side. The cutout portion 39 c is provided to avoid interference between the supply port 35 of the container 33 and the mounting body 39. The supply port 35 is exposed and opened from the notch 39 c without being blocked by the mounting body 39.

  In the above-described embodiment, the protruding portion 40 attached to the attaching portion 29 is provided in the attaching body 39 that is separate from the container 33, but the protruding portion 40 may be provided integrally with the container 33. In this case, for example, the protrusion 40 can be integrally formed with the container 33. When the protruding portion 40 is provided integrally with the container 33, the container 33 can be directly mounted on the mounting portion 29, so that there is an advantage that the mounting body 39 is unnecessary.

  In the multicopter 1 according to the embodiment described above, the frame 31 is detachably attached to the main body 3, so that the work device 10 can be replaced according to the content of the work. In addition, since the work tool 32 is detachably attached to the frame 31, the work tool 32 of the work device 10 can be exchanged according to the content of the work. Therefore, various working devices 10 and work tools 32 can be attached to the main body 3, and the range of applicable work can be expanded.

  As shown in FIGS. 1 to 3, the frame 31 is provided with leg portions (skids) 95 </ b> L and 95 </ b> R. Specifically, the leg portion 95L is attached to the bracket 93L, and the leg portion 95R is attached to the bracket 93R. The leg portions 95L and 95R extend from the brackets 93L and 93R so as to be separated from each other obliquely downward. The leg portions 95L and 95R are grounded when the multicopter 1 is landed and support the frame 31 from below. The legs 95 </ b> L and 95 </ b> R support the main body 3 to which the frame 31 is attached and the work tool (tank) 32 attached to the frame 31 together with the frame 31.

In a state where the multicopter 1 is landed (a state where the legs 95L and 95R are grounded), the sliding movement direction of the tank 32 is parallel to the ground. Therefore, when the tank 32 is attached / detached, the tank 32 does not tilt and can be attached / detached easily.
The tank 32 is disposed between the leg portion 95L and the leg portion 95R. The lowermost part of the receiving surface 36 of the container 33 of the tank 32 is located above the lower ends of the leg portions 95L and 95R. Further, the height H1 from the lower ends of the leg portions 95L and 95R to the lowermost portion of the receiving surface 36 is larger than the vertical distance H2 from the lowermost portion to the mounting plate 39. Thereby, in the state which the multicopter 1 landed, since the large space is formed between the container 33 and the ground, the attachment / detachment of the tank 32 can be performed easily.

  As shown in FIG. 16, in the state where the tank 32 is mounted on the main body 3, the center C1 in the width direction of the tank 32 and the center C2 in the width direction of the main body 3 overlap each other when viewed from above. Further, the front-rear direction center C3 of the tank 32 overlaps the main body 3 in a top view. Thereby, in a state where the tank 32 is mounted on the main body 3, the weight balance of the multicopter 1 is improved, and stable flight can be performed.

  Support rods 75L and 75R for supporting the nozzle 70 are attached to the leg portions 95L and 95R. Specifically, a bracket 76 is fixed to a middle portion in the length direction (height direction) of the leg portions 97L and 97R, and the base end portions of the support rods 75L and 75R are attached to the bracket 76. The bracket 76 has a pair of plate portions opposed to each other in the front-rear direction, and an arc-shaped groove 76a (see FIG. 3) that protrudes upward is formed in the plate portion. A pin 77 extending in the horizontal direction is attached to the base ends of the support rods 75L and 75R, and the end of the pin 77 is inserted into the groove 76a. The support rods 75L and 75R can be swung by moving the pin 77 along the groove 76a. Specifically, as shown by an arrow B in FIG. 3, the support rod 75L can swing upward and downward with respect to the leg portion 95L. The support rod 75R can swing upward and downward with respect to the leg portion 95R. At the end of the pin 77, the base ends of the support rods 75L and 75R are clamped between the pair of plate portions to fix the positions of the support rods 75L and 75R (angles relative to the leg portions 95L and 95R). A fastening tool 77a is provided.

  As shown in FIG. 1, a support member 78 is provided at the tip of the support rods 75 </ b> L and 75 </ b> R, and the nozzle 70 is supported by the support member 78. The nozzle 70 is supported so that the sprayed material in the container 33 can be sprayed downward. The nozzle 70 is connected to the discharge port of the pump 60 by a hose 79. In the illustrated example, the hose 79 is attached along the support rods 75L and 75R. However, the support rods 75L and 75R may be hollow pipes, and the hose 79 may be inserted into the pipes.

  According to the working device 10 of the present embodiment, by driving the pump 60, the sprayed material (fertilizer, chemicals, etc.) in the tank 32 is supplied to the nozzle 70 through the hose 79 and sprayed from the nozzle 70 toward the farm. be able to. Further, since the nozzle 70 can swing upward and downward with respect to the leg portions 95L and 95R via the support rods 75L and 75R, the position of the nozzle 70 can be changed and the spraying range can be adjusted.

  Further, by changing the work device 10 to be mounted on the main body 3, different work other than the spraying work can be performed. For example, when the working device 10 attached to the main body 3 is an imaging device (camera), the farm can be photographed from above. Further, when the working device 10 to be mounted on the main body 3 is a color sensor, it is possible to detect the color of the farm (the color of the crop) from the sky and check the growth status of the crop.

  As mentioned above, although this invention was demonstrated, it should be thought that embodiment disclosed this time is an illustration and restrictive at no points. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

DESCRIPTION OF SYMBOLS 1 Agricultural multicopter 3 Main body 4 Arm 5 Rotor 9 1st connection part 10 Working device 28 2nd connection part 29 Mounting part 31 Frame 32 Work tool (tank)
33 Container 35 Supply port 37 Recess 47 Connection member 60 Pump 70 Nozzle 95L, 95R Leg

Claims (9)

The body,
A plurality of arms attached to the body;
A rotor attached to the arm and generating lift;
A working device attached to the lower part of the main body and performing work related to agriculture,
The work device is an agricultural multicopter having a frame that is detachably attached to the main body and a work tool that is detachably attached to the frame. The main body has a first connecting portion provided on the frame side,
The frame has a second connecting portion provided on the main body side,
The agricultural multicopter according to claim 1, wherein the first connecting portion and the second connecting portion are connected by a detachable connecting member.   The agricultural multicopter according to claim 2, wherein the frame includes a mounting portion that is provided on a side opposite to the second coupling portion and on which the work tool is slidably mounted.   The agricultural multicopter according to claim 3, wherein the work tool has a recess that allows a finger to be caught during the slide movement. The work implement is a tank that stores scattered material to be applied to a farm.
The agricultural multicopter according to any one of claims 1 to 4, wherein the working device includes a pump attached to the frame and sucking the scattered matter in the tank.   The tank is formed with a length in the slide movement direction longer than a length in a direction perpendicular to the slide movement direction, and has a supply port for supplying the sprayed material on the end side in the slide transition direction. The agricultural multicopter according to claim 5.   The agricultural multicopter according to claim 6, wherein the pump is attached to the frame on an end side opposite to the sliding movement direction. The plurality of arms, when viewed from above, have a first position extending radially from the main body in different directions, a first direction that is one direction away from the main body, and a second direction that is opposite to the first direction. To a second position extending to
The agricultural multicopter according to claim 3, wherein the slide movement direction of the work tool is a direction orthogonal to the first direction and the second direction. The working device has a nozzle for spraying the sprayed material fed from the pump,
The frame is provided with legs that support the frame,
The agricultural multicopter according to any one of claims 5 to 8, wherein the nozzle is attached to be swingable upward and downward with respect to the leg portion.

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