WO2022168536A1

WO2022168536A1 - Unmanned aircraft

Info

Publication number: WO2022168536A1
Application number: PCT/JP2022/000544
Authority: WO
Inventors: 薫梅屋
Original assignee: エムラインシステム株式会社
Priority date: 2021-02-05
Filing date: 2022-01-11
Publication date: 2022-08-11
Also published as: JP2022120441A; JP7004963B1

Abstract

[Problem] To provide an unmanned aircraft which can comprise a pruning structure that can prune trees, and that can increasing safety. [Solution] This unmanned aircraft 2 comprises: a pruning structure 23 that can prune trees; a storage structure 24 that can store the pruning structure 23; and a state control unit 212 which can control the state of the pruning structure 23 so as to switch between a storage state in which the pruning structure 23 is stored in the storage structure 24, and an appearance state in which same appears outside the storage structure 24. The state control unit 212 controls the state of the pruning structure 23 to be the storage state when landing. When the distance D from the unmanned aircraft 2 to a target tree T1 to be pruned is a predetermined distance or less, the state control unit 212 preferably controls the state of the pruning structure 23 to be the appearance state, and when the distance D to the target tree T1 exceeds the predetermined distance, the state control unit preferably controls the state of the pruning structure 23 to be the storage state.

Description

unmanned aerial vehicle

The present invention relates to unmanned aerial vehicles.

By cutting the branches of the trees, pruning is carried out to adjust the shape of the trees. Pruning can improve the appearance of trees. Pruning can improve air circulation in trees. Pruning can allow trees to use nutrients more efficiently. This may promote tree growth. In addition, pruning can prevent the propagation of pests in trees.

Tall trees exemplified by cherry blossoms, zelkova, ginkgo, Japanese elm, weeping willow, rowan, etc., can reach a height of 5 meters or more. This may require work at height when pruning tall trees. Working at height requires safety measures to protect the safety of workers. Such safety measures can be a burden on pruning businesses and the like. If tall trees can be pruned using unmanned aerial vehicles (also called UAVs or drones) exemplified by remote-controlled and/or autonomously controlled multi-copters, the burden on business operators, etc. associated with safety measures can be reduced. can be mitigated.

As an example of a device for cutting a part of a tree using an unmanned aerial vehicle, Patent Document 1 discloses an unmanned aerial vehicle equipped with a fruit cutting unit for assisting in removing fruit from branches. Patent document 1 also discloses pruning shears, saws, scissors, and garden shears as examples of fruit cutting units. According to U.S. Pat. No. 5,400,000, an unmanned aerial vehicle equipped with scissors or the like may be used to remove fruit from the branches of fruit trees.

Japanese Patent Publication No. 2019-532666

By the way, when an unmanned aerial vehicle is equipped with a pruning mechanism exemplified by scissors and a saw, safety measures are required. Patent Document 1 does not contain any specific description of safety measures, and there is room for improvement in safety measures.

SUMMARY OF THE INVENTION The present invention has been made in view of such circumstances, and an object of the present invention is to provide an unmanned aerial vehicle capable of both having a pruning structure capable of pruning trees and enhancing safety. is.

As a result of intensive studies to solve the above problems, the inventors of the present invention have found a storage structure capable of storing a pruning structure, a storage state in which the pruning structure is stored inside the storage structure, and an appearance outside the storage structure. The present inventors have found that the above object can be achieved by providing a state control unit capable of controlling the state of the pruning structure between the pruning structure and the emerging state, and have completed the present invention. Specifically, the present invention provides the following.

The invention according to a first aspect comprises a pruning structure capable of pruning a tree, an accommodation structure capable of accommodating the pruning structure, an accommodation state in which the pruning structure is accommodated inside the accommodation structure, and an outside of the accommodation structure. a state controller operable to control the state of the pruning structure between the emerge state and the emerge state, wherein the state controller controls the state of the pruning structure to the stowed state upon landing. Offer unmanned aerial vehicles.

According to the invention according to the first feature, the unmanned aerial vehicle can prune trees using the pruning structure in the emerging state, which makes the pruning structure appear outside the housing structure. Meanwhile, the state controller controls the state of the pruning structure to the stowed state upon landing. Therefore, it is possible to prevent a person or the like from being injured by the pruning structure during landing.

Therefore, according to the invention according to the first characteristic, it is possible to provide an unmanned aerial vehicle that can achieve both the provision of a pruning structure capable of pruning trees and the enhancement of safety.

The invention according to a second feature is the invention according to the first feature, wherein the state control unit, when the distance from the unmanned aerial vehicle to the target tree to be pruned is equal to or less than a predetermined distance, Provided is an unmanned aerial vehicle that controls the state of the pruning structure to the exposed state, and controls the state of the pruning structure to the stowed state when the distance from the unmanned aerial vehicle to the target tree exceeds the predetermined distance. .

When pruning trees using an unmanned aerial vehicle equipped with a pruning structure, the unmanned aerial vehicle flies around the target tree to be pruned. On the other hand, when the unmanned aerial vehicle flies away from the target tree, the unmanned aerial vehicle does not prune the tree.

According to the invention according to the second feature, the state control unit can control the state of the pruning structure to the emerging state when the distance from the unmanned aerial vehicle to the target tree is equal to or less than a predetermined distance. This allows the pruning structure to prune the tree in the emerging state.

According to the second aspect of the invention, the state control unit controls the state of the pruning structure to the stowed state when the distance from the unmanned aerial vehicle to the target tree exceeds a predetermined distance. This can further enhance the safety of the unmanned aerial vehicle when trees are not pruned.

Therefore, according to the invention according to the second characteristic, it is possible to provide an unmanned aerial vehicle that can achieve both the provision of a pruning structure capable of pruning trees and the enhancement of safety.

The invention according to a third feature is the invention according to the first or second feature, further comprising a flight state control unit capable of controlling a flight state of the unmanned aerial vehicle, wherein control of the unmanned aerial vehicle received from the outside is performed. is weaker than a predetermined strength, the state control unit controls the state of the pruning structure to the stowed state, and the flight state when the pruning structure is stowed inside the stowage structure. An unmanned aerial vehicle is provided, wherein a controller controls the unmanned aerial vehicle to land.

By controlling the unmanned aerial vehicle with a control signal from the outside, the safety of the unmanned aerial vehicle can be improved more than when performing autonomous flight without using a control signal from the outside. However, the unmanned aerial vehicle may not be able to receive a control signal from the outside with a predetermined strength or more due to deterioration of the communication state or the like. If the control signal from the outside cannot be received at a predetermined intensity or more, there is a possibility that the unmanned aircraft cannot be controlled by the control signal from the outside. Therefore, the unmanned aerial vehicle with the pruning structure has room for further improvement in terms of enhancing safety when the control signal from the outside cannot be received at a predetermined intensity or more.

According to the third aspect of the invention, when the strength of the control signal related to the control of the unmanned aerial vehicle received from the outside is weaker than a predetermined strength, the state control unit controls the state of the pruning structure to the stowed state. It is possible to improve the safety when the control signal from is not received at a predetermined intensity or more. Furthermore, since the flight state control unit controls the unmanned aerial vehicle to the landing state when the pruning structure is housed inside the stowage structure, the time during which the unmanned aerial vehicle cannot be controlled by an external control signal is set to the landing state. It can be shorter than without control. Therefore, according to the third aspect of the invention, it is possible to further improve the safety when the external control signal cannot be received at a predetermined intensity or more.

Therefore, according to the invention according to the third characteristic, it is possible to provide an unmanned aerial vehicle that can achieve both the provision of a pruning structure capable of pruning trees and the enhancement of safety.

The invention according to a fourth feature is the invention according to any one of the first to third features, further comprising a flight state control unit capable of controlling a flight state of the unmanned aerial vehicle, When the distance to humans and/or animals around the unmanned aerial vehicle is less than or equal to a specific distance, the state control unit controls the state of the pruning structure to the stowed state, and the pruning structure is in the stowed state. To provide an unmanned aerial vehicle in which the flight state control unit controls the unmanned aerial vehicle to a landing state when accommodated therein.

If there are people around the unmanned aerial vehicle in flight, it is possible that the humans will jump out into the path of the unmanned aerial vehicle and collide with the unmanned aerial vehicle and/or the pruning structure in flight. If there are animals, such as pets and livestock, around the unmanned aerial vehicle in flight, it is possible that the animals may run into the path of the unmanned aerial vehicle and collide with the unmanned aerial vehicle and/or the pruning structure in flight. . An unmanned aerial vehicle in flight has a higher potential for injury to humans and/or animals from rotating propellers and/or rotors, etc. than an unmanned aerial vehicle not in flight. Therefore, an unmanned aerial vehicle with a pruning structure could be further improved in terms of increasing safety when there are humans and/or animals around the unmanned aerial vehicle.

According to the fourth aspect of the invention, when the distance from the unmanned aerial vehicle to humans and/or animals around the unmanned aerial vehicle is less than or equal to a specific distance, the state control unit controls the state of the pruning structure to the stowed state. Therefore, safety may be enhanced when there are humans and/or animals around the unmanned aerial vehicle. Further, the flight state controller controls the unmanned aerial vehicle to a landing state when the pruning structure is stowed inside the stowage structure, thereby reducing the possibility of collision between the unmanned aerial vehicle and humans and/or animals during flight. obtain. Therefore, according to the fourth aspect of the invention, it is possible to further improve safety when there are humans and/or animals around the unmanned aerial vehicle.

Therefore, according to the invention according to the fourth characteristic, it is possible to provide an unmanned aerial vehicle that can achieve both the provision of a pruning structure capable of pruning trees and the enhancement of safety.

An invention according to a fifth feature is the invention according to any one of the first to fourth features, further comprising an altitude acquisition unit capable of acquiring an altitude, wherein when the altitude is not within a predetermined range, The state controller provides an unmanned aerial vehicle for controlling the state of the pruning structure to the stowed state.

When the unmanned aerial vehicle is close to the ground, that is, when the altitude of the unmanned aerial vehicle is low, there is a possibility of collision between the unmanned aerial vehicle and humans and/or animals. Also, when the altitude of the unmanned aerial vehicle is low, there may be a possibility of collision between the unmanned aerial vehicle and property on the ground, such as houses, crops, and automobiles. Unmanned aerial vehicles with pruning structures can be further improved in terms of increasing the safety of the unmanned aerial vehicle at low altitudes.

In the unlikely event that an unmanned aerial vehicle flying over a high altitude loses control of its flight state and crashes, the speed at which the unmanned aerial vehicle will fall will be faster than if the unmanned aerial vehicle is at a low altitude. As a result, when an unmanned aerial vehicle flying at a high altitude loses control of its flight state and crashes, and the pruned structure collides with a person, etc., the adverse effects of the pruned structure on humans, etc. can be larger. Therefore, an unmanned aerial vehicle with a pruning structure has room for further improvement in terms of increasing safety at high altitudes of the unmanned aerial vehicle.

　If the altitude of the unmanned aerial vehicle is higher than the height of the target tree by a certain amount or more, the distance from the unmanned aerial vehicle to the target tree will be greater than the distance at which the pruning structure can prune the tree. If the distance from the unmanned aerial vehicle to the target tree is greater than the distance at which the tree can be pruned, the pruning structure will not prune the tree. Therefore, an unmanned aerial vehicle equipped with a pruning structure has room for further improvement in terms of enhancing safety when the unmanned aerial vehicle is at a certain height higher than the height of the target tree.

According to the fifth aspect of the invention, the state control unit controls the state of the pruning structure to the stowed state when the altitude is not within the predetermined range. Safety at high altitudes can be enhanced.

Therefore, according to the invention according to the fifth characteristic, it is possible to provide an unmanned aerial vehicle that can achieve both the provision of a pruning structure capable of pruning trees and the enhancement of safety.

The invention according to a sixth aspect is the invention according to any one of the first aspect to the fifth aspect, further comprising a position acquisition unit capable of acquiring a position of the unmanned aerial vehicle, and presenting the pruning structure. When the unmanned aerial vehicle is in a position different from the possible revealable area, the state control unit controls the state of the pruning structure to the stowed state, and the pruning structure is stowed inside the stowed structure. An unmanned aerial vehicle is provided, wherein the flight state controller sometimes controls the unmanned aerial vehicle to a landing state.

The pruning structure does not prune the target tree if the unmanned aerial vehicle is in a position different from the predetermined area where the target tree is located. Therefore, an unmanned aerial vehicle with a pruning structure could be further improved in enhancing the safety of the unmanned aerial vehicle when the unmanned aerial vehicle is in a different location than the predetermined area.

In the case of an unmanned aerial vehicle that receives a control signal related to control of the unmanned aerial vehicle from the outside, the strength of the control signal generally weakens as the distance from the outside to the unmanned aerial vehicle that transmits the control signal increases. In addition, if there is a shield such as terrain and buildings between the outside transmitting the control signal and the unmanned aerial vehicle, the strength of the control signal may decrease. Therefore, the area in which the control signal from the outside can be received at a predetermined intensity or more can be limited to a specific area determined by the distance from the outside and/or the shielding object, etc. from which the control signal is transmitted.

If the control signal from the outside cannot be received at a predetermined strength or higher, it is possible that the unmanned aerial vehicle cannot be controlled by the control signal from the outside. Therefore, if the unmanned aerial vehicle is located in a position different from the specific area where the control signal from the outside can be received at a predetermined intensity or more, the unmanned aerial vehicle receives the control signal from the outside at a predetermined intensity or more. may not be possible. An unmanned aerial vehicle with a pruning structure and receiving control signals from the outside could be further improved in enhancing the safety of the unmanned aerial vehicle when the unmanned aerial vehicle is in a different location than a specific area.

In order to improve the safety of flying unmanned aircraft, various laws and regulations concerning the flight of unmanned aircraft (for example, the Act on Prohibition of Flight of Small Unmanned Aircraft over Areas Surrounding Important Facilities (Law No. 2016) No. 9), and the notification specifying the no-fly areas for unmanned aerial vehicles (Ministry of Land, Infrastructure, Transport and Tourism Notification No. 461 of 2019), etc.), areas where unmanned aerial vehicles are prohibited from flying are stipulated. Laws and regulations stipulate that in areas where flight is prohibited, it is possible to fly only when permission is obtained. A region in which an unmanned aerial vehicle equipped with a pruning structure can fly with the pruning structure exposed may be restricted by law or the like.

By flying in compliance with laws and regulations, the safety of unmanned aerial vehicles can be improved. Unmanned aerial vehicles with pruning structures could be further improved in terms of enhancing safety when in locations different from the areas in which such unmanned aerial vehicles can fly.

According to the sixth aspect of the invention, for example, a predetermined area in which the target tree is located, a specific area in which a control signal from the outside can be received with an intensity equal to or higher than a predetermined intensity, and/or flight is possible based on laws and ordinances. Based on the area, etc., a revealable area can be defined where the pruning structure can be revealed. Then, it is possible to prevent the unmanned aerial vehicle with the pruning structure from appearing the pruning structure when the unmanned aerial vehicle is at a position different from the visible area. This can further enhance the safety of the unmanned aerial vehicle.

According to the sixth aspect of the invention, when the pruning structure is housed inside the housing structure, the flight state control unit controls the unmanned aerial vehicle to a landing state. can minimize flight time when there is This can further enhance the safety of the unmanned aerial vehicle.

Therefore, according to the sixth aspect of the invention, it is possible to provide an unmanned aerial vehicle that is capable of both having a pruning structure capable of pruning trees and enhancing safety.

The invention according to the seventh feature is the invention according to any one of the first to sixth features, and provides an unmanned aerial vehicle that is a multicopter.

A multicopter, which is a rotorcraft with three or more rotors (rotor blades), can ascend and/or descend by increasing or decreasing the rotation speed of the rotors. In addition, the multicopter can tilt its body by making a difference in the rotation speed of each rotor. This allows the multicopter to move forward, backward, and/or turn. Multicopters can control their attitude by controlling the number of rotations of each rotor, so they can achieve higher attitude stability than single-rotor helicopters.

According to the invention according to the seventh feature, since the unmanned aerial vehicle is a multi-copter, the attitude stability when pruning tree branches can be improved more than when using a single-rotor helicopter. This may prevent the unmanned aerial vehicle from changing attitude and colliding with animals, such as humans, and/or property when pruning with the pruning structure. Therefore, according to the seventh aspect of the invention, it is possible to enhance the safety of the unmanned aerial vehicle with the pruning structure.

It is known that the heavier the aircraft, the more difficult it is to land. Pruning structures can add weight to the unmanned aerial vehicle. Accordingly, an unmanned aerial vehicle with pruning structures may be more difficult to land than an unmanned aerial vehicle without pruning structures. If landing is difficult, the possibility of an accident or the like occurring during landing may increase. A multicopter can ascend and/or descend without changing its planar position relative to the ground more easily than a fixed wing aircraft that uses fixed and/or variable wings to obtain lift. This allows multicopters to land more easily than fixed-wing aircraft.

According to the seventh aspect of the invention, since the unmanned aerial vehicle is a multicopter, even if the unmanned aerial vehicle has a pruning structure, the unmanned aerial vehicle can be controlled to land more easily than when a fixed-wing aircraft is used. can do This can further reduce the possibility of an accident or the like occurring during landing. Therefore, according to the seventh aspect of the invention, it is possible to enhance the safety of the unmanned aerial vehicle with the pruning structure.

Therefore, according to the invention according to the seventh characteristic, it is possible to provide an unmanned aerial vehicle that can achieve both the provision of a pruning structure capable of pruning trees and the enhancement of safety.

According to the present invention, it is possible to provide an unmanned aerial vehicle that can achieve both the provision of a pruning structure capable of pruning trees and the enhancement of safety.

FIG. 1 is a block diagram showing the hardware configuration and software configuration of an unmanned aerial vehicle system 1 of this embodiment. FIG. 2 is a schematic diagram of the unmanned aerial vehicle 2 of the present embodiment when viewed obliquely from above. FIG. 3 is a diagram showing an example of the tree image table 321. As shown in FIG. FIG. 4 is a diagram showing an example of the neural network table 322. As shown in FIG. FIG. 5 is a flow chart showing an example of a preferable flow of operation control processing using the control device 3 of this embodiment. FIG. 6 is a flowchart showing an example of a preferred flow of state control processing using the control unit 21 of this embodiment. FIG. 7 is a flow chart showing an example of a preferred flow of the stowed landing process using the control unit 21 of this embodiment. FIG. 8 is a schematic diagram showing an example of tree pruning using the unmanned aerial vehicle system 1 of this embodiment. FIG. 9 is a schematic diagram showing an example of state control for enhancing safety in the unmanned aerial vehicle 2 of this embodiment.

An example of a preferred embodiment for carrying out the present invention will be described below with reference to the drawings. This is just an example, and the technical scope of the present invention is not limited to this.

<Unmanned aircraft system 1>
FIG. 1 is a block diagram showing the hardware configuration and software configuration of an unmanned aerial vehicle system 1 of this embodiment. FIG. 2 is a schematic diagram of the unmanned aerial vehicle 2 of the present embodiment when viewed obliquely from above. An example of a preferred configuration of an unmanned aerial vehicle system 1 according to an embodiment of the present invention will be described below with reference to FIGS. 1 and 2. FIG.

The unmanned aerial system 1 includes an unmanned aerial vehicle 2 and a control device 3. Each of the unmanned aerial vehicle 2 and the control device 3 is configured to be mutually connectable via a network N.

[Unmanned aerial vehicle 2]
The unmanned aerial vehicle 2 comprises at least a control unit 21 , a flight structure 22 and a pruning structure 23 .

Although not an essential aspect, the unmanned aerial vehicle 2 preferably has a storage structure 24 that can store the pruning structure 23 therein. The unmanned aerial vehicle 2 comprises a containment structure 24 such that the pruning structure 23 can be contained within the containment structure 24 .

Although not an essential aspect, the unmanned aerial vehicle 2 preferably has an imaging device 25 . By equipping the unmanned aerial vehicle 2 with the photographing device 25, the target tree can be photographed.

Although not an essential aspect, it is preferable that the unmanned aerial vehicle 2 include a communication unit 26 that communicatively connects the unmanned aerial vehicle 2 and the control device 3 via the network N. The unmanned aerial vehicle 2 is provided with the communication unit 26 so that the unmanned aerial vehicle 2 can communicate with the control device 3 .

The unmanned aerial vehicle 2 preferably includes a power supply unit 27. Since the unmanned aerial vehicle 2 includes the power supply section 27 , electric power can be supplied to each member constituting the unmanned aerial vehicle 2 .

Although not an essential aspect, it is preferable that the unmanned aerial vehicle 2 include a support structure 28 capable of supporting two or more members of the unmanned aerial vehicle 2 in a predetermined positional relationship. By providing the support structure 28, each member included in the unmanned aerial vehicle 2 can be supported so as to maintain a predetermined positional relationship.

The unmanned aerial vehicle 2 is not particularly limited as long as it can fly. Unmanned aerial vehicles 2 may be, for example, helicopters, balloons, airships, and/or fixed-wing aircraft. The unmanned aerial vehicle 2, which is a helicopter, is not particularly limited, and may be a single-rotor helicopter in which the number of rotors (also referred to as rotor blades) that generate main lift is one, a twin-rotor helicopter with two rotor blades, and/or It may be a multicopter with three or more rotor blades. The fixed-wing unmanned aerial vehicle 2 may be a fixed-wing aircraft that uses fixed wings and/or variable wings to obtain lift.

The unmanned aerial vehicle 2 is preferably a multicopter. The multicopter can ascend and/or descend by increasing or decreasing the rotation speed of the rotor. In addition, the multicopter can tilt its body by making a difference in the rotation speed of each rotor. This allows the multicopter to move forward, backward, and/or turn. Multicopters can control their attitude by controlling the number of rotations of each rotor, so they can achieve higher attitude stability than single-rotor helicopters.

Because the unmanned aerial vehicle 2 is a multi-copter, the attitude stability when pruning tree branches can be improved compared to when using a single-rotor helicopter. This can prevent the attitude of the unmanned aerial vehicle 2 from changing when pruning using the pruning structure 23 and moving the position of the pruning structure 23 to a position different from the pruning position. Therefore, the unmanned aerial vehicle 2 being a multicopter can prevent the pruning structure 23 from pruning a position different from the pruning position. This may allow for better trimming of the tree shape.

A multicopter can hover at approximately the same position in the air more easily than a fixed wing aircraft that uses fixed and/or variable wings to obtain lift. Since the unmanned aerial vehicle 2 is a multi-copter, it can hover in accordance with the pruning position and control the pruning structure 23 to prune in accordance with the pruning position. This allows the pruning to be more tailored to the pruning location compared to using a fixed wing aircraft. Therefore, the fact that the unmanned aerial vehicle 2 is a multi-copter can make it possible to further shape the trees.

It is known that the heavier the aircraft, the more difficult it is to land. Pruning structure 23 may add weight to unmanned aerial vehicle 2 . Accordingly, an unmanned aerial vehicle 2 with a pruning structure 23 may be more difficult to land than an unmanned aerial vehicle 2 without a pruning structure 23 . If landing is difficult, the possibility of an accident or the like occurring during landing may increase. A multicopter can ascend and/or descend without changing its planar position relative to the ground more easily than a fixed wing aircraft that uses fixed and/or variable wings to obtain lift. This allows multicopters to land more easily than fixed-wing aircraft.

Because the unmanned aerial vehicle 2 is a multicopter, even if the unmanned aerial vehicle 2 is equipped with the pruning structure 23, it can be controlled to land more easily than when a fixed-wing aircraft is used. This can further reduce the possibility of an accident or the like occurring during landing. Therefore, by making the unmanned aerial vehicle 2 a multicopter, the safety of the unmanned aerial vehicle 2 with the pruning structure 23 can be enhanced.

[control unit 21]
A control unit 21 controls the flight structure 22 and the pruning structure 23 . The unmanned aerial vehicle 2 includes the control unit 21 so that the unmanned aerial vehicle 2 can control the flight structure 22 to control the flight state of the unmanned aerial vehicle 2 . Further, since the unmanned aerial vehicle 2 includes the control unit 21, the unmanned aerial vehicle 2 can control the pruning structure 23 to prune the target tree.

The control unit 21 is not particularly limited. The control unit 21 may be a conventional microcomputer including, for example, a CPU (Central Processing Unit), a RAM (Random Access Memory), and a ROM (Read Only Memory).

When the unmanned aerial vehicle 2 is provided with a containment structure 24, the control unit 21 cooperates with the flight structure 22, the pruning structure 23, the communication unit 26, etc. as necessary to It is preferable that the control unit 211, the state control unit 212, the altitude acquisition unit 213, the position acquisition unit 214, etc. can be realized. This allows the unmanned aerial vehicle 2 to perform a state control process to accommodate the pruning structure 23 in the accommodation structure 24 . State control processing performed by the unmanned aerial vehicle 2 will be described in more detail later with reference to FIGS. 6 and 7. FIG.

When the unmanned aerial vehicle 2 is equipped with a communication unit 26, it is preferable that the control unit 21 can control the flight structure 22, the pruning structure 23, the imaging device 25, etc. according to commands transmitted from the control device 3. Thereby, the flight conditions of the unmanned aerial vehicle 2 and the operation of the pruning structure 23 can be controlled in response to commands sent from the controller 3 . In addition, in accordance with a command transmitted from the control device 3, a target tree to be pruned can be photographed, and the photographed tree image can be transmitted to the control device 3.

The command transmitted from the control device 3 is not particularly limited, and may be, for example, a command to prune the target tree at the pruning position using the pruning structure 23, a command to move the unmanned aerial vehicle 2, or a command to prune the target tree using the imaging device 25. Examples include a command to shoot and/or a command to land the unmanned aerial vehicle 2 .

[Flight structure 22]
The flight structure 22 is a structure that gives lift and/or buoyancy to the unmanned aerial vehicle 2 to enable it to fly. The flight structure 22 is not particularly limited. The flight structure 22 is configured to be able to control the flight state of the unmanned aerial vehicle 2 according to control by the control unit 21 .

When the unmanned aerial vehicle 2 is a balloon and/or an airship, the flight structure 22 preferably includes a balloon portion capable of accommodating gas lighter than air. By including the balloon portion, the unmanned aerial vehicle 2 can be flown by the buoyancy provided by the lighter-than-air gas. When the unmanned aerial vehicle 2 is a fixed-wing aircraft, the flight structure 22 includes a propulsion unit capable of moving the unmanned aerial vehicle 2 and a fixed wing and/or variable wing capable of generating lift as the unmanned aerial vehicle 2 moves. is preferably included. This allows the unmanned aerial vehicle 2 to move and generate lift in response to this movement. This lift force allows the unmanned aerial vehicle 2 to fly.

If the unmanned aerial vehicle 2 is a helicopter or the like that uses one or more rotors to obtain lift, the flight structure 22 may include one or more drive units 221 and one or more rotor blades 222 rotated by the drive units 221 . preferred (Fig. 2). Thereby, the rotor blade 222 can be rotated using the drive part 221, and a lift force can be obtained. This lift force allows the unmanned aerial vehicle 2 to fly.

When the unmanned aerial vehicle 2 is a multicopter that obtains lift using three or more rotor blades, the number of flight structures 22 is three or more, and each of the three or more flight structures 22 is driven by a drive unit 221 and a drive unit 221. It preferably includes rotating rotor blades 222 . As a result, the rotor blades 222 can be rotated to obtain lift. This lift force allows the unmanned aerial vehicle 2 to fly. Each of the three or more flight structures 22 has a rotor 222 so that the speed of rotation of the rotor 222 can be increased or decreased to ascend and/or descend. In addition, the multi-copter can tilt its body by making the rotational speed of each rotor blade 222 different. This allows the multicopter to move forward, backward, and/or turn. Accordingly, the unmanned aerial vehicle 2 may move into position by raising, lowering, advancing, reversing, and/or turning, and the like.

Since each of the three or more flight structures 22 includes the drive section 221 and the rotor blades 222, the drive section 221 can directly rotate the rotor blades 222 without a power distribution device or the like for distributing power. This allows the flight structure 22 to have a simple configuration. Further, since the drive unit 221 rotates the rotor blades 222 without using a power distribution device or the like, the flight state using the flight structure 22 can be controlled by relatively simple control without controlling the power distribution device or the like. .

In the following description, the unmanned aerial vehicle 2 is a multi-copter, the number of flight structures 22 is three or more, and each of the three or more flight structures 22 includes a drive section 221 and a rotor 222 rotated by the drive section 221. do.

It is preferable that the flight structure 22 be able to use the power supplied by the power supply section 27 . Thereby, the flight structure 22 can be operated using the power supplied by the power supply unit 27 .

FIG. 2 shows a first flight structure 22a, a second flight structure 22b, a third flight structure 22c, and a fourth flight structure 22d as the flight structures 22 that the unmanned aerial vehicle 2 has. Each of these flight structures 22 is connected to a control section 21 and a power supply section 27 which will be described later.

(Driving unit 221)
The drive unit 221 (

reference numerals

221a, 221b, 221c, and 221d in FIG. 2) is controllable by the control unit 21 and is not particularly limited as long as it can rotate the rotor 222. The drive unit 221 preferably includes a motor that rotates the rotor blades 222 using electricity. Since the drive unit 221 includes a motor, the control unit 21 can control the drive unit 221 through relatively easy control via electricity. Then, the number of revolutions of the rotor blades 222 and the like can be controlled. Thereby, the control unit 21 can easily control the flight state of the unmanned aerial vehicle 2 . If the drive unit 221 includes a motor, it is preferable that the drive unit 221 can use power supplied by the power supply unit 27 . Accordingly, the power supplied by the power supply unit 27 can be used to rotate the rotor blades 222 .

(rotary blade 222)
The rotor blades 222 (

reference numerals

222a, 222b, 222c, and 222d in FIG. 2) can be rotated by the drive unit 221, and are not particularly limited as long as they can generate lift by rotation. Rotor 222 may be, for example, a variable pitch rotor that allows the tilt of the rotor with respect to the direction of rotation to be varied. Since the rotor blade 222 is a variable-pitch rotor blade, the inclination of the rotor blade can be changed according to the rotation speed, and lift can be obtained efficiently. Rotor 222 may be, for example, a fixed pitch rotor with a constant inclination of the rotor with respect to the direction of rotation. Since the rotor blades 222 are fixed-pitch rotor blades, the rotor blades 222 can have a simpler structure than variable-pitch rotor blades. As a result, the maintainability and/or cost effectiveness of the unmanned aerial vehicle 2 can be improved.

[Pruning structure 23]
The pruning structure 23 is not particularly limited as long as it is a pruning structure capable of pruning trees. Pruning structure 23 may be, for example, a pruning structure that includes one or more structures capable of pruning trees exemplified by scissors, saws, cutters, laser cutters, water cutters, and the like. The pruning structure 23 prunes a pruning tree to be pruned under the control of the control unit 21 .

If the unmanned aerial vehicle 2 comprises a containment structure 24 , the pruning structure 23 is preferably capable of being contained in the containment structure 24 . As a result, the unmanned aerial vehicle 2 can store the pruning structure 23 in the storage structure 24 as necessary, and prevent a person or the like from being injured by the pruning structure.

When the pruning structure 23 can be accommodated in the accommodation structure 24, the pruning structure 23 is controllable to a manifestation state in which the pruning structure 23 emerges outside the accommodation structure 24 according to control by the controller 2; Preferably, the pruning structure 23 is controllable to a stowed state in which the pruning structure 23 is stowed inside the stowage structure 24 as controlled by the controller 2 . This allows unmanned aerial vehicle 2 to prune trees using emerging pruning structure 23 . On the other hand, the unmanned aerial vehicle 2 can control the state of the pruning structure 23 to the stowed state to prevent a person or the like from being injured by the pruning structure.

[Containment structure 24]
The accommodation structure 24 is not particularly limited as long as it can accommodate the pruning structure 23 . The containment structure 24 may be, for example, a structure capable of covering the pruning structure 23 and containing the pruning structure 23 in the containment state.

[Photographing device 25]
The photographing device 25 is not particularly limited as long as it can generate a tree image obtained by photographing a target tree to be pruned. The photographing device 25 generates a tree image according to a command transmitted from the control device 3 to be described later, and provides the generated tree image to the control device 3 . The photographing device 25 may be, for example, a digital still camera capable of generating still images of trees, a digital camcorder capable of generating moving images of trees, or the like.

[Communication unit 26]
The communication unit 26 is not particularly limited as long as it connects the unmanned aerial vehicle 2 to the network N and enables communication with the control device 3 . As the communication unit 26, for example, a radio device corresponding to a weak radio station for radio control, a radio device corresponding to a specific low power radio station for telemetry and telecontrol, a radio device corresponding to a low power data communication system, an unmanned mobile image Wireless devices corresponding to transmission systems, wireless devices compatible with mobile phone networks, devices compatible with Wi-Fi (Wireless Fidelity) compatible with IEEE802.11, optical wireless devices compatible with optical wireless communication, and wired devices compatible with wired communication Communication units including one or more such as communication devices may be mentioned.

[Power supply unit 27]
The power supply unit 27 is a power supply unit capable of supplying power to one or more of the members of the aircraft 1 such as the control unit 21, the flight structure 22, the pruning structure 23, the accommodation structure 24, the imaging device 25, and the communication unit 26. is. The power supply unit 27 is not particularly limited, and may be a conventional power supply unit. The power supply unit 27 includes, for example, primary batteries (e.g., dry batteries, wet batteries, etc.), secondary batteries, solar cells, fuel cells, nuclear batteries, all-solid-state batteries, generators (e.g., internal combustion engines and/or external combustion engines). generator, microwave generator, etc.) and a power supply unit including one or more of these.

Above all, the power supply unit 27 preferably includes batteries exemplified by primary batteries, secondary batteries, and all-solid-state batteries. A battery has a simpler structure than a generator or the like. Therefore, by including a battery in the power supply unit 27, the structure of the power supply unit 27 can be simplified. As a result, the maintainability and/or cost effectiveness of the unmanned aerial vehicle 2 can be improved.

[Support structure 28]
The support structure 28 is not particularly limited as long as it is a structure capable of supporting two or more members of the unmanned aerial vehicle 2 in a predetermined positional relationship. The support structure 28 is, for example, a structure capable of supporting the flight structure 22 and the pruning structure 23 in a predetermined positional relationship.

In FIG. 2, the support structure 28 included in the unmanned aerial vehicle 2 includes a control unit 21, a first flight structure 22a, a second flight structure 22b, a third flight structure 22c, a fourth flight structure 22d, a pruning structure 23, and an accommodation structure 24. , the communication unit 26, and the power supply unit 27 in a predetermined positional relationship. A support structure 28 may be provided to support each of these in a predetermined positional relationship.

[Distance sensor]
Although not an essential aspect, the unmanned aerial vehicle 2 is preferably equipped with a range sensor (not shown) capable of measuring the distance from the unmanned aerial vehicle 2 to target trees, humans and/or animals. Thereby, the flight state control unit 211 and/or the state control unit 212 can measure the distance from the unmanned aerial vehicle 2 to the target tree, human, and/or animal. The distance sensor is not particularly limited, and may be, for example, a conventional distance sensor capable of measuring the distance to an object using infrared rays, laser light, radio waves, visible light, and/or sound waves.

[Altimeter]
Although not an essential aspect, the unmanned aerial vehicle 2 preferably has an altimeter (not shown) capable of measuring the altitude of the unmanned aerial vehicle 2 . Thereby, the altitude acquisition unit 213 can measure the altitude of the unmanned aerial vehicle 2 . The altimeter is not particularly limited, and may be, for example, a conventional altimeter capable of measuring altitude using atmospheric pressure, radio waves, infrared rays, visible light, and/or laser light.

[Positioning unit]
Although not an essential aspect, the unmanned aerial vehicle 2 preferably has a positioning unit (not shown) capable of positioning the unmanned aerial vehicle 2 . Thereby, the position acquisition unit 214 can acquire the position of the unmanned aerial vehicle 2 . The positioning unit is not particularly limited, for example, a global positioning system (Global Positioning System, GPS), positioning equipment using radio waves exemplified by Real-time kinematic (RTK), inertial navigation equipment, and radar equipment It may be a positioning unit using one or more devices capable of positioning positions exemplified by, for example.

[Control device 3]
Return to FIG. The control device 3 includes a control section 31 , a storage section 32 , a communication section 33 , a display section 34 and an input section 35 .

[Control unit 31]
The control unit 31 includes a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), and the like.

The control unit 31 reads a predetermined program and cooperates with the storage unit 32, the communication unit 33, the display unit 34, and/or the input unit 35 as necessary, and is an element of the software configuration in the control device 3. A tree image capturing unit 311, a tree shape information generating unit 312, a tree shape evaluation receiving unit 313, a shape learning unit 314, a target shape information receiving unit 315, a pruning position specifying unit 316, a pruning position learning unit 317, an operation control unit 318, and It implements the control information learning unit 319 and the like.

[Storage unit 32]
Data and files are stored in the storage unit 32 . The storage unit 32 has a data storage unit including members capable of storing data and files exemplified by a semiconductor memory, a recording medium, a memory card, and the like. The storage unit 32 is a mechanism that enables connection with a storage device or storage system such as NAS (Network Attached Storage), SAN (Storage Area Network), cloud storage, file server and/or distributed file system via network N. may have

The storage unit 32 stores a control program executed by the microcomputer, a tree image table 321, a neural network table 322, and the like.

(Tree image table 321)
FIG. 3 is a diagram showing an example of the tree image table 321. As shown in FIG. The tree image table 321 is a table that stores tree images related to target trees to be pruned. The tree image table 321 stores two or more tree images obtained by photographing the target tree. Thereby, the control unit 31 can generate tree shape information of the target tree using two or more tree images obtained by photographing the target tree from different directions and a shape generation neural network described later.

It is preferable that the tree image table 321 can store tree image IDs that are associated with tree images and that can identify the tree images. Thereby, the control unit 21 can store and/or obtain the tree image using the tree image ID.

It is preferable that the tree image table 321 be able to store tree IDs that are associated with tree images and that can identify target trees related to the tree images. Thereby, the control unit 21 can identify the target tree using the tree ID.

The tree image table 321 is preferably capable of storing image information associated with tree images. Thereby, the control unit 21 can use the image information regarding the tree image. The image information is not particularly limited, and includes information about the shooting altitude of the tree image, information about the shooting position of the tree image, information about the photographer of the tree image, information about the shooting date of the tree image, information about the shooting time of the tree image, and the like. Information including one or more of various types of information about the tree image exemplified by .

The tree image ID "P1" in FIG. 3 stores the tree ID "T1", the tree image of the target tree identified by the tree ID "T1", and image information related to the tree image. Also, in the tree image ID "P2" of FIG. 3, the tree ID "T1" and the target tree identified by the tree ID "T1" are viewed from a direction different from that of the tree image identified by the tree image ID "P1". A photographed tree image and image information related to the tree image are stored.

The tree image table 321 stores two or more tree images obtained by photographing the target tree identified by the tree ID "T1" from different directions. The image and shape generation neural network may be used to generate tree shape information for the target tree identified by tree ID "T1".

(Neural network table 322)
FIG. 4 is a diagram showing an example of the neural network table 322. As shown in FIG. The neural network table 322 stores at least a shape generation neural network N1 (corresponding to the neural network ID "N1") capable of generating tree shape information of a target tree using two or more tree images. Thus, the tree shape information of the target tree can be generated using the shape generation neural network N1.

The neural network table 322 is preferably associated with a neural network and can store neural network IDs that can identify the neural network. Thereby, the control unit 21 can store and/or obtain the neural network using the neural network ID.

Although not an essential aspect, the neural network table 322 includes a pruning position generation neural network N2 (neural network (corresponding to ID "N2") is preferably stored. Thereby, the pruning position generating neural network N2 may be used to control the flight conditions of the unmanned aerial vehicle 2 and the operation of the pruning structure 23. FIG.

Although not an essential aspect, the neural network table 322 includes a control information generating neural network capable of controlling the flight state of the unmanned aerial vehicle 2 and the operation of the pruning structure 23 based on the pruning position and the state of control by the motion control unit 318. N3 (corresponding to neural network ID "N3") is preferably stored. Thereby, the control information generating neural network N3 may be used to control the flight conditions of the unmanned aerial vehicle 2 and the operation of the pruning structure 23 .

The formats of the shape generation neural network N1, the pruning position generation neural network N2, and the control information generation neural network N3 are not particularly limited. Or information about the activation function that determines the strength of the signal, a weight matrix (also referred to as a weight parameter information about a bias vector that gives a reference weight (also referred to as a bias parameter or simply a bias) to a signal input to an artificial neuron of the neural network, and/or an artificial neuron of the neural network. It may also include a data structure containing information about connection relationships between neurons, and the like.

The type of neural network stored in the neural network table 322 is not particularly limited. Alternatively, it is also called ConvNet.), Deep stacking network (also called DSN), RBF network (also called radial basis function network), recurrent neural network (also called recurrent neural network, or RNN) ), modular neural networks, etc. can be stored.

Looking at the configuration of the neural network table 322 in more detail, the neural network table 322 shown in FIG. stored. Storing the neural network ID facilitates obtaining and updating information stored in neural network table 322 . By storing the weight matrices A and B of the neural network, it is possible to perform generation and/or evaluation using the neural network and allow the neural network to perform machine learning.

In the row of the neural network ID "N1", a weight matrix A1 (a matrix containing elements from a111 to a179) and a weight matrix B1 (a matrix containing elements from b111 to b194). N1 is stored. By storing the weight matrix A1 and the weight matrix B1, the tree shape information generator 312 can cause the shape generation neural network N1 to generate tree shape information. Also, by storing the weight matrix A1 and the weight matrix B1, the shape learning unit 314 can cause the shape generation neural network N1 to perform machine learning of the tree shape information.

In the row of neural network ID "N2", pruning position generating neural Network N2 is stored. By storing the weight matrix A2 and the weight matrix B2, the motion controller 318 may control the flight conditions of the unmanned aerial vehicle 2 and the motion of the pruning structure 23 using the pruning position generating neural network N2. Also, by storing the weight matrix A2 and the weight matrix B2, the control information learning unit 319 can machine-learn the flight state of the unmanned aerial vehicle 2 and the operation of the pruning structure 23 to the pruning position generation neural network N2.

In the row of the neural network ID "N3", a control information generation neural network represented by a weight matrix A3 (a matrix containing elements a211 to a249) and a weight matrix B3 (a matrix containing elements b211 to b297) is displayed. Network N3 is stored. By storing the weighting matrix A3 and the weighting matrix B3, the motion controller 318 can control the flight conditions of the unmanned aerial vehicle 2 and the motion of the pruning structure 23 using the control information generating neural network N3. By storing the weight matrix A3 and the weight matrix B3, the control information learning unit 319 can cause the control information generation neural network N3 to machine-learn the flight state of the unmanned aerial vehicle 2 and the operation of the pruning structure 23 .

[Communication section 33]
Return to FIG. The communication unit 33 is not particularly limited as long as it connects the control device 3 to the network N and enables communication with the unmanned aerial vehicle 2 . As the communication unit 33, for example, a radio device corresponding to a weak radio station for radio control, a radio device corresponding to a specific low power radio station for telemetry and telecontrol, a radio device corresponding to a low power data communication system, an unmanned mobile image Wireless devices corresponding to transmission systems, wireless devices compatible with mobile phone networks, devices compatible with Wi-Fi (Wireless Fidelity) compatible with IEEE802.11, optical wireless devices compatible with optical wireless communication, and wired devices compatible with wired communication Communication units including one or more such as communication devices may be mentioned.

[Display unit 34]
The display unit 34 is not particularly limited as long as it has a screen display area capable of displaying tree shape information. Examples of the display unit 34 include a display unit having a touch panel, an organic EL display, a liquid crystal display, a monitor, a projector, and the like.

[Input unit 35]
The input unit 35 is particularly limited as long as it is an input unit capable of inputting tree shape evaluation related to tree shape information, target shape information related to target trees, pruning positions related to pruning positions, and/or control information related to the unmanned aerial vehicle 2. not. The type of the input unit 35 is not particularly limited. For example, a touch panel, a software keyboard, a microphone that recognizes voice, a communication device that receives input from an external device, a keyboard, a mouse, and one or more buttons. These include input devices, input devices that provide input via one or more rotary switches, and/or input devices that provide input via one or more sticks.

By providing the input unit 35 to the control device 3, the user can input the tree shape evaluation, the target shape information regarding the target tree, the pruning position regarding the pruning position, and/or the control information regarding the unmanned aerial vehicle 2 via the input unit 35. etc. can be entered.

[Flowchart of Operation Control Processing Executed by Control Device 3]
FIG. 5 is a flow chart showing an example of a preferable flow of operation control processing using the control device 3 of this embodiment. An example of a preferable procedure of the operation control process executed by the control device 3 will be described below with reference to FIG.

[Step S1: Acquire Tree Image]
The control unit 31 cooperates with the storage unit 32 and the communication unit 33 to execute the tree image photographing unit 311 to obtain two or more tree images obtained by photographing the target tree to be pruned from different directions from the unmanned aerial vehicle 2. acquire (step S1). The control unit 31 shifts the process to step S2. By acquiring two or more tree images, tree shape information of the target tree can be generated using the two or more tree images and the shape generation neural network N1.

The process of acquiring two or more tree images from the unmanned aerial vehicle 2 includes the process of associating each of the acquired tree images with a tree image ID and storing them in the tree image table 321 . Thereby, the tree shape generation unit 312 , the tree shape evaluation reception unit 313 , and/or the shape learning unit 314 and the like can acquire the tree images stored in the tree image table 321 .

Although not an essential aspect, it is preferable that the tree image acquired from the unmanned aerial vehicle 2 is associated with information that enables identification of the target tree. As a result, for each acquired tree image, the tree ID for identifying the target tree and the tree image can be associated with each other and stored in the tree image table 321 .

Although not an essential aspect, it is preferable that the tree image acquired from the unmanned aerial vehicle 2 is associated with image information related to the tree image. As a result, for each acquired tree image, the image information and the tree image can be associated and stored in the tree image table 321 .

Although not an essential aspect, the process of acquiring two or more tree images from the unmanned aerial vehicle 2 preferably includes a process of controlling the flight state of the unmanned aerial vehicle 2 so that the target tree can be photographed from different directions. Thereby, it is possible to control the flight state of the unmanned aerial vehicle 2 and acquire two or more tree images of the target tree photographed from different directions.

[Step S2: Generate Tree Shape Information]
The control unit 31 cooperates with the storage unit 32 to execute the tree shape generation unit 312 to generate tree shape information of the target tree using two or more tree images and the shape generation neural network N1 (step S2 ). The control unit 31 shifts the process to step S3. Since the tree shape generator 312 uses two or more tree images photographed from different directions, the shape of the tree can be grasped. Therefore, the tree shape generator 312 can generate tree shape information of trees.

The tree shape information generation unit 312 can generate tree shape information for the target tree using the shape generation neural network N1 that can be machine-learned in the shape learning unit 314 . Therefore, the tree shape generation unit 312 using the shape generation neural network N1 can generate more accurate tree shape information than tree shape information generated without using a neural network that has performed machine learning.

The process of generating tree shape information preferably includes a process of controlling the display unit 34 to display the generated tree shape information. Thereby, the tree shape evaluation receiving unit 313 can receive the tree shape evaluation regarding the tree shape information displayed on the display unit 34 from the user of the control device 3 or the like.

The process of generating tree shape information preferably includes a process of controlling the communication unit 33 to transmit the generated tree shape information to the outside. Thereby, the tree shape evaluation receiving unit 313 can receive the tree shape evaluation from the outside that received the tree shape information.

[Step S3: Determining Whether Tree Shape Evaluation Has Been Received]
The control unit 31 cooperates with the storage unit 32, executes the tree shape evaluation receiving unit 313, and determines whether or not the tree shape evaluation has been received (step S3). Upon receiving the tree shape evaluation, the control unit 31 shifts the process to step S4. If the tree shape evaluation has not been received, the control unit 31 shifts the process to step S5. By determining whether or not the tree shape evaluation has been received, the shape learning unit 314 can machine-learn the shape of the tree using the received tree shape evaluation.

If the process of generating the tree shape information includes the process of controlling the display unit 34 to display the generated tree shape information, the process of determining whether or not the tree shape evaluation has been received is performed via the input unit 35. Preferably, the process includes determining whether a tree shape evaluation based on the input information has been received. Thereby, the shape learning unit 314 can machine-learn the shape of the tree using the tree shape evaluation based on the information input via the input unit 35 .

When the process of generating tree shape information includes a process of controlling the communication unit 33 to transmit the generated tree shape information to the outside, the process of determining whether or not the tree shape evaluation has been received is performed by the communication unit 33. Preferably, a process is included for determining whether a tree shape evaluation has been received via. Thereby, the shape learning unit 314 can machine-learn the shape of the tree using the tree shape evaluation received via the communication unit 33 .

[Step S4: Machine learning of tree shape]
The control unit 31 cooperates with the storage unit 32, executes the shape learning unit 314, and causes the shape generation neural network N1 to machine-learn the shape of the tree based on the tree image, the tree shape information, and the tree shape evaluation ( step S4). The control unit 31 shifts the process to step S5. By subjecting the shape generation neural network N1 to machine learning of tree shapes, the shape generation neural network N1 can generate more accurate tree shape information than a neural network that does not undergo machine learning.

When the neural network table 322 stores the pruning position generation neural network N2, the control unit 31 preferably executes the processing related to the target shape information executed in steps S5, S6, and S7. As a result, it is possible to more appropriately shape the tree according to the target shape of the tree.

[Step S5: Determining Whether Target Shape Information Has Been Received]
The control unit 31 cooperates with the storage unit 32, executes the target shape information receiving unit 315, and determines whether or not the target shape information regarding the target shape of the pruned tree after pruning the target tree has been received. (Step S5). After receiving the target shape information, the control unit 31 shifts the process to step S6. If the target shape information has not been received, the control unit 31 shifts the process to step S8. By determining whether target shape information has been received, the motion controller 318 may control the flight state of the unmanned aerial vehicle 2 and the operation of the pruning structure 23 based on the target shape information.

The target shape information is not particularly limited as long as it is information related to the target shape of the pruned tree after pruning the target tree. The target shape information includes, for example, the target three-dimensional shape of the tree after pruning. The target shape information preferably includes the pruning position of the target tree. Thereby, the unmanned aerial vehicle 2 can prune the target tree based on the pruning position of the target tree.

[Step S6: Control unmanned aerial vehicle based on target shape information]
The control unit 31 cooperates with the storage unit 32, executes the operation control unit 318, and calculates the flight state of the unmanned aerial vehicle 2 and the pruning structure 23 using the tree shape information, the target shape information, and the pruning position generation neural network N2. is controlled (step S6). The control unit 31 shifts the process to step S7.

The processing in step S5 preferably includes processing for executing the pruning position specifying unit 316 and specifying the pruning position using the tree shape information, the target shape information, and the pruning position generation neural network N2. As a result, the pruning position can be designated more appropriately using the machine-learned pruning position generation neural network N2.

The pruning position is not particularly limited. The pruning position preferably includes an uprooted pruning position capable of pruning uprooted branches (also referred to as basal shoots), which are branches protruding from the root of the target tree. As a result, the target tree after pruning can be a beautiful looking tree with no overhang. Also, the target tree after pruning can have good ventilation at the base. After pruning, the target tree will no longer use nutrients for the tillers, and it will be possible to use nutrients efficiently. After pruning, pests do not propagate in the tillage of the target tree, and the propagation of pests in the target tree can be prevented.

The pruning position preferably includes a branch pruning position that can prune a branch where a number of branches overlap. As a result, the target tree after pruning can be a beautiful looking tree with no overgrown branches. In addition, ventilation can be improved at locations where there were overgrown branches. After pruning, the target tree will no longer use nutrients for the bushes, and will be able to use nutrients efficiently. In the target tree after pruning, pests do not propagate in the branches, and the propagation of pests in the target tree can be prevented.

The pruning position preferably includes an inverted branch pruning position capable of pruning an inverted branch extending toward the trunk. As a result, the target tree after pruning can be a beautiful looking tree without upside-down branches. After pruning, the target tree will no longer use upside-down branches to use nutrients, and it will be possible to use nutrients efficiently. In the target tree after pruning, pests do not propagate on the upside down branches, and the propagation of pests in the target tree can be prevented.

The pruning position preferably includes a downward branch pruning position capable of pruning a downward branch extending substantially downward in the direction of gravity. As a result, the target tree after pruning can be a beautiful looking tree without descending branches. After pruning, the target tree will no longer use nutrients for descending branches, and will be able to use nutrients efficiently. After pruning, pests do not propagate on the descending branches of the target tree, and the propagation of pests on the target tree can be prevented.

The pruning position preferably includes a standing branch pruning position capable of pruning a standing branch that extends substantially upward in the direction of gravity. As a result, the target tree after pruning can be a beautiful looking tree without standing branches. After pruning, the target tree will no longer use nutrients for its standing branches, and will be able to use nutrients efficiently. After pruning, pests do not propagate on the standing branches of the target tree, and the propagation of pests on the target tree can be prevented.

The pruning position preferably includes a tangle branch pruning position at which tangle branches that are entangled with other branches can be pruned. As a result, the target tree after pruning can be a beautiful looking tree without entwining branches. In addition, ventilation can be improved at locations where there were tangled branches. After pruning, the target tree will no longer use nutrients for tangles, and will be able to use nutrients efficiently. In the target tree after pruning, pests do not propagate on the entanglement branches, and the propagation of pests in the target tree can be prevented.

The pruning position preferably includes a long branch pruning position capable of pruning long, thick branches that extend straight and/or obliquely upward in the direction of gravity. As a result, the target tree after pruning can be a beautiful looking tree with no long branches. After pruning, the target tree will no longer use nutrients for long branches, and will be able to use nutrients efficiently. In the target tree after pruning, pests do not propagate on the long branches, and the propagation of pests in the target tree can be prevented.

The pruning positions preferably include parallel branch pruning positions capable of pruning parallel branches extending substantially parallel to other branches around other branches. As a result, the target tree after pruning can be a beautiful looking tree without parallel branches. Also, ventilation can be improved where there were parallel branches. After pruning, the target tree can no longer use nutrients for parallel branches, and can use nutrients efficiently. In the target tree after pruning, pests do not propagate on parallel branches, and the propagation of pests in the target tree can be prevented.

In pruning, it is also important to control according to the shape of the target tree. By appropriately controlling the flight state of the unmanned aerial vehicle 2 and the pruning structure 23 according to the target shape of the tree, the shape of the tree can be adjusted to a desired shape. However, such control is not easy.

In step S5, the target shape information receiving unit 315 can receive target shape information regarding the target shape of the pruned tree after pruning the target tree. Accordingly, when controlling the flight state of the unmanned aerial vehicle 2 and the pruning structure 23 in step S6, the motion control unit 318 can control these according to the target shape information. This control is performed in the pruning position learning unit 317 using the pruning position generation neural network N2 capable of machine learning of the pruning position of the tree. Therefore, the motion control unit 318 can control the flight state of the unmanned aerial vehicle 2 and the pruning structure 23 more appropriately than when the machine-learned neural network is not used. Therefore, the unmanned aerial vehicle 2 can more appropriately shape the tree according to the target shape of the tree.

[Step S7: Machine learning of pruning position]
The control unit 31 cooperates with the storage unit 32 to execute the pruning position learning unit 317, and based on the tree shape information, the target shape information, and the pruning position, the tree pruning position is machined to the pruning position generation neural network N2. Learn (step S7). The control unit 31 shifts the process to step S10. By subjecting the pruning position generation neural network N2 to machine learning of the pruning position of the tree, the pruning position generation neural network N2 can designate the pruning position more appropriately than a neural network that does not perform machine learning.

The machine learning in step S7 is performed based on the uprooted pruning position, the ramming branch pruning position, the inverted branch pruning position, the descending branch pruning position, the standing branch pruning position, the tangling branch pruning position, the long branch pruning position, and the parallel branch pruning position. Preferably, it is machine learning that learns one or more of the exemplary pruning positions. With this, the pruning positions described above can be learned, and the shape of the tree can be further adjusted.

[Step S8: Specify pruning position]
The control unit 31 executes the pruning position specifying unit 316 to specify the pruning position of the target tree using the tree shape information (step S8). The control unit 31 shifts the process to step S9. By specifying the pruning position of the target tree using the tree shape information generated using the shape generation neural network N1, the pruning position specifying unit 316 uses the tree shape information generated without using machine learning. , the pruning position for cutting off tree branches can be more appropriately specified.

The pruning positions specified in step S8 are the uprooting pruning position, the ramming branch pruning position, the inverted branch pruning position, the descending branch pruning position, the standing branch pruning position, the tangle branch pruning position, the long branch pruning position, and the parallel branch pruning position. It preferably includes one or more of the pruning locations exemplified by location and the like. This allows the tree to be pruned at the pruning position described above to further shape the tree.

Although not an essential aspect, the process of specifying the pruning position preferably includes the process of specifying the pruning position based on the information input via the input unit 35. Thereby, the pruning position specifying unit 316 can specify the pruning position based on the information input via the input unit 35 .

Although not an essential aspect, it is preferable that the process of specifying the pruning position includes the process of specifying the pruning position based on the information received via the communication unit 33. Thereby, the pruning position specifying unit 316 can specify the pruning position based on the information received via the communication unit 33 .

[Step S9: Control unmanned aerial vehicle]
The control unit 31 executes the operation control unit 318 to control the flight state of the unmanned aerial vehicle 2 and the operation of the pruning structure 23 according to the pruning position (step S9). The control unit 31 shifts the process to step S10. By controlling the flight conditions of the unmanned aerial vehicle 2 and the operation of the pruning structure 23 in accordance with the pruning position, the unmanned aerial vehicle 2 can fly around the pruning position in accordance with the specified pruning position. Then, by controlling the pruning structure 23, the tree can be pruned according to the pruning position. Therefore, it is possible to prune the tree by appropriately designating the positions where the branches of the tree are to be cut off, thereby further shaping the tree.

When the neural network table 322 stores the control information generating neural network N3, the motion control unit 318 controls the flight state of the unmanned aerial vehicle 2 and the operation of the pruning structure 23 based on the pruning position and the control information generating neural network N3. preferably.

In tree pruning using the unmanned aerial vehicle 2 having the pruning structure 23, in addition to appropriately designating the position to cut off the branches of the tree, it is also possible to control the flight state of the unmanned aerial vehicle 2 and the operation of the pruning structure 23. is important. The better the flight conditions of unmanned aerial vehicle 2 and the operation of pruning structure 23 can be controlled, the better unmanned aerial vehicle 2 can cut trees to the designated location. And the shape of a tree can be arranged further. However, such control is not easy.

The control information generation neural network N3 can be machine-learned in the control information learning unit 319. Therefore, the motion control unit 318 can control the flight state of the unmanned aerial vehicle 2 and the motion of the pruning structure 23 more appropriately than control without using a machine-learned neural network. This allows the pruning to be more aligned with the pruning location. Therefore, the unmanned aerial vehicle 2 can further shape the trees.

When the neural network table 322 stores the control information generating neural network N3, the control unit 31 preferably executes processing for machine learning the control of the unmanned aircraft executed in step S10.

[Step S10: Machine Learning for Control of Unmanned Aircraft]
The control unit 31 cooperates with the storage unit 32 to execute the control information learning unit 319 to provide the control information generation neural network N3 with the flight state of the unmanned aerial vehicle 2 based on the pruning position and the state of control by the motion control unit. And the operation of the pruning structure 23 is machine-learned (step S10). The control unit 31 terminates the operation control process and repeats the processes from step S1 to step S10.

By having the control information generating neural network N3 machine-learn the flight state of the unmanned aerial vehicle 2 and the operation of the pruning structure 23, the motion control unit 318 using the control information generating neural network N3 is more appropriate than when using a neural network that does not undergo machine learning. can control the flight conditions of the unmanned aerial vehicle 2 and the operation of the pruning structure 23. This allows the pruning to be more aligned with the pruning location. Therefore, the unmanned aerial vehicle 2 can further shape the trees.

The control device 3 executes the processes from step S1 to step S10 to appropriately specify the pruning position for pruning the tree branches and prune the tree, thereby further shaping the tree. , the control device 3 can control the unmanned aerial vehicle 2 having the photographing device 25 capable of photographing trees and the pruning structure 23 capable of pruning trees.

Therefore, according to the unmanned aerial vehicle system 1 of the present embodiment, an unmanned aerial vehicle system is provided that can prune trees by appropriately designating pruning positions for pruning branches of the trees, and can further shape the trees. can.

[Flowchart of State Control Processing Executed by Control Unit 21]
FIG. 6 is a flowchart showing an example of a preferred flow of state control processing executed by the control unit 21 of this embodiment. An example of a preferred procedure of the state control process executed by the control unit 21 will be described below with reference to FIG.

Although it is not an essential aspect, it is preferable that the state control process include the stowage landing process executed in step S11.

[Step S11: Accommodate landing process]
The control unit 21 cooperates with the flight structure 22, the pruning structure 23, and/or the containment structure 24, etc. to execute the flight state control unit 211, the state control unit 212, the position acquisition unit 214, etc., and the pruning structure 23. The unmanned aerial vehicle 2 is accommodated in the accommodation structure 24, and accommodation landing processing is executed to control the flight state of the unmanned aerial vehicle 2 to the landing state via the control of the flight structure 22 (step S11). The control unit 21 shifts the process to step S12. The stowage landing process executed in step S11 will be described later in detail with reference to FIG.

When the strength of the control signal related to the control of the unmanned aerial vehicle 2 received from the outside is weaker than a predetermined strength, the control unit 21 executes the stowed landing process, and when the strength of the control signal related to the control of the unmanned aerial vehicle 2 is weaker than a predetermined strength, the If the distance is less than or equal to a certain distance, or if the distance from the unmanned aerial vehicle 2 to animals in the surroundings of the unmanned aerial vehicle 2 is less than or equal to a certain distance, and/or the revealable area that allows the pruning structure 23 to emerge. In various cases where greater safety is required, such as when the unmanned aerial vehicle 2 is in a position different from can be controlled to the landing state. Thereby, the safety of the unmanned aerial vehicle 2 can be enhanced.

[Step S12: Determining Whether Landing is in Progress]
The control unit 21 executes the state control unit 212 to determine whether the unmanned aerial vehicle 2 is landing (step S12). If the unmanned aerial vehicle 2 is landing, the control unit 21 shifts the process to step S15. If the unmanned aerial vehicle 2 is not landing, the control unit 21 shifts the process to step S13. By determining whether the unmanned aerial vehicle 2 is landing, the pruning structure 23 may be stowed in the stowage structure 24 when the unmanned aerial vehicle 2 is landing. The state control unit 212 controls the state of the pruning structure 23 to the stowed state during landing. Therefore, a person or the like can be prevented from being injured by the pruning structure 23 during landing.

The method of determining whether or not the aircraft is landing is not particularly limited. The means for determining whether or not the unmanned aerial vehicle 2 is landing is, for example, a method of determining that the unmanned aerial vehicle 2 is being landed when a command to land the unmanned aerial vehicle 2 is received, and/or a method of determining that the unmanned aerial vehicle 2 is landing when the altitude of the unmanned aerial vehicle 2 is below a predetermined altitude. There is a method of determining that the aircraft is in the process of landing when the state of falling altitude continues for a predetermined period of time or longer.

Although not an essential aspect, it is preferable that the state control process include a process of determining whether or not the altitude is within a predetermined range, which is executed in step S13.

[Step S13: Determining Whether Altitude is Within a Predetermined Range]
The control unit 21 cooperates with the altimeter to execute the altitude acquisition unit 213 to determine whether the altitude of the unmanned aerial vehicle 2 is within a predetermined range (step S13). If the altitude of the unmanned aerial vehicle 2 is within the predetermined range, the control unit 21 shifts the process to step S14. If the altitude of the unmanned aerial vehicle 2 is not within the predetermined range, the control unit 21 shifts the process to step S15. By determining whether the altitude of the unmanned aerial vehicle 2 is within a predetermined range, the pruning structure 23 can be accommodated in the containment structure 24 when the altitude of the unmanned aerial vehicle 2 is not within the predetermined range.

When the unmanned aerial vehicle 2 is close to the ground, that is, when the altitude of the unmanned aerial vehicle 2 is low, there is a possibility that the unmanned aerial vehicle 2 collides with humans and/or animals. Also, when the altitude of the unmanned aerial vehicle 2 is low, there may be a possibility that the unmanned aerial vehicle 2 collides with properties on the ground such as houses, crops, and automobiles. The unmanned aerial vehicle 2 with the pruning structure 23 has room for further improvement in terms of enhancing safety when the unmanned aerial vehicle 2 is at a low altitude.

In the unlikely event that the unmanned aerial vehicle 2 flying over a high altitude loses control of its flight state and crashes, the speed at which the unmanned aerial vehicle 2 falls will be faster than when the unmanned aerial vehicle 2 is at a low altitude. As a result, when the unmanned aerial vehicle 2 flying over a high altitude loses control of its flight state and crashes, and the pruning structure 23 collides with a person or the like, the adverse effects of the pruning structure 23 on the person or the like are as follows. At lower altitudes it can be larger. Therefore, the unmanned aerial vehicle 2 with the pruning structure 23 has room for further improvement in terms of enhancing safety when the unmanned aerial vehicle 2 is at a high altitude.

When the altitude of the unmanned aerial vehicle 2 is higher than the height of the target tree by a certain amount or more, the distance from the unmanned aerial vehicle 2 to the target tree is greater than the distance at which the pruning structure 23 can prune the tree. If the distance from the unmanned aerial vehicle 2 to the target tree is greater than the distance at which the tree can be pruned, the pruning structure 23 does not prune the tree. Therefore, the unmanned aerial vehicle 2 equipped with the pruning structure 23 has room for further improvement in terms of enhancing safety when the unmanned aerial vehicle 2 is higher than the height of the target tree by a certain level or more.

It is determined whether or not the altitude of the unmanned aerial vehicle 2 is within a predetermined range, and if the altitude is not within the predetermined range, the state control unit 212 determines the state of the pruning structure 23 by the processing executed in step S16, which will be described later. Control to the stowed state can enhance safety when the altitude of the unmanned aerial vehicle 2 is low and safety when the altitude of the unmanned aerial vehicle 2 is high.

Although not an essential aspect, the state control processing executed in steps S14 and S15 determines whether or not the distance to the target tree is equal to or less than a predetermined distance, and changes the state of the pruning structure 23 to the emerging state. It preferably includes a series of controlling processes.

[Step S14: Determining whether the distance to the target tree is equal to or less than a predetermined distance]
The control unit 21 cooperates with the distance sensor to execute the state control unit 212, and determines whether or not the distance from the unmanned aerial vehicle 2 to the target tree is equal to or less than a predetermined distance (step S14). If the distance is less than or equal to the predetermined distance, the control unit 21 shifts the process to step S15. If the distance is not equal to or less than the predetermined distance, the control unit 21 shifts the process to step S16.

When the distance from the unmanned aerial vehicle 2 to the target tree is equal to or less than a predetermined distance, the state control unit 212 sets the appearance state in which the pruning structure 23 appears outside the housing structure 24 by the processing executed in step S15, which will be described later. can control the condition of the pruning structure 23 at any time. This allows the pruning structure 23 to prune the tree in the emerging state.

When the distance from the unmanned aerial vehicle 2 to the target tree exceeds a predetermined distance, the state control unit 212 changes the pruning structure 23 into the storage state in which the pruning structure 23 is stored inside the storage structure 24 by the processing executed in step S16, which will be described later. 23 states can be controlled. This can further enhance the safety of the unmanned aerial vehicle 2 when trees are not pruned.

[Step S15: Control the State of the Pruning Structure to the Revealed State]
The control unit 21 cooperates with the pruning structure 23 and/or the containing structure 24 to execute the state control unit 212 to control the state of the pruning structure 23 to the exposed state (step S15). The control unit 21 terminates the state control process and repeats the processes from step S11 to step S16. By controlling the state of pruning structure 23 to the emerging state, pruning structure 23 can prune trees in the emerging state.

[Step S16: Control the State of the Pruning Structure to the Accommodated State]
The control unit 21 cooperates with the pruning structure 23 and/or the containing structure 24 to execute the state control unit 212 to control the state of the pruning structure 23 to the containing state (step S16). The control unit 21 terminates the state control process and repeats the processes from step S11 to step S16. By controlling the state of the pruning structure 23 to the stowed state, the safety of the unmanned aerial vehicle 2 with the pruning structure 23 can be enhanced.

[Accommodation landing process flow chart]
FIG. 7 is a flow chart showing an example of a preferred flow of the stowage landing process executed in step S11 of FIG. An example of a preferred procedure for stowage landing processing will be described below with reference to FIG.

The stowage landing process includes a process of determining whether or not the strength of the control signal is weaker than a predetermined strength, which is executed in step S21, and a process of determining whether or not the distance to a person, etc., is less than or equal to a specific distance, which is executed in step S22. and a process of determining whether or not the position is different from the presentable area executed in step S23.

[Step S21: Determining whether or not the strength of the control signal is weaker than a predetermined strength]
The control unit 21 cooperates with the communication unit 26 to execute the state control unit 212, and determines whether the strength of the control signal for controlling the unmanned aerial vehicle 2 is weaker than a predetermined strength (step S21). If the strength of the control signal is weaker than the predetermined strength, the control section 21 shifts the process to step S24. If the strength of the control signal is not weaker than the predetermined strength, the control section 21 shifts the process to step S22.

By controlling the unmanned aerial vehicle 2 with a control signal from the outside, the safety of the unmanned aerial vehicle 2 can be improved more than when performing autonomous flight without using a control signal from the outside. However, the unmanned aerial vehicle 2 may not be able to receive the control signal from the outside with a predetermined strength or more due to deterioration of the communication state or the like. If the control signal from the outside cannot be received with an intensity equal to or higher than a predetermined intensity, there is a possibility that the unmanned aerial vehicle 2 cannot be controlled by the control signal from the outside. Therefore, the unmanned aerial vehicle 2 having the pruning structure 23 has room for further improvement in terms of enhancing safety when the control signal from the outside cannot be received at a predetermined intensity or more.

By determining whether or not the strength of the control signal is weaker than a predetermined strength, if the strength of the control signal received from the outside related to the control of the unmanned aerial vehicle 2 is weaker than the predetermined strength, steps S24 and S25, which will be described later, are performed. may control the state of the pruning structure 23 to the stowed state and the flight state of the unmanned aerial vehicle 2 to the landed state. As a result, it is possible to further improve the safety when the control signal from the outside cannot be received at a predetermined intensity or more.

[Step S22: Determining whether the distance to a human or the like is equal to or less than a specific distance]
The control unit 21 cooperates with the distance sensor to execute the state control unit 212 to determine whether the distance from the unmanned aerial vehicle 2 to humans and/or animals is equal to or less than a specific distance (step S222). If the distance is less than or equal to the specific distance, the control unit 21 shifts the process to step S24. If the distance is not equal to or less than the specific distance, the control unit 21 shifts the process to step S23.

If there are humans around the unmanned aerial vehicle 2 in flight, it is possible that the humans will jump out onto the path of the unmanned aerial vehicle 2 and collide with the unmanned aerial vehicle 2 in flight and/or the pruning structure 23 . When there are animals such as pets and livestock around the unmanned aerial vehicle 2 in flight, the animals jump out onto the path of the unmanned aerial vehicle 2 and collide with the unmanned aerial vehicle 2 in flight and/or the pruning structure 23. It is possible. An unmanned aerial vehicle 2 in flight has a higher potential for rotating propellers and/or rotors etc. to injure humans and/or animals than an unmanned aerial vehicle 2 not in flight. Therefore, the unmanned aerial vehicle 2 with the pruning structure 23 has room for further improvement in terms of increasing safety when there are humans and/or animals around the unmanned aerial vehicle 2 .

When the distance from the unmanned aerial vehicle 2 to the humans and/or animals around the unmanned aerial vehicle 2 is equal to or less than a specific distance, the processing executed in steps S24 and S25 described later changes the state of the pruning structure 23 into the stowed state. and control the flight state of the unmanned aerial vehicle 2 to the landing state. This can further enhance safety when the distance from the unmanned aerial vehicle 2 to humans and/or animals around the unmanned aerial vehicle 2 is equal to or less than a specific distance.

[Step S23: Determining whether the position is different from the visible area]
The control unit 21 cooperates with the positioning unit to execute the position obtaining unit 214, and determines whether the position of the unmanned aerial vehicle 2 is different from the possible appearance area in which the pruning structure 23 can appear (step S223). If the position is different from the reappearable area, the control unit 21 shifts the process to step S24. If the position is not different from the possible appearance area, the control unit 21 ends the stowage landing process, and shifts the process to step S12.

The pruning structure 23 does not prune the target tree when the unmanned aerial vehicle 2 is in a position different from the predetermined area where the target tree is located. Therefore, the unmanned aerial vehicle 2 with the pruning structure 23 has room for further improvement in terms of increasing the safety of the unmanned aerial vehicle 2 when the unmanned aerial vehicle 2 is in a position different from the predetermined area.

In the case of an unmanned aerial vehicle 2 that receives a control signal related to control of the unmanned aerial vehicle 2 from the outside, the strength of the control signal generally weakens as the distance from the outside to the unmanned aerial vehicle 2 that transmits the control signal increases. In addition, if there is a shield such as terrain and buildings between the outside transmitting the control signal and the unmanned aerial vehicle 2, the strength of the control signal may decrease. Therefore, the area where the unmanned aerial vehicle 2 can receive a control signal from the outside with an intensity equal to or higher than a predetermined intensity can be limited to a specific area determined by the distance from the outside where the control signal is transmitted and/or a shield. .

If the control signal from the outside cannot be received at a predetermined intensity or more, it is possible that the unmanned aerial vehicle 2 cannot be controlled by the control signal from the outside. Therefore, when the unmanned aerial vehicle 2 is located in a position different from the specific area where the control signal from the outside can be received at a predetermined intensity or more, the unmanned aerial vehicle 2 receives the control signal from the outside at a predetermined intensity or more. may not be received. The unmanned aerial vehicle 2 with the pruning structure 23 and receiving control signals from the outside could be further improved in terms of increasing the safety of the unmanned aerial vehicle 2 when the unmanned aerial vehicle 2 is in a different location than the specific area.

In order to improve the safety of flying unmanned aircraft, various laws and regulations concerning the flight of unmanned aircraft (for example, the Act on Prohibition of Flight of Small Unmanned Aircraft over Areas Surrounding Important Facilities (Law No. 2016) No. 9), and the notification specifying the no-fly areas for unmanned aerial vehicles (Ministry of Land, Infrastructure, Transport and Tourism Notification No. 461 of 2019), etc.), areas where unmanned aerial vehicles are prohibited from flying are stipulated. Laws and regulations stipulate that in areas where flight is prohibited, it is possible to fly only when permission is obtained. A region in which the unmanned aerial vehicle 2 having the pruning structure 23 can fly with the pruning structure 23 in the exposed state may be restricted by laws and regulations.

By flying in compliance with laws and regulations, the safety of the unmanned aerial vehicle 2 can be improved. An unmanned aerial vehicle 2 with a pruning structure 23 could be further improved in terms of increasing safety when such an unmanned aerial vehicle 2 is in a position different from the flightable area.

For example, the pruning structure 23 is currently selected based on a predetermined area where the target tree is present, a specific area in which a control signal from the outside can be received at a predetermined intensity or more, and/or a flightable area based on laws and regulations. A renderable region may be defined that is visible. Then, when the unmanned aerial vehicle 2 is at a position different from the reappearable area, the processing executed in steps S24 and S25 described later controls the state of the pruning structure 23 to the stowed state, and the flight state of the unmanned aerial vehicle 2 can be controlled to the landing state. This can further enhance safety when the position of the unmanned aerial vehicle 2 is different from the reappearable area.

[Step S24: Control the State of the Pruning Structure to the Accommodated State]
The control unit 21 cooperates with the pruning structure 23 and/or the containing structure 24 to execute the state control unit 212 to control the state of the pruning structure 23 to the containing state (step S24). The control unit 21 shifts the process to step S25 when the pruning structure 23 is housed inside the housing structure 24 . By controlling the state of the pruning structure 23 to the stowed state, the safety of the unmanned aerial vehicle 2 with the pruning structure 23 can be enhanced.

[Step S25: Control Flight State to Landing State]
The control unit 21 cooperates with the pruning structure 23 and/or the accommodation structure 24 to execute the flight state control unit 211 to control the flight state of the unmanned aerial vehicle 2 to the landing state (step S24). The control unit 21 shifts the process to step S25. By controlling the flight state of the unmanned aerial vehicle 2 to the landing state, the safety of the unmanned aerial vehicle 2 with the pruning structure 23 can be enhanced.

According to the processing executed in steps S24 and S25, when the pruning structure 23 is accommodated inside the accommodation structure 24, the flight state control unit 211 controls the unmanned aerial vehicle 2 to land. The flight time of the unmanned aerial vehicle 2 can be minimized when predetermined conditions are met in S22 and/or S23. Thereby, the safety of the unmanned aerial vehicle 2 can be further enhanced.

<Usage example>
FIG. 8 is a schematic diagram showing an example of tree pruning using the unmanned aerial vehicle system 1 of this embodiment. FIG. 9 is a schematic diagram showing an example of state control for enhancing safety in the unmanned aerial vehicle 2 of this embodiment. Hereinafter, a usage example of the unmanned aerial vehicle system 1 of this embodiment will be described with reference to FIGS. 8 and/or 9 as necessary.

[Acquisition of tree images]
A user starts using the unmanned aerial system 1 . The control device 3 commands the unmanned aerial vehicle 2 to photograph the target tree T1 to be pruned via the network N. The control device 3 controls the flight state of the unmanned aerial vehicle 2 so that the target tree T1 can be photographed from different directions, and obtains two or more tree images obtained by photographing the target tree T1 from different directions. The control device 3 generates tree shape information based on two or more tree images, and controls the display unit 34 to display the generated tree shape information.

[Transmission of tree shape evaluation]
The user performs tree shape evaluation on the tree shape information displayed on the display unit 34 and transmits the tree shape evaluation to the control device 3 via the input unit 35 . The control device 3 machine-learns the tree shape using the tree shape evaluation.

[Transmission of target shape information]
The user transmits target shape information regarding the target shape of the pruned tree T2 obtained by pruning the target tree T1 to the control device 3 via the input unit 35 .

[Pruning target trees]
The unmanned aerial vehicle 2 moves around the target tree T1. As a result, the distance from the unmanned aerial vehicle 2 to the target tree T1 is less than or equal to the predetermined distance. Therefore, the unmanned aerial vehicle 2 controls the pruning structure 23 to the exposed state. The unmanned aerial vehicle 2 prunes the target tree T1 based on the target shape information.

FIG. 8 is a schematic diagram showing an example of tree pruning using the unmanned aerial vehicle system 1 of this embodiment. The target tree T1 has branches B that require pruning (elevated branches Ba, rammed branches Bb, inverted branches Bc, descending branches Bd, standing branches Be, twining branches Bf, long branches Bg, parallel branches Bh, etc.). . The control device 3 sets one or more of the branches B that require pruning to pruning positions P (backward pruning position Pa, incoming branch pruning position Pb, inverted branch pruning position Pc, descending branch pruning position Pd, standing branch pruning position Pe , tangle branch pruning position Pf, long branch pruning position Pg, and parallel branch pruning position Ph, etc.).

By pruning the setback Ba, which is a branch extending from the root Ta of the target tree T1, at the setback pruning position Pa, the target tree T1 after pruning can be a beautiful looking tree without the setback Ba. In addition, the target tree T1 after pruning can be well ventilated at the root Ta. After pruning, the target tree T1 is no longer used for nutrients by the sillage Ba, and may be able to use nutrients efficiently. In the pruned target tree T1, pests do not propagate in the sillage Ba, and the propagation of pests in the target tree T1 can be prevented.

By pruning the branch Bb where many branches overlap at the branch pruning position Pb, the target tree T1 after pruning can be a beautiful looking tree without the branch Bb. In addition, ventilation can be improved at the location where the branch Bb was present. After pruning, the target tree T1 is no longer used for nutrients by the branch Bb, and can efficiently use the nutrients. In the target tree T1 after pruning, pests do not propagate in the branches Bb, and the propagation of pests in the target tree T1 can be prevented.

By pruning the upside-down branches Bc extending in the direction of the trunk Tb at the upside-down branch pruning position Pc, the target tree T1 after pruning can be a beautiful looking tree without the upside-down branches Bc. After pruning, the target tree T1 no longer uses nutrients for the upside-down branches Bc, and can efficiently use the nutrients. In the target tree T1 after pruning, pests do not propagate on the upside down branches Bc, and the propagation of pests in the target tree T1 can be prevented.

By pruning the descending branches Bd that extend substantially downward in the direction of gravity at the descending branch pruning position Pd, the target tree T1 after pruning can be a beautiful looking tree without descending branches Bd. After pruning, the target tree T1 is no longer used for nutrients by the descending branches Bd, and can efficiently use the nutrients. In the target tree T1 after pruning, pests do not propagate in the descending branches Bd, and the propagation of pests in the target tree T1 can be prevented.

By pruning the standing branches Be that extend substantially upward in the direction of gravity at the standing branch pruning position Pe, the target tree T1 after pruning can be a beautiful looking tree with no standing branches Be. After pruning, the target tree T1 does not use nutrients for the standing branches Be, and can efficiently use the nutrients. In the target tree T1 after pruning, pests do not propagate on the standing branches Be, and propagation of pests in the target tree T1 can be prevented.

By pruning the entanglement branch Bf that is entwined with other branches at the entanglement branch pruning position Pf, the target tree T1 after pruning can be a beautiful looking tree without the entanglement branch Bf. In addition, it is possible to improve the ventilation at the location where the tangling branch Bf was. After pruning, the target tree T1 no longer uses nutrients for the entwining branches Bf, and can efficiently use the nutrients. In the target tree T1 after pruning, pests do not propagate on the entanglement branches Bf, and the propagation of pests in the target tree T1 can be prevented.

By pruning the long and thick long branches Bg that extend straight and/or obliquely upward in the direction of gravity at the long branch pruning position Pg, the target tree T1 after pruning can be a beautiful looking tree with no long branches Bg. After pruning, the target tree T1 no longer uses nutrients for the long branches Bg, and can efficiently use the nutrients. In the target tree T1 after pruning, pests do not propagate in the long branches Bg, and the propagation of pests in the target tree T1 can be prevented.

By pruning the parallel branches Bh extending substantially parallel to the other branches around the other branches at the parallel branch pruning position Ph, the target tree T1 after pruning can be a beautiful looking tree without the parallel branches Bh. In addition, ventilation can be improved at locations where the parallel branches Bh were present. In the target tree T1 after pruning, no nutrients are used by the parallel branches Bh, and the nutrients can be used efficiently. In the target tree T1 after pruning, pests do not propagate in the parallel branches Bh, and the propagation of pests in the target tree T1 can be prevented.

The control device 3 controls branches B requiring pruning exemplified by overhang Ba, ramming branch Bb, inverted branch Bc, descending branch Bd, standing branch Be, entwining branch Bf, long branch Bg, and parallel branch Bh. One or more of pruning pruning position Pa, nesting branch pruning position Pb, inverted branch pruning position Pc, descending branch pruning position Pd, standing branch pruning position Pe, tangling branch pruning position Pf, long branch pruning position Pg, and parallel branches Control flight conditions of unmanned aerial vehicle 2 and pruning structure 23 to prune at pruning position P, exemplified by pruning position Ph, etc.

By controlling the flight state of the unmanned aerial vehicle 2 and the pruning structure 23 so as to prune one or more of the branches B that require pruning, the target tree T1 is pruned with one or more of the branches B that require pruning. It becomes the rear tree T2. Therefore, the appearance of the target tree T1 can be made beautiful. Also, the ventilation in the target tree T1 can be improved. The target tree T1 can be able to use nutrients efficiently. The growth of the target tree T1 can be promoted. In addition, it is possible to prevent the propagation of pests in the target tree T1.

[Movement of unmanned aerial vehicle 2]
FIG. 9 is a schematic diagram showing an example of state control for enhancing safety in the unmanned aerial vehicle 2 of this embodiment. A user using the unmanned aerial system 1 commands the unmanned aerial vehicle 2 to move via the control device 3 . The unmanned aerial vehicle 2 moves. A distance D from the unmanned aerial vehicle 2 after movement to the tree T2 after pruning is greater than a predetermined distance. The unmanned aerial vehicle 2 controls the pruning structure 23 to be stowed. The pruning structure 23 is housed in the housing structure 24 .

In the example shown in FIG. 9 , the pruning structure 23 is housed inside the housing structure 24 . Therefore, when viewing the unmanned aerial vehicle 2 from the outside, the unmanned aerial vehicle 2 is in a state where the pruning structure 23 housed inside the housing structure 24 cannot be seen. This can further enhance the safety of the unmanned aerial vehicle 2 when trees are not pruned.

[Landing of unmanned aerial vehicle 2]
A user using the unmanned aerial system 1 commands the unmanned aerial vehicle 2 to land via the control device 3 . The unmanned aerial vehicle 2 controls the pruning structure 23 to be stowed. The pruning structure 23 is housed in the housing structure 24 . This can prevent a person or the like from being injured by the pruning structure 23 during landing.

[When the altitude of the unmanned aerial vehicle 2 is not within a predetermined range]
If the altitude of the unmanned aerial vehicle 2 is not within the predetermined range, the unmanned aerial vehicle 2 controls the pruning structure 23 to be stowed. The controller 21 controls the pruning structure 23 to accommodate the pruning structure 23 in the accommodation structure 24 . This can improve safety when the altitude of the unmanned aerial vehicle 2 is low and safety when the altitude of the unmanned aerial vehicle 2 is high.

[When the strength of the control signal is weaker than the predetermined strength]
If the strength of the control signal is weaker than the predetermined strength, the unmanned aerial vehicle 2 controls the pruning structure 23 to be in the stowed state. The controller 21 controls the pruning structure 23 to accommodate the pruning structure 23 in the accommodation structure 24 . Then, the control unit 21 controls the flight state of the unmanned aerial vehicle 2 to the landing state. As a result, it is possible to further improve the safety when the control signal from the outside cannot be received at a predetermined intensity or more.

[When the distance from the unmanned aerial vehicle 2 to a person, etc. is less than or equal to a specific distance]
When the distance from the unmanned aerial vehicle 2 to the person or the like is less than or equal to a specific distance, the unmanned aerial vehicle 2 controls the pruning structure 23 to be in the stowed state. The controller 21 controls the pruning structure 23 to accommodate the pruning structure 23 in the accommodation structure 24 . Then, the control unit 21 controls the flight state of the unmanned aerial vehicle 2 to the landing state. This can further enhance safety when the distance from the unmanned aerial vehicle 2 to humans and/or animals around the unmanned aerial vehicle 2 is equal to or less than a specific distance.

[When the position of the unmanned aerial vehicle 2 is different from the reappearable area]
When the position of the unmanned aerial vehicle 2 is at a position different from the unmanned aerial vehicle 2, the unmanned aerial vehicle 2 controls the pruning structure 23 to be in the stowed state. The controller 21 controls the pruning structure 23 to accommodate the pruning structure 23 in the accommodation structure 24 . Then, the control unit 21 controls the flight state of the unmanned aerial vehicle 2 to the landing state. This can further enhance safety when the position of the unmanned aerial vehicle 2 is different from the reappearable area.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments. Moreover, the effects described in the above-described embodiments are merely a list of the most preferable effects produced by the present invention, and the effects of the present invention are not limited to those described in the above-described embodiments. do not have. Moreover, the above-described embodiments have been described in detail in order to explain the present invention in an easy-to-understand manner, and are not necessarily limited to those having all the configurations described.

1 unmanned aerial vehicle system 2 unmanned aerial vehicle 21 control unit 211 flight state control unit 212 state control unit 213 altitude acquisition unit 214 position acquisition unit 22 flight structure 221 drive unit 222 rotor 23 pruning structure 24 accommodation structure 25 imaging device 26 communication unit 27 power supply Unit 28 Support structure 3 Control device 31 Control unit 311 Tree image photographing unit 312 Tree shape information generation unit 313 Tree shape evaluation reception unit 314 Shape learning unit 315 Target shape information reception unit 316 Pruning position specifying unit 317 Pruning position learning unit 318 Operation control Unit 319 Control information learning unit 32 Storage unit 321 Tree image table 322 Neural network table 33 Communication unit 34 Display unit 35 Input unit B Branch requiring pruning D Distance N Network N1 Shape generation neural network N2 Pruning position generation neural network N3 Control Information generating neural network P Pruning position T1 Target tree T2 Pruned tree

Claims

a pruning structure capable of pruning trees;
a containment structure capable of containing the pruning structure;
a state control unit capable of controlling the state of the pruning structure between an accommodation state in which the pruning structure is accommodated inside the accommodation structure and an appearance state in which the pruning structure appears outside the accommodation structure;
with
The unmanned aerial vehicle, wherein the state controller controls the state of the pruning structure to the stowed state upon landing.
The state control unit
controlling the state of the pruning structure to the emerging state when the distance from the unmanned aerial vehicle to the target tree to be pruned is equal to or less than a predetermined distance;
The unmanned aerial vehicle according to claim 1, wherein the state of the pruning structure is controlled to the stowed state when the distance from the unmanned aerial vehicle to the target tree exceeds the predetermined distance.
further comprising a flight state control unit capable of controlling the flight state of the unmanned aerial vehicle;
When the strength of the control signal related to the control of the unmanned aerial vehicle received from the outside is weaker than a predetermined strength, the state control unit controls the state of the pruning structure to the stowed state, and the pruning structure is inside the stowage structure. 3. The unmanned aerial vehicle according to claim 1 or 2, wherein the flight state controller controls the unmanned aerial vehicle to a landing state when the unmanned aerial vehicle is stowed in a vehicle.
further comprising a flight state control unit capable of controlling the flight state of the unmanned aerial vehicle;
When the distance from the unmanned aerial vehicle to humans and/or animals around the unmanned aerial vehicle is less than or equal to a specific distance, the state control unit controls the state of the pruning structure to the stowed state, and the pruning structure 4. The unmanned aerial vehicle according to any one of claims 1 to 3, wherein the flight state controller controls the unmanned aerial vehicle to a landing state when housed inside the housing structure.
Further equipped with an altitude acquisition unit capable of acquiring altitude,
The unmanned aerial vehicle according to any one of claims 1 to 4, wherein the state control section controls the state of the pruning structure to the stowed state when the altitude is not within a predetermined range.
further comprising a position acquisition unit capable of acquiring the position of the unmanned aerial vehicle;
When the unmanned aerial vehicle is in a position different from the revealable region where the pruning structure can appear, the state control unit controls the state of the pruning structure to the stowed state, and the pruning structure is the stowed structure. 6. The unmanned aerial vehicle according to any one of claims 1 to 5, wherein the flight state control unit controls the unmanned aerial vehicle to a landing state when housed inside the unmanned aerial vehicle.
7. An unmanned aerial vehicle according to any preceding claim, which is a multicopter.