To provide a control device for an unmanned aircraft and an unmanned aircraft system capable of pruning a tree by appropriately designating a pruning position where branches of the tree are pruned, and bringing the tree into a well-organized shape further.SOLUTION: A control device 3 of an unmanned aircraft 2 includes: a tree shape information generation unit 312 capable of generating tree shape information on an object tree T1 using two or more tree images P taking the object tree T1, which is an object for pruning, in different directions, and a shape generation neural network N1; a pruning position designation unit 316 capable of designating a pruning position P of the object tree T1 using the tree shape information; an operation control unit 318 capable of controlling a flying state of the unmanned aircraft 2 and an operation of a pruning structure 23 in accordance with the pruning position P; a tree shape evaluation reception unit 313 capable of receiving tree shape evaluation on the tree shape information; and a shape learning unit 314 capable of causing the shape generation neural network N1 to perform machine learning on the tree shape on the basis of the tree images, the tree shape information, and the tree shape evaluation.SELECTED DRAWING: Figure 1
【課題】樹木の枝を剪定する剪定位置を適切に指定して樹木の剪定を行い、樹木の形状をよりいっそう整えることが可能な無人航空機の制御装置及び無人航空機システムを提供する。【解決手段】本発明に係る無人航空機2の制御装置3は、剪定の対象となる対象樹木T1を異なる向きから撮影した2以上の樹木画像Pと形状生成ニューラルネットワークN1とを用いて、対象樹木T1の樹木形状情報を生成可能な樹木形状情報生成部312と、樹木形状情報を用いて対象樹木T1の剪定位置Pを指定可能な剪定位置指定部316と、剪定位置Pに合わせて無人航空機2の飛行状態及び剪定構造23の動作を制御可能な動作制御部318と、樹木形状情報に関する樹木形状評価を受信可能な樹木形状評価受信部313と、樹木画像と樹木形状情報と樹木形状評価とに基づいて形状生成ニューラルネットワークN1に樹木の形状を機械学習させることが可能な形状学習部314と、を備える。【選択図】図1
CONTROL DEVICE FOR UNMANNED AIRCRAFT AND UNMANNED AIRCRAFT SYSTEM
無人航空機の制御装置及び無人航空機システム
2022-08-18
Patent
Electronic Resource
Japanese
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