Logging support system and logging support program

Abstract

To support properly logging a tree in a target felling direction.SOLUTION: A logging support system comprises: a past logging information database 341 for storing past logging information including directions of centers of gravity of previously felled trees, distances from root sides to the centers of gravity, directions and depths of felling notches and back cuts made during felling of the previously felled trees, and directions in which the previously felled trees felled; and a support task 35 for picking out support information, including directions and depths of a felling notch and a back cut of a target tree, on the basis of, when inputting target logging information, including a direction of the center of gravity of the target tree which is a tree to be felled, a distance from a root side to the center of gravity, and a target tree felling direction, which is a desired tree felling direction, the past logging information and the target logging information.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a felling support system and a felling support program for assisting in the felling of trees.

Background Art

[0002] For example, when an electric power company fells a tree, a direction in which the tree is to be felled (target felling direction) is set so that the tree does not come into contact with obstacles such as power transmission lines and iron towers. On the other hand, the center of gravity of the tree is often far from the center of the trunk (root side), and it is necessary to determine the direction of the receiving cut, the chasing cut, the cutting depth, etc. so that the tree falls in the target felling direction while considering the position of the center of gravity of the tree (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, conventionally, the direction of the receiving cut, the chasing cut, the cutting depth, etc. have been determined based on the knowledge and experience of the felling operator, and not only is there a variation in accuracy depending on the felling operator, but it has been difficult to determine without a skilled felling operator. Moreover, for example, when the receiving cut is formed deviating from the determined direction of the receiving cut or the cutting depth, it has been extremely difficult to determine how to correct the direction of the chasing cut, the cutting depth, etc.

[0005] Therefore, an object of the present invention is to provide a felling support system and a felling support program that assist in properly felling a tree in the target felling direction.

Means for Solving the Problems

[0006] In order to solve the above problems, the invention according to claim 1 is a felling support system comprising: a past felling information storage means for storing past felling information including the center of gravity direction of a past felled tree which is a tree felled in the past, the distance from the root side to the center of gravity of the past felled tree, the direction and cutting depth of the receiving cut when the past felled tree was felled, the direction and cutting depth of the chasing cut, and the direction in which the past felled tree fell; and a support information calculation means for calculating support information including the direction and cutting depth of the receiving cut and the direction and cutting depth of the chasing cut for the target tree based on the past felling information and the target felling information when target felling information including the center of gravity direction of a target tree which is a tree to be felled, the distance from the root side to the center of gravity of the target tree, and the target felling direction which is the direction in which the target tree is desired to be felled is input.

[0007] The invention according to claim 2 is the felling support system according to claim 1, wherein the pulling direction when felling a tree is defined as the pulling direction, the height difference between the receiving cut and the chasing cut at the time of felling is defined as the height difference, the past felling information includes at least one of the pulling direction and the height difference when the past felled tree was felled, and the support information calculation means calculates at least one of the pulling direction and the height difference for the target tree as the support information.

[0008] The invention according to claim 3 is the felling support system according to claim 1, wherein when the direction and cutting depth of the receiving cut for the target tree are input as the target felling information, the support information calculation means calculates the support information including the direction and cutting depth of the chasing cut for the target tree.

[0009] The invention according to claim 4 is the felling support system according to claim 1, wherein the support information calculation means uses a learning model for felling support that is machine-learned based on past performance data so that the support information is output when the target felling information is input.

[0010] The invention according to claim 5 is characterized in that, in the logging support system according to claim 1, a portable terminal that can be carried to the logging site and inputs the target logging information, and a support server that includes the past logging information storage means and the support information calculation means are communicably connected. When the target logging information is transmitted from the portable terminal to the support server, the support server transmits the calculated support information to the portable terminal.

[0011] The invention according to claim 6 is a logging support program that causes a computer to function as past logging information storage means for storing past logging information including the center of gravity direction of past logged trees, the distance from the root side to the center of gravity of the past logged trees, the direction and cutting depth of the receiving cut when the past logged trees were logged, the direction and cutting depth of the chasing cut, and the direction in which the past logged trees fell, and support information calculation means for calculating support information including the direction and cutting depth of the receiving cut for the target tree and the direction and cutting depth of the chasing cut based on the past logging information and the target logging information when target logging information including the center of gravity direction of the target tree, the distance from the root side to the center of gravity of the target tree, and the target felling direction which is the direction in which the target tree is desired to be felled is input.

[0012] The invention according to claim 7 is characterized in that, in the logging support program according to claim 6, the support information calculation means uses a learning model for logging support that is machine-learned based on past performance data so that the support information is output when the target logging information is input.

Advantages of the Invention

[0013] According to the inventions described in claim 1 and claim 6, when the center of gravity direction of the target tree to be felled, the distance from the root side to the center of gravity, the target felling direction, etc. are input, based on the center of gravity direction of the past felled trees in the past, the distance from the root side to the center of gravity, the falling direction, the direction and cutting depth of the receiving notch and chasing notch, etc., the direction and cutting depth of the receiving notch and chasing notch for the target tree are automatically determined. In this way, since the support information is automatically determined regardless of the knowledge and experience of the felling operator, anyone can always properly fell and topple the target tree in the target felling direction based on the proper direction and cutting depth of the receiving notch and chasing notch.

[0014] According to the invention described in claim 2, since the tension direction of the target tree during felling and the height difference between the receiving notch and the chasing notch are also determined as support information, it becomes possible to fell the target tree more appropriately with respect to the target felling direction.

[0015] According to the invention described in claim 3, for example, even if a receiving notch has already been formed on the target tree, since the proper direction and cutting depth of the chasing notch that matches the receiving notch are determined as support information, it becomes possible to properly fell the target tree in the target felling direction.

[0016] According to the inventions described in claim 4 and claim 7, since the support information is output using a machine-learned learning model for felling support, it becomes possible to determine more appropriate support information. As a result, it becomes possible to fell the target tree more appropriately with respect to the target felling direction.

[0017] According to the invention described in claim 5, by carrying a mobile terminal to the felling site, inputting the target felling information, and transmitting it to the support server, it is possible to receive support information from the support server. In this way, since it is possible to obtain appropriate support information on-site according to the actual target tree and the surrounding environment at the felling site, it becomes possible to properly fell the target tree in the target felling direction.

Brief Description of the Drawings

[0018]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Embodiments for Carrying Out the Invention

[0019] Hereinafter, the present invention will be described based on the illustrated embodiments.

[0020] FIGS. 1 to 6 show embodiments of the present invention. FIG. 1 is a schematic configuration diagram showing a felling support system 1 according to this embodiment. This felling support system 1 is a system that supports the felling of a tree T, and in particular, supports felling the tree T in a desired direction. In this embodiment, a smartphone (portable terminal) 2 carried by a felling operator W and a support server 3 are communicably connected. Here, it is assumed that the felling operator W of the electric power company fells the tree T for management and the like, and there are a plurality of smartphones 2, and it may support a plurality of felling operators W simultaneously.

[0021] First, terms, symbols, etc. used in this embodiment will be described. In this embodiment, a tree T felled in the past is referred to as a past felled tree TP, and a target tree T to be felled by the felling operator W is referred to as a target tree TC. When collectively referring to them, they are referred to as a tree T.

[0022] Then, as shown in FIG. 2 when viewing the tree T in plan view, each angle is represented based on the felling direction of the tree T, that is, the direction in which the past felled tree TP fell, or the target felling direction which is the direction in which the target tree TC is desired to be felled. That is, the angle formed between the reference felling direction and the center-of-gravity direction of the tree T is defined as the center-of-gravity direction θ1, and the angle formed between the reference felling direction and the direction of the receiving opening is defined as the receiving-opening direction θ2. Similarly, the angle formed between the reference felling direction and the direction of the chasing opening is defined as the chasing-opening direction θ3, and the angle formed between the reference felling direction and the pulling direction during felling (the direction in which the tree T is pulled with a rope or the like) is defined as the pulling direction θ4.

[0023] Thus, in this embodiment, the center-of-gravity direction θ1, the receiving-opening direction θ2, etc. of the tree T are represented based on the felling direction of the tree T, but each angle may be represented using another reference. For example, true north may be used as a reference, and the angle of the felling direction of the tree T from true north or the angle of the center-of-gravity direction of the tree T from true north may be used.

[0024] Also, the distance from the center C of the cross-section (the cutting surface during felling) on the root side of the tree T to the center of gravity of the tree T (the distance between the center C and the center of gravity on the plane) is defined as the center-of-gravity distance LG. Further, the cutting depth of the receiving opening is defined as the receiving-opening depth D1, and the cutting depth of the chasing opening is defined as the chasing-opening depth D2.

[0025] On the other hand, as shown in FIG. 3, usually, the receiving opening is formed as an opening in a triangular shape with a substantially horizontal bottom side when viewed from the side, and the height of the opening is defined as the receiving-opening height h1. Also, usually, the chasing opening is formed in a linear shape extending substantially horizontally when viewed from the side, and the chasing-opening height h2, which is the height from the bottom side of the receiving opening, is usually set to about 2 / 3 of the receiving-opening height h1, but other values may also be used. Then, the height difference in the height direction between the receiving-opening height h1 and the chasing-opening height h2 is referred to as the height difference.

[0026] The smartphone 2 can be carried by a logging operator W or the like to the logging site, has functions equivalent to those of existing off-the-shelf multifunctional mobile terminals, and has a function of inputting target logging information and transmitting it to the support server 3. That is, an application for receiving logging support from the support server 3 is installed, and when this application is launched, an input screen for inputting target logging information is displayed on the smartphone 2.

[0027] Here, the target logging information includes the center-of-gravity direction θ1 of the target tree TC, the center-of-gravity distance LG of the target tree TC, and the target felling direction, which is the direction in which the target tree TC is to be felled. However, as described above, in this embodiment, since the center-of-gravity direction θ1 of the tree T is represented based on the target felling direction (because the target felling direction = 0°), it is not necessary to input the target felling direction. On the other hand, when using true north or the like as a reference, it is necessary to input the target felling direction from true north.

[0028] Also, as will be described later, the receiving port direction θ2 and the receiving port depth D1 with respect to the target tree TC can be optionally input (as parameters that may or may not be input) as target logging information. Furthermore, the tree species of the target tree TC and the like can also be input.

[0029] Then, when the target logging information is input and a transmission command (transmission button) is input, the identification information of this smartphone 2 and the target logging information are transmitted to the support server 3. After that, when receiving support information described later from the support server 3, the support information is displayed on the smartphone 2.

[0030] As shown in FIG. 4, the management server 3 mainly includes an input unit 31, a display unit 32, a communication unit 33, a storage unit 34, a support task (support information calculation means) 35, a learning task 36, and a central processing unit 37 that controls these components.

[0031] The input unit 31 is an interface for inputting various types of information, commands, etc. Specifically, it inputs the past logging information described later. The display unit 32 is a display for displaying various data, information, etc. Specifically, it displays the past logging information, support information, etc. described later. The communication unit 33 is an interface for communicating with the outside via the Internet, telephone communication network, etc. Specifically, it receives the target logging information from the smartphone 2 or transmits the support information to the smartphone 2.

[0032] The storage unit 34 mainly includes a past logging information database (past logging information storage means) 341, a learning model for logging support 342, and a performance database for logging support 343. Here, the past logging information database 341 will be described, and the learning model for logging support 342 and the performance database for logging support 343 will be described later.

[0033] The past logging information database 341 is a database that stores past logging information, which is information regarding the past logged tree TP and the logging situation when the past logged tree TP was logged. It stores the past logging information for each past logged tree TP. Specifically, as shown in FIG. 3, as the past logging information, first, in the "logging direction", the direction in which the past logged tree TP fell is stored. However, as described above, in this embodiment, since it is based on the actual falling direction, 0° is stored. On the other hand, when using true north, etc. as a reference, the falling direction based on true north is stored.

[0034] The "center of gravity direction" stores the center of gravity direction θ1 of the previously felled tree TP, the "center of gravity distance" stores the center of gravity distance LG of the previously felled tree TP, and the "tensile direction" stores the tensile direction θ4 at the time of felling. The "receiving port direction" stores the receiving port direction θ2 at the time of felling, and the "receiving port cutting depth" stores the receiving port depth D1 at the time of felling. The "following port direction" stores the following port direction θ3 at the time of felling, and the "following port cutting depth" stores the following port depth D2 at the time of felling. The "height difference" stores the height difference at the time of felling. The "others" stores, for example, the diameter of the cut surface of the previously felled tree TP, the shape of the cut surface (such as circular or elliptical), the vine width on the cut surface, the tree species of the previously felled tree TP, and so on.

[0035] The support task 35 is a task program that calculates support information such as the receiving port direction θ2 and the receiving port depth D1, and the following port direction θ3 and the following port depth D2 for the target tree TC based on the past felling information and the target felling information. That is, it is activated when receiving the target felling information from the smartphone 2, and calculates the optimal receiving port direction θ2, the receiving port depth D1, etc. of the target tree TC for the received target felling information by referring to the past felling information in the past felling information database 341.

[0036] Specifically, first, search for and obtain past felling information that is the same as or similar to the target felling information from the past felling information database 341. That is, search for and obtain past felling information in which the center of gravity direction θ1, the center of gravity distance LG, etc. that are the same as or similar to the center of gravity direction θ1, the center of gravity distance LG, etc. of the target tree TC in the target felling information are stored.

[0037] As a result, when obtaining past felling information in which the same center of gravity direction θ1, the center of gravity distance LG, etc. are stored, obtain the receiving port direction θ2 and the receiving port depth D1, and the following port direction θ3 and the following port depth D2, etc. for the previously felled tree TP in this past felling information. Then, calculate the support information by using the obtained receiving port direction θ2, the receiving port depth D1, etc. as the receiving port direction θ2, the receiving port depth D1, etc. for the target tree TC. Here, the tensile direction θ4 and the height difference in the past felling information are also calculated as support information.

[0038] On the other hand, when past logging information in which the centroid direction θ1 and centroid distance LG, which are not the same but approximate, are stored is acquired, based on the receiving port direction θ2, receiving port depth D1, etc. for the past logged tree TP in this past logging information, the receiving port direction θ2, receiving port depth D1, etc. (including the tension direction θ4 and height difference) for the target tree TC are determined. At this time, the differences between the centroid direction θ1 and centroid distance LG in the past logging information and the centroid direction θ1 and centroid distance LG in the target logging information, and the degree of influence (correlation) on the receiving port direction θ2, receiving port depth D1, etc. due to the differences in the centroid direction θ1 and centroid distance LG are considered for determination. This degree of influence is determined by analyzing the past logging information in the past logging information database 341. For example, it is determined that if the centroid direction θ1 is several degrees smaller, the receiving port direction θ2 is made several degrees smaller, etc.

[0039] Also, when the receiving port direction θ2 and receiving port depth D1 of the target tree TC are included in the target logging information, support information including the chasing port direction θ3 and chasing port depth D2 of the target tree TC is determined, excluding the receiving port direction θ2 and receiving port depth D1 of the target tree TC. In this way, the following cases can be considered as cases where the receiving port direction θ2 and receiving port depth D1 of the target tree TC are included in the target logging information. For example, when trying to form a receiving port based on the first received support information but forming the receiving port deviated from the receiving port direction θ2 and receiving port depth D1 in the support information and wanting to know the chasing port direction θ3 and chasing port depth D2 that match the formed receiving port.

[0040] Such a support task 35 uses a logging support learning model 342 that is machine - learned based on past performance data so that support information is output when target logging information is input. This logging support learning model 342 is created by a learning task 36.

[0041] That is, the learning task 36 creates a learning model 342 for logging support using a known machine learning algorithm such as a neural network, using the past performance data recorded and stored in the logging support performance database 343. This logging support performance database 343 is a database in which performance data is recorded and stored, including target logging information as input information, support information determined by knowledgeable and skilled persons regarding logging based on the target logging information and past logging information, and actual information at the time of past logging (information equivalent to the past logging information database 341). Note that the past performance data includes, in addition to the actual target logging information, support information determined by knowledgeable and skilled persons, data created based on the actual information at the time of past logging, and data created through pre-training and the like.

[0042] As shown in FIG. 6, this learning task 36 uses machine learning and deep learning using a neural network, and based on the performance data recorded in the logging support performance database 343, creates, for example, a neural network with the target logging information as the input layer, the support information as the output layer, and the analysis process from the input layer to the output layer as the intermediate layer. Then, the learning task 36 uses the performance data of the logging support learning model 342 as learning data to perform learning on various parameters in the intermediate layer. That is, the learning task 36 performs learning on various parameters in the intermediate layer so that appropriate support information is output based on the target logging information and the past logging information.

[0043] Next, a logging method and the like using the logging support system 1 configured as described above will be described.

[0044] First, a target felling direction is set, and based on this target felling direction, the center of gravity direction θ1 and the center of gravity distance LG of the target tree TC are measured. Next, by simply transmitting the target logging information including the measured center of gravity direction θ1 and the center of gravity distance LG from the smartphone 2 to the support server 3, the receiving port direction θ2, the receiving port depth D1, the chasing port direction θ3, the chasing port depth D2, etc. for the target tree TC can be obtained. Then, the target tree TC may be felled based on the obtained receiving port direction θ2, the receiving port depth D1, etc.

[0045] Here, the target felling direction is set based on the ground condition (such as flat or sloped) of the target tree TC and the surrounding situation. For example, when a power transmission line is installed, the direction substantially parallel to the power transmission line is set as the target felling direction. Also, the receiving direction θ2 and the chasing direction θ3 with respect to the target tree TC may be confirmed with a protractor or with an azimuth magnet C1 provided on the chainsaw C used by the felling operator W.

[0046] Thus, according to this felling support system 1, when the center of gravity direction θ1, the center of gravity distance LG, the target felling direction, etc. of the target tree TC to be felled are input, based on the center of gravity direction θ1, the center of gravity distance LG, the falling direction, the receiving direction θ2 and the receiving depth D1, the chasing direction θ3 and the chasing depth D2, etc. of the past felled trees TP felled in the past, the receiving direction θ2 and the receiving depth D1, the chasing direction θ3 and the chasing depth D2, etc. with respect to the target tree TC are automatically determined and notified to the felling operator W. In this way, since the support information is automatically determined regardless of the knowledge and experience of the felling operator W, anyone can appropriately fell and topple the target tree TC in the target felling direction at any time based on the appropriate direction and cutting depth of the receiving and chasing cuts.

[0047] Moreover, since the tension direction of the target tree TC at the time of felling and the height difference between the receiving and chasing cuts are also determined as support information, it becomes possible to more appropriately fell the target tree TC with respect to the target felling direction.

[0048] Also, for example, even when a receiving cut has already been formed on the target tree TC (even if the receiving cut is formed deviating from the receiving direction θ2 and the receiving depth D1 received from the support server 3), the appropriate chasing direction θ3 and the chasing depth D2 matching the receiving cut are determined as support information. For this reason, even after the receiving cut is formed, it becomes possible to appropriately fell the target tree TC in the target felling direction.

[0049] Moreover, since the support information is output using the machine-learned logging support learning model 342, it is possible to determine more appropriate support information. As a result, it becomes possible to more appropriately fell the target tree TC in the target felling direction.

[0050] On the other hand, by carrying the smartphone 2 to the logging site, inputting the target logging information, and transmitting it to the support server 3, the support information can be received from the support server 3. In this way, since appropriate support information according to the actual target tree TC and the surrounding environment at the logging site can be obtained on the spot, it becomes possible to appropriately fell the target tree TC in the target felling direction.

[0051] As described above, the embodiments of the present invention have been described in detail. However, the specific configuration is not limited to this embodiment, and even if there are design changes or the like within the scope not departing from the gist of the present invention, they are included in the present invention. For example, in the above embodiment, the case where the target logging information is input by the smartphone 2 and transmitted to the support server 3 has been described. However, the target logging information may be input at the input unit 31 of the support server 3, and the support information determined by the support task 35 may be displayed on the display unit 32.

[0052] On the other hand, by installing the following logging support program on a general-purpose computer, the logging support system 1 and the support server 3 as described above may be configured.

[0053] That is, a computer is configured to function as a past logging information storage means (past logging information database 341) that stores past logging information including the center-of-gravity direction θ1, center-of-gravity distance LG of the past logged tree TP, the receiving port direction θ2 and receiving port depth D1 when the past logged tree TP was logged, the chasing port direction θ3 and chasing port depth D2, and the direction in which the past logged tree TP fell. When target felling information including the center-of-gravity direction θ1, center-of-gravity distance LG of the target tree TC, and the target felling direction, which is the direction in which the target tree TC is desired to be felled, is input, a support information calculation means (support task 35) calculates support information including the receiving port direction θ2 and receiving port depth D1, and the chasing port direction θ3 and chasing port depth D2 for the target tree TC based on the past logging information and the target felling information. The support information calculation means uses a learning model 342 for felling support that is machine-learned based on past performance data so that support information is output when the target felling information is input.

Explanation of Signs

[0054] 1 Felling support system 2 Smartphone (mobile terminal) 3 Support server 341 Past logging information database (past logging information storage means) 342 Learning model for felling support 35 Support task (support information calculation means) W Logger T Tree

Claims

1. a past felling information storage means for storing past felling information including the direction of the center of gravity of a previously felled tree, the distance from the base of the previously felled tree to the center of gravity, the direction and depth of the undercut when the previously felled tree was felled, the direction and depth of the backcut, and the direction in which the previously felled tree fell; a support information determining means for determining, when target felling information is input, the support information including the direction and depth of a cut for a receiving cut and the direction and depth of a backcut for the target tree based on the past felling information and the target felling information, the support information including the direction and depth of a cut for a backcut when target felling information is input, the target felling information including the direction and depth of a cut for a receiving cut for the target tree, the direction and depth of a cut for a backcut when target felling information is input, the support information including the direction and depth of a cut for a backcut when target felling information is input, the support information including the direction and depth of a cut for a receiving cut for the target tree based on the past felling information and the target felling information, A tree-cutting support system comprising:

2. The direction in which the tree is pulled during felling is the pulling direction, and the height difference between the receiving end and the back end during felling is the height difference. The past felling information includes at least one of the pulling direction and the elevation difference when the past felled tree was felled, the support information determining means determines at least one of a pulling direction and a height difference for the target tree as the support information; 2. The felling support system according to claim 1 .

3. The support information determining means determines the support information including the direction and depth of a cut of a backcut for the target tree when the direction and depth of a cut of a backcut for the target tree are input as the target felling information, 2. The felling support system according to claim 1 .

4. The support information indexing means uses a felling support learning model that has been machine-learned based on past performance data so that the support information is output when the target felling information is input.

2. The felling support system according to claim 1 .

5. A portable terminal that can be carried to a felling site and inputs the target felling information is connected to a support server that includes the past felling information storage means and the support information indexing means, and the portable terminal is connected to the past felling information storage means and the support information indexing means. When the target felling information is transmitted from the mobile device to the support server, the support server transmits the determined support information to the mobile device.

2. The felling support system according to claim 1 .

6. Computer, a past felling information storage means for storing past felling information including the direction of the center of gravity of a previously felled tree, the distance from the base of the previously felled tree to the center of gravity, the direction and depth of the undercut when the previously felled tree was felled, the direction and depth of the backcut, and the direction in which the previously felled tree fell; a support information determining means for determining support information including a direction and depth of a cut for a target tree and a direction and depth of a follow-up cut for the target tree based on the past cutting information and the target cutting information when target cutting information including a direction of the center of gravity of a target tree that is a tree to be felled, a distance from the base side of the target tree to the center of gravity, and a target felling direction that is a direction in which the target tree is to be felled is input; A felling support program that functions as a

7. The support information indexing means uses a felling support learning model that has been machine-learned based on past performance data so that the support information is output when the target felling information is input.

7. The tree felling support program according to claim 6.

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