Afforestation planning device, afforestation system, and afforestation planning method

Abstract

To make a tree planting plan obtained by considering future harvests in accordance with the topography of an object area.SOLUTION: A data acquisition unit acquires topographic data representing the topography of an object area. An area specification unit specifies a first area having a gradient less than a first gradient threshold from the object area on the basis of the topographic data. A tree planting instruction unit transmits a first tree planting request signal to request planting of plant bodies in the first area.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a forestation planning device, a forestation system, and a forestation planning method.

Background Art

[0002] Patent Document 1 discloses a technique for recognizing the terrain of a work site based on an image of the work site acquired by photographing with an unmanned aircraft and planning a movement route of a forestry machine for harvesting trees.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] On steep terrain, there is a possibility that forestry machines may slip or fall, and even considering work efficiency, it is desirable for the work machines to perform harvesting operations on terrain with a gentle slope. Also, in forestry, after forestation, regular maintenance such as thinning is required for a long period until final felling, and it is required to make a forestation plan considering future work such as maintenance and harvesting. An object of the present disclosure is to provide a forestation planning device, a forestation system, and a forestation planning method for making a forestation plan in view of future harvesting according to the terrain of a target area.

Means for Solving the Problems

[0005] According to one aspect of the present disclosure, the afforestation planning device includes a data acquisition unit that acquires topographic data representing the topography of a target area, an area identification unit that identifies a first area having a gradient less than a first gradient threshold from the target area based on the topographic data, and an afforestation instruction unit that transmits an afforestation instruction signal that instructs the planting of plants in an afforestation area consisting of the first area, the afforestation instruction signal including at least one of the afforestation area and a travel route in the afforestation area for planting the plants by an afforestation machine. [Effects of the Invention]

[0006] According to the above embodiment, a afforestation plan can be developed that takes into account future forestry work, depending on the topography of the target area. [Brief explanation of the drawing]

[0007] [Figure 1] This is a schematic diagram showing a afforestation system according to the first embodiment. [Figure 2] This is an external view of the afforestation machine according to the first embodiment. [Figure 3] This is an external view of the earthmoving machinery according to the first embodiment. [Figure 4] This is a schematic block diagram showing the configuration of the afforestation planning device according to the first embodiment. [Figure 5] This figure shows an example of the area of ​​the target region in the first embodiment. [Figure 6] This is a flowchart showing the processing of the afforestation planning device according to the first embodiment. [Figure 7] This diagram shows the configuration of the driver's cab according to the second embodiment. [Modes for carrying out the invention]

[0008] <First Embodiment> 《Configuration of Afforestation System 1》 The embodiments will be described in detail below with reference to the drawings. Figure 1 is a schematic diagram showing the afforestation system 1 according to the first embodiment. The afforestation system 1 generates an afforestation plan for the target area T based on the topographic data of the target area T, and executes afforestation work according to the afforestation plan.

[0009] The afforestation system 1 comprises an afforestation machine 10, an earthmoving machine 30, and an afforestation planning device 50. The afforestation machine 10 is a vehicle that has the function of planting plants in the soil. The earthmoving machine 30 is a vehicle that has the function of excavating soil and sand. In the first embodiment, the afforestation machine 10 and the earthmoving machine 30 operate autonomously. However, the afforestation machine 10 and the earthmoving machine 30 in other embodiments do not have to operate autonomously. The afforestation planning device 50 generates an afforestation plan for the target area based on the topographic data of the target area and transmits instruction signals to the afforestation machine 10 and the earthmoving machine 30. The afforestation machine 10 and the earthmoving machine 30 operate based on the instruction signals received from the afforestation planning device 50. The afforestation planning device 50, the afforestation machine 10, and the earthmoving machine 30 are connected to each other via a communication network N such as the Internet. The afforestation planning device 50 may be installed remotely from the afforestation machine 10 and the earthmoving machine 30.

[0010] 《Configuration of the afforestation machine 10》 Figure 2 is an external view of the afforestation machine 10 according to the first embodiment. The afforestation machine 10 has a body 11, a traveling device 12, a planting device 13, and a control device 14. The afforestation machine 10 may be, for example, a bulldozer in which the blade is replaced with the planting device 13. In another embodiment, the afforestation machine 10 may be a hydraulic excavator in which the attachment is replaced with the planting device 13.

[0011] The running gear 12 supports the vehicle body 11 so that it can move. The running gear 12 is a continuous track driven by the engine. On the other hand, in other embodiments, the running gear 12 may be equipped with wheels or legs driven by the engine.

[0012] The vehicle body 11 is equipped with a positioning device 111 for measuring the position of the vehicle body 11. The positioning device 111 has an antenna that receives positioning signals from GNSS and measures the position of the vehicle body 11 based on the positioning signals received via the antenna. The positioning device 111 outputs position data indicating the measured position to the control device 14. The position of the vehicle body 11 is represented in a two-dimensional or three-dimensional global coordinate system.

[0013] The planting device 13 plants plants in the soil. The planting device 13 is located at the front of the vehicle body 11. In other embodiments, the planting device 13 may be located at the rear of the vehicle body 11. The planting device 13 comprises an arm 131, a frame 132, a hydraulic cylinder 133, and three planting units 134. In other embodiments, the number of planting units 134 is not limited to three, and may be less than or more than three. The arm 131 is attached to the frame portion of the traveling device 12 and supports the planting device 13 so that it can be raised and lowered. The frame 132 is attached to the tip of the arm 131 and supports the three planting units 134. The hydraulic cylinder 133 is located between the front of the vehicle body 11 and the frame 132 and raises and lowers the frame 132 by extending and retracting.

[0014] The three planting units 134 are arranged side by side in the width direction of the afforestation machine 10. The width direction of the afforestation machine 10 is perpendicular to the direction of travel of the afforestation machine 10. The planting section 134 has a plant body holding section 134A, a main body section 134B, and an extendable section 134C. The main body section 134B is attached to the frame 132. The plant body holding section 134A is provided on the upper part of the main body section 134B. The extendable section 134C protrudes from the lower part of the main body section 134B. The plant holding part 134A holds the plants to be planted in the soil. The plants are, for example, tree seeds or seedlings. The plant holding part 134A may hold multiple types of plants. For example, the plant holding part 134A may hold plants suitable for wood and plants that make up the vegetation in the target area T. The main body part 134B takes out the plants from the plant holding part 134A and transfers them to the tip of the telescopic part 134C. The telescopic part 134C plants the plants in the soil by extending while holding the plants at the tip. The telescopic part 134C expands and contracts, for example, by a hydraulic cylinder or the like. When the telescopic part 134C expands and contracts, even when the soil is not flat and the distance between the main body part 134B and the soil changes, the plants can be planted in the soil.

[0015] The control device 14 generates drive signals to drive the traveling device 12 and the planting device 13, and controls the actuators of the traveling device 12 and the planting device 13. The control device 14 includes a communication device that communicates with the forestation planning device 50 via the communication network N. The control device 14 controls the traveling device 12 and the planting device 13 based on the instruction signal received from the forestation planning device 50 via the communication network N and the position data acquired from the positioning device 111. The instruction signal received from the forestation planning device 50 includes a map of the target area T, the traveling route of the forestation machine 10, and information indicating the type of plants, the planting range, and the planting interval. The control device 14 drives the traveling device 12 so that the forestation machine 10 moves to the starting point of the traveling route based on the position data and the traveling route. When the forestation machine 10 reaches the starting point of the traveling route, the control device 14 drives the traveling device 12 so that the forestation machine 10 moves along the traveling route. Further, the control device 14 determines whether the forestation machine 10 is located within the planting range based on the position data, and when the forestation machine 10 is located within the planting range, drives the planting device 13 to plant the plants according to the planting interval. For example, the control device 14 may determine the timing for the next planting based on the speed of the traveling device 12 and the planting interval, or may determine the position for the next planting based on the distance from the position indicated by the position data when planting was performed last time. Note that the control device 14 does not drive the planting device 13 when the forestation machine 10 is not located within the planting range.

[0016] "Configuration of Earthwork Machinery 30" Figure 3 is an external view of the earthwork machinery 30 according to the first embodiment. The earthwork machinery 30 may be, for example, a bulldozer. In other embodiments, the earthwork machinery 30 may be a hydraulic excavator or a wheel loader. The earthwork machinery 30 includes a vehicle body 31, a traveling device 32, a working machine 33, and a control device 34.

[0017] The traveling device 32 supports the vehicle body 31 so that it can travel. The traveling device 32 is an endless track driven by the power of an engine. On the other hand, in other embodiments, the traveling device 32 may include wheels driven by the power of an engine.

[0018] A positioning device 311 for measuring the position of the vehicle body 31 is provided on the vehicle body 31. The positioning device 311 includes an antenna that receives a positioning signal from GNSS, and measures the position of the vehicle body 31 based on the positioning signal received via the antenna. The positioning device 311 outputs position data indicating the measured position to the control device 34. The position of the vehicle body 31 is represented in a three-dimensional global coordinate system.

[0019] The working machine 33 is used for excavating and transporting excavation targets such as earth and sand. The working machine 33 is provided at the front of the vehicle body 31. The working machine 33 includes a lift frame 331, a blade 332, and a lift cylinder 333.

[0020] The base end portion of the lift frame 331 is attached to the side surface of the vehicle body 31 via a pin extending in the vehicle width direction. The tip end portion of the lift frame 331 is attached to the back surface of the blade 332 via a spherical joint. Thereby, the blade 332 is supported so as to be movable in the vertical direction with respect to the vehicle body 31. A cutting edge 332e is provided at the lower end portion of the blade 332. The lift cylinder 333 is a hydraulic cylinder. The base end portion of the lift cylinder 333 is attached to the side surface of the vehicle body 31. The tip end portion of the lift cylinder 333 is attached to the lift frame 331. When the lift cylinder 333 expands and contracts by hydraulic oil, the lift frame 331 and the blade 332 move up and down.

[0021] The lift cylinder 333 is equipped with a stroke sensor 334 that measures the stroke amount of the lift cylinder 333. The stroke amount measured by the stroke sensor 334 can be converted into the position of the cutting edge 332e relative to the vehicle body 31. Specifically, the rotation angle of the lift frame 331 is calculated based on the stroke amount of the lift cylinder 333. Since the shapes of the lift frame 331 and the blade 332 are known, the position of the cutting edge 332e of the blade 332 can be determined from the rotation angle of the lift frame 331. In other embodiments of the earthmoving machine 30, the rotation angle may be detected by other sensors such as encoders.

[0022] The control device 34 generates drive signals to drive the traveling device 32 and the work implement 33, and controls the actuators of the traveling device 32 and the work implement 33. The control device 34 is equipped with a communication device that communicates with the afforestation planning device 50 via the communication network N. The control device 14 controls the traveling device 32 and the work implement 33 based on the instruction signal received from the afforestation planning device 50 via the communication network N, the position data measured by the positioning device 311, and the position of the cutting edge 332e calculated from the measurement data of the stroke sensor 334. The instruction signal received from the afforestation planning device 50 includes information indicating the current terrain of the target area T and the design surface of the target area T. Based on the position data, the control device 14 drives the traveling device 12 to move toward a position where the difference in height between the current terrain and the design surface exceeds a predetermined threshold. Furthermore, the control device 14 determines the target height of the cutting edge 332e according to the difference between the height of the current terrain and the height of the design surface at the current position indicated by the position data, and drives the lift cylinder 333 so that the height of the cutting edge 332e reaches the target height. The control device 34 repeatedly performs the above control while updating the current terrain based on the height of the cutting edge 332e during travel.

[0023] Configuration of the afforestation planning device 50 Figure 4 is a schematic block diagram showing the configuration of the afforestation planning device 50 according to the first embodiment. The afforestation planning device 50 is a computer equipped with a processor 51, main memory 53, storage 55, and interface 57. The storage 55 stores programs. The processor 51 reads programs from the storage 55, loads them into the main memory 53, and executes processing according to the programs. In other embodiments, the afforestation planning device 50 may include, in addition to or instead of the above configuration, a custom LSI (Large Scale Integrated Circuit) such as a PLD (Programmable Logic Device). Examples of PLDs include PAL (Programmable Array Logic), GAL (Generic Array Logic), CPLD (Complex Programmable Logic Device), and FPGA (Field Programmable Gate Array). In this case, some or all of the functions realized by the processor 51 may be realized by the integrated circuit. Such an integrated circuit is also included as an example of a processor.

[0024] The afforestation planning device 50 is connected to the communication network N via interface 57. The afforestation planning device 50 is also connected to an input / output device (not shown) via interface 57. Examples of storage 55 include HDDs (Hard Disk Drives), SSDs (Solid State Drives), and non-volatile memory. Storage 55 may be an internal medium directly connected to the bus of the afforestation planning device 50, or it may be an external medium connected to the afforestation planning device 50 via the interface 57. Storage 55 is a tangible, non-temporary storage medium.

[0025] The processor 51 functions as a data acquisition unit 511, a data conversion unit 512, a gradient identification unit 513, an area classification unit 514, an earthwork area identification unit 515, a design surface generation unit 516, an earthwork instruction unit 517, a afforestation area determination unit 518, a forest road determination unit 519, and an afforestation instruction unit 520 by executing a program.

[0026] The data acquisition unit 511 acquires current terrain data obtained by surveying the terrain of the target area T. The current terrain data is represented by three-dimensional data such as point cloud data. The current terrain data may be generated based on the history of position information of a robot that travels all over the target area T. In this case, even if there are trees in the target area T, the height of the ground surface can be determined. The current terrain data may be measured by a drone equipped with LiDAR or a stereo camera. If there are no trees in the target area T, such as after harvesting, the data measured by the drone can be used as is as current terrain data. Even if there are trees in the target area T, trees and other objects can be removed from the data measured by the drone using a predetermined algorithm. The data acquisition unit 511 acquires current terrain data from, for example, an external memory, the robot body, or the drone body connected to the interface 57 by wire or wireless.

[0027] The data conversion unit 512 converts the current terrain data into mesh data. Mesh data is data in which various data such as height data is stored in each mesh (grid) which divides the terrain with a horizontally extending planar grid. For example, the data conversion unit 512 converts the point cloud data into mesh data by setting the average height of the points in the vicinity of the mesh in the point cloud data as the height of that mesh. In other embodiments, the grid of the mesh data may be a polygon that can fill a plane other than a square, such as an equilateral triangle or a regular hexagon. In other embodiments, if the current terrain data is provided as mesh data, the afforestation planning device 50 does not need to be equipped with the data conversion unit 512.

[0028] The gradient identification unit 513 identifies the gradient in each mesh indicated by the mesh data converted by the data conversion unit 512. The gradient identification unit 513 can identify the gradient by, for example, determining the normal vector (vertex normal) of the mesh. The normal vector of a mesh can be determined, for example, as follows: The gradient identification unit 513 calculates the normal vector of the line segment connecting the mesh for which the normal vector is to be calculated with other meshes adjacent to that mesh. Then, it finds the sum vector of the normal vectors of each side and normalizes it to determine the normal vector of the mesh for which the calculation is to be performed. The smaller the angle between the normal vector and the vertical line (normal vector of the horizontal plane), the smaller the gradient of the ground surface represented by that mesh.

[0029] Figure 5 shows an example of the area of ​​the target region T in the first embodiment. The area classification unit 514 classifies the target region T into multiple areas, consisting of a first area A1 where the gradient is less than the first gradient threshold and a second area A2 where the gradient is greater than or equal to the first gradient threshold, based on the gradient of each mesh identified by the gradient identification unit 513. The first area A1 is an area with a small gradient where harvesting with forestry machinery such as a feller buncher is relatively easy. The second area A2 is an area with a large gradient where harvesting with forestry machinery is relatively difficult. The area classification unit 514 divides each mesh into those with a gradient greater than or equal to the first gradient threshold and those with a gradient less than the first gradient threshold, designating the contiguous area filled with meshes with a gradient greater than or equal to the first gradient threshold as the first area A1 and the contiguous area filled with meshes with a gradient less than the first gradient threshold as the second area A2. The area classification unit 514 can classify the areas using a labeling algorithm for binarized images or the like. In this case, the area classification unit 514 may consider a second area A2 surrounded by the first area A1, which has a small number of constituent meshes (less than or equal to a predetermined number), as belonging to the first area A1. Similarly, the area classification unit 514 may consider a first area A1 surrounded by the second area A2, which has a small number of constituent meshes (less than or equal to a predetermined number), as belonging to the second area A2. The area classification unit 514 may also apply other algorithms when classifying areas. The area classification unit 514 identifies the largest area classified as the first area A1 among multiple areas as the main area A1m to be planted. In other embodiments, the area classification unit 514 may designate the area closest to an existing road, classified as the first area A1 among multiple areas, as the main area A1m. In other embodiments, not only the main area A1m but also other first areas A1 may be targeted for planting. The area classification unit 514 is an example of an area identification unit that identifies the first area A1 and the second area A2 from the target area T.

[0030] The earthwork area identification section 515 identifies the portion of the second area A2 whose gradient is less than the second gradient threshold as the third area A3. The second gradient threshold is a value greater than the first gradient threshold. The third area A3 is an area where it is realistically possible to reduce the gradient to less than the first gradient threshold through construction using earthwork machinery 30. For example, the earthwork area identification section 515 designates the portion of the second area A2 adjacent to the first area A1 and filled with a mesh with a gradient less than the second gradient threshold as the third area A3. In other words, even if the gradient is less than the second gradient threshold, if it does not become contiguous with the first area A1 after construction, it is not included in the construction target because it would be difficult to move forestry machinery there.

[0031] The design surface generation unit 516 generates the design surface of the third area A3 such that the gradient of the third area A3 is less than the first gradient threshold and the amount of soil to be worked on is minimized. For example, the design surface generation unit 516 may generate the design surface such that at least all meshes in the third area A3 are less than the first gradient threshold and the amount of change from the current terrain (excavation amount) is minimized. Alternatively, the design surface generation unit 516 may generate the design surface such that at least all meshes in the third area A3 are less than the first gradient threshold and the sum of the excavation amount and the embankment amount approaches zero. Alternatively, the design surface generation unit 516 may generate the design surface of the third area A3 such that the area of ​​the area where the gradient is less than the first gradient threshold after construction is maximized. For example, the design surface generation unit 516 may generate a design surface for at least the third area A3 such that all meshes are below the first gradient threshold, and further generate a design surface for the second area A2 adjacent to the third area A3 such that at least some of the meshes are below the first gradient threshold by backfilling with soil excavated in the third area A3. The design surface is a surface that shows the target terrain after construction by the earthwork machine 30.

[0032] The earthwork instruction unit 517 transmits an earthwork instruction signal to the earthwork machine 30, instructing it to carry out construction in the third area A3 according to the design surface. The earthwork instruction signal includes mesh data of the current terrain generated by the data conversion unit 512 and design surface data representing the design surface generated by the design surface generation unit 516. However, if the earthwork machine 30 can separately acquire data of the current terrain, the earthwork instruction signal may include only the design surface data and not the mesh data of the current terrain.

[0033] The afforestation area determination unit 518 determines the afforestation area to be a contiguous area consisting of the main area A1m, the third area A3, and the first area A1 (sub-area A1s) adjacent to the third area A3. Sub-area A1s is the first area A1 with the third area A3 in between it and the main area A1m. When the third area A3 is constructed and the gradient falls below the first gradient threshold, the afforestation area consisting of the main area A1m, the third area A3, and sub-area A1s becomes a contiguous area below the first gradient threshold.

[0034] The forest road determination unit 519 places a forest road area A1r within the afforestation area determined by the afforestation area determination unit 518, which will form a forest road for forestry machinery to pass through. The forest road area A1r is a strip-shaped area with a predetermined width, and is provided so that forestry machinery can move throughout the entire afforestation area. For example, the forest road determination unit 519 may place the forest road area A1r so that it passes through the center of the afforestation area. In this case, the forest road determination unit 519 can determine the forest road area A1r using a thinning algorithm or the like. In other embodiments, if the forest road area A1r is predetermined, the afforestation planning device 50 does not need to include the forest road determination unit 519.

[0035] The afforestation instruction unit 520 transmits an afforestation instruction signal to the afforestation machine 10, instructing it to plant plants in the area of ​​the afforestation area excluding the forest road area A1r. The afforestation instruction signal includes mesh data of the target area T, the travel route of the afforestation machine 10, and information indicating the type of plant, planting depth, planting range, and planting interval. The travel route is determined based on the afforestation area and the width of the afforestation machine 10. For example, the afforestation instruction unit 520 determines the travel route using the following procedure: The afforestation instruction unit 520 sets multiple afforestation target lines that extend parallel to each other in the area of ​​the afforestation area excluding the forest road area A1r. The distance between adjacent afforestation target lines is equal to the distance between the planting units 134 of the afforestation machine 10. The afforestation instruction unit 520 considers three adjacent afforestation target lines as a set, and sets the center of the afforestation target lines in each set as the travel route of the afforestation machine 10. The planting interval is the interval at which plants are planted in the direction of travel of the afforestation machine 10. The planting interval may be equal to the interval of the planting section 134, or it may be determined by the user. The travel route may be set by the user based on the afforestation area, or it may be set automatically by the afforestation planning device based on the afforestation area.

[0036] Furthermore, if the afforestation machine 10 can travel through the second area A2, the afforestation instruction unit 520 transmits an afforestation instruction signal to areas other than the afforestation area, instructing the planting of plants that constitute vegetation according to the environment of the target area T. The afforestation instruction unit 520 may, for example, have a table in advance that associates information representing the environment, such as temperature, precipitation, and altitude, with the plants that constitute vegetation in that environment, and identify the plants that constitute vegetation from the environment of the target area. Alternatively, for example, the plants that constitute vegetation according to the environment may be determined by experts or the like.

[0037] Processing by the afforestation planning device 50 Figure 6 is a flowchart showing the processing of the afforestation planning device 50 according to the first embodiment. The user activates the afforestation planning device 50 and inputs the current topographic data of the target area T into the afforestation planning device 50. When the data acquisition unit 511 acquires the current topographic data (step S1), the data conversion unit 512 converts the acquired current topographic data into mesh data (step S2). Next, the gradient identification unit 513 identifies the gradient in each mesh indicated by the mesh data converted in step S2 (step S3).

[0038] The area classification unit 514 classifies the target area T into multiple areas consisting of a first area A1 and a second area A2 based on the gradient identified in step S3 (step S4). The area classification unit 514 identifies the largest area classified as the first area A1 among the multiple areas as the main area A1m to be planted (step S5).

[0039] The earthwork area identification unit 515 determines whether there is a third area A3, which is a contiguous portion of the second area A2 classified in step S4 that is adjacent to the main area A1m and filled with a mesh with a gradient less than the second gradient threshold (step S6). If the third area A3 exists (step S6: YES), the design surface generation unit 516 generates the design surface for the third area A3 identified in step S6 (step S7). The earthwork instruction unit 517 transmits an earthwork instruction signal to the earthwork machine 30, which includes the mesh data of the current terrain converted in step S2 and the design surface data generated in step S7 (step S8).

[0040] The control device 34 of the earthmoving machine 30 controls the traveling device 32 and the working device 33 according to the earthmoving instruction signal, thereby causing the earthmoving machine 30 to perform construction in the third area A3. When the difference between the terrain of the third area A3 and the terrain indicated by the design surface data falls below a predetermined threshold, that is, when construction in the third area A3 is completed, the control device 34 of the earthmoving machine 30 transmits a completion signal to the afforestation planning device 50.

[0041] The afforestation area determination unit 518 determines whether or not there is a sub-area A1s which is the first area A1 adjacent to the third area A3 but is not the main area A1m (step S9). If sub-area A1s does not exist (step S9: NO), the afforestation area determination unit 518 determines the contiguous area consisting of the main area A1m and the third area A3 as the afforestation area (step S10). On the other hand, if sub-area A1s does exist (step S9: YES), the afforestation area determination unit 518 determines the contiguous area consisting of the main area A1m, the third area A3 and sub-area A1s as the afforestation area (step S11). On the other hand, if the third area A3 does not exist (step S6: NO), the afforestation area determination unit 518 determines the main area A1m as the afforestation area (step S12).

[0042] The forest road determination unit 519 places the forest road area A1r within the afforestation area determined in step S10, step S11, or step S12 (step S13). The afforestation instruction unit 520 receives input from the user regarding the specifications for afforestation by the afforestation machine 10 (step S14). Specifically, the afforestation instruction unit 520 receives input regarding the travel route of the afforestation machine 10, the types of plants to be planted in the afforestation area, the types of plants to be planted in areas that are not afforestation areas, the planting depth of the plants, and the planting interval of the plants. The travel route may be automatically determined based on the afforestation area and the width of the afforestation machine 10, or it may be instructed by the user. The afforestation instruction unit 520 presents plant types suitable for timber as options for plant types to be planted in the afforestation area, and presents plant types that constitute vegetation as options for plant types to be planted in areas that are not afforestation areas. The afforestation instruction unit 520 transmits an afforestation instruction signal (step S15) that instructs the planting of plants according to the specifications entered in step S14. If an earthwork instruction signal was transmitted in step S8, the afforestation instruction unit 520 transmits the afforestation instruction signal after the control device 34 of the earthwork machine 30 receives a completion signal.

[0043] The control device 14 of the afforestation machine 10 controls the travel device 12 and the planting device 13 according to the afforestation instruction signal, thereby causing the afforestation machine 10 to perform afforestation. When the machine has traveled the entire route indicated by the afforestation instruction signal, that is, when the afforestation process is complete, the control device 14 of the afforestation machine 10 transmits a completion signal to the afforestation planning device 50.

[0044] Action / Effect Thus, according to the first embodiment, the afforestation planning device 50 classifies the target area T into a first area A1 having a gradient less than the first gradient threshold and a second area A2 having a gradient greater than or equal to the first gradient threshold, based on terrain data representing the topography of the target area T, and transmits an afforestation instruction signal to the afforestation machine 10 instructing it to plant plants in the first area A1. Since the first area A1 is an area of ​​the target area T with a small gradient, planting plants in the first area A1 makes it easier to carry out future work by forestry machinery, such as maintenance like thinning and harvesting timber.

[0045] Furthermore, according to the first embodiment, the afforestation planning device 50 determines the forest road area A1r within the first area A1 to form a forest road, and instructs the planting of plants in the areas of the first area A1 other than the forest road area A1r. This allows the afforestation planning device 50 to plant plants while ensuring a passage for forestry machinery. In other embodiments, if a forest road is predetermined, the afforestation planning device 50 does not need to determine the forest road area A1r. Also, in other embodiments, if there is no need to provide a forest road, the afforestation planning device 50 may instruct the planting of plants in the entire first area A1.

[0046] Furthermore, according to the first embodiment, the afforestation planning device 50 transmits an afforestation instruction signal to the afforestation machine 10 instructing it to plant plants that constitute vegetation in the second area A2 according to the environment of the target area T. In this way, the afforestation planning device 50 can promote the maintenance of vegetation in the target area T by planting plants that constitute vegetation in areas where future harvesting will be difficult. In other embodiments, if it is difficult for the afforestation machine 10 to travel through the second area A2, the afforestation planning device 50 does not need to transmit an afforestation instruction signal to the afforestation machine 10 instructing it to plant plants in the second area A2.

[0047] Furthermore, according to the first embodiment, the afforestation planning device 50 identifies a third area A3 in the second area A2 that has a gradient less than the second gradient threshold, generates a design surface so that the gradient of the third area A3 is less than the first gradient threshold, and transmits an earthwork instruction signal to the earthwork machine 30 instructing it to construct the third area A3 according to the design surface. The afforestation planning device 50 also transmits an afforestation instruction signal instructing the planting of plants in the third area A3 after construction. As a result, the afforestation planning device 50 can expand the area suitable for future harvesting by the earthwork machine 30 and increase the number of plants that can be planted. In other words, the afforestation planning device 50 can increase the future harvest yield. In other embodiments, if a sufficient harvest yield can be expected from planting in the first area A1, or if the construction cost by the earthwork machine 30 exceeds the income from harvesting, the afforestation planning device 50 does not need to instruct the earthwork machine 30 to construct the third area A3.

[0048] Furthermore, according to the first embodiment, the afforestation instruction unit 520 issued afforestation instructions based on the travel route for planting the plants by the afforestation machine 10, but other forms are also possible. For example, afforestation instructions may be issued based on the afforestation area instead of the travel route of the afforestation machine 10, or afforestation instructions may be issued based on both the travel route of the afforestation machine and the afforestation area.

[0049] <Second Embodiment> The afforestation machine 10 and earthwork machine 30 that constitute the afforestation system 1 according to the first embodiment are both unmanned vehicles. In contrast, the afforestation machine 10 and earthwork machine 30 that constitute the afforestation system 1 according to the second embodiment are manned vehicles.

[0050] The afforestation machine 10 and earthwork machine 30 according to the second embodiment each include a driver's cab 70. Figure 7 is a diagram showing the configuration of the driver's cab 70 according to the second embodiment. The driver's cab 70 is a space where an operator sits and operates the work machine (afforestation machine 10 or earthmoving machine 30) equipped with the driver's cab 70. The driver's cab 70 is located on the upper part of the vehicle body. The driver's cab 70 is equipped with a seat 71, a console 72, a work equipment operating lever 73, a travel operating lever 74, a brake pedal 75, and a deceleration pedal 76.

[0051] The console 72 is equipped with an operation panel, instruments, and switches. The operator can visually check the status of the work machine on the console 72. The control device of the work machine displays a screen on the console 72 showing the area to be worked on. For example, the control device 34 of the earthmoving machine 30 may display on the console 72 a map of the target area T with different colors for the third area, and a side view showing the positional relationship between the line representing the height of the design plane and the work machine 33. For example, the control device 34 of the afforestation machine 10 may display on the console 72 a map of the target area T showing the travel route of the afforestation area.

[0052] The implement operation lever 73 is an operating device for operating the planting device 13 in the afforestation machine 10 or the implement 33 in the earthmoving machine 30. The implement operation lever 73 of the afforestation machine 10 is operated for raising and lowering the planting device 13, selecting plants, and planting plants. The implement operation lever 73 of the earthmoving machine 30 is operated to set the amount of movement for raising or lowering the implement. The implement operation lever 73 accepts a lowering operation when tilted forward and an raising operation when tilted backward. The travel control lever 74 is operated to set the direction of travel of the travel device. When the travel control lever 74 is tilted forward, it accepts a forward operation, and when tilted backward, it accepts a reverse operation. Furthermore, when the travel control lever 74 is tilted to the left, it accepts a left turn operation, and when tilted to the right, it accepts a right turn operation.

[0053] The brake pedal 75 is operated to brake the running gear. The deceleration pedal 76 is operated to reduce the rotational speed of the traction motor.

[0054] The processing of the afforestation planning device 50 according to the second embodiment is the same as in the first embodiment. However, in step S14 of the flowchart shown in Figure 6, the afforestation instruction unit 520 of the afforestation planning device 50 and the control device 34 of the earthmoving machine 30 may transmit an afforestation instruction signal without waiting for the reception of the completion signal.

[0055] Thus, the afforestation system 1 according to the second embodiment can instruct the operator to plant trees in a first area that will facilitate future timber harvesting by forestry machinery, even when the afforestation machine 10 and earthmoving machine 30 are operated by the operator.

[0056] In the second embodiment, the afforestation machine 10 and the earthwork machine 30 constituting the afforestation system 1 are both manned vehicles, but are not limited to this. Either the afforestation machine 10 or the earthwork machine 30 may be a manned vehicle and the other an unmanned vehicle. Furthermore, the afforestation machine 10 or the earthwork machine 30 may be operated by remote control.

[0057] <Other Embodiments> Although one embodiment has been described in detail above with reference to the drawings, the specific configuration is not limited to that described above, and various design changes are possible. In other embodiments, the order of the above-described processes may be changed as appropriate. Also, some processes may be executed in parallel.

[0058] The afforestation planning device 50 according to the above embodiment may be composed of a single computer, or it may be configured by dividing the components of the afforestation planning device 50 among multiple computers, with the multiple computers cooperating with each other to function as the afforestation planning device 50. In this case, some of the computers constituting the afforestation planning device 50 may be mounted inside the afforestation machine 10 or earthmoving machine 30, while the other computers are provided externally.

[0059] Furthermore, the above-described embodiment explained an example of planting trees in an area where no trees are currently growing. On the other hand, in other embodiments, tree planting may be performed in an area where trees are already growing. In this case, the tree planting planning device 50 transmits a logging instruction signal to the forestry machinery and a land leveling instruction signal to the earthmoving machinery 30 before transmitting a tree planting instruction signal to the tree planting machine 10. In this case, the tree planting planning device 50 may designate only the area to be planted by the tree planting machine 10 as the work area for the forestry machinery and earthmoving machinery 30. In other embodiments, the tree planting planning device 50 may designate the entire target area T as the work area for the forestry machinery and earthmoving machinery 30, and acquire the current topographic data after the work by the forestry machinery and earthmoving machinery 30 is completed.

[0060] (Note 1) A data acquisition unit that acquires terrain data representing the topography of the target area, An area identification unit identifies a first area having a gradient less than a first gradient threshold from the target area based on the aforementioned topographic data, A afforestation instruction unit transmits an afforestation instruction signal that instructs the planting of plants in the afforestation area consisting of the first area, the afforestation instruction signal including at least one of the afforestation area and the travel route in the afforestation area for planting the plants by an afforestation machine. A afforestation planning device equipped with the following features.

[0061] (Note 2) The system includes a forest road determination unit that determines the forest road area in which a forest road will be formed from the first area, The afforestation instruction unit transmits the afforestation instruction signal to the afforestation machine, instructing it to plant plants in areas of the first area other than the forest road area. The afforestation planning device according to claim 1.

[0062] (Note 3) The area identification unit further identifies a second area having a gradient greater than or equal to the first gradient threshold, The aforementioned afforestation instruction unit transmits an afforestation instruction signal that instructs the planting of a different type of plant in the second area than the plant to be planted in the first area. A afforestation planning device as described in Appendix 1 or Appendix 2.

[0063] (Note 4) An earthwork area identification unit that identifies a third area having a gradient greater than or equal to the first gradient threshold and less than the second gradient threshold, A design surface generation unit that generates a design surface for the third area such that the gradient is less than the first gradient threshold, Earthwork instruction unit transmits an earthwork instruction signal to the earthwork machine, instructing it to perform construction in the third area according to the design surface. Equipped with, The afforestation instruction unit transmits an afforestation instruction signal that instructs the planting of plants in the third area after construction by the earthwork machine according to the design surface. A afforestation planning device as described in any of Appendix 1 to Appendix 3.

[0064] (Note 5) The aforementioned third area is an area adjacent to the aforementioned first area. The afforestation planning device described in Appendix 4.

[0065] (Note 6) The afforestation planning device described in any one of claims 1 to 5, and the afforestation machine, The afforestation machinery is A planting device for planting plants in the soil, A traveling device that travels together with the aforementioned planting device, A control device that causes the traveling device to travel through the area indicated by the afforestation instruction signal, and causes the planting device to plant the plants. A afforestation system equipped with [specific features / equipment].

[0066] (Note 7) The system comprises the afforestation planning device described in Appendix 4 or Appendix 5, the afforestation machine, and the earthwork machine, The afforestation machinery is A planting device for planting plants in the soil, A traveling device that travels together with the aforementioned planting device, A control device that causes the traveling device to travel through the area indicated by the afforestation instruction signal, and causes the planting device to plant the plants. Equipped with, The aforementioned earthmoving machinery, A work machine for excavating soil, A traveling device that travels together with the aforementioned work machine, A control device that causes the work machine and the traveling device to perform soil work based on the terrain data and the design surface of the third area indicated by the earthwork instruction signal. A afforestation system equipped with [specific features / equipment]. [Explanation of symbols]

[0067] 1…Afforestation system 10…Afforestation machine 30…Earthwork machine 50…Afforestation planning device 51…Processor 511…Data acquisition unit 512…Data conversion unit 513…Gradient identification unit 514…Area classification unit 515…Earthwork area identification unit 516…Design surface generation unit 517…Earthwork instruction unit 518…Afforestation area determination unit 519…Forest road determination unit 520…Afforestation instruction unit 53…Main memory 55…Storage 57…Interface A1…First area A1m…Main area A1r…Forest road area A1s…Sub-area A2…Second area A3…Third area N…Communication network T…Target area

Claims

1. A data acquisition unit that acquires terrain data representing the topography of the target area, An area identification unit identifies a first area having a gradient less than a first gradient threshold from the target area based on the aforementioned topographic data, A afforestation instruction unit transmits an afforestation instruction signal that instructs the planting of plants in the afforestation area consisting of the first area, the afforestation instruction signal including at least one of the afforestation area and the travel route in the afforestation area for planting the plants by an afforestation machine. A afforestation planning device equipped with the following features.

2. The system includes a forest road determination unit that determines the forest road area in which a forest road will be formed from the first area, The afforestation instruction unit transmits the afforestation instruction signal to the afforestation machine, instructing it to plant plants in areas of the first area other than the forest road area. The afforestation planning device according to claim 1.

3. The area identification unit further identifies a second area having a gradient greater than or equal to the first gradient threshold, The aforementioned afforestation instruction unit transmits an afforestation instruction signal that instructs the planting of a different type of plant in the second area than the plant to be planted in the first area. A afforestation planning device according to claim 1 or claim 2.

4. An earthwork area identification unit that identifies a third area having a gradient greater than or equal to the first gradient threshold and less than the second gradient threshold, A design surface generation unit that generates a design surface for the third area such that the gradient is less than the first gradient threshold, Earthwork instruction unit transmits an earthwork instruction signal to the earthwork machine, instructing it to perform construction in the third area according to the design surface. Equipped with, The afforestation instruction unit transmits an afforestation instruction signal that instructs the planting of plants in the third area after construction by the earthwork machine according to the design surface. A afforestation planning device according to claim 1 or claim 2.

5. The aforementioned third area is an area adjacent to the aforementioned first area. The afforestation planning device according to claim 4.

6. The afforestation planning device according to claim 1 or claim 2 and the afforestation machine are provided, The afforestation machinery is A planting device for planting plants in the soil, A traveling device that travels together with the aforementioned planting device, A control device that causes the traveling device to travel through the area indicated by the afforestation instruction signal, and causes the planting device to plant the plants. A afforestation system equipped with [specific features / equipment].

7. The afforestation planning device according to claim 4, the afforestation machine, and the earthwork machine are provided, The afforestation machinery is A planting device for planting plants in the soil, A traveling device that travels together with the aforementioned planting device, A control device that causes the traveling device to travel through the area indicated by the afforestation instruction signal, and causes the planting device to plant the plants. Equipped with, The aforementioned earthmoving machinery, A work machine for excavating soil, A traveling device that travels together with the aforementioned work machine, A control device that causes the work machine and the traveling device to perform soil work based on the terrain data and the design surface of the third area indicated by the earthwork instruction signal. A afforestation system equipped with [specific features / equipment].

8. Steps include obtaining topographic data representing the topography of the target area, Based on the aforementioned topographic data, the step of identifying a first area having a gradient greater than or equal to a first gradient threshold from the target area, A signal that instructs the planting of plants in a afforestation area including the first area, comprising the steps of transmitting an afforestation instruction signal that includes at least one of the afforestation area and the travel route of an afforestation machine in the afforestation area; A afforestation planning method comprising the following features.

9. A step of identifying a third area having a gradient that is greater than or equal to the first gradient threshold and less than the second gradient threshold, A step of generating a design surface for the third area such that the gradient is less than the first gradient threshold, The steps include: transmitting an earthwork instruction signal to an earthwork machine to instruct it to perform construction in the third area according to the design surface; Equipped with, In the step of transmitting the aforementioned afforestation instruction signal, an additional afforestation instruction signal is transmitted to instruct the planting of vegetation in the third area after construction. The afforestation planning method according to claim 8.

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