Tree felling support device and forestry machinery

Abstract

To enable generation of suitable work support information for tree felling operations utilizing forestry machines.SOLUTION: A tree felling support device outputs work support information to facilitate an operation of a forestry machine 3, utilizing a wind direction and a velocity determined through a measurement unit 22, which gauges the wind direction and the velocity surrounding a tree 8 designated for felling.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a felling support device and a forestry machine.

Background Art

[0002] As a conventional technique related to an aerial work vehicle having a telescopic member that is telescopically operated, each detection unit that measures the wind direction and wind speed is provided at the other end of the telescopic member that is attached to the vehicle body at one end and telescopically operated, and each display unit of the measured values detected by each detection unit is provided in an operation unit that operates the telescopic member (see Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the conventional technique as described above, there is a problem that appropriate work support information cannot be generated for the tree felling work by a forestry machine, in which the wind situation at a relatively high position affects the work. [[ID=3六成]]

[0005] Therefore, in one aspect, an object of the present disclosure is to enable generation of appropriate work support information for tree felling work by a forestry machine.

Means for Solving the Problems

[0006] In one aspect, a felling support device is provided that outputs work support information for supporting the work of a forestry machine based on at least one of the wind direction and the wind speed measured by a measuring device that measures at least one of the wind direction and the wind speed around a tree to be felled.

[0007] The tree felling support device may be configured such that the measuring instrument is mounted on an unmanned aerial vehicle.

[0008] The tree felling support device may be configured such that the unmanned aerial vehicle flies at an altitude within the height range of the tree canopy of the tree to be felled.

[0009] The tree felling support device may be configured such that the measuring instrument is attached to a structure surrounding the tree to be felled.

[0010] The tree felling support device may be configured such that the measuring instrument is mounted at a height within the height range of the tree canopy of the tree to be felled.

[0011] The tree felling support device may also output strong wind information as work support information when the measured wind speed is equal to or greater than a predetermined strong wind threshold.

[0012] The tree felling support device may also output weak wind information as work support information when the measured wind speed is below a predetermined weak wind threshold.

[0013] The tree felling support device may calculate and output the direction in which the tree to be felled will fall as work support information, based on at least one of the measured wind direction and wind speed.

[0014] The tree felling support device may calculate the direction in which the tree to be felled will fall based on at least one of the measured wind direction and wind speed, and output the arrangement of the forestry machinery and the position of the felling work unit of the forestry machinery as work support information, so as to cause the tree to fall outside the no-falling zone or within the recommended falling zone.

[0015] The tree felling support device may calculate the direction of the tree to fall by using, in addition to at least one of the wind direction and wind speed, at least one of the following: the degree of inclination of the slope on which the tree to be felled is growing, the magnitude of the angle of the tree to be felled relative to the ground, the degree of curvature of the tree to be felled, and the position of the center of gravity of the tree to be felled.

[0016] The tree felling support device may output information indicating an incorrect tree falling direction as work support information when the calculated tree falling direction falls within the area where tree falling is prohibited.

[0017] The felling support device may temporarily stop the felling operation by the felling unit of the forestry machine when the calculated direction of the tree to fall falls within the area where tree to fall is prohibited.

[0018] The tree felling support device may also output information indicating a good tree falling direction as work support information when the calculated tree falling direction is within the recommended tree falling area.

[0019] The tree felling support device may set the no-falling zone by using at least one of the following: location information of people around the tree to be felled, location information of buildings around the tree to be felled, location information of logging roads around the tree to be felled, location information of the forestry machinery, and location information of forestry machinery other than the forestry machinery.

[0020] In addition, from one perspective, forestry machinery equipped with one of the felling support devices described above is provided. [Effects of the Invention]

[0021] According to this disclosure, in one respect, it becomes possible to generate appropriate work support information for tree felling operations using forestry machinery. [Brief explanation of the drawing]

[0022] [Figure 1] This figure shows the configuration of a system including a tree felling support device according to the embodiment. [Figure 2] It is a diagram functionally showing the configuration of the control device as the tree felling support device of FIG. 1. [Figure 3] It is a flowchart showing a first example of the processing procedure in the control device as the tree felling support device of FIG. 1. [Figure 4] It is a flowchart showing a second example of the processing procedure in the control device as the tree felling support device of FIG. 1. [Figure 5] It is a diagram showing an example of the relationship between the arrangement of the tree to be felled and the forestry machine and the position of the tree felling working part of the forestry machine.

Embodiment for Carrying out the Invention

[0023] Hereinafter, embodiments will be described in detail while referring to the accompanying drawings.

[0024] FIG. 1 is a diagram showing the configuration of a system including the tree felling support device of the embodiment. FIG. 2 is a diagram functionally showing the configuration of the control device 1 as the tree felling support device of the embodiment.

[0025] The tree felling support device of the embodiment is a device that supports the tree felling operation of the forestry machine 3 so that the tree felling operation can be smoothly performed without hindrance considering the influence of the wind received by the tree 8 to be felled, and based on the wind direction and wind speed measured by the measuring device 22 that measures the wind direction and wind speed around the tree 8 to be felled, it outputs work support information for supporting the operation of the forestry machine 3.

[0026] The system, including the tree felling support device of the embodiment, comprises a control device 1, an unmanned aerial vehicle 2, and a forestry machine 3. In the example shown in the figure, the control device 1 and the unmanned aerial vehicle 2, and the control device 1 and the forestry machine 3 are connected via various wireless or wired communication lines (in other words, transmission lines; the connection between the control device 1 and the unmanned aerial vehicle 2 is indicated by symbol 9A, and the connection between the control device 1 and the forestry machine 3 is indicated by symbol 9B) to enable the transmission and reception of signals and information.

[0027] Here, as with aerial work platforms, tall trees are susceptible to wind, and it is especially important for the operator of forestry machine 3 to check the wind direction and speed when felling trees. However, trees to be felled can exceed 20 meters in height, and the on-board measuring instrument does not reach the height of the tree canopy where the wind has a greater impact, making it impossible to measure wind conditions. Therefore, even if an on-board measuring instrument is adopted for forestry machine 3, it is difficult to predict the direction in which the tree will fall when felled, and the work cannot be carried out smoothly without hindrance.

[0028] Therefore, the tree felling support device of this embodiment outputs work support information to assist the work of the forestry machine 3 based on wind measurement data measured by the measuring instrument 22 mounted on the unmanned aerial vehicle 2.

[0029] In the example shown in the figure, the functions of the felling support device are provided in the control device 1. The control device 1 may be composed of, for example, a smartphone, a personal digital assistant (PDA), a general-purpose computer, a server (server computer), or any combination thereof. Furthermore, all of the functions of the felling support device may be provided in either the unmanned aerial vehicle 2 or the forestry machine 3. Alternatively, the functions of the felling support device may be separated and provided in any two or three of the control device 1, the unmanned aerial vehicle 2, and the forestry machine 3. Also, a device equipped with some or all of the functions of the felling support device may be mounted on the forestry machine 3. Note that the forestry machine 3 may not have a worker on board and may be operated remotely. In that case, some or all of the functions of the felling support device may be provided in the device that remotely operates the forestry machine 3.

[0030] The control device 1 comprising the tree felling support device of the embodiment includes a wind information acquisition unit 11 that acquires wind measurement data representing the wind conditions around the tree 8 to be felled, a wind speed determination unit 12 that determines whether or not to output strong wind information or weak wind information based on the wind measurement data, a tree fall direction calculation unit 13 that calculates the direction in which the tree 8 to be felled will fall based on the wind measurement data, a tree fall direction determination unit 14 that determines whether or not to output information on poor tree fall direction or good tree fall direction based on the direction in which the tree 8 to be felled will fall, a forestry machine control unit 15 that controls the operation of the forestry machine 3 according to the direction in which the tree 8 to be felled will fall, an operation information generation unit 16 that calculates (in other words, generates) information for operating the forestry machine 3 so that the tree 8 to be felled will fall in the appropriate direction, an information output unit 17 that outputs work support information, and a storage unit 18 that stores information and data related to the processing of the control device 1. The direction in which the tree 8 to be felled falls during the felling operation is expressed according to directions based on, for example, east, west, south, and north (referred to as "east-west-north-south directions").

[0031] The information output unit 17 is a mechanism for transmitting work support information to workers (for example, a person operating the forestry machine 3, or a person assisting with felling work around the forestry machine 3 or the trees 8 to be felled). The specific configuration of the information output unit 17 is not limited to a particular mechanism, and any mechanism capable of transmitting work support information to workers can be appropriately selected. For example, the information output unit 17 may be configured as a mechanism having at least one of the following: a display unit capable of displaying characters, figures, or images; a speaker capable of emitting sound or voice; a rotating light capable of emitting light of a predetermined color; and a vibration mechanism capable of vibrating the entire or a specific part of the control device 1.

[0032] The memory unit 18 is a memory device that stores information and data related to the processing of the control device 1, and is composed of, for example, a read-only memory such as ROM, or a write-and-read memory such as RAM (Random Access Memory), HDD (Hard Disk Drive), or SSD (Solid State Drive).

[0033] Unmanned aerial vehicle 2 is, for example, a rotary-wing aircraft equipped with multiple rotatable blades, electric motors to rotate the multiple blades, and a battery as a power source to supply power to the electric motors, etc. Unmanned aerial vehicle 2 is also called, for example, a "drone" or "UAV" (Unmanned Aerial Vehicle).

[0034] The unmanned aerial vehicle 2 also includes a control unit 21 and measuring instruments 22.

[0035] The control unit 21 is a mechanism for controlling the flight position (specifically, for example, latitude, longitude, and altitude) of the unmanned aerial vehicle 2 so that it flies around the tree 8 to be felled, according to pre-set flight settings and control information from the control device 1. The latitude, longitude, and altitude information and data may be obtained using, for example, a Global Navigation Satellite System (GNSS).

[0036] Here, the direction in which the tree 8 to be felled falls during the felling operation (i.e., the direction of the fall) is particularly affected by the wind hitting the canopy of the tree 8. Therefore, it is preferable that the control unit 21 of the unmanned aerial vehicle 2 controls the planar position (specifically, for example, latitude and longitude) and altitude of the unmanned aerial vehicle 2 so that the unmanned aerial vehicle 2 flies at an altitude within a predetermined horizontal range centered on the tree 8 to be felled in a plan view, and within the height range H of the canopy of the tree 8 in a side view.

[0037] The trees 8 to be felled may be identified, for example, by the worker specifying coordinates (e.g., latitude and longitude; the same applies hereinafter), by the worker specifying a tree in an image displayed on the display unit of a predetermined device (which may also be the control device 1) that is associated with the coordinate information, thereby obtaining the coordinates based on the coordinate information, or by estimating the location (specifically, coordinates) and orientation of the forestry machine 3.

[0038] A predetermined horizontal range centered on the tree 8 to be felled and a height range H of the tree crown of the tree 8 to be felled may be provided to the control unit 21 as pre-set flight settings or control information from the control unit 1, for example, by the operator specifying coordinates and altitude, or by specifying coordinates and altitude according to the tree 8 to be felled in an image displayed on the display unit of a predetermined device (which may also be the control unit 1) that is associated with coordinate information and altitude information.

[0039] The control unit 21 also has the function of transmitting wind measurement data measured and acquired by the measuring instrument 22 to the control device 1 via a transmission unit (not shown), and the function of receiving control information transmitted from the control device 1 via a reception unit (not shown).

[0040] The measuring instrument 22 measures wind direction and wind speed and acquires the measured values ​​of wind direction and wind speed as wind measurement data. The measuring instrument 22 is also called, for example, a "wind direction and wind speed meter". Wind direction may be indicated by dividing it into 16 or 36 directions, for example using east, west, south, and north, or it may be indicated by an angle clockwise with respect to true north.

[0041] The forestry machine 3 performs felling operations on the trees 8 to be felled, utilizing work support information output from the control device 1. The forestry machine 3 is a hydraulic excavator equipped with attachments suitable for felling operations, and has a crawler-type lower traveling body 31 and an upper rotating body 32 mounted on the lower traveling body 31 via a slewing mechanism so as to be able to rotate along the horizontal plane. Examples of attachments suitable for felling operations include timber felling machines, such as harvesters and feller bunchers.

[0042] A felling attachment 33 is positioned in the central front portion of the upper slewing body 32. Adjacent to the left side of the base portion of the felling attachment 33, that is, on the left front portion of the upper slewing body 32, is a cab 34 serving as the operator's cabin.

[0043] The felling attachment 33 includes a boom 331 whose base end is rotatably attached to the upper slewing body 32, an arm 332 rotatably connected to the tip of the boom 331, and a felling work section 333 rotatably attached to the tip of the arm 332. The boom 331, arm 332, and felling work section 333 are driven by a hydraulic cylinder or the like, which is provided as part of the felling attachment 33.

[0044] Cab 34 is a box-shaped driver's cabin, which is equipped with a driver's seat and various operating and control devices for operating the forestry machinery 3.

[0045] (First example of a processing procedure in a control device) Figure 3 is a flowchart showing a first example of the processing procedure in the control device 1.

[0046] The control device 1, as a function of the wind information acquisition unit 11, acquires wind measurement data from the unmanned aerial vehicle 2 that represents the wind conditions around the tree 8 to be felled (step S1-1). Specifically, in this first example, the wind measurement data is the measured wind speed around the tree 8 to be felled.

[0047] Next, the control device 1, as a function of the wind speed determination unit 12, determines whether the wind speed obtained in the process of step S1-1 is equal to or greater than a predetermined strong wind determination threshold (step S1-2).

[0048] The strong wind threshold is not limited to a specific value, but is set appropriately based on factors such as the maximum wind speed at which tree felling operations (especially tree removal) can be carried out smoothly without hindrance (in other words, the minimum wind speed at which tree felling operations cannot be carried out smoothly without hindrance).

[0049] Then, if the wind speed obtained in step S1-1 is equal to or greater than the strong wind determination threshold (step S1-2: Yes), the control device 1, as a function of the wind speed determination unit 12, transmits a signal to the information output unit 17 that corresponds to a command to output strong wind information as work support information.

[0050] The information output unit 17 outputs strong wind information (i.e., that the wind speed is above the strong wind threshold) to the operator by, for example, displaying it as characters, figures, or images on the display unit, emitting sound or voice from the speaker, emitting light of a predetermined color from the rotating light, or vibrating the entire or a specific part of the control device 1 (step S1-3). The control device 1 then returns the processing procedure to step S1-1.

[0051] By outputting and communicating strong wind information to workers, for example, workers can take extra care when felling trees 8, paying attention to the strong winds around them, or temporarily suspend felling operations, thereby helping to prevent accidents during tree felling.

[0052] On the other hand, if the wind speed obtained in step S1-1 is less than the strong wind determination threshold (step S1-2: No), the control device 1, as a function of the wind speed determination unit 12, determines whether or not the wind speed obtained in step S1-1 is less than or equal to a predetermined weak wind determination threshold (step S1-4).

[0053] The light wind threshold is not limited to a specific value, but is set appropriately after considering, for example, the maximum wind speed at which tree felling operations (especially fallen trees) can be carried out smoothly and without significant hindrance (in other words, the minimum wind speed at which tree felling operations cannot be carried out smoothly and without significant hindrance). The strong wind threshold and the light wind threshold may be set to the same value, or they may be set to different values.

[0054] Then, if the wind speed obtained in step S1-1 is below the weak wind determination threshold (step S1-4: Yes), the control device 1, as a function of the wind speed determination unit 12, transmits a signal to the information output unit 17 that corresponds to a command to output weak wind information as work support information.

[0055] The information output unit 17 outputs weak wind information (i.e., that the wind speed is below the weak wind threshold) to the operator by, for example, displaying it as characters, figures, or images on the display unit, emitting sound or voice from the speaker, emitting light of a predetermined color from the rotating light, or vibrating the entire or a specific part of the control device 1 (step S1-5). The control device 1 then returns the processing procedure to step S1-1.

[0056] By outputting and communicating light wind information to workers, for example, workers can prioritize felling particularly tall trees. This allows felling operations for particularly tall trees, which are especially susceptible to wind and require extra caution, to be carried out in light wind conditions, thus preventing accidents during tree felling.

[0057] On the other hand, if the wind speed obtained in step S1-1 is greater than the weak wind determination threshold (step S1-4: No), the control device 1 returns the processing procedure to step S1-1.

[0058] (Second example of a processing procedure in a control device) Figure 4 is a flowchart showing a second example of the processing procedure in the control device 1.

[0059] The control device 1, as a function of the wind information acquisition unit 11, acquires wind measurement data from the unmanned aerial vehicle 2 that represents the wind conditions around the tree 8 to be felled (step S2-1). Specifically, in this second example, the wind measurement data consists of measured values ​​of wind direction and wind speed around the tree 8 to be felled.

[0060] Next, the control device 1, as a function of the tree fall direction calculation unit 13, calculates the fall direction of the tree 8 to be felled based on the wind direction and wind speed obtained in the processing of step S2-1 (step S2-2).

[0061] The direction in which the tree 8 to be felled will fall may be calculated, for example, according to the instantaneous wind direction obtained in step S2-1 (specifically, for example, if the wind direction is southeast, the direction in which the tree will fall will be northwest), or the current wind direction may be calculated by using the instantaneous wind direction and wind speed obtained in step S2-1 and weighting the wind speed over a predetermined past time (for example, about 3 to 10 seconds), and then calculating the direction in which the tree will fall according to the calculated current wind direction.

[0062] The direction in which the tree 8 to be felled will also be calculated using, in addition to wind direction and wind speed, at least one of the following: the degree of inclination of the slope on which the tree 8 is growing, the angle of the tree 8 relative to the ground, the degree of curvature of the tree 8, and the position of the center of gravity of the tree 8.

[0063] In the above, the degree of inclination of the slope on which the tree 8 to be felled is growing, the magnitude of the angle of the tree 8 to be felled relative to the ground, the degree of curvature, and the position of the center of gravity may be provided to the tree fall direction calculation unit 13, for example, by the worker specifying them in relation to the cardinal directions (north, south, east, west), or by specifying them according to the condition of the tree 8 to be felled and the ground (for example, the condition of the slope) in an image displayed on the display unit of a predetermined device (which may also be the control device 1) in relation to the cardinal directions.

[0064] The direction in which the tree 8 to be felled will fall may be indicated by dividing it into 16 or 36 directions, for example, using east, west, south, and north; or it may be indicated by a clockwise angle relative to true north; or it may be indicated by a clockwise angle relative to the front of the cab 34 of the forestry machine 3. The direction of the front of the cab 34 (specifically, for example, the east, west, north, and south directions) may be calculated based on information and data acquired by multiple sensors 321 (two in the example shown in Figure 5) installed on the upper rotating body 32, which acquire information and data on latitude, longitude, and altitude using a global navigation system (GNSS).

[0065] Then, as a function of the tree fall direction calculation unit 13, the control device 1 transmits a signal to the information output unit 17 that corresponds to a command to output the tree fall direction of the tree to be felled 8, which was calculated in the processing of step S2-2, as work support information.

[0066] The information output unit 17 outputs the direction in which the tree 8 to be felled will fall to the worker, for example, by displaying it as text, a figure, or an image on the display unit, or by emitting it as sound from the speaker (step S2-3).

[0067] The direction in which the tree to be felled (tree 8) will fall is output and communicated to the worker. For example, the worker can take into account the surrounding conditions along the direction of the fall and confirm that there are no obstacles before proceeding with the felling work, thereby preventing accidents during tree felling.

[0068] Next, the control device 1, as a function of the tree fall direction determination unit 14, determines whether the direction of fall of the tree 8 to be felled, calculated in the process of step S2-2, is within the no-fall zone (step S2-4).

[0069] The tree-falling prohibition zone is stored in the memory unit 18. The tree-falling prohibition zone is an area that is not suitable for felling the trees 8 to be felled, and is an area where trees should not be felled. The tree-falling prohibition zone may be set using, for example, at least one of the following: location information of people, location information of buildings, location information of logging roads, location information of forestry machinery 3 performing felling work on the trees 8 (which may be operated by an operator or remotely), and location information of forestry machinery other than the forestry machinery 3 performing felling work on the trees 8 (which may be operated by an operator or remotely). The tree-falling prohibition zone may be defined as information that identifies a planar area (including the case of multiple areas that are separate from each other and independent of each other) using, for example, latitude and longitude. Location information of people, buildings, and logging roads around the trees 8 to be felled may be collected and acquired, for example, by an unmanned aerial vehicle 2, or by an aerial vehicle other than the unmanned aerial vehicle 2, or by a camera installed on the forestry machine 3 for collision mitigation and surrounding area monitoring.

[0070] The tree fall direction determination unit 14 reads the information on the tree fall prohibition area stored in the memory unit 18 and determines whether the tree fall direction of the tree to be felled 8, calculated in step S2-2, is within the tree fall prohibition area around the forestry machine 3 (in other words, whether it falls within the tree fall prohibition area). The position of the forestry machine 3 (and consequently the position of the tree to be felled 8) may be calculated based on information and data acquired by at least one sensor 321 (two in the example shown in Figure 5) installed on the upper rotating body 32, which acquires information and data on latitude and longitude using a global navigation system (GNSS).

[0071] Then, if the direction in which the tree 8 to be felled is determined in step S2-2 is within the no-falling zone (step S2-4: Yes), the control device 1, as a function of the tree fall direction determination unit 14, transmits a signal to the information output unit 17 that corresponds to a command to output tree fall direction error information as work support information.

[0072] The information output unit 17 outputs information about an improper tree fall direction (i.e., that the direction in which the tree 8 to be felled is falling within the no-falling zone) to the worker by, for example, displaying it as characters, figures, or images on the display unit, emitting sound or voice from the speaker, emitting light of a predetermined color from the rotating light, or vibrating the entire or a specific part of the control device 1 (step S2-5).

[0073] By outputting information about an inappropriate tree falling direction and communicating it to the worker, for example, the worker can clearly recognize that the direction in which the tree to be felled (tree 8) is falling is inappropriate, thereby helping to prevent accidents during tree felling operations.

[0074] Next, the control device 1, as a function of the forestry machine control unit 15, transmits a signal (referred to as the "operation stop signal") equivalent to a command to temporarily stop the felling work by the felling work unit 333 to the operation control unit (not shown), which controls the operation of the felling attachment 33 of the forestry machine 3.

[0075] The operation control unit of the forestry machine 3 normally operates the felling attachment 33 based on the operator's operation of the control device installed in the cab 34. However, if an operation stop signal is transmitted from the forestry machine control unit 15 of the control device 1, the felling work of the target tree 8 by the felling work unit 333 is stopped regardless of the operator's operation of the control device (step S2-6). However, if stopping the felling work would create a dangerous situation, the felling work may be continued without being stopped, for example, by the operator giving an instruction to continue the felling work.

[0076] Next, the control device 1, as a function of the operation information generation unit 16, calculates the placement of the forestry machine 3 and the position of the felling work unit 333 of the forestry machine 3 in order to fell the tree 8 to be felled outside the no-falling zone or within the recommended felling zone (step S2-7).

[0077] The arrangement of the forestry machine 3 and the position of the felling work unit 333 for felling the trees 8 to be felled outside the no-falling zone or within the recommended felling zone may be calculated based, for example, on the wind direction and wind speed measured by the measuring instrument 22 (which may include the wind direction and wind speed obtained in the processing of step S2-1, or may include the wind direction and wind speed measured as appropriate), the east-west-north-south direction of the upper swivel body 32 of the forestry machine 3, and the directional angle of the felling work unit 333 of the felling attachment 33.

[0078] The east-west and north-south directions of the upper slewing body 32 of the forestry machine 3 may be calculated based on information and data acquired by multiple sensors 321 (two in the example shown in Figure 5) installed on the upper slewing body 32 and utilizing a Global Navigation Satellite System (GNSS) to acquire information and data regarding latitude, longitude, and altitude. The east-west and north-south directions D of the upper slewing body 32 of the forestry machine 3 are also the directions along the longitudinal direction of the boom 331 and arm 332 of the felling attachment 33 (see Figure 5).

[0079] The directional angle of the felling work section 333 of the felling attachment 33 determines the angle of the cut and cut surface made by the felling work section 333 into the tree 8 to be felled, as well as the support angle of the tree 8 to be felled, and consequently affects the direction in which the tree 8 falls. The directional angle of the felling work section 333 may be determined, for example, by an angle detection means provided within the felling work section 333. The angle detection means is configured, for example, as a mechanism to detect the rotation angle θ of the felling work section 333 with respect to the longitudinal direction of the arm 332 (i.e., the east-west-north-south direction D of the upper rotating body 32 of the forestry machine 3), and specifically may be a sensor, or it may be a mechanism that detects the angle by a combination of a proximity switch and a metal plate. By detecting the rotation angle θ of the felling unit 333 with respect to the longitudinal direction of the arm 332 (i.e., the east-west-north-south direction D of the upper rotating body 32 of the forestry machine 3), the directional angle of the felling unit 333 can be shown, for example, divided into 16 or 36 directions using east, west, south, and north, or shown as an angle clockwise with respect to true north.

[0080] The control device 1, as a function of the operation information generation unit 16, calculates (in other words, generates) the arrangement of the forestry machine 3 (including the east-west-north-south direction D of the upper slewing body 32 of the forestry machine 3; it may also be the amount of change from the current east-west-north-south direction D) and the position of the felling work unit 333 (including the directional angle of the felling work unit 333 (specifically, for example, the rotation angle θ); it may also be the amount of change from the current directional angle) for the direction in which the tree 8 to be felled is to fall outside the no-falling-area or within the recommended-falling-area, based on the direction in which the tree 8 to be felled is to fall. The arrangement of the forestry machine 3 and the position of the felling work unit 333 of the forestry machine 3 calculated by the operation information generation unit 16 are called "operation information".

[0081] Then, as a function of the operation information generation unit 16, the control device 1 transmits a signal to the information output unit 17 that corresponds to a command to output the operation information calculated in the processing of step S2-7 as work support information.

[0082] The information output unit 17 outputs operation information (i.e., the arrangement of the forestry machine 3 and the position of the felling work unit 333) to the operator, for example, by displaying it on the display unit as text, figures, or images, or by emitting it as sound from the speaker (step S2-8). Then, the control device 1 returns the processing procedure to step S2-1.

[0083] By outputting and transmitting operational information to the worker to fell the tree 8 to be felled outside the no-falling zone or within the recommended falling zone, for example, the worker can accurately operate the forestry machine 3 to fell the tree 8 in the appropriate direction, thereby preventing accidents during tree felling operations.

[0084] In addition, a signal corresponding to the operation information calculated in step S2-7 may be transmitted to an operation control unit (not shown) that controls the operation of the forestry machine 3, so that the forestry machine 3 operates automatically to the position of the forestry machine 3 and the position of the felling work unit 333 of the forestry machine 3 calculated in step S2-7, without the operator having to operate the operating device.

[0085] On the other hand, if the direction of fall of the tree 8 to be felled, calculated in step S2-2, is outside the no-falling zone (step S2-4: No), the control device 1, as a function of the falling direction determination unit 14, determines whether or not the direction of fall of the tree 8 to be felled, calculated in step S2-2, is within the recommended falling zone (step S2-9).

[0086] The recommended tree-falling area is stored in the memory unit 18. The recommended tree-falling area is a particularly suitable area for felling the tree 8 to be felled, and is a particularly preferred area for felling. The recommended tree-falling area may be set using, for example, at least one of the following: location information of people, location information of buildings, location information of logging roads, location information of forestry machinery 3 performing felling work on the tree 8 (which may be operated by an operator or remotely), and location information of forestry machinery other than forestry machinery 3 performing felling work on the tree 8 (which may be operated by an operator or remotely). The recommended tree-falling area may be defined as information that identifies a planar area (including the case of multiple areas that are separate from each other and independent of each other) using, for example, latitude and longitude. Location information of people, buildings, and logging roads around the trees 8 to be felled may be collected and acquired, for example, by an unmanned aerial vehicle 2, or by an aerial vehicle other than the unmanned aerial vehicle 2, or by a camera installed on the forestry machine 3 for collision mitigation and surrounding area monitoring.

[0087] The tree fall direction determination unit 14 reads the information on the recommended tree fall area stored in the memory unit 18 and determines whether the tree fall direction of the tree to be felled 8, calculated in step S2-2, is within the recommended tree fall area around the forestry machine 3. The position of the forestry machine 3 (and consequently the position of the tree to be felled 8) may be calculated based on information and data acquired by at least one sensor 321 (two in the example shown in Figure 5) installed on the upper rotating body 32, which acquires information and data on latitude and longitude using a global navigation system (GNSS).

[0088] Then, if the direction in which the tree 8 to be felled is calculated in step S2-2 is within the recommended felling area (step S2-9: Yes), the control device 1, as a function of the tree falling direction determination unit 14, transmits a signal to the information output unit 17 that corresponds to a command to output information indicating a good tree falling direction as work support information.

[0089] The information output unit 17 outputs information indicating a good tree fall direction (i.e., that the tree 8 to be felled is falling within the recommended fall area) to the operator by, for example, displaying it as text, a figure, or an image on the display unit, emitting sound or voice from the speaker, emitting light of a predetermined color from the rotating light, or vibrating the entire or a specific part of the control device 1 (step S2-10). The control device 1 then returns to step S2-1 of the processing procedure.

[0090] By outputting information indicating a favorable direction for tree felling and communicating it to the worker, for example, the worker can recognize that the tree 8 to be felled is likely to fall in the appropriate direction and proceed with the felling work without unnecessary adjustments or operations. This helps prevent accidents during tree felling and ensures that the tree felling work is carried out smoothly and efficiently.

[0091] On the other hand, if the direction of fall of the tree 8 to be felled, calculated in step S2-2, is outside the recommended fall area (step S2-9: No), the control device 1 returns the processing procedure to step S2-1.

[0092] According to the tree felling support device of this embodiment, work support information is output to assist the operation of the forestry machine 3 based on the wind direction and wind speed measured by the measuring instrument 22, which measures the wind direction and wind speed around the tree 8 to be felled. This makes it possible to generate appropriate work support information for tree felling work by the forestry machine 3, and consequently, to carry out tree felling work smoothly without any problems.

[0093] Although embodiments of the present invention have been described above, the specific configurations of the present invention are not limited to the embodiments described above, and the present invention also includes forms in which modifications and changes are made to the above embodiments without departing from the spirit of the invention.

[0094] For example, in the embodiment described above, the measuring instrument 22 is mounted on the unmanned aerial vehicle 2, but the measuring instrument 22 may also be attached to a structure surrounding the tree 8 to be felled. In this case, it is preferable that the measuring instrument 22 be attached at a height within the height range H of the tree canopy of the tree 8 to be felled. Examples of structures surrounding the tree 8 to be felled include steel towers.

[0095] Furthermore, in the above embodiment, the measuring instrument 22 measures wind direction and wind speed, but depending on the content of the information output by the control device 1 as work support information, the measuring instrument 22 may measure only one of either wind direction or wind speed.

[0096] Furthermore, although the above embodiment shows the unmanned aerial vehicle 2 as a rotary-wing aircraft, the unmanned aerial vehicle 2 is not limited to a rotary-wing aircraft, and may be, for example, a balloon. In other words, the unmanned aerial vehicle 2 in the present invention may be an aircraft capable of autonomous flight, or it may be a floating object that is not capable of autonomous flight. When a floating object that is not capable of autonomous flight, such as a balloon, is used as the unmanned aerial vehicle 2, it may be moored by ropes to, for example, forestry machinery 3, trees around the trees to be felled 8, or structures around the trees to be felled 8.

[0097] Furthermore, in the above embodiment, the following are performed: determination and output of strong wind information (steps S1-2, S1-3), determination and output of weak wind information (steps S1-4, S1-5), calculation and output of the direction of tree fall (steps S2-2, S2-3), determination and output of information on poor tree fall direction (steps S2-4, S2-5), stopping of felling work (step S2-6), calculation and output of operation information (steps S2-7, S2-8), and determination and output of information on good tree fall direction (steps S2-9, S2-10). However, it is not an essential requirement in the present invention that all of these processes be performed, and only one of these processes may be performed, or any two or more of these processes may be performed (and the "first example of processing procedure in the control device" and the "second example of processing procedure in the control device" may be combined). Also, the order of these processes is not limited to the order in the above embodiment and can be set arbitrarily. Furthermore, it is also possible to arrange these processes so that certain processes are performed repeatedly before other processes are executed. [Explanation of symbols]

[0098] 1. Control device 11 Wind information acquisition section 12 Wind speed determination section 13. Tree Falling Direction Calculation Unit 14. Tree fall direction determination unit 15 Forestry Machinery Control Unit 16 Operation information generation section 17 Information Output Unit 18 Memory section 2 Unmanned aircraft 21 Control Unit 22 Measuring Instruments 3 Forestry machinery 31 Lower running body 32 Upper rotating body 321 Sensors 33. Tree felling attachment 331 Boom 332 Arm 333 Felling Work Department 34 Cab 8. Trees to be felled 9A Communication line (between control device 1 and unmanned aircraft 2) 9B Communication line (between control device 1 and forestry machine 3)

Claims

1. A tree felling support device that outputs work support information to assist the operation of forestry machinery and an operation stop signal to temporarily stop the operation of forestry machinery, based on at least one of the wind direction and wind speed measured by a measuring instrument that measures at least one of the wind direction and wind speed around a tree to be felled, to a forestry machine operated by a worker or a device that remotely operates the forestry machine without a worker on board.

2. The felling support device according to claim 1, wherein the forestry machine comprises a lower traveling body, an upper rotating body rotatably mounted on the lower traveling body, a boom whose base end is rotatably attached to the upper rotating body, an arm rotatably connected to the tip of the boom, and a felling work section rotatably attached to the tip of the arm.

3. The felling support device according to claim 2, wherein the directional angle of the felling work unit is output as work support information.

4. The operation stop signal stops the operation of the felling work unit, The felling support device according to claim 2, which outputs wind information indicating the strength of the wind speed as the aforementioned work support information.

5. The tree felling support device according to claim 1, wherein the measuring instrument is mounted on an unmanned aerial vehicle.

6. The tree felling support device according to claim 5, wherein the unmanned aerial vehicle flies at an altitude within the height range of the tree canopy of the tree to be felled.

7. The tree felling support device according to claim 1, wherein when the measured wind speed is equal to or greater than a predetermined strong wind threshold, strong wind information is output as the work support information, or when the measured wind speed is equal to or less than a predetermined weak wind threshold, weak wind information is output as the work support information.

8. The tree felling support device according to claim 1, which calculates and outputs the direction in which the tree to be felled will fall as work support information, based on at least one of the measured wind direction and wind speed.

9. The tree felling support device according to claim 1, which calculates the direction in which the tree to be felled will fall based on at least one of the measured wind direction and wind speed, and outputs the arrangement of the forestry machinery and the position of the felling work unit of the forestry machinery as work support information for felling the tree outside the no-falling zone or within the recommended falling zone.

10. The tree felling support device according to claim 8, which calculates the direction of the fallen tree by using, in addition to at least one of the wind direction and wind speed, at least one of the following: the degree of inclination of the slope on which the tree to be felled is growing, the magnitude of the angle of the tree to be felled relative to the ground, the degree of curvature of the tree to be felled, and the position of the center of gravity of the tree to be felled.

11. The tree felling support device according to claim 8, which outputs information about an incorrect tree falling direction as work support information when the calculated tree falling direction is within a tree falling prohibited area.

12. The felling support device according to claim 8, which temporarily stops felling operations by the felling unit of the forestry machine when the calculated direction of falling of the tree is within the area where falling of trees is prohibited.

13. The tree felling support device according to claim 8, which outputs information indicating a good tree felling direction as work support information when the calculated tree felling direction is within the recommended tree felling area.

14. A tree felling support device according to any one of claims 9, 11, and 12, wherein the tree felling prohibition zone is set using at least one of the following: location information of people around the tree to be felled, location information of buildings around the tree to be felled, location information of logging roads around the tree to be felled, location information of the forestry machinery, and location information of forestry machinery other than the forestry machinery.

15. A forestry machine comprising a tree felling support device according to any one of claims 1 to 13.

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