JP2011010603A - Timber harvest-management system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a timber harvest-management system enabling efficient forest management in a steep slope or a forest with limited working space.SOLUTION: The timber harvest-management system includes: a self-propelled type unmanned tree-logging conveyor 1 activated according to work instruction by radio; a controller 50 sending the work instruction to the conveyor; and a timber information management center 70 managing harvesting information of timber logged and harvested by the self-propelled type unmanned tree-logging conveyor 1. The controller 50 includes a controller sending part 52 sending the work instruction to the self-propelled type unmanned tree-logging conveyor 1, and also sending the harvesting information to the timber information management center 70. The timber information management center 70 includes: a center receiving part 72 receiving the timber harvesting information sent from the controller sending part 52; and an information management part 71 storing and managing the received harvesting information.

Description

  The present invention is a self-propelled unmanned tree harvesting and transporting machine that operates by wireless work instructions, a controller that transmits work instructions to the self-propelled unmanned tree harvesting and transporting machine, and a self-propelled unmanned tree harvesting and transporting machine. The present invention relates to a wood harvest management system including a wood information management center that manages harvest information of harvested wood.

  A method is known in which a tree is felled in a forest to obtain timber, and the timber is centrally managed until the timber is shipped to the market (for example, Patent Document 1). According to this technology, after a worker rides on a forestry machine and performs felling, pruning, and chopping work, the harvest information on the harvested timber is transmitted to the timber management center from a computer installed in the forestry machine. Configured to be managed.

JP-T-2001-522591

However, the technique disclosed in Patent Document 1 uses a forestry machine having a tire traveling crane as a base vehicle and a harvester attached to the tip of the crane. In other words, this document assumes that forest management is carried out with a large slope and a gentle slope, and is applicable to forests on steep slopes, forests between trees, or forests with limited work space. It was difficult. For this reason, these forests still have to rely on manual tree harvesting. In addition, how to centrally manage information on timber harvested by human power is an important issue to be solved.
SUMMARY OF THE INVENTION An object of the present invention is to provide a wood harvesting management system capable of efficient forestry management in a steep slope or a forest with a limited work space.

For this reason, the invention described in claim 1 is a self-propelled unmanned tree felling and transporting machine that operates according to a wireless work instruction, a controller that transmits a work instruction to the self-propelled unmanned tree harvesting and transporting machine, and the self-propelled type A timber harvesting management system comprising a timber information management center for managing harvesting information of timber harvested and harvested by an unmanned tree harvesting and transporting machine,
The self-propelled unmanned tree harvesting and transporting machine includes a gripping part that grips a tree, a sending part that sends the gripped tree in a longitudinal direction, a cutting part that cuts the sent tree at a desired position, and the cutting With a transport section that loads and transports the trees
The controller includes a controller transmission unit that transmits a work instruction to the self-propelled unmanned tree felling and transporting machine and transmits the harvest information to the wood information management center.
The wood information management center includes a center reception unit that receives the harvest information of the wood transmitted from the controller transmission unit, and an information management unit that stores and manages the received harvest information. .

The invention according to claim 2 is the wood harvest management system according to claim 1, wherein the wood information management center includes a center transmission unit, while the controller includes a controller reception unit.
The wood information management center creates a felling instruction for a tree to be felled, transmits the felling instruction via the center transmission unit, and the controller receiving unit receives the felling instruction.

The invention according to claim 3 is the wood harvest management system according to claim 2, wherein communication between the controller and the wood information management center is performed via an artificial satellite,
The self-propelled unmanned tree harvesting and transporting machine includes a position determination unit that specifies the geographical position of the self-propelled unmanned tree harvesting and transporting machine using the artificial satellite, and the self-propelled that has been identified by the position determination unit While sending the geographical position of the unmanned tree felling transporter to the wood information management center,
The wood information management center stores and manages the geographical distribution information of the trees before harvesting, and receives the geographical position of the received self-propelled unmanned tree felling transporter and the geographical distribution information of the trees before harvesting. Based on the above, the logging instruction is created.

  According to the first aspect of the present invention, a self-propelled unmanned tree harvesting and transporting machine that operates according to a wireless work instruction, a controller that transmits the work instruction to the self-propelled unmanned tree harvesting and transporting machine, and a self-propelled unmanned A timber harvesting management system comprising a timber information management center for managing harvesting information of timber harvested and harvested by a tree harvesting and transporting machine, wherein a self-propelled unmanned tree harvesting and transporting machine grips a tree and grips the tree The controller is equipped with a sending section that sends the cut tree in the longitudinal direction, a cutting section that cuts the sent tree at a desired position, and a transport section that loads and transports the cut tree. The wood transmission management device includes a controller transmission unit that transmits work instructions to the transporter and transmits harvest information to the wood information management center. Comprising a center receiving section for receiving harvested information, and an information management unit for storing and managing the harvested information received. Therefore, since the tree felling machine is unmanned, the vehicle can be reduced in size and weight as compared with a passenger tree felling machine.

  As a result, human-powered trees such as forests on steep slopes where entry of large work vehicles for passengers has been difficult due to the risk of falling, and forests where entry of work vehicles has been difficult due to the lack of work space are possible. This makes it possible to carry out logging work by mechanization even at places that have relied on the harvesting work, and to perform tree cutting work efficiently. Furthermore, since the tree felling machine is equipped with a transport section, the felled tree can be loaded and transported as wood as it is, and highly efficient logging and transport work can be performed. In addition, conventionally, it was necessary to prepare a tree felling machine and a timber transporting vehicle separately, and a space for performing a transfer operation between the two was necessary, but the self-propelled unmanned tree harvesting and transporting machine of this invention Since it has both functions, it does not require a space for transferring wood. For this reason, it is possible to perform more efficient work in a forest with a limited work space.

  Furthermore, since harvest information, which is information of harvested timber, is wirelessly transmitted to the timber information management center for management, efficient information management can be performed. As described above, it is possible to provide a timber harvesting management system capable of efficient forestry management in steep slopes and forests with limited work space.

  According to the second aspect of the present invention, the wood information management center includes a center transmission unit, and the controller includes a controller reception unit. The wood information management center provides a tree cutting instruction to be cut by the wood information management center. Create and send a felling instruction via the center transmission unit, and the controller reception unit receives the felling instruction, so you can instruct the tree operator to cut in real time from the wood information management center to the operator who operates the controller, Efficient timber harvesting and management work can be performed.

  According to the third aspect of the present invention, there is provided a wood harvesting management system in which communication between the controller and the wood information management center is performed via an artificial satellite, and the self-propelled unmanned tree cutting and transporting machine is Provided with a position determination unit that uses a satellite to identify the geographical position of a traveling unmanned tree harvesting and transporting machine. The Wood Information Management Center identifies the geographical position of the self-propelled unmanned tree harvesting and transporting machine identified by the position determination unit. In addition, the Timber Information Management Center stores and manages the geographical distribution information of the pre-harvest trees, as well as the received self-propelled unmanned tree felling transporter and the geographical location of the pre-harvest trees. Since logging instructions are created based on the distribution information, the Wood Information Management Center can manage trees before harvesting, in addition to managing the harvested timber, making forest management more efficient. Lumber harvest It is possible to provide a management system. In addition, since a communication satellite is used, communication can be easily performed even if the geographical distance between the controller and the wood management center is long.

It is a side view of the self-propelled unmanned tree cutting and conveying machine as an example of this invention. It is the principal part enlarged front view. It is a top view of the controller which operates a self-propelled unmanned tree felling conveyance machine remotely. BRIEF DESCRIPTION OF THE DRAWINGS It is a principal part schematic plan view of the self-propelled unmanned tree felling conveyance machine as an example of this invention, (a) at the time of felling, (b) at the time of branching and cutting, (c) is of (b) It is X arrow sectional drawing. It is a block diagram of the timber harvest management system of this invention. (A)-(e) is a figure explaining operation in the display with which the controller of this invention is equipped.

  Hereinafter, the best mode for carrying out the present invention will be described in detail with reference to the drawings. FIG. 1 shows a side view of a self-propelled unmanned tree cutting and transporting machine as an example of the present invention. A self-propelled unmanned tree cutting and transporting machine 1 includes a traveling unit 2 including a crawler and wheels, a main body unit 4 via a leg 3 above the traveling unit 2, and a loading platform (conveying unit) 5 on the main body unit 4. Prepare. A harvester 10 is provided at the front portion of the main body 4 via a boom 6, an arm 7, and a bracket 8.

  The traveling units 2 are respectively provided on the left and right sides of the traveling direction of the self-propelled unmanned tree cutting and transporting machine 1. The traveling unit 2 includes two crawlers 2A on the left and right. Inside the crawler 2A, in addition to the drive wheels 2B for rotating the crawler 2A, a track roller, a tension roller, and the like are provided. The drive wheel 2B includes a hydraulic motor.

  In the main body 4, in addition to the operation means for operating the self-propelled unmanned tree felling and transporting machine 1 such as an engine, a radiator, a hydraulic pump, a hydraulic valve, a hydraulic tank, etc., control means for controlling these, wireless transmission / reception The communication means to perform is provided. The loading platform 5 is for placing felled trees. The leg body 3 includes hydraulic cylinders 3A and 3B. The main body part 4 is configured to be able to move up and down with respect to the traveling part 2 by the expansion and contraction of the hydraulic cylinders 3A and 3B.

  Next, the harvester 10 will be described with reference to FIG. The harvester 10 is a forestry machine for cutting down trees, pruning trees, or cutting timbers into timber. The harvester 10 is attached to the tip of a bracket 8 fixed to the arm 7 via a connecting portion 9. The connecting portion 9 is formed in a pipe shape and is rotatable with respect to the bracket 8. A hanger 11 is attached to the lower end of the connecting portion 9. In addition, the upper end of the hanger 11 is provided with a turning device 11A for turning the harvester 10.

  The hanger 11 is substantially L-shaped when viewed from the side, and a main body frame 12 is attached to the lower end thereof. The main body frame 12 is formed in a substantially inverted L shape when viewed from the side, and includes a pair of grapples (gripping portions) 13A and 13B on the upper side of the upper end portion so as to be rotatable around the rotation shafts 13a and 13b, respectively. Hydraulic cylinders 11C and 12C are attached to the side surface of the hanger 11 and the side surface of the main body frame 12, respectively. The hydraulic cylinder 11C serves to tilt the hanger 11 with its upper end as a fulcrum, and the hydraulic cylinder 12C serves as a harvester 10 by the hydraulic cylinders 11C and 12C so as to tilt the main body frame 12 with its lower end as a fulcrum. 1 is rotated in the direction of the arrow.

  The grapples 13A and 13B have a role of holding a tree and a role of removing the held tree. In order to perform the latter function, the grapples 13A and 13B each have a substantially crescent shape. Further, when the grapples 13A and 13B grip a tree, a blade for debranching is formed on the side in contact with the tree. Then, the rotation shafts 13a and 13b are respectively passed through the rear end portions of the grapples 13A and 13B. When the grapples 13A and 13B are rotated in the closing direction, the trees are sandwiched. The grapples 13A and 13B are provided with a diameter measuring means (not shown) for measuring the diameter of the grasped tree. The diameter measuring means is, for example, a method in which a potentiometer is attached to the rotation shafts 13a and 13b and the diameter of the tree being held is calculated from the rotation angle of the rotation shafts 13a and 13b.

  The main body frame 12 is provided with a measuring device 18. The measuring device 18 is located between the grapples 13A and 13B when the grapples 13A and 13B are open, and when the grapples 13A and 13B are closed and hold the trees, the side surfaces of the trees are It is provided so as to contact this.

  On the lower side of the upper end portion of the main body frame 12, the upper end portions of the pair of roller arms 14A and 14B are attached so as to be rotatable in the arrow direction (FIG. 2). Material conveying rollers (sending units) 15A and 15B are rotatably attached to lower end portions of the roller arms 14A and 14B. When the grapples 13A and 13B grip a tree, the material transport rollers 15A and 15B are opened, the tree is sandwiched between two rollers, and the sandwiched tree can be sent out by rotating these rollers. Innumerable irregularities are formed on the outer peripheral surfaces of the material conveying rollers 15A and 15B so that the trees can be securely clamped and sent out to prevent rotational slippage of the rollers.

  A lower frame 16 is provided below the material conveying rollers 15A and 15B, and a chain saw (cutting portion) 17 is rotatably attached to the lower side of the lower frame 16 in parallel therewith. Reference numeral 17A denotes a chain saw motor. The chainsaw 17 is used for cutting a tree at the root or cutting (ball cutting) with a desired length. Usually, the grapples 13A and 13B or / and the material conveying rollers 15A and 15B sandwich the tree. The cutting operation is performed in the state that has been done.

  The self-propelled unmanned tree harvesting and transporting machine 1 is remotely wirelessly operated by the controller 50. As shown in FIG. 3, an operation unit is formed on the surface of the controller main body 50B. Operation sticks 55 and 56 are provided on the left and right sides of the surface of the controller main body 50B, respectively. The operation sticks 55 and 56 can be tilted up and down and left and right. Further, between the operation sticks 55 and 56, there are provided a felling / drilling button 59 for felling and crushing, and a debranching button 60 for debranching. On the lower side of the operation stick 55, a changeover switch 57 for switching between the vertical movement and rotation of the boom 6 and the expansion / contraction operation of the arm 7 is provided.

  A changeover switch 58 for switching the operation of the crawler 2 </ b> A, the grapples 13 </ b> A and 13 </ b> B, and the leg 3 is provided below the operation stick 56. A display (display unit) 54 is provided further below these two changeover switches. On the right side of the display 54, a selection button 62 for selecting an item displayed on the display 54 and a confirmation button 63 for determining the selected item are provided. A screen switching button 64 for switching the operation screen is provided on the left side of the display 54.

  At the upper end of the controller main body 50B, an antenna 61 for transmitting and receiving radio waves is projected and provided. The antenna 61 is connected to a transmitter 52 and a receiver 53 (both described later) provided in the controller main body 50B. In addition, all operation signals from the operation unit are wirelessly transmitted to the reception unit of the self-propelled unmanned tree felling transporter 1 via the antenna 61.

  Next, a method for operating the self-propelled unmanned tree cutting and transporting machine 1 using the controller 50 will be described. First, the changeover switch 58 of the controller 50 is switched to the crawler side. When the operation stick 56 is tilted in the direction in which the self-propelled unmanned tree harvesting and transporting machine 1 is desired to travel, the crawler 2A of the self-propelled unmanned tree harvesting and transporting machine 1 is controlled to travel in that direction. For example, when the operation stick 56 is tilted upward in FIG. 3, the self-propelled unmanned tree cutting and transporting machine 1 goes straight, and when the operation stick 56 is tilted to the left, the self-propelled unmanned tree cutting and transporting machine 1 turns left.

  In this way, when the self-propelled unmanned tree cutting and transporting machine 1 arrives at a desired position, the operator performs the tree cutting operation with the controller 50. First is felling. In order to hold a desired tree with the grapples 13A and 13B, the changeover switch 58 is switched to the grapple side. Then, the operation stick 56 is tilted to the left. This opens the pair of grapples 13A, 13B. In conjunction with this, the pair of material transport rollers 15A and 15B are also opened. The self-propelled unmanned tree harvesting and transporting machine 1 is slightly moved forward so that the tree is positioned between the grapples 13A and 13B and between the material conveying rollers 15A and 15B. Next, when the operation stick 56 is tilted to the right, the grapples 13A and 13B and the material transport rollers 15A and 15B are closed, and the tree is gripped by both. In this state, when the felling / cutting button 59 is pressed, the chainsaw 17 is activated to cut the vicinity of the root of the tree.

  Next, pruning and cutting the ball. When the pruning button 60 is pressed, the harvester 10 tilts approximately 90 degrees forward while holding the tree. At the same time, the boom 6 and the arm 7 are appropriately operated to move above the loading platform 5 at a position slightly over the loading platform 5. In other words, the chain saw 17 is positioned above the loading platform 5 when cutting the tree, and the cut tree falls into the loading platform 5 on the opposite side of the material conveying rollers 15A and 15B across the chain saw 17. Configure as follows. Therefore, according to the present invention, it is possible to load the wood onto the loading platform 5 simultaneously with the ball cutting.

  Specifically, after the tree is felled at a position as shown in FIG. 4A, the harvester 10 is moved to a position as shown in FIGS. 4B and 4C. The moving position of the harvester 10 is a position where the cut timber falls into the loading platform 5 when the tree is cut into pieces. Further, thereafter, the material conveying rollers 15A and 15B rotate to send the trees toward the loading platform 5 in the horizontal direction. At this time, the tree is fed out while the blades formed on the grapples 13A and 13B cut off the branches protruding from the side of the tree. At this time, the average diameter of the tree is measured by the diameter measuring means, and is automatically transmitted from the transmitting / receiving unit 40 to the later-described wood information management center via the controller 50.

  The measuring device 18 measures the length of the delivered tree, and when the length reaches a preset length, the material transport rollers 15A and 15B stop rotating. Then, when the felling / cutting button 59 is pressed, the chainsaw 17 is activated to cut the tree at a desired length, and the timber is manufactured. The wood cut by the chainsaw 17 falls into the loading platform 5. When the chainsaw 17 cuts the tree, the measuring device 18 resets the length measurement value and can newly measure the length. In addition to the length of the wood, the number can be counted by the combination of the measuring device 18 and the chain saw 17. These pieces of information are automatically transmitted from the transmission / reception unit 40 to the wood information management center described later via the controller 50.

  When the branching button 60 is further pressed, the material transport rollers 15A and 15B are rotated again, and the tree is sent out while pruning the tree. When the tree is sent out by a predetermined length, the material conveying rollers 15A and 15B stop rotating. When the felling / drilling button 59 is pressed, the chainsaw 17 is activated to cut the tree at a desired length, and a second piece of wood is produced and dropped into the loading platform 5.

  When the cutting of the first tree is completed, the self-propelled unmanned tree cutting machine 1 is moved to the next target tree and the same operation is performed. Note that when the positions of the loading platform 5 and the main body 4 (or the harvester 10) are to be moved up and down, the changeover switch 58 is switched to the upper and lower positions of the main body. Then, the operation stick 56 is operated in the vertical direction to change the height. The leg 3 is moved up and down by expansion and contraction of the hydraulic cylinders 3A and 3B.

  In FIG. 5, the block diagram of the timber harvesting management system using the self-propelled unmanned tree cutting and conveying machine 1 is shown. The timber harvesting management system includes a self-propelled unmanned tree cutting and transporting machine 1, a controller 50 that remotely controls the machine, and a timber information management center 70 that manages the inventory of harvested timber. Communication between the controller 50 and the wood information management center 70 is performed by the artificial satellite 100.

  The self-propelled unmanned tree harvesting and transporting machine 1 includes a transmission / reception unit 40 (transmission unit 40A, reception unit (cutting machine reception unit) 40B), position determination unit 41, engine in addition to the devices described in FIGS. A switch key is provided. The transmission / reception unit 40 is for receiving the work instruction transmitted from the controller 50 and transmitting information such as the diameter, length, number, etc. of the manufactured wood to the controller 50 as harvest information. The position determination unit 41 is for receiving radio waves from the artificial satellite 100 and specifying the geographical position of the self-propelled unmanned tree felling transporter 1 by the GPS function.

  The controller 50 includes a transmission unit (controller transmission unit) 52, a reception unit (controller reception unit) 53, and the like in addition to the various operation units 51 and the antenna 61 shown in FIG. The transmission unit 52 transmits an operation command from the operation unit 51 as a radio wave to the self-propelled unmanned tree harvesting and transporting machine 1, or harvest information input from the operation unit 51 and the geographical information of the self-propelled unmanned tree harvesting machine 1. For example, position information is transmitted to the wood information management center 70. The receiving unit 53 is for receiving information from the wood information management center 70 and a felling instruction as radio waves. This transmission / reception is performed via the artificial satellite 100.

  In the wood information management center 70, the information management unit 71, the self-propelled unmanned tree cutting and transporting machine 1, the reception unit (center reception unit) 72 that wirelessly receives information from the controller 50, and the transmission that wirelessly transmits information to the controller 50 Unit (center transmission unit) 73, a monitor 74 for displaying various information, and the like. The information management unit 71 centrally manages information related to inventory management such as order information of timber from customers, shipping information of shipped timber, harvesting information of timber harvested by the self-propelled unmanned tree harvesting and transporting machine 1 A tree distribution map which is managed by the wood information management center 70 and which is geographical distribution information of trees before harvesting is managed.

  Next, a method for operating the wood harvest management system configured as described above will be described. First, in the wood information management center 70, the operator sets the type and location of a tree to be cut next in accordance with the wood inventory management status managed by the information management unit 71, and operates the controller 50. Instruct workers to cut down. In addition, the position determination unit 41 provided in the self-propelled unmanned tree harvesting and transporting machine 1 is located in the geographical position of the self-propelled unmanned tree harvesting and transporting machine 1 whenever the engine of the self-propelled unmanned tree harvesting and transporting machine 1 is ON. Can be transmitted to the wood information management center 70 via the controller 50. Therefore, the operator of the timber information management center 70 simultaneously works on the optimum cutting point based on the current position of the self-propelled unmanned tree cutting and transporting machine 1 and the tree distribution map stored in the information management unit 71. Instruct the person. These pieces of information are transmitted from the transmission unit 73 to the controller 50 and displayed on the display 54 to notify the operator.

  Based on an instruction from the wood information management center 70, the operator operates the controller 50 to move the self-propelled unmanned tree felling transporter 1 to the cutting position. At this time, since the controller 50 grasps the geographical position of the self-propelled unmanned tree cutting and transporting machine 1, the controller 50 can reliably move the self-propelled unmanned tree cutting and transporting machine 1 to a desired position. First, in order to start the felling operation, the image switching button 64 is pressed to display a logging operation start screen on the display 54 (FIG. 6A). Select “Yes” with the selection button 62 and press the confirm button 63 to confirm. As a result, the transmitted harvest information stored in the storage unit (not shown) is deleted, and storage of new harvest information can be started. Since the procedure of the logging operation is as described above, the description is omitted.

  When the felling operation is completed, the screen switching button 64 is pressed to display an end screen. Specifically, the end screen is configured as shown in FIG. When logging of the desired tree is completed, “Yes” is selected with the selection button 62 and the confirmation button 63 is pressed to confirm. Then, the tree type is displayed (FIG. 6 (c)). When the cedar is cut down, “cedar” is selected with the selection button 62, and the confirmation button 63 is pressed to confirm. Next, the controller 50 asks whether to send the type of wood as harvest information together with the diameter, length, and number of the produced wood to the wood information management center 70. “Yes” is selected (FIG. 6D), and the confirmation button 63 is pressed to confirm. Then, the harvest information is transmitted to the wood information management center 70 and stored in the information management unit 71. Further, on the display 54, it is asked whether the harvesting operation is to be terminated (FIG. 6 (e)). When the harvesting operation is to be ended, “Yes” is selected with the selection button 62 and the confirmation button 63 is pressed to confirm.

  On the other hand, when moving to another place and continuing the harvesting work without ending the harvesting work, “No” is selected with the selection button 62 and the confirmation button 63 is pressed to confirm. Thereafter, the controller 50 is operated to move the self-propelled unmanned tree felling and transporting machine 1 to start the felling operation. At this time, “Yes” is selected with the selection button 62 on the screen of the logging work start screen on the display 54 (FIG. 6A), and the confirmation button 63 is pressed to confirm. As a result, the transmitted harvest information stored in the storage unit (not shown) is deleted, and new harvest information can be stored.

  In addition, the self-propelled unmanned tree cutting and transporting machine of the present invention is not limited to the above-described embodiment. In the above-described example, the traveling unit of the self-propelled unmanned tree cutting and transporting machine is a crawler type, but may be a wheel traveling type. Further, the type of harvester is not limited to the above example, and a known technique may be used.

1 Self-propelled unmanned tree felling and transporting machine 2 Traveling section 3 Leg 4 Main body 5 Loading platform (transporting section)
6 Boom 7 Arm 8 Bracket 9 Connecting part 10 Harvester 11 Hanger 11C, 12C Hydraulic cylinder 12 Body frame 13A, 13B Grapples (gripping part)
13a, 13b Rotating shaft 14A, 14B Roller arm 15A, 15B Material conveying roller (sending part)
16 Lower frame 17 Chainsaw (cutting part)
18 Measuring device 50 Controller 50B Controller main body 51 Operation part 52 Transmission part (controller transmission part)
53 Receiver (Controller Receiver)
54 Display (display unit)
55, 56 Operation sticks 57, 58 changeover switch 59 Felling / drilling button 60 Branching button 61 Antenna 62 Selection button 63 Confirm button 64 Screen switching button 70 Wood information management center 71 Information management part 72 Receiving part (center receiving part)
73 Transmitter 74 Monitor 100 Artificial Satellite

Claims (3)

A self-propelled unmanned tree harvesting and transporting machine that operates according to wireless work instructions, a controller that transmits work instructions to the self-propelled unmanned tree harvesting and transporting machine, and wood that has been cut and harvested by the self-propelled unmanned tree harvesting and transporting machine A wood harvest management system comprising a wood information management center for managing harvest information of
The self-propelled unmanned tree harvesting and transporting machine includes a gripping part that grips a tree, a sending part that sends the gripped tree in a longitudinal direction, a cutting part that cuts the sent tree at a desired position, and the cutting And a transport unit that loads and transports the trees
The controller includes a controller transmission unit that transmits a work instruction to the self-propelled unmanned tree felling and transporting machine and transmits the harvest information to the wood information management center.
The wood information management center includes a center reception unit that receives the harvest information of the wood transmitted from the controller transmission unit, and an information management unit that stores and manages the received harvest information. , Wood harvesting management system. While the wood information management center comprises a center transmission unit, the controller is a wood harvest management system comprising a controller reception unit,
The wood information management center creates a felling instruction for a tree to be felled, transmits the felling instruction via the center transmission unit, and the controller receiving unit receives the felling instruction. Wood harvesting management system as described in A wood harvesting management system in which communication between the controller and the wood information management center is performed via an artificial satellite,
The self-propelled unmanned tree harvesting and transporting machine includes a position determination unit that specifies the geographical position of the self-propelled unmanned tree harvesting and transporting machine using the artificial satellite, and the self-propelled that has been identified by the position determination unit While sending the geographical position of the unmanned tree felling transporter to the wood information management center,
The wood information management center stores and manages the geographical distribution information of the trees before harvesting, and receives the geographical position of the received self-propelled unmanned tree felling transporter and the geographical distribution information of the trees before harvesting. The wood harvesting management system according to claim 2, wherein the logging instruction is created based on

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