JP2017201936A - Line network route-designing apparatus and program thereof, and system for generating and displaying line network route - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a line network plan with reality, which is automatically generated in consideration of, without relying on the experience and intuition of individual engineers on site, topographical conditions in the construction area of the line network and the costs necessary for construction of the road network and the income anticipated by establishing the road network.SOLUTION: According to the present invention, there is provided a line network route-designing apparatus 11. The apparatus comprises: candidate route-generating means 19 for generating a plurality of candidate routes within a pre-specified range of designation, based on previously stored map information in forest and vehicle information on specifications of a work vehicle passing through a work road; for each candidate route, based on the length of the route and various condition settings, route length-calculating means 20 for determining the length of each candidate route; assumed profit-calculating means 22 for obtaining, as an index for route selection, the assumed profit obtained by subtracting a cost necessary for constructing a work road from an income anticipated by establishing the work road; and route-determining means 23 for providing as a determined route a route selected on the basis of the assumed benefit from each candidate route.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a road network route design apparatus, a program for the same, and a road network route generation / display system. More specifically, the route design of a road network newly established in a forest is considered in consideration of the terrain information of the forest and the benefit of the user. The present invention relates to a road network route design apparatus and program for displaying the route to a user, and a road network route generation and display system.

  Currently, road network development in the forestry industry is carried out by methods that remain within the owners of large forests and self-forested foresters, and is not quantified or visualized depending on the experience and intuition of the engineers at the site. For this reason, know-how and information on road network development cannot be shared extensively, and it is inefficient at the time of road network construction, and it is difficult to improve and improve the technique itself while still immature. Problems such as landslides may occur on the road. In order to solve the above problems, a system that automatically generates a road network plan from natural conditions such as topography is required. In addition, a road network plan that takes into account the cost of new construction of the work road and the income expected from the new construction of the work road is also necessary, and the system for automatically performing the road network plan that takes these costs and income into account is as follows: Until now it never existed.

  By the way, Patent Document 1 discloses a new route generation apparatus that automatically generates a new route that is connected to an existing road network in a forest without requiring many years of experience and intuition of designers. In this new route generation apparatus, a new route is generated based on the forest book of the target area where the new route is generated.

JP 2014-135919 A

  However, in the new route generation apparatus of Patent Document 1, since a new route is generated based on the forest book, a realistic road network plan cannot be performed. In other words, the information in the forest book is basically information that is reported by the owner and is not necessarily accurate. The information in the forest book is mainly based on tree species (tree types) and age classes (trees). Therefore, in the new route generation apparatus, a new route is generated using only tree information such as tree species and age class. However, the road network at the actual forestry site is constructed based on the intentions of the forest owners, taking into account topographical conditions, that is, contour information, the presence of natural obstacles such as soil, water and rocks. Therefore, the road network plan generated by the new route generation apparatus is far from the actual road network plan.

  The present invention has been devised by paying attention to such problems, the purpose of which is not dependent on the experience and intuition of individual engineers on site, the topographic conditions in the road network construction range, A road network route design device and program for automatically generating a realistic road network plan in consideration of the costs required for the new construction of the road network and the revenue expected from the new construction of the road network, and a road network route generation and display system Is to provide.

  In order to achieve the above object, the present invention mainly relates to prestored map information in a forest and specifications of a work vehicle passing through the road network in a device for designing a route of a road network newly established in the forest. Candidate route generating means for generating a plurality of candidate routes of the road network that are candidates within a construction range of the road network specified in advance based on vehicle information, and a route length for determining the length of each candidate route Based on the route length calculated by the route length calculation unit and various condition settings for each of the candidate routes, calculation means and necessary conditions for the new construction of the road network from the revenue expected from the new construction of the road network An assumed profit calculating means for obtaining an assumed profit obtained by subtracting the cost as an index for route selection; and a route selected based on the assumed profit from the candidate routes as a determined route That includes a route selector, adopts a configuration that.

  According to the present invention, it is possible to automatically generate a candidate route for a road network that suits the actual situation based on map information and vehicle information without depending on the experience and intuition of individual engineers on site. In addition, economics, that is, the cost required for the new construction of the road network and the income expected from the new construction of the road network are considered together, and the optimum determined route can be automatically selected from the candidate routes. Furthermore, the determined route can be visualized and presented to the user before the new construction of the road network, and it becomes easy to present and explain the road network plan in advance to the local government and landowners. In addition, it is possible to quantify the economics of newly established routes, which makes it easier to explain to local governments and landowners.

  Here, when a configuration is adopted in which the decision route can be updated by freely changing the condition setting and feeding back to the process whose result is changed by the condition change, it is determined once according to various situations. The route can be changed flexibly. For example, the actual situation of the site owned by workers and forest owners that cannot be grasped by map information, the intentions of forest owners and local governments, and the construction of road networks discovered by workers after the start of construction work If there is a need to change the decision route due to fault information (for example, soil information, water information such as the presence of swamps, information on standing trees or fallen trees, etc.), the situation, intention, and information will be handled. By changing the condition settings, the road network plan can be easily reconstructed.

1 is a block diagram showing the overall configuration of a road network route generation / display system according to the present embodiment. The flowchart for demonstrating the process sequence of the said road network route production | generation display system. The schematic map for demonstrating the process in a vehicle type | system | group material collection possibility determination means. The block diagram which mainly represents the structure of a candidate route production | generation means. The schematic map for demonstrating the process in a candidate site extraction part. (A) is a schematic map for explaining the processing in the start / end determination unit, (B), (C) is a schematic map for explaining the processing in the route generation unit. The block diagram which mainly represents the structure of an assumed profit calculation means. The flowchart for demonstrating the modification of the process sequence of a road network route production | generation display system.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is a block diagram showing the overall configuration of a road network route generation / display system according to this embodiment. In this figure, the road network route generation / display system 10 automatically generates the best work road route and presents it to the user when newly establishing a work road constituting the road network in the forest for forestry. It is.

  In addition, when constructing a new work road, construction work is performed using a construction machine as a work vehicle, cutting down a obstacle tree that is a standing tree in the planned portion of the work road, and after the completion, A gathering operation is performed in which a forwarder is passed through the work road as a work vehicle, and the obstacles are collected and carried out using the forwarder. Therefore, in the following description, “opening” means a state in which the work road construction work is completed and a forwarder can pass through the work road before the collecting work. In addition, when a work road is newly established, a series of work from the construction work to the gathering work is referred to as “new construction”.

  Specifically, in the road network route generation and display system 10, the user designates a construction range in the forest in advance and sets various conditions, so that existing information is taken into account while considering the map information of the construction range. A plurality of working road routes that can access the forest road are generated, the best route is identified from among them, and the route is superimposed on the map image of the construction range. In the following description of the processing procedure, the flowchart of FIG. 2 is used as appropriate.

  This road network route generation / display system 10 generates a road network route design device 11 for designing a route of a newly established work road, and an image representing the best route designed by the road network route design device 11 together with a construction range. The image generation / presentation device 13 presented to the user and the input device 14 for the user to input predetermined information into the system are provided.

  The road network route design device 11 is configured by a computer including an arithmetic processing unit such as a CPU and a storage device such as a memory and a hard disk, and a program for causing the computer to function as the following units is installed.

  The road network route design device 11 includes information storage means 16 in which various information necessary for work road design, such as construction equipment performance and terrain, is input and stored in advance, and information stored in the information storage means 16. On the basis of the above, the vehicle-based material gathering availability judging means 17 for judging whether or not the construction road that leads to the existing forest road can be constructed within the construction range, and the vehicle-based material gathering availability judging means 17 construct the work road Candidate route generating means 19 for generating a plurality of candidate routes for work roads as construction candidates based on map information of the construction range and vehicle information related to the specifications of construction equipment that travels on the work road when it is determined to be possible. A route length calculation unit 20 for determining the length of each candidate route generated by the candidate route generation unit 19, and the route length calculated by the route length calculation unit 20 and various conditions for each candidate route. Configuration Based on the expected profit calculating means 22 for obtaining an expected profit obtained by subtracting the cost of the new construction of the work road from the revenue expected from the new construction of the work road as an index for route selection, and the assumed profit obtained by the assumed profit calculating means 22 Route determining means 23 for extracting the best route from the candidate routes as a determined route.

  In the information storage means 16, various information such as information on forest groups representing forest sections, contour information of forests, and position information of existing forest roads, valleys, rocks, rivers, etc. in the forests are previously stored as map information. In addition to being stored, the specs of construction equipment that is expected to be used when constructing a work road are stored as vehicle information. Here, the vehicle width, the climbing upper limit value (climbing ability value), the length of the boom and arm, and the like are stored as the specifications of the construction machine.

  In the vehicle-based material gathering possibility determination means 17, the work road to be constructed is an existing forest road based on the contour line information in the construction range from the viewpoint of the presence or absence of a gradient that hinders the movement of work vehicles such as construction equipment and forwarders. It is determined whether there is a connectable part (step S100 in FIG. 2). This determination process will be described in detail below using a plane map within the construction range 100 conceptually shown in FIG. In FIG. 3 and the like, a curve denoted by reference numeral 101 represents a contour line.

  First, as shown in FIG. 3A, a forest road center line 103 (a chain line portion in the figure) is provided at the center of the existing forest road 102 in the planting range 100. A reference point 105 is set at predetermined intervals on the forest road center line 103.

  Next, as shown in FIG. 3B, a determination circle 106 (a broken line portion in the figure) having a predetermined radius around each reference point 105 is set. Here, the interval between the reference points 105 and the radius of the determination circle 106 are set based on the assumed size of the work vehicle, and each determination circle 106 can cover the entire range around the existing forest road 102. Is set.

  Further, as shown in FIG. 3C, for each determination circle 106, each unit portion 108 is divided into fan-shaped unit portions 108 obtained by equally dividing the determination circle 106 (for example, four equal portions in the same figure). The number of contour lines existing within is counted. In FIG. 3C, only a part of the determination circles 106 is shown and other determination circles 106 are omitted in order to avoid complication of the drawing.

  Then, for each determination circle 106, an average value of the number of contour lines counted for each unit portion 108 is calculated, and it is determined whether the average value is equal to or less than a preset threshold value. As a result, the area of the determination circle 106 in which the average value exceeds the threshold value is determined as a non-connectable area where the area around the existing forest road 102 is steep and the work road cannot be connected to the existing forest road 102. On the other hand, the area of the determination circle 106 in which the average value is equal to or less than the threshold value is determined as a connectable area where a work road can be connected to the existing forest road 106. Finally, when at least one determination circle 106 determined to be a connectable area exists in the planting range 100, it is determined that there is a portion on the existing forest road 102 where a newly established work road can be connected. . In this case, by constructing the work road, it is determined that vehicle-based material collection using the work vehicle is possible during forest operation, and the subsequent route generation processing of the work road is performed. On the other hand, when all the judgment circles 106 are judged as non-connectable areas, it is assumed that the existing forest road 102 does not have a portion to which the work road to be constructed can be connected. Gathering is determined to be suitable, and subsequent route generation processing for the work road is not performed.

  As shown in FIG. 1, the candidate route generating means 19 includes a candidate site extraction unit 25 for extracting a plurality of candidate sites within the construction area that can become a place where timber is accumulated on the way route. The start / end point determination for determining the start and end points of the route of the work road based on the position information of the site candidate site extracted by the site candidate extraction unit 25 and the position information of the existing forest road existing in the construction range Unit 26, design condition setting unit 27 for setting work road design conditions based on vehicle information stored in the information storage means 16, a site candidate site extraction unit 25, a start / end point determination unit 26, and design condition setting And a route generation unit 28 that generates a candidate route for the work road using the processing result of the unit 27.

  As shown in FIG. 4, the candidate site extraction unit 25 searches the flat part search unit 30 that searches for a flat part that can be used as a base in the construction range, and the number of searched flat parts. And a final decision unit 31 that decides a candidate site for the ground.

  The flat part searching unit 30 searches for the flat part in the following procedure based on the contour line information within the construction range.

  First, with respect to the contour map of the construction range, a plurality of straight virtual lines 110 (indicated by a one-dot chain line in the figure) extending in the vertical direction in the figure are arranged so as to be equally spaced in the horizontal direction in FIG. (Step S101 in FIG. 2).

  Then, the virtual range 110 intersects the contour line 101, so that the construction range 100 is divided into a mesh shape, and the area of each of the divided sections 111 is obtained (step S102).

  Next, it is determined whether or not the area of each section 111 is equal to or greater than a preset threshold, and the section 111 having an area greater than or equal to the threshold is a flat portion F (FIG. 5A). It is temporarily specified as a rectangular area portion of middle thick line (step S103).

  Note that the virtual line 110 is not limited to the straight line described above. For example, as shown in FIG. 5B, each virtual line 110 is formed from each point provided at equal intervals on one end edge side of the existing forest road 102. It may be a curve extending downward in the figure so as to intersect the contour line 101 at a right angle.

  The final determination unit 31 performs the following process for determining a candidate site from the flat part searched by the flat part search unit 30 from the viewpoint of functionality as a work road.

  First, the range of the appropriate number of the land within the construction range is stored in advance, and the range of the appropriate number of the land is compared with the number of the flat portions F specified by the flat portion searching unit 30. (Step S104). And when the number of the said flat part F is in the range of the appropriate number of land, the said flat part F is made into the land candidate site D (same step S105), and in the starting / ending point determination part 26 mentioned later Proceed to processing. On the other hand, when the number of flat portions F is outside the range of the appropriate number of land, a threshold value changing process for increasing / decreasing the threshold value of the area of the section 111 used for the determination by the flat portion searching unit 30 is performed (same step). S106) After adjusting the number of flat portions F serving as the candidate site D within the range of the appropriate number of sites, the process proceeds to the process at the start / end point determination unit 26 described later. That is, when the number of flat portions F is smaller than the range of the appropriate number of grounds, a threshold value changing process is performed in which the threshold value of the area of the section 111 is changed so as to decrease by a predetermined number stored in advance. Thereafter, using the changed threshold value, the above-described processing in the flat portion searching unit 30 is performed again, and after increasing the number of specified flat portions F, the final field in the final determining unit 31 described above A comparison is made with the appropriate number range. On the other hand, when the number of flat portions F is larger than the appropriate number range of the ground, threshold adjustment processing is performed to change the threshold value of the area of the section 111 so as to increase by a predetermined number stored in advance. Thereafter, using the changed threshold value, the above-described processing in the flat portion search unit 30 is performed again, and the number of specified flat portions is reduced, and then the appropriate number of grounds in the final determination unit 31 Comparison with the range of is performed. These threshold value changing processes are repeatedly performed until the flat part F specified by the flat part searching unit 30 falls within the appropriate number of grounds (steps S103, S104, S106).

  In addition, when the number of flat parts is larger than the range of the appropriate number of land, the appropriate range of the land density, which is the ratio of the total area of the land to the area of the construction range, is stored in advance, and the appropriate It is also possible to perform a first selection process in which a flat portion specified by the flat portion searching unit 30 is randomly selected to be a ground candidate site so as to fall within the range.

  In addition, an imaginary circle having a predetermined radius corresponding to the density of the ground is provided around the center of each flat portion, the number of the imaginary circles is the smallest, and the area surrounded by the imaginary circles It is also possible to perform a second selection process in which a combination of virtual circles that maximizes the sum of the two is selected, and each flat portion corresponding to the selected virtual circle is identified as a potential site. This second selection process is repeatedly performed while increasing or decreasing the radius of the virtual circle until the selected flat portion falls within the appropriate number of grounds. Here, the radius of the virtual circle can be set to a different size for each flat portion corresponding to the area of the flat portion.

  The first and / or second selection processes described above can be performed in place of the threshold value changing process or in combination with the threshold value changing process.

  A mode in which the adjustment process of the number of candidate sites in the final determination unit 31 is omitted, and the flat part searched by the flat part search unit 30 is used as it is as a candidate site for the subsequent process. Can also be adopted.

  The start / end point determination unit 26 performs the following processing. First, as shown in FIG. 6 (A), one point (for example, the center point) in the candidate site D located closest to the existing forest road 102 is set as a temporary starting point St of the temporary work road ( Step S107 in FIG. Next, from the contour line information, the route r having the gentlest gradient is identified from the routes connected to the existing forest road 102 from the temporary starting point St, and the connection with the existing forest road 102 in the specified route r is performed. The point is determined as the starting point S of the work road, and one point (for example, the center point) in the candidate site D farthest from the existing forest road 102 is determined as the end point E of the work road (step S108). ).

  In the design condition setting unit 27, design information necessary for designing the work road, that is, the minimum road width of the work road, the upper limit value of the gradient of the work road, and the total area of the work road per unit area of the forest are obtained. The road network density to be represented is determined (step S109).

  That is, as shown in FIG. 4, the design condition setting unit 27 includes a road width setting unit 33 that sets a minimum road width of a work road to be designed, and a gradient upper limit setting unit 34 that sets an upper limit value of the gradient of the work road to be designed. And a road network density setting unit 35 that sets a lower limit value of the road network density that enables forest operation on a work vehicle passing through the work road.

  In the road width setting unit 33, the minimum road width of the work road to be designed is obtained by adding a margin width specified in advance to the vehicle width of the construction machine stored in the information storage means 16.

  The gradient upper limit setting unit 34 obtains the upper limit value of the gradient of the work road to be designed by multiplying the climbing upper limit value of the construction machine stored in the information storage unit 16 by a predetermined safety factor. It is done.

  In the road network density setting unit 35, the length of the boom and arm of the construction machine stored in the information storage means 16 and the length of the tree assumed to be felled by the construction machine during actual operation are stored in advance. Based on the equation, the lower limit value of the road network density is obtained so that the fallen tree after the felling can be accessed from any place on the work road.

  In the route generation unit 28, the location information of the potential site extracted by the potential site extraction unit 25, the location information of the start / end point determined by the start / end point determination unit 26, and the design condition setting unit 27 are set. On the basis of the design conditions, a plurality of work route candidate routes are generated by a process described later (step S110 in FIG. 2).

  As shown in FIG. 4, the route generation unit 28 is determined by a return point candidate search unit 37 that searches for a return point candidate that can be a return point of a work road within the construction range, and a design condition setting unit 27. A return determination unit 38 that determines the return point of the work road from the return point candidates together with the number of return times based on the minimum value of the minimum road width and the road network density; From the position information of the candidate site extracted by the extraction unit 25, an optimum route deriving unit 39 that obtains the optimum route passing through the return point and the candidate site, and correction processing of the returned point in the obtained optimum route are performed. And a turn-up point adjustment unit 40.

  Based on the map information stored in the information storage means 16, the turn-back point candidate search unit 37, as shown in FIG. 6B, includes a river 113, a rock 114, a ridge 115, and the like that exist within the construction range 100. In order to prevent the work road from crossing the natural obstacle area, a plurality of candidates for the turning point R of the white circle portion in the figure are extracted at a position slightly inside the natural obstacle.

  In the return determination unit 38, considering the minimum road width of the designed work road from the candidates of the return point R set by the return point candidate search unit 37, so as to be equal to or higher than the lower limit value of the road network density. A plurality of turning points R are appropriately selected. A plurality of patterns are extracted from the selected combination of the turning points R, and the process in the next optimum route deriving unit 39 is performed for each pattern.

  The optimum route deriving unit 39 uses the contour line information for each combination pattern of the turn-back points R, and as shown in FIG. 6C, each land candidate extracted by the site candidate site extracting unit 25. An optimum route r that passes through the ground D and is not more than the upper limit value of the gradient set by the gradient upper limit setting unit 34 is obtained. In order to derive the route here, a known algorithm that automatically generates the shortest path, such as an A-star algorithm or Dijkstra algorithm, is used, and the starting point S and the end point E of the work road determined by the starting point determining unit 26 are used. , And the optimum route r for performing the return at each return point R while passing through each candidate site D is specified. For example, when the A-star algorithm is used, the cost increases as the gradient of the link (node) becomes steeper based on the contour information, and the heuristic function is defined by the absolute value of the gradient. Then, the cost from the starting point S to the ending point E is estimated, and the route with the lowest total cost is selected as the optimum route r.

  In the turning point adjustment unit 40, the optimum route deriving unit 39 obtains the curvature of the work road at each turning point R for each optimum route r obtained for each combination pattern of the turning points R. Since the return at each turn-back point R becomes steeper as the value of is larger, the following correction process is performed. That is, when the curvature is greater than or equal to a predetermined value, the curved portion is made gentle so that the curvature of the work road at the turn-back point is less than the predetermined value, or the switchback that extends the work road outside the turn-back point R The shape of the folded portion R of the optimum route r is partially corrected so as to provide the portion.

  Through the above processing, the optimum route r obtained for each combination pattern of the turn-back points R is set as a candidate route for the work road.

  In the route length calculating means 20, the length from the starting point S to the ending point E in each candidate route is obtained by calculation based on the position information (step S111 in FIG. 2).

  In the assumed profit calculation means 22, the profit expected for the establishment of a new work road is calculated for each candidate route by simulation of profit based on the total length of each candidate route obtained by the route length calculation means 20 and various assumptions. (Assumed profit) is calculated by the process described later (step S112).

  As shown in FIG. 1, the assumed profit calculating means 22 includes an assumption condition setting unit 42 for setting various assumptions necessary for obtaining the assumed profit, and a main cost required for the new construction of the work road. The cost calculation unit 43 for calculating the income, the income calculation unit 44 for calculating the income expected from the establishment of the new work road, and the expected profit by subtracting the cost obtained by the cost calculation unit 43 from the income obtained by the income calculation unit 44 It is comprised by the assumed profit determination part 45. FIG.

  The assumption condition setting unit 42 stores the following information regarding the assumption condition input by the user using the input device 14. That is, as information here, the number of forwarders used at the time of collecting lumber, the fuel consumption of the forwarders, the unit price of fuel per liter of fuel used for the forwarders, the moving speed of the forwarders , The worker's experience expressed in the construction work distance per day at the time of construction of the work road, the number of workers required for the new construction of the work road, and the labor cost per worker And the minimum market price and general market price for selling trees, the density of trees standing per unit area in the forest, and the construction machinery used when cutting the surrounding trees after completion of the work road There are the length of the boom and arm, the thinning rate representing the degree of thinning to be performed at the time of the operation, and the amount of subsidies issued by the government and local governments for the construction of the new work road.

  In the above information, the number of forwarders used, the experience value that is the worker's ability index, the number of workers, the labor cost of workers, and the thinning rate are arbitrarily set according to the user's assumptions, and the forwarder fuel economy The speed and the length of the boom and arm of the construction machine are set based on a catalog of the work vehicle, and the unit price of fuel, the market price of each tree, and the density of the tree are set based on market conditions, market statistics, and the like.

  As shown in FIG. 7, the cost calculation unit 43 calculates a fuel cost calculation unit 47 that calculates the fuel cost of the forwarder at the time of gathering work on the obstacle tree, and calculates a labor cost necessary for the new construction of the work road. A labor cost calculation unit 48 and a cost determination unit 49 that calculates the cost by adding the fuel cost and the labor cost are included.

The fuel cost calculation unit 47 uses the number of forwarders N (units) among the route length L (m) obtained by the route length calculation means 20 and the conditions set by the assumption condition setting unit 42. The fuel cost Cf (yen) is obtained by the following equation using the forwarder fuel consumption F (l / m) and the forwarder fuel unit price Y (yen / l).
Cf = F × L × Y × N

  The labor cost calculation unit 48 uses an opening time calculation unit 51 that calculates an opening time, which is a time required to open a work road, and transports the obstacle tree to the ground by a forwarder using the opened work road. A gathering time calculation unit 52 that calculates a gathering time, which is a time to perform, and a personnel cost determination unit 53 that determines the labor cost of a worker required for the new construction of the work road in consideration of the opening time and the gathering time, Consists of.

In the opening time calculation unit 51, the expected worker ability is selected from the length L (m) of the work road obtained by the route length calculation unit 20 and the condition set by the assumption condition setting unit 42. Using the corresponding experience value E (m / day), the opening time T1 (day) is obtained by the following equation.
T1 = L / E

The gathering time calculation unit 52 uses the number of forwarders N (units) among the work road length L (m) obtained by the route length calculation means 20 and the conditions set by the assumption condition setting unit 42. ) And the forwarder speed v (m / day), the gathering time T2 (day), which is the travel time for one round trip of the work road using all the forwarders, is obtained by the following equation.
T2 = 2L / (v × N)

In the personnel cost determining unit 53, the opening time T1 (day) obtained by the opening time calculating unit 51 and the gathering time T2 (day) obtained by the gathering time calculating unit 52 and the assumption condition setting unit 42 are set. Among the conditions, using the number of workers n (persons) and labor cost S (yen / person) per worker required for the construction of a new work road, (Yen) is required.
Ch = n × S × (T1 + T2)

  The cost determination unit 49 adds the fuel cost Cf obtained by the fuel cost calculation unit 47 and the labor cost Ch obtained by the personnel cost calculation unit 48, so that the main cost Ct required for the new construction of the work road is obtained. Desired.

  As shown in FIG. 7, the income calculation unit 44 includes a hindrance tree sales revenue calculation unit 55 for obtaining income expected from sales of a hindered tree that is cut down when a work road is constructed, and a work after completion of the work road. Felled tree sales revenue calculation unit 56 for obtaining income expected from sales of the harvested trees around the obtained work road, and market sales of timber obtained by these obstacle tree sales revenue calculation unit 55 and felled tree sales revenue calculation unit 56 Is added to the income expected by the assumption condition setting unit 42, so that the income is determined by the income determination unit 57 that determines the income expected from the new construction of the work road.

The obstacle tree sales revenue calculation unit 55 sets the length L (m) of the work road obtained by the route length calculation means 20, the road width w (m) already specified at the time of designing the work road, and the assumption condition setting. Among the conditions set in the section 42, using the minimum market price Sm (yen) of trees and the density of standing trees D (lines / m ² ) which is the number of standing trees per unit area in the forest, Sales revenue I1 (yen) is required.
I1 = L × w × D × Sm

In the felled tree sales revenue calculation unit 56, the length of the working road L (m) obtained by the route length calculation unit 20 and the conditions set by the assumption condition setting unit 42 are used for construction equipment used at the time of operation. Using the total length l (m) of the boom and arm, standing tree density D (books / ha), thinning rate t during operation (0 ≦ t ≦ 1), and general market price of trees Sa (yen), The sales revenue I2 (yen) of the felled tree is calculated by the formula
I2 = f (L, l) × D × t × Sa
Here, f (L, l) is an area in a range in which standing trees can be cut around the work road based on the length L of the work road and the total length l of the boom and arm of the construction machine. This is a function for obtaining the possible area (ha) and is stored in advance. Here, the range where logging is possible is set to the entire range of the forest around the work road where the tip of the arm of the construction machine located on the work road can reach.

  In the income determination unit 57, the sales revenues I1 and I2 of the troubled trees and the felled trees are summed, and further, the amount of subsidy set in the assumption condition setting unit 42 is added, and this is assumed by the establishment of a new work road. Total revenue It is determined.

  The assumed profit determination unit 35 obtains the assumed profit by subtracting the cost Ct obtained by the cost calculation unit 43 from the total income It obtained by the income calculation unit 44.

  In the assumed profit calculation means 22 having the above configuration, the assumed profit is obtained for each candidate route generated by the candidate route generation means 19.

  Note that the assumed profit calculation means 22 can also calculate the assumed profit by including the fuel cost of construction equipment used at the time of construction of the work road and at the time of operation and / or the labor cost at the time of the operation. .

  In the route determination means 23, the candidate route having the maximum assumed profit in each candidate route is extracted as the determined route that is the best route (step S113 in FIG. 2).

  As shown in FIG. 1, the image generation / presentation device 13 generates an image for generating a presentation image in which the determined route of the work path determined by the route determination means 23 is displayed on the image of the construction range of the work path. 59 and display means 60 for presenting the presented image to the user.

  The image generation unit 59 generates a 3D presentation image that can be viewed three-dimensionally by the user through the display unit 60 (step S113). That is, here, first, based on information on contour maps, map information on existing forest roads, swamps, ponds, rivers, etc., and information on trees existing in the construction range, the construction range including standing trees is determined by a known method. A 3D map in which the entire view is displayed in a stereoscopic manner is generated. Then, a 3D image in which the determined route of the work road determined by the route determination means 23 is displayed at a corresponding position on the 3D map as a curve is generated. Note that when generating the 3D image, image data suitable for a display mode on the display unit 60 described later is generated. The 3D image may be a virtual image in which a real image obtained by capturing the construction range with a camera or the like is used and a curve representing a work route determination route is superimposed on the real image.

  The display unit 60 includes a display capable of displaying the 3D image generated by the image generation unit 59. For example, a head mount display or a display capable of displaying a 3D hologram can be employed.

  The image generation / presentation device 13 may generate a 2D image as a presentation image and present it to the user.

  As the input device 14, as long as the various inputs described above are possible, in addition to buttons, switches, a keyboard, a mouse, a touch panel, a touch pen, various known devices such as a device that detects and inputs the movement of eyes and hands. Input devices can be applied.

  Next, a series of procedures in the road network route generation / display system 10 will be described with reference to FIG.

  First, after various information and setting conditions are input by the input device 14, the vehicle system gathering availability determination means 17 determines whether or not work road construction within a desired construction range is possible (step S100). If it is determined that the road cannot be constructed, the process is terminated without performing the subsequent processing. On the other hand, if it is determined that the work road can be constructed within the construction range, the subsequent processing is performed.

  Next, the candidate route generation means 19 generates a plurality of candidate route for the new work road (steps S101 to S110), and the route length calculation means 20 obtains the total length of the work road for each candidate route. (Step S111).

  Thereafter, the assumed profit calculation means 22 obtains the expected profit expected from the establishment of the work road for each candidate route (step S112). Then, the route determining means 23 extracts a candidate route that can be expected to have the highest assumed profit as a determined route for the work road (step S113).

  Finally, from the position information of the determined route, the image generating unit 59 generates a presentation image in which the determined route of the work path is reflected on the map of the construction range (step S114), and the displayed image is displayed through the display unit 60. The user can see it.

  The road network route generation / display system 10 provides various information specified in advance according to the user's intention and the actual situation at the site after the work route determination route is presented to the user through the above process. It is also possible to update the work route decision route by changing the conditions and the conditions and feed back to the corresponding processing step, and to display a presentation image reflecting the updated decision route.

  That is, as shown in FIG. 8, when the user views the presentation image generated by the above-described procedure and determines that some correction is necessary, such as changes in various information and conditions (step S201 in FIG. 8). ) After the content of the correction is input by the input device 14, processing that gives different results is performed again according to the correction of information and conditions, and the work route determination route is updated. That is, when it is determined that various types of information and conditions have been changed, depending on the contents, from the above-described processing procedure, whether or not a work road construction determination by the vehicle-based material collection permission determination unit 17 is possible, or a candidate Reprocessing is performed from the generation of a candidate route for the work road by the route generation means 19 or the calculation of the assumed profit by the expected profit calculation means 22, and the above-described various processes are performed to identify a new work road determination route. Is done. Then, a presentation image based on the new determined route is generated and presented to the user through the display unit 60. In the correction processing here, when various information and conditions designated by the user are changed, the above-described update processing is repeatedly performed.

  Here, as an input mode when changing various types of information and conditions, for example, clicking on a display portion of various types of information and conditions displayed together with the presentation image in the display, and specific numerical values in the corresponding portions, etc. It is possible to adopt a mode in which the above information is input with a keyboard or the like, and the position information such as the area where the construction of the work path is impossible or the desired ground area is directly input to the presentation image using a touch pen or the like.

  In addition, as various information input to the system, it is useful information for constructing a work road, and is actually acquired by the operator etc., for example, soil information such as ground hardness, The location information of natural obstacle areas such as water and springs, and standing tree information (tree height, chest height diameter, spacing between standing trees, price of obstacle trees, etc.) that become obstacle trees are input, and the above-described decision route update processing is performed based on the input. It can also be done.

  In the above embodiment, the route of the work road is automatically generated by the road network route design device 11, but the present invention is not limited to this, and is used for route design of other road networks such as a new forest road. You can also.

  In addition, the configuration of each part of the apparatus in the present invention is not limited to the illustrated configuration example, and various modifications are possible as long as substantially the same operation is achieved.

DESCRIPTION OF SYMBOLS 10 Road network route production | generation display system 11 Road network route design apparatus 13 Image production | presentation presentation apparatus 14 Input device 17 Vehicle system material collection possibility determination means 19 Candidate route generation means 20 Route length calculation means 22 Expected profit calculation means 23 Route determination means 25 Landing site candidate extraction unit 26 Origin / end point determination unit 27 Design condition setting unit 28 Route generation unit 33 Road width determination unit 34 Gradient upper limit determination unit 35 Road network density setting unit 37 Return point candidate search unit 38 Return determination unit 39 Optimal route derivation unit 40 Folding point adjustment unit 42 Assumption condition setting unit 43 Cost calculation unit 44 Revenue calculation unit 45 Assumed profit determination unit 47 Fuel cost calculation unit 48 Personnel cost calculation unit 49 Cost determination unit 55 Obstacle tree sales revenue calculation unit 56 Felled tree sales revenue calculation Section 57 Income determining section 59 Image generating means 60 Display means

Claims (19)

In the device for designing the route of the road network newly established in the forest,
Based on the map information in the forest stored in advance and the vehicle information on the specifications of the work vehicle passing through the road network, the candidate route of the road network that is a candidate within the construction range of the road network specified in advance is determined. A plurality of candidate route generation means, a route length calculation means for obtaining the length of each candidate route, and the route length obtained by the route length calculation means and various condition settings for each candidate route. Based on the expected profit calculation means for obtaining an expected profit as an index for route selection by subtracting the cost required for the new construction of the road network from the revenue expected from the new construction of the road network, A route network route design apparatus comprising: a route determination unit that uses a route selected based on an assumed profit as a determined route.   The candidate route generation means includes a site candidate site extraction unit that extracts a plurality of site candidate sites that can become timber collection sites at the route of the candidate route, position information of the site candidate site, and the construction range Based on the position information of the existing forest road existing in the start and end point determination unit that determines the starting point and the end point of the candidate route, the design condition setting unit that sets the design condition of the road network based on the vehicle information, The route network route design apparatus according to claim 1, further comprising: a route generation unit configured to generate the candidate route based on position information of a starting point and the end point and the design condition.   In the site candidate site extraction unit, a plurality of virtual lines intersecting the contour lines are arranged within the construction range, and areas are obtained for each of the sections divided by the contour lines and the virtual lines, respectively. 3. The road network route designing apparatus according to claim 2, wherein the potential land site is extracted from a section having an area equal to or greater than a threshold value.   In the starting and ending point determination unit, one point in the land candidate site located closest to the existing forest road is set as a temporary starting point that is the temporary starting point, and based on the contour line information, the gradient is the largest from the temporary starting point. The point of the existing forest road connected by a gradual route is determined as the starting point, and one point in the candidate land site farthest from the existing forest road is determined as the end point. Item 3. Road network route design apparatus according to item 2.   The design condition setting unit includes a road width setting unit that sets a minimum road width of the road network to be designed, a gradient upper limit setting unit that sets an upper limit value of a gradient of the road network to be designed, and forest operation on the work vehicle. The road network route design apparatus according to claim 2, further comprising a road network density setting unit that sets a lower limit value of the road network density to be enabled.   The route generation unit, based on the design condition set in the design condition setting unit, a return point candidate search unit for searching for a return point candidate that can be a return point of the road network within the construction range, A wrapping determination unit that determines the wrapping point from the wrapping point candidates together with the number of wrappings, the position information of the determined wrapping point, and the position information of the land candidate site extracted by the site candidate site extracting unit The route network route design apparatus according to claim 2, further comprising: an optimum route deriving unit that obtains an optimum route that passes through the return point and the candidate site. The route generation unit further includes a return point adjustment unit that performs correction processing of each return point in the optimum route obtained by the optimum route derivation unit,
The turn-up point adjustment unit obtains the curvature at each turn-up point, and when the curvature is equal to or greater than a predetermined value, the curve portion is made gentle so that the curvature is less than the predetermined value, or the switchback portion 7. The road network route designing apparatus according to claim 6, wherein:   Based on the map information, the return point candidate search unit is a candidate for the return point at a position slightly inside the natural obstacle so that the road network does not intersect with the natural obstacle existing in the construction range. 7. The road network route designing apparatus according to claim 6, wherein: In the design condition setting unit, a minimum road width of the road network to be designed, an upper limit value of a slope of the road network to be designed, and a road network density representing a total area of the road network per unit area of a forest are determined. ,
In the return determination unit, among the return point candidates set in the return point candidate search unit, a plurality of the return points are set to be equal to or greater than the minimum road width and equal to or greater than the lower limit value of the road network density. The road network route designing apparatus according to claim 6, wherein a combination of points is selected, and a plurality of patterns of the combination are extracted.   The optimum route deriving unit uses the map information for each pattern of the combination of the turning points, passes through each site candidate site extracted by the site candidate site extraction unit, and has an upper limit of the gradient 10. The road network route designing apparatus according to claim 9, wherein the optimum route that is equal to or less than a value is obtained, and the optimum route is set as the candidate route.   The assumed profit calculation means includes an assumption condition setting unit in which various assumptions necessary for obtaining the assumption profit are set, a cost calculation unit that calculates the cost from the assumption condition, and the assumption condition from the assumption condition The road network route design apparatus according to claim 1, comprising: an income calculation unit that calculates income; and an assumed profit determination unit that calculates the expected profit by subtracting the cost from the income.   The cost calculation unit calculates a fuel cost calculation unit for calculating the fuel cost of the work vehicle in the work of collecting obstacle trees that are cut down when the road network is constructed, and calculates a labor cost necessary for the construction work of the road network 12. The road network route designing apparatus according to claim 11, further comprising: a labor cost calculation unit that performs a cost determination unit that calculates the cost by adding the fuel cost and the labor cost.   The revenue calculating unit includes a obstacle tree sales revenue calculating unit for obtaining an income expected from sales of a obstacle tree that is cut down when the road network is constructed, and a periphery of the road network obtained by forest operations after the opening of the road network. By adding the subsidy information set in the assumption setting section to the income expected from the sales of the felled trees and the felled trees, and the income expected from the sales of the felled trees. The road network route designing apparatus according to claim 11, further comprising: an income determination unit that determines an income expected from the new establishment of the road network.   2. The route network route designing apparatus according to claim 1, wherein the route determining means extracts a candidate route having the largest assumed profit from the candidate routes as the determined route. In the device for designing the route of the road network newly established in the forest,
Based on the map information in the forest stored in advance and the vehicle information on the specifications of the work vehicle passing through the road network, the candidate route of the road network that is a candidate within the construction range of the road network specified in advance is determined. A plurality of candidate route generation means for generating,
The candidate route generation means includes a site candidate site extraction unit that extracts a plurality of site candidate sites that can become timber collection sites at the route of the candidate route, position information of the site candidate site, and the construction range Based on the position information of the existing forest road existing in the start and end point determination unit that determines the starting point and the end point of the candidate route, the design condition setting unit that sets the design condition of the road network based on the vehicle information, A route network route design apparatus comprising: a route generation unit configured to generate the candidate route based on position information of a start point and the end point and the design condition. Further comprising vehicle-based material gathering availability determination means for determining whether or not the road network connected to the existing forest road can be constructed within the construction range;
In the vehicle system gathering availability determination means, whether or not there is a part where the road network can be connected to an existing forest road based on the map information from the viewpoint of the presence or absence of a gradient that hinders the movement of the work vehicle. The road network route design apparatus according to claim 1 or 15, wherein if it is determined and the connectable portion exists, it is determined that the road network can be constructed. A computer program incorporated in a road network route design device for designing a route of a road network newly established in a forest,
Based on the map information in the forest stored in advance and the vehicle information on the specifications of the work vehicle passing through the road network, the candidate route of the road network that is a candidate within the construction range of the road network specified in advance is determined. A plurality of candidate route generation means, a route length calculation means for obtaining the length of each candidate route, and the route length obtained by the route length calculation means and various condition settings for each candidate route. Based on the expected profit calculation means for obtaining an expected profit as an index for route selection by subtracting the cost required for the new construction of the road network from the revenue expected from the new construction of the road network, A program for a road network route design apparatus, which causes the computer to function as route determination means using a route selected based on an assumed profit as a determined route. In the road network route generation display system including the road network route design device according to claim 1,
An image generation and presentation device for generating an image representing the determined route designed by the road network route generation device together with the construction range and presenting the image to a user;
The image generation / presentation device includes: an image generation unit that generates a presentation image in which the determined route is displayed on an image in the construction range; and a display unit that presents the presentation image to a user. Network route generation and display system. An input device for inputting predetermined information into the system;
The route network route designing apparatus according to claim 1, wherein after the determined route is extracted, the condition setting is changed through the input device, whereby feedback processing is performed to update the determined route. 18. The road network route generation display system according to 18.

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