JP5307943B1 - New route generation apparatus and new route generation program - Google Patents

Abstract

[PROBLEMS] To provide a new route generation apparatus and a new route generation program capable of designing a new route so as to connect to an existing road network without the need for many years of experience and intuition of the designer in designing a new route. To do.
[MEANS FOR SOLVING PROBLEMS] A new route generation apparatus for generating a new route to be connected to an existing road network based on a forest management system in a forest or forestry, and a forest book of a target area for generating a new route is determined by a forest growth model. A waypoint setting means for setting a waypoint according to the priority of the operating system with respect to the updated forest book, and a plurality of newly-established routes to pass through the waypoint from the existing road network. A newly-established route setting means for setting and a newly-established route search means for determining a newly-established route by searching for a newly-established route that minimizes the opening cost from the plurality of newly-established routes are provided.
[Selection] Figure 1

Description

  The present invention relates to a new route generation apparatus and a new route generation program, and more particularly to a new route generation device and a new route generation device that generate an efficient new route in operation when a route necessary for forestry and forestry operations is newly established. The present invention relates to a route generation program.

Conventionally, the design of new roads in the forest and forestry (hereinafter referred to as “new route”) is the topographical undulations, restrictions on route gradients and protected areas, distribution of forests to be operated, connection to existing road networks, and opening costs. Therefore, it was necessary to consider in consideration of various conditions such as the transportation cost after opening, and it took a long experience and intuition by the designer. Therefore, in Non-Patent Document 1, in order to design a new route without relying on the designer's many years of experience and intuition, 2m mesh elevation terrain data (DEM data) is used, and a plurality of targets are taken into consideration. There has been proposed a technique for setting a point and automatically designing a route passing through these target points.
However, in Non-Patent Document 1, although it is possible to obtain a route that passes through a plurality of given target points, the forest book that describes the distribution of the forest stands is past information, so a new route is actually set. In many cases, the growing situation of the trees for each forest is different from the actual growing situation, and an efficient new route is not necessarily obtained in the operation. For this reason, it is necessary to conduct a survey on the growth status of each forest in advance, confirm the growth status, and predict the future growth status, and then design a new route. It was supposed to require experience and intuition.

Automatic design of forest road network including circulation path, Annual Conference of the Forest Society of Japan, 20122.6; Toshiaki Shirasawa, Naofumi Hasegawa

  In order to solve the above problems, the present invention eliminates many years of experience and intuition of designers in designing a new route, and can create a new route that is most efficient in forest and forestry operations. It is an object to provide a generation device and a new route generation program.

As a configuration of a new route generation device for solving the above problems, a new route generation device that generates a new route that becomes a road newly connected to an existing road network according to the growth of planted trees, The forest book in which the growth status of trees planted in the target area that generates the forest is described for each stand is updated according to the growth model set for each tree, and the trees in the updated forest book are more as weeding, thinning out, through the waypoint setting means for setting a waypoint to stand high number of on the working carried out until harvesting from planting including thinning, a transit point from the existing road network New planned route setting means for setting a new planned route, and new route search means for searching for a new planned route that minimizes the cost required for the construction of the new route from a plurality of new planned routes and determining the new route. By providing a new route As required many years of experience and intuition of the designer in the design, it is possible to connect a new path to the existing path network, sets the most efficient new route in forest management.
In addition, as a configuration of a new route generation apparatus for solving the above-described problem, the new planned route setting unit sets a plurality of new planned routes by all combinations connecting the plurality of input start point candidates and the plurality of end point candidates. By doing so, it is possible to reliably and efficiently connect the planned new route as the new route to the existing road network.
In addition, as a configuration of a new route generation device for solving the above-described problem, a plurality of end point candidates are generated for the input start point candidate, and a plurality of new planned routes that connect the generated start point candidate and the end point candidate are set. By doing so, it is possible to reliably and efficiently connect the planned new route as the new route to the existing road network.
In addition, as a configuration of a new route generation device for solving the above-described problem, the new planned route setting means is configured as a circulation route in which a start point and an end point are set on an existing road network, and is formed by the new route and the existing road network. By setting a new planned route, a new route without a dead end can be generated.
In addition, as a configuration of a new route generation device for solving the above problems, a new route generation program for generating a new route that becomes a road newly connected to an existing road network according to the growth of afforested trees , development situation of trees that were planted in the target area to generate a new route is a forest register, which is described in each stand to update so as to correspond to the growth model that has been set for each tree, of the updated forest register of stand Among them, via route setting step to set a forest with many operations between planting and cutting including undercutting, deforestation and thinning of trees as a waypoint, and passing through the route from the existing road network A new planned route setting step for setting a plurality of new planned routes in the route, and a new route search step for searching for a new planned route that minimizes the cost required for the construction of the new route from a plurality of new planned routes and determining the new route as a new route. And Is executed by the computer, as required many years of experience and intuition of the designer in the design of new paths, it is possible to connect a new path to the existing path network, it sets the most efficient new route in forest management.

  The summary of the invention does not list all necessary features of the present invention, and sub-combinations of these feature groups can also be the invention.

It is a block diagram which shows an example of the new route production | generation apparatus which performs a new route production | generation program. It is a conceptual diagram which extracts the operation cycle in a cedar forestry, and a forest object for operation. It is the conceptual diagram which produces | generates a link in a mesh area | region, and the calculation conceptual diagram of a link gradient. It is a conceptual diagram which shows the setting of a waypoint. It is a figure which shows the setting process of the starting point candidate point and end point candidate point by a 1st method. It is a figure which shows the setting process of the starting point candidate point and end point candidate point by a 2nd method. It is a figure which shows the setting process of the starting point candidate point by the 3rd method, and an end point candidate point.

  Hereinafter, the present invention will be described in detail through embodiments. However, the following embodiments do not limit the invention according to the claims, and all combinations of features described in the embodiments are included. It is not necessarily essential for the solution of the invention.

FIG. 1 is a block diagram showing an example of a new route generation apparatus that executes a new route generation program that suitably implements the present invention.
The new route generation apparatus 10 is a so-called computer, and includes a CPU as arithmetic means provided as hardware resources, ROM and RAM as storage means, and an input / output interface as communication means. The CPU executes a process to be described later in accordance with a new route generation program stored in the storage means. An input unit 3 such as a keyboard or a mouse, an input unit such as a magnetic or optical drive, or an output unit such as a monitor 2 is connected to the new path generation apparatus 10. Further, the new route generation program causes the new route generation device 10 configured as a computer to operate as each unit described later. Hereinafter, each unit of the new route generation apparatus 10 will be described.

The new route generation device 10 generates a plurality of newly-established routes that are connected to the existing road network based on the operation system accompanying the growth of forests in the forest and forestry, and generates an optimum new route for operation from the plurality of newly-established routes. It is to set.
The new route generation device 10 includes an outline, a data reading unit 11, a basic route generation unit 12, an opening cost setting unit 13, a waypoint setting unit 14, a detour setting unit 15, a starting point / end point setting unit 16, New planned route setting means 17 and new route search means 18 are provided.

The data reading means 11 includes, for example, altitude terrain data reading means, forest / forestry data reading means, and establishment cost setting data reading means.
The altitude terrain data reading means reads the altitude terrain data of the target area R where a route is newly established. The altitude terrain data is a so-called DEM (Digital Elevation Model) in which the altitude of the target area is recorded. For example, the topographic shape of the target area R obtained by LiDAR (Laser Imaging Detection and Raging) measurement or the like is a grid having a predetermined size. It is a three-dimensional map that is divided into a shape (mesh shape) and recorded by assigning an altitude corresponding to the actual topography for each divided mesh region. The mesh area has a dimension of, for example, 10 m, 5 m, 1 m, or 1 m or less.

  Forest / forestry data reading means reads forest / forestry data to generate new routes on existing roads (hereinafter referred to as existing road networks) including forest roads installed in mountainous areas for forestry and forestry. Run. Forest / forestry data includes basic forest map data 9A, forest book data 9B, operation / growth data 9C as a management system in forest / forestry, detour data 9D that should be detoured in setting a new route, etc. included.

The basic forest map data 9A is a record of boundaries, contour lines, road networks, and the like of forests and small groups in which stands are described.
The forest book data 9B is a ledger in which the owner, tree species, forest age, area, etc. are recorded for each tree (forest group) planted in the mountain, and the tree type and tree age for each stand in the forest. Etc. are recorded.
The operation / growth data 9C is a record of a growth model for each type of planted tree and a management system model that records the operation details for each type of planted tree in the forest / forestry. is there.

FIG. 2A is an example of operation / growth data, and is a diagram showing an operation system model and a growth model of cedar forestry. This figure shows a growth model of Japanese cedar with the forest age on the horizontal axis and the volume of wood on the vertical axis, and models the period from planting to logging. The operation system model is a model (systematization) of the operation content and operation time, such as undercutting, deforestation, and thinning, which are carried out as the cedar grows, from planting to logging.
In this way, the period from planting to felling for each type of tree is stored as a growth model, and further, the operation system for each type of tree is read as the operation model, so that it is effective in operations, and An efficient new route can be set.

  In the detour area data 9D, data of detour area Z indicating areas to be detoured such as protected forest area data, rare species protected area data, and collapsed areas are recorded.

  The opening cost setting data reading means reads the opening cost setting data in which the evaluation condition including the construction cost of the new route is input in the target area R. In the opening cost setting data, for example, the cost required for the construction of the link L, which will be described later, is recorded, the cost according to the gradient of the link L, the cost according to the length, and when the link L is constructed by a bridge or tunnel The cost is recorded.

The read data is displayed on the monitor 2 by display means. The display means includes, for example, a three-dimensional map display means and an existing road network display means.
The three-dimensional map display means classifies the altitude of the read altitude terrain data for each altitude within a predetermined range, assigns different colors in shades based on red for each classified altitude, and assigns each mesh area with the allocated color. It is colored and displayed on the monitor 2 as a red three-dimensional map. This red three-dimensional map is proportional to the saturation of red according to the amount of slope of the terrain, and the steep slope with a large slope amount becomes red from the gentle slope, and the ridge valley degree of the terrain is proportional to the lightness. Or, it is displayed as a pseudo color image prepared so that the independent peaks are brighter and the valleys and depressions are darker.

  The existing road network display means executes processing for extracting the existing road network from the forest basic map data 9A and displaying it on the monitor 2, and displays the existing road network K superimposed on the corresponding position of the red three-dimensional map. . That is, the display unit executes the 3D map display unit and the existing road network display unit, and displays the existing road network K of the area on the monitor 2 in a superimposed manner on the 3D map of the target area R.

  The basic route generation unit 12 is a processing unit that generates a virtual route that is a basis for setting a new route in the target area R, and includes a link generation unit 31, a link gradient calculation unit 32, and a gradient classification unit 33. With.

FIG. 3 shows a conceptual diagram for generating the link L in the mesh region M of the target region R and a conceptual diagram for calculating the link gradient.
As shown in FIG. 3A, the link generation means 31 searches for a new route by connecting adjacent mesh regions M of the mesh region M constituting the altitude terrain data as links in the target region R. A link network G serving as a guide is created. As shown in FIG. 3B, a link L is generated by connecting the center points O of the mesh regions M. From the mesh region M other than the mesh region M located at the boundary of the target region R, A link L is generated for each of the eight mesh regions M enclosing. In addition, the adjacent mesh area | region M means all the mesh area | regions M surrounding one mesh area | region M to which its attention is paid. The link network G created in this way serves as a reference for setting a new planned route in the target area R, and a new route is searched from the new planned route set in the link network G in a later process.

The link gradient calculation means 32 calculates the gradient (hereinafter referred to as link gradient) of each link L constituting the link network G created by the link creation means 31. As shown in FIG. 3C, the link gradient is calculated by dividing the distance between the centers of adjacent mesh regions M by the altitude difference. For example, as shown in FIG. 3A, the calculated link gradient is expressed as mesh area M (i, j) = {altitude if the reference mesh area M is represented as mesh area M (i, j) or the like. h, gradient g, gradient direction k (k = 1 to 8)} and the like are stored in the storage means. Therefore, by calling the mesh region M (i, j), the altitude h, the gradient g, and the gradient direction k (k = 1 to 8) associated with the mesh region M (i, j) are called. For example, as shown in FIG. 3 (b), the gradient direction k is set so that the link L toward the mesh region M (i + 1, j) on the right side of the focused mesh region M (i, j) is k = 1. They are associated in the clockwise order as 2, 3, 4,.
Note that the gradient between the mesh regions M adjacent only at the corners has a center-to-center distance d that is √2 times that of the mesh region M adjacent at the sides, so that √2 times is also reflected in the height h. It is processed as it is.

  The gradient classifying unit 33 searches for the maximum value and the minimum value of the link gradient in the link network G, divides the maximum value and the minimum value equally by a predetermined range of gradients, and classifies the link L within each range. And a process of assigning different colors to the links L included in the classified gradient range and displaying the links L in different colors for each gradient in the predetermined range. This assigned color is recorded as an attribute of each mesh region M. That is, the gradient classification means assigns a color according to the gradient of each link L, colors the link L with this color, and displays it superimposed on the red three-dimensional map.

  The color for coloring the link L may be displayed using, for example, green complementary to the red color of the red three-dimensional map. Thereby, it becomes easy to visually recognize the link network G on the red three-dimensional map. In this case, since it is displayed in a single different color, different colors are generated by changing the brightness and saturation based on the green color, and the generated color is different for each link gradient classification. Should be assigned. For example, assigning a darker green color with a tight link gradient, assigning a lighter green color with a gentle link gradient, and displaying a link network G on a red three-dimensional map. It is possible to intuitively understand the tendency of R's topographic shape.

  The establishment cost setting unit 13 performs an establishment cost setting process for each link L generated by the link generation unit 31. The establishment cost is set for all the links L according to the link gradient and the length of the link L, for example, based on the establishment cost setting data. When the link gradient exceeds a predetermined threshold, for example, the maximum numerical value that can be expressed by a computer is assigned as a cost, and this cost is set.

FIG. 4 is a conceptual diagram illustrating setting of a waypoint.
The waypoint setting means 14 includes a forest book normalization means 19 and a business priority setting means 20, and sets a place to be routed, that is, a waypoint, when a new planned route is generated.
The forest book normalization means 19 updates the read forest book data 9B with the operation / growth data 9C to the training status at the required time such as the present or the future.

The growth status of the trees in the forests recorded in the stands A to D of the forest book data 9B was created before the present, and the trees have grown from the time of creation to the present. The current situation is different.
Therefore, the forest book normalization means 19 updates the forest growth status in each of the stands A to D described in the forest book data 9B of the target area R for generating a new route to the current time by the growth model, The growth state of the forest in each stand A to D is normalized.
For example, as shown in FIG. 2 (b), the forest age in each stand A to D described in the forest book data 9B is A1 to D1, respectively, and the period from the creation of the forest book data 9B to the present is X If so, the current forest age is A2 to D2, respectively. At present, stands C and D are past clear-cut and can be cut at any time, or have already been clear-cut in some way. On the other hand, stands A and B require a plurality of operations before clear-cutting, so it is necessary to prepare an environment in which operations can be carried out efficiently in order to obtain high-quality timber.

In this way, by aligning the forest growth status in each of the stands A to D, it is possible to make a setting corresponding to the necessity (priority) in the operation for setting a new route. In other words, it is possible to set a new route that is efficient in operations by aligning the time axis of the growth status of the trees of the stands A to D in the forest book data 9B recorded at different times with the current growth status. It becomes.
Further, even when the update times of the stands A to D described in the forest book data 9B are different depending on the manager, it is possible to normalize the growth state of the trees in the stands A to D.

The operation priority setting means 20 extracts the stands to be operated from the stands A to D normalized by the forest book normalization means 19, and sets the priority in setting the new path. The priority is set, for example, as having a larger number of operations during the project target period of the newly established route. In the present embodiment, the stand B is described as having the highest operational priority. This stand B should be preferentially applied to the designer of the new route by, for example, displaying the color on the monitor 2 in a color-coded manner on the monitor 2 as a stand with high priority. The stand can be seen.
It should be noted that the operation priority setting means 20 may set a plurality of forest stands from those having a large number of operations to several higher ranks during the project target period of the newly established route. For example, when the number of operations of the stand C is the second highest after the stand B, the stands B and C are set as having a high priority.

The waypoint setting unit 14 calculates the center of gravity J of the shape of the stand B having a high priority set by the operation priority setting unit 20 and uses the center point O closest to the position of the center of gravity J as the waypoint P. The process to set automatically is executed. Further, after the setting of the waypoint P is completed, the waypoint setting means 13 allows the worker to input whether or not the route point is manually set. A process of prompting the operation of the input unit and additionally setting the center point O of the mesh region M including the position input by the operation of the input unit as the waypoint P is executed.
The center point O set as the waypoint is stored in the storage means. If it is input that there is no manual setting of the waypoint P, the process of setting the waypoint P is ended. When a plurality of stands are set as route points in the target area R, the center point O set as a route point is associated with each stand and stored in the storage means. Further, the automatically set position of the waypoint P may be configured so that editing processing such as correction, addition, and deletion can be manually performed as necessary.
In addition, when a plurality of waypoints P are set, the waypoint setting means 14 displays on the monitor 2 whether or not the route order of the plurality of waypoints P is set, and allows the operator to input the setting. Prompt. When the operator selects “no setting” by operating the input means 3 and inputs the setting, the process of setting the via order is terminated. In addition, when “with setting” is selected, the operator operates the input unit 3 to execute the setting process of the via order. For example, by selecting and clicking in the order in which the mouse, which is the input means 3, is to pass through the route point P displayed on the monitor 2, the route order setting process is executed. The set transit order is stored in the storage means.

The detour location setting means 15 sets a place that should not be routed, that is, a detour location Z, when a new planned route is generated, as indicated by a broken line in FIG. The detour place setting means 15 includes dangerous areas such as protected forests, protected forests, natural environment protected forests, forests to be protected such as rare species protected areas, dangerous area collapsed areas, and spring areas based on the detour area data 9D. The mesh area M is set as a detour place.
After the automatic setting of the detour area Z is completed, the detour area setting means 15 causes the operator to input whether or not the detour area is manually set to be input. The operation of the means is urged, and the mesh area M including the position input by the operation of the input means 3 is set as a bypass. If it is input that no manual setting of a detour place is entered, the process of additional setting to the detour place is terminated. Further, the automatically set detour area Z may be configured so that it can be manually corrected and deleted as necessary. For example, after the automatic setting process of the detour area Z is executed, whether or not the detour area Z has been changed is displayed on the monitor 2, and when the operator selects “none”, the process ends, and when “yes” is selected In this case, the operator may be further urged to operate the input unit 3, and the detour place Z automatically set by the operation of the input unit 3 may be configured to execute editing processing such as correction / deletion.

FIGS. 5A and 5B are conceptual diagrams showing the setting processing of the starting point candidate point S and the end point candidate point E by the starting point / ending point setting means 16.
The starting point / ending point setting means 16 is a processing means for setting the starting point and the ending point of the newly planned route in the link network G in order to connect the newly planned route to the existing road network K. The starting point / end point setting means 16 is selected from three methods according to the input of the operator. One is selected, and the starting point candidate point S and the end point candidate point E of the newly planned route are set.
The starting point / ending point setting unit 16 executes a process of allowing the operator to select and input one of the three methods from the setting of the starting point candidate point S, for example.
The three methods include a starting point / end point direct setting unit 16A as a first method, a starting point region end point network connection unit 16B as a second method, and a starting point network connection / end point region unit 16C as a third method. It is done.

When the starting point / end point direct setting unit 16A is selected, the starting point and the end point location are set in the vicinity of the existing road network K displayed on the monitor 2 by the operator operating the input unit 3 as shown in FIG. Execute processing to prompt input.
The starting point / end point direct setting unit 16A obtains the input starting point NS by directly inputting the starting point location in the vicinity of the existing road network K by the operator's operation of the input unit 3, and the center point O of the mesh region M including this position. Is set as the starting point candidate point S. Next, the end point location is directly input in the vicinity of the existing road network K to obtain the input end point NE, and the center point O of the mesh region M including this position is set as the end point candidate point E.
In this case, as shown in FIG. 5B, the position coordinates of the input start point NS and the input end point NE on the monitor 2 input by the input means 3 are connected to the existing road network K displayed on the monitor 2. The coordinate value corrected by executing the process for correcting the coordinate value is stored in the storage means, and after the new route is set, the post-processing is executed so that the coordinate value becomes the starting point and the ending point. As a result, the new route and the existing route K are connected. The existing road network K closest to the input position coordinates is corrected.

When the start area end point network connection means 16B is selected, first, the operator is made to select and input whether to set the start point by location input or by area input. When the operator selects a place input, as shown in FIG. 6A, a process for inputting a starting place in the target area R on the map displayed on the monitor 2 is prompted, and the input position is determined. Obtained as the input starting point NS, the center point O of the mesh region M including this position is set as the starting point candidate point S.
Further, when the operator selects the area input, as shown in FIG. 6B, the input position is acquired as the input start point NS, and all mesh areas M including the stand A that includes this position are acquired. The center point O is set as the starting point candidate point S.
Next, when the input of the start point is completed, all the center points O of the mesh region M including the existing road network K are automatically set as end point candidate points E as shown in FIGS. The

When the starting route network connection end point area means 16C is selected, first, a process for inputting a location that is the starting point in the target area R on the map displayed on the monitor 2 to the vicinity of the existing route network is prompted. The position is acquired as the input starting point NS, and the center point O of the mesh region M including the position is set as the starting point candidate point S.
Next, the operator is made to select and input whether the end point is set by location input or by region input. When the worker selects the place input, as shown in FIG. 7A, the process prompts the user to input the place to be the end point in the target area R on the map displayed on the monitor 2, and sets the input position. Obtained as the input end point NE, the center point O of the mesh region M including this position is set as the end point candidate point E. Further, when the operator selects the region input, as shown in FIG. 7B, the input position is acquired as the input end point NE, and all mesh regions M including the stand A that includes this position are obtained. The center point O is set as the end point candidate point E.

  When the starting point candidate point S and the end point candidate point E are set by the starting point region end point network connecting unit 16B and the starting point route network connecting end point region unit 16C, one starting point and one ending point are respectively obtained in the subsequent process. Will be determined.

The newly-established scheduled route setting means 17 includes a route point P set by the route point setting means 14, a detour point Z set by the detour point setting means 15, a starting point candidate point S and an end point candidate set by the starting point / end point setting means 16. All the combinations of routes satisfying the point E are set from the link network G.
As a specific process, the newly-established scheduled route setting means 17 deletes the link L connected to the detour Z from the link network G. Further, the link L set as an infinite cost by the opening cost setting means 13 is deleted from the link network G. Next, the starting point candidate point S and the end point candidate point E are set in the link network G, and all the combinations of the links L passing through the waypoint P between the starting point candidate point S and the end point candidate point E are set as newly planned routes. Set.

The new route search means 18 searches for a new planned route with the lowest opening cost among the new planned routes from the links L constituting the new planned route set by the new planned route setting means 17 by the route search method.
For example, when the transit order is not specified for the transit point P, the opening cost is obtained for all the newly established routes set by the newly established route setting means 17, and the newly established route group in which the opening cost is obtained is determined. To find the one with the lowest cost, and determine the newly planned route that has the lowest cost as the new route.
Further, when the transit order is designated for the transit point P, the minimum from the starting candidate point S of the newly planned route set by the newly planned route setting means 17 to the transit point set first in the transit order Search for the route that is the cost, and then search for the route that has the lowest cost from the first stop in the route order to the second stop that is set in the route order. Repeat the search for the route with the lowest cost sequentially according to the order, and search for the route with the lowest opening cost from the transit point set at the end of the route order to the end point candidate point E. The minimum newly planned route is searched.
The new planned route obtained by the search is determined as a new route and displayed on the monitor 2. Note that when a plurality of newly planned routes with minimum opening costs are obtained, all of them are displayed as new routes.

  In the present embodiment, a new route is searched using the Dijkstra method as an example of the route search method. Note that the route search method is not limited to the Dijkstra method, and a new route may be determined by searching for a newly planned route that minimizes the opening cost using another method.

Hereinafter, the flow of processing of the new route generation apparatus 10 by the new route generation program according to the present invention will be described.
Step 1: The altitude terrain data, forest / forestry data, and establishment cost setting data of the target area R for setting a new route stored in the storage means are read by the data reading means 11.
Step 2: The existing road network K is extracted from the basic forest map data 9A of the forest / forestry data by the display means, and the extracted existing road network K and the red three-dimensional map created based on the altitude terrain data are superimposed. The process of displaying on the monitor 2 is executed.
Step 3: The link generation unit 31 of the basic route generation unit 12 executes a process of generating the link network G on the red three-dimensional map.
Step 4: The link gradient calculating means 32 executes a process of calculating the link gradient of each link L constituting the link network G.
Step 5: Each link L for which the link gradient is calculated by the gradient classification means 33 is classified for each link gradient within a predetermined range, and the link L is colored with a different color for each classification, and displayed on the monitor 2. A process of superimposing and displaying the image is executed.
Step 6: The opening cost setting means 13 executes an opening cost setting process for each link L based on the link gradient.

Step 7: The waypoint setting means 14 performs the waypoint setting process. In this example, for the sake of simplicity, it is assumed that one waypoint P is automatically selected from a plurality of stands as shown in FIG. In addition, it is assumed that there is no additional waypoint setting manually.
Step 8: Processing for updating the forest book data 9B based on the operation / growth data 9C by the forest book normalization means 19 is executed.
Step 9: The process of setting the center point O closest to the position of the center of gravity J of the shape of the stand A having the high priority of the operation by the operation priority setting means 20 is executed. After the setting of the waypoint P is completed, the operator is made to input the presence / absence of the manual setting of the waypoint, and when the presence is inputted, the operator is prompted to operate the input means. A process of additionally setting the center point O of the mesh region M including the position input by the operation as a waypoint is executed. If it is input that there is no manual waypoint setting, the route point additional setting process is terminated. The center point O set as the waypoint P by the operation priority setting means 20 is stored in the storage means.

  Step 10: By the detour setting means 16, dangers such as protected forests, protected forests, natural environment protection forests, forests to be protected such as rare species protected areas, dangerous area collapsed areas, springs, etc. described in the detour area data A process of setting a detour area Z such as a region is executed. After the setting process of the detour area Z is completed, the detour area setting means 15 causes the worker to input whether or not the detour area is manually set to be input. The link L connected to the center point O of the mesh area M including the position input by the operation of the input unit is urged to be set as the detour Z. If it is input that no manual setting of a detour place is entered, the process of setting an additional detour place is terminated.

Step 11: The starting point / end point setting means 17 executes the setting process of the starting point candidate point S and the end point candidate point E of the new route.
Step 11-1: The starting point / end point setting means 17 determines whether or not the input by the operator is the first method. When the first method is selected, the starting point / end point direct setting means 16A is executed. Then, a process of setting the center point O of the mesh region M including the position input as the start point and the position input as the end point by the operator's operation of the input unit 3 as the start point candidate point S and the end point candidate point E is executed. At the same time, a process of correcting the position input as the start point and the position input as the end point to a coordinate value connected to the existing road network K displayed on the monitor 2 and setting the start point and the end point is executed.

  Step 11-2: When the first method is not selected, a process for determining whether or not the second method is selected is executed. When the second method is selected, the start area end road network connecting means 16B is executed. Then, a process for inputting a starting location is executed in the target area R on the map displayed on the monitor 2 to prompt the operator to input, and the position input by the operator is acquired as the input starting point NS. Then, the center point O of the mesh area M including this position is set as the starting point candidate point S. Further, when the operator selects the area input, a process of setting the center point O of all the mesh areas M including the stand that includes the input position as the starting point candidate point S is executed. Next, when the setting process of the starting point candidate point S is completed, a process of automatically setting all the center points O of the mesh area M including the existing road network K as the end point candidate points E is executed.

  Step 11-3: When the first method and the second method are not selected, the map displayed on the monitor 2 by executing the start route network connection / end point area means 16C as the third method Executes a process of inputting a location that is the starting point in the upper target area R in the vicinity of the existing road network K, prompts the operator to input, obtains the input position as an input starting point NS, and a mesh including this position A process of setting the center point O of the region M as the starting point candidate point S is executed. Next, the operator is made to select and input whether the end point is set by location input or by region input. When the worker selects the location input, the processing is executed to input the location as the end point in the target area R on the map displayed on the monitor 2 to prompt the operator to input the input position. Obtained as the end point NE, the center point O of the mesh region M including this position is set as the end point candidate point E. When the operator selects the area input, the input position is acquired as the input end point NE, and the center point O of all the mesh areas M including the stand A that includes this position is set as the end point candidate point E. Execute the process.

Step 12: The newly planned route setting means 17 connects the starting point candidate point S and the end point candidate point E set by the starting point / end point setting means 16 and sets a combination of the links L passing through the route point P as the newly scheduled route. Execute the process.
Step 13: The newly-established route search means 18 searches for the newly-established route having the minimum opening cost from the plurality of newly-established routes, and sets the newly-established route as a newly-established route, and also sets the origin candidate point S and the end point candidate. Processing for determining the point E as one starting point and ending point is executed. The new route is determined, for example, as shown by the thick solid lines in FIGS. 5B, 6A, 6B, 7A, and 7B.

  As explained above, the design of new routes in the forest and forestry fields, etc. is based on terrain undulations, route gradients, restrictions on protected areas, etc. It is necessary to consider considering various conditions such as connection, opening cost, transportation cost, etc., and depending on the designer's many years of experience and intuition, it took a lot of time, but according to the present invention, It is possible to set the most efficient new route and to connect the new route to the existing road network with certainty. Therefore, many years of experience and intuition of the designer can be dispensed with when designing a new route.

  In the above embodiment, it has been described that the link slope is calculated at the time of designing a new route. However, the link slope calculation is a target for which the new route has been designed once because the topography and DEM data do not change frequently. The link gradient data of the area may be stored as link gradient data, and the link gradient data may be read and used when designing a new route in this area again. By creating and storing link gradient data in this way, link gradient data that has already been calculated can be used, so that the calculation of the link gradient can be omitted when designing a new route for the second time or later in the same target area. . That is, it is possible to shorten the processing time when designing a new route a plurality of times for the target area.

  In addition, the shape of the mesh area in which the elevation of the elevation terrain data is recorded is not limited to a rectangular shape, and may be divided by an arbitrary polygonal shape (polygon) such as a triangular shape or a pentagonal shape. In this case, the elevation may be treated as if the altitude is recorded at the center of gravity position of each divided mesh shape.

  The time required for the route search by the new route search means 18 becomes longer as the number of links of the link network G increases. In this case, in order to speed up the process, the process may be executed as follows. The link gradient of the entire target area R is calculated in advance. Further, it may be processed with a polygon having an arbitrary shape so that a new route is generated by limiting a target area and temporarily deleting a link outside the limited area. In addition, a link whose link gradient is outside the allowable range is temporarily deleted so that the number of links constituting the link network G is reduced. Also, load multiple altitude terrain data with different mesh area dimensions, and first perform route search using altitude terrain data with the largest mesh area dimensions, and only for the path that the shortest path has passed, an altitude smaller than this You may be made to perform the process which performs route search sequentially using topographical data.

  Further, the new route search means 18 subtracts the harvest amount calculated from the volume shown in FIG. 2 from the opening cost from the opening cost of each link L set by the opening cost setting means 13, so that the new planned route is set. The new route may be searched by searching so that the opening cost is minimized.

10 new route generation device, 11 data reading means, 12 basic route generation means,
13 establishment cost setting means, 14 waypoint setting means, 15 detour place setting means,
16 starting point end point setting means, 17 newly planned route setting means, 18 newly established route searching means.

Claims (6)

A new route generation device that generates a new route that becomes a road newly connected to an existing road network according to the growth of planted trees ,
Development situation of trees that were planted in the target area to generate a new route is a forest register, which is described in each stand to update so as to correspond to the growth model that has been set for each tree, of the updated Forest register of stand A waypoint setting means for setting a forest with a large number of operations performed between planting and cutting, including undercutting, thinning and thinning of trees , as a waypoint,
New planned route setting means for setting a plurality of new planned routes so as to pass through the route from the existing road network,
A new route generation apparatus, comprising: a new route search unit that searches for a new route that minimizes the cost required for the construction of a new route from the plurality of new routes and determines a new route.   2. The new route generation apparatus according to claim 1, wherein the new planned route setting means sets a plurality of new planned routes by all combinations connecting a plurality of input origin candidates and a plurality of end point candidates. The newly planned route setting means generates a plurality of end point candidates for the input start point candidates,
The new route generation apparatus according to claim 1, wherein a plurality of new planned routes connecting the generated start point candidates and end point candidates are set.   The newly-established scheduled route setting means sets the newly-established route as a circulation route formed by the newly-established route and the existing route network, with the starting point and the end point being set on the existing route network. 3. The new route generation device according to any one of 3. Further comprising a detour location setting means for setting a detour location that cannot be set as a waypoint in the setting of the newly planned route,
5. The new route generation apparatus according to claim 1, wherein the new planned route setting unit sets a plurality of new planned routes so as to bypass the detour place. A new route generation program for generating a new route that becomes a road newly connected to an existing road network according to the growth of planted trees ,
Development situation of trees that were planted in the target area to generate a new route is a forest register, which is described in each stand to update so as to correspond to the growth model that has been set for each tree, of the updated Forest register of stand A transit point setting step for setting, as a transit point , a forest with a large number of operations performed from planting to logging, including undercutting, deforestation, and thinning of trees ,
A new planned route setting step for setting a plurality of new planned routes so as to pass through the route from the existing road network;
A new route search step for searching for a new planned route that minimizes the cost required for construction of a new route from the plurality of new planned routes, and determining a new route,
A new route generation program characterized in that a computer is executed.

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