JP7382770B2 - Model making machine - Google Patents

Description

The present invention relates to lumber-building machines such as processors and harvesters that perform delimbing, measuring, sawing, and loading of felled wood, and more specifically, This relates to a model making machine that measures and creates a three-dimensional model, and then performs round cutting.

Wood, such as pillars and boards, is an essential material for wooden buildings such as detached houses. In the past, it was possible to import large quantities of wood from overseas, but domestic production is now attracting attention, partly due to the movement to put a stop to deforestation in various countries since the 1980s. Currently, the self-sufficiency rate for wood is said to be 35% (27 million m ³ ), but it is expected that domestic wood will mature further in the future, and forestry is expected to become a growth industry in Japan. .

Pillar materials are made by cutting down standing trees on site (in the mountains), harvesting the felled wood (hereinafter referred to as "fallen timber"), and collecting the collected timber (hereinafter referred to as "material"). ) can be obtained by processing. Here, logging refers to the process of measuring the dimensions of felled wood (measured) and then cutting it (ball-cutting) to obtain material, and is usually carried out at a logging field. In the past, much of the work in the mountain lands was done manually, but with the recent development of high-performance lumber-making machines such as processors and harvesters, lumber harvesting is now done using these lumber-making machines. has become the mainstream. The materials obtained at the mountain site are transported by trucks and distributed to the market, where those who purchase the materials process them to obtain pillar materials.

The market price of the material varies depending on the degree of curvature of the axis (hereinafter referred to as ``axis alignment'') such as arrow height (curve curve) and curvature, and trunk diameter. For example, the closer the axis shape is to a straight line and the trunk diameter is in demand, the higher the price will be given. For this reason, collecting materials in the mountains is important, and measuring the materials in particular is an extremely important task that affects the market price of the materials. However, conventional sampling relies heavily on the operator's experience and intuition. That is, the operator's subjective judgment determines the axial alignment and trunk diameter, and determines the cutting position for obtaining the material.

In this way, with a method in which the quality of the material depends on the operator, it is difficult to continuously provide materials of stable quality. In particular, as the forestry workforce ages, the number of skilled operators will naturally decrease, and there will be fewer opportunities to pass on skills to younger generations of forestry workers. It is expected that it will become difficult to obtain stable supplies. Furthermore, with the current method, there is no way to confirm whether or not the optimal timber has been harvested from felled timber. In other words, it is not possible to verify the optimal selection of materials, and it is not possible to consider future improvements.

Therefore, in order to obtain materials of stable quality, various techniques have been proposed to perform objective evaluations in mountain lands. For example, Patent Document 1 proposes a technique for quantitatively determining the moisture content, which is one of the factors that determines the quality of a material, by measuring the volume and weight of the material.

Japanese Patent Application Publication No. 2013-29429

Incidentally, with the diversification of consumers, it is expected that evaluations of the quality of materials will also diversify. For example, some people want something with an axis that is close to a straight line, while others may want something with a large arrow height, and some people want something with a large trunk diameter, while others want something with a large trunk diameter. It is also possible to desire something with an extremely small trunk diameter. In fact, even though Japan Agriculture and Forestry Grades (JIS Grades) have been established, there are currently no common standards nationwide regarding axis alignment.

As mentioned above, it is difficult to stably provide high-quality materials using conventional methods in which the quality of materials depends on the operator. Furthermore, as the evaluation of material quality becomes more diverse, it becomes increasingly difficult to respond using conventional methods. Furthermore, it is possible to point out the problem of ensuring so-called traceability, which means that it is not possible for a third party to verify and confirm the suitability of optimal material collection after the fact.

The problem of the present invention is to solve the problems faced by the prior art, that is, it is possible to perform quantitative sampling without depending on the operator, and it is also possible to perform sampling that adapts to various demands. Moreover, it is an object of the present invention to provide a model making machine that can ensure the traceability of material collection.

The present invention focuses on measuring the surface of felled timber without contact while sending it out, and creating a three-dimensional model of the felled timber after delimbing. This invention was made based on the invention.

The model making material building machine of the present invention is equipped with a gripping means, a feeding means, a delimbing means, a cutting means, a measuring means, and a model making means. Among these, the gripping means is a means for gripping felled wood (felled wood), the feeding means is a means for sending out felled wood gripped by the gripping means, and the delimbing means is a means for feeding felled wood with the feeding means while felling the wood. The means for delimbing fallen wood and the cutting means are means for cutting fallen wood to obtain material. The measuring means is attached to the gripping means and measures the coordinates of a plurality of points on the surface of the felled timber in a non-contact manner. This is a means of creating a three-dimensional model representing the external shape of the object. Note that the measuring means measures the surface of the felled timber in the area where the limbs have been removed while sending out the fallen timber with the sending means, and the model creation means creates a three-dimensional model of the fallen timber after being delimbed. .

The model making material building machine of the present invention may also be equipped with a measuring means composed of two or more laser distance measuring devices.

The model creation machine of the present invention may further include a display means and a sampling position designation means. This display means is a means for displaying the external shape of felled timber based on a three-dimensional model, and the harvesting position specifying means allows the operator to select the harvesting position ( This is a means of specifying the position at which felled timber is to be cut. In this case, the cutting means cuts the felled timber at the harvesting position specified by the timber harvesting position specifying means.

The model creation machine of the present invention may further include material grade storage means and sampling position determination means. This material grade storage means is a means for storing the material grade determined including the bending condition (axial alignment) of the tree trunk and the end diameter after cutting, and the sampling position determination means is a means for storing the material grade that is determined by including the bending condition (axial line) of the tree trunk and the end diameter after cutting. This is a means of determining the sampling location based on the material grade and three-dimensional model. The logging position determining means determines the logging position so that the maximum amount of material matching the material grade can be obtained, and the cutting means cuts the felled timber at the logging position determined by the logging position determining means. do.

The model creation machine of the present invention may further include grade unit price storage means and sampling position determination means. This grade unit price storage means stores the material grade (grade determined including the axial alignment and end diameter after cutting) in association with the grade unit price (amount per unit volume) set for each of multiple material grades. The sampling position determining means is means for determining the sampling position based on the material grade and grade unit price read from the grade unit price storage means and the three-dimensional model. Note that the timber harvesting position determining means determines the timber harvesting position such that the total amount of material obtained is the highest, and the cutting means cuts the felled timber at the timber harvesting position determined by the timber harvesting position determining means.

The model making material building machine of the present invention may further include a moving body having a driver's cab and a boom. In this case, the gripping means, the sending means, the limbing means, and the cutting means are fixed to the tip of the boom, and the measuring means is attached to the operator's cab (or the boom). The model creation means creates a three-dimensional model representing the external shape of the felled timber based on the measurement point group acquired by the measurement means attached to the gripping means and the measurement means attached to the driver's cab.

The model making machine of the present invention has the following effects.
(1) The optimal sampling position can be quantitatively determined without relying on human subjective judgment, and even unskilled operators can obtain high-quality materials.
(2) Since a three-dimensional model of felled timber is created and the harvesting location is determined, traceability of timber harvesting can be ensured. As a result, it is possible to verify the optimal material collection and consider future improvements.
(3) Materials can be collected to suit various demands, that is, it is possible to respond to the diversification of customers.

FIG. 1 is a block diagram showing the main configuration of the model creation machine of the present invention. FIG. 3 is a perspective view showing the main body. FIG. 3 is a model diagram schematically showing a moving body and a main body attached to the moving body. FIG. 2 is a flowchart showing the main processing flow of the model creation material machine in the first embodiment. The flowchart which shows the flow of the main process of the model creation material machine in a 2nd form. A model diagram schematically showing the terminal end. FIG. 7 is a flowchart showing the main processing flow of the model creation material machine in the third embodiment. A model diagram explaining the combination of three types of material grades and grade unit prices.

An example of an embodiment of a model creation machine of the present invention will be described with reference to the drawings.

The model creation machine of the present invention collects felled wood (fallen wood) to obtain material (wood cut from felled wood), and produces a three-dimensional model representing the external shape of felled wood. One feature is the creation of a model (hereinafter referred to as "fallen timber 3D model"). Therefore, the model making lumber building machine of the present invention includes means for gripping felled timber (hereinafter referred to as "gripping means") and means for sending out felled timber gripped by the gripping means (hereinafter referred to as "feeding means"). ), a means for delimbing felled timber while sending it out using a sending means (hereinafter referred to as "limbing means"), a means for cutting felled timber to obtain material (hereinafter referred to as "cutting means"), It includes means for measuring the external shape of felled timber (hereinafter referred to as "measuring means") and means for creating a 3D model of felled timber (hereinafter referred to as "model creation means"). Note that the gripping means, delivery means, delimbing means, and cutting means may be manufactured as dedicated ones, or conventional lumber-making machines such as processors and harvesters may be used.

FIG. 1 is a block diagram showing the main configuration of a model making machine 100 of the present invention. As shown in this figure, the model making machine 100 includes a main body 110 and a model making means 120, and further includes a display means 130, a sampling position specifying means 140, a sampling position determining means 150, and a moving body 160. , material grade storage means 170, grade unit price storage means 180, model storage means 190, and the like.

The model creation means 120, the material collection position designation means 140, and the material collection position determination means 150 that constitute the model creation material building machine 100 can be manufactured as dedicated devices, or can be manufactured using a general-purpose computer device. can. This computer device can be configured by a personal computer (PC), a tablet PC such as an iPad (registered trademark), a mobile terminal including a smartphone, or the like. A computer device includes a processor such as a CPU, a memory such as a ROM or a RAM, and some devices further include input means such as a mouse and a keyboard, and a display. The display means 130 is preferably a display of this computer device.

The material grade storage means 170, grade unit price storage means 180, and model storage means 190 can be stored in a general-purpose computer, or can be built in a database server. :LocalAreaNetwork), or it can be a cloud server that stores it via the Internet (that is, wireless communication).

FIG. 2 is a perspective view showing the main body portion 110. As shown in this figure, the main body 110 includes a gripping means 111, a feeding means 112, a delimbing means 113, a cutting means 114, and a measuring means 115, and may also include a measuring device MD. .

The gripping means 111 constituting the main body 110 is composed of two grapples, and can grip and release felled timber by rotating each grapple around its upper end (in the direction of the arrow shown in the figure). Of course, the gripping means 111 grips the felled timber from the cross-sectional direction (trunk radial direction).

The felled timber gripped by the gripping means 111 is sent out in the direction of the trunk axis of the felled timber by the delivery means 112. This feeding means 112 can use, for example, a feed roller using a rotating body. By rotating the rotating body that is in contact with the felled timber, the fallen timber is sent out in the direction of the trunk axis.

The felled timber is sent out by the sending means 112, and branches are cut by the delimbing means 113. For example, a cutter or the like can be used as the limbing means 113. Although FIG. 2 shows an example of the main body 110 in which limb removal means 113 are installed at three locations, the present invention is not limited to this, and it is also possible to install limb removal means 113 at one or two locations, or four or more locations. A delimbing means 113 can also be installed. Further, the delimbing means 113 can be installed on both sides of the grapple when viewed in the trunk axis direction (that is, on the advancing side of the felled timber and on the opposite side), or can be installed on either side of the grapple. .

The felled wood after delimbing is cut by the cutting means 114, and as a result, a plurality of materials are obtained. Specifically, the felled timber is moved to a position where it should be cut (hereinafter referred to as a "sampling position") by the sending means 112, and then cut by the cutting means 114. When two or more timber harvesting positions are set, the movement of felled timber and cutting by the cutting means 114 are repeated as many times as there are timber harvesting positions. This cutting means 114 can be, for example, a chainsaw.

When the felled timber is sent out by the sending means 112, the measuring means 115 acquires the coordinates of a plurality of points on the surface of the felled timber (hereinafter referred to as "point group coordinates"). This measuring means 115 is capable of measuring point group coordinates on the surface of felled timber in a non-contact manner, and can use, for example, a laser distance measuring device. Of course, as long as the point group coordinates on the surface of felled timber can be measured without contact, it is possible to use a sonic ranging device in addition to a laser distance measuring device, or a stereo camera can be used to measure the coordinates of the surface of felled timber. A mechanism can also be adopted.

As shown in FIG. 2, the measuring means 115 is installed on the gripping means 111. In addition, when measuring the point group coordinates, it is desirable to use felled wood after delimbing, and therefore, the measuring means 115 is preferably installed on the rear side of the gripping means 111 (on the backward side of the felled wood to be sent out). The measuring means 115 may be installed at only one location, or at multiple locations (five locations in FIG. 2).

When using a laser distance measuring device as the measurement means 115, the installation position and installation orientation (that is, the laser irradiation direction) of the gripping means 111 are known, and the point group coordinates on the surface of the felled timber are calculated from this information and the laser irradiation distance. You can ask for it. Furthermore, since the felled timber is measured while being sent out, it is preferable to calculate the point group coordinates of the surface of the felled timber along with the moving distance of the fallen timber measured by a measuring device MD such as a rotary encoder. Alternatively, point group coordinates on the surface of felled timber can be determined based on the speed at which the felled timber is sent out. Specifically, the relative position of the measuring means 115 with respect to the felled wood at the laser irradiation time is determined based on the start time and sending speed of the felled wood, and the measurement results at the laser irradiation time and this relative position are used to determine the relative position of the felled wood. The point group coordinates of the surface of the fallen timber are determined.

The main body portion 110 may be attached to a moving body 160 as shown in FIG. 3. This moving body 160 can utilize a base machine of a construction machine such as a backhoe, includes a driver's cab 161 and a boom 162, and can move together with the main body 110. Although FIG. 3 shows a crawler-type mobile body 160 as an example, a tire-type mobile body 160 may also be employed depending on the conditions of the mountain land.

When using the moving body 160, the main body 110 may be attached to the tip of the boom 162. Further, the measuring means 115 (for example, a laser distance measuring device) can be attached to the operator's cab 161 of the moving body 160, or the measuring means 115 can be attached to the boom 162 instead of (or in addition to) the operator's cab 161. . Furthermore, a computer device equipped with the model creation means 120, the sampling position designation means 140, and the sampling position determination means 150 is placed in the operator's cab 161 to protect it from dust, etc., and a display means is provided so that the operator can easily check the computer equipment. 130 is also preferably placed inside the driver's cab 161.

As described above, the model creation lumber building machine 100 of the present invention creates a 3D model of felled wood, and the cutting means 114 cuts the felled wood at the harvesting position set in the 3D model of felled wood. It is something to do. Note that the model creation lumber machine 100 can be roughly classified into three types as a mechanism for setting the harvesting position in the 3D model of felled timber. Specifically, there is a specification (hereinafter referred to as the "first form") in which an operator specifies (inputs) a harvesting position while visually viewing a 3D model of felled timber displayed on the display means 130, and a specification in which the operator specifies (inputs) the harvesting position while visually viewing the 3D model of felled timber displayed on the display means 130 (hereinafter referred to as the "first form"), and a specification in which the material grade and felling are specified (hereinafter referred to as the "first form"). A specification that calculates the logging position based on a 3D model of felled timber (hereinafter referred to as the "second form"), a specification that calculates the logging position based on the material grade, grade unit price, and 3D model of felled timber, which will be described later. (hereinafter referred to as the "third form"). Hereinafter, each of the first form, second form, and third form will be explained in order.

(First form)
FIG. 4 is a flowchart showing the main process flow of the model creation machine 100 in the first embodiment. As shown in this figure, in the case of the first form, first, felled timber is measured by the measuring means 115 (Step 101). Specifically, as described above, the gripping means 111 grips the felled timber, and while the limbing means 113 removes the branches while it is gripped, the delivery means 112 sends out the fallen timber, and the measuring means 115 measures the point cloud coordinates on the surface of felled timber after removing branches. The measured results here are transmitted to the model creation means 120 by wireless (or wired) communication means.

When the model creation means 120 receives the measurement results from the measurement means 115, the model creation means 120 calculates point group coordinates on the surface of the fallen timber and creates a 3D model of the fallen timber (Step 102). To create a 3D model of felled timber from point cloud coordinates, we use the TIN (Triangulated Irregular Network) method, which calculates the height using an irregular triangular network formed from random data, and the Nearest Neighbor method, which uses the nearest laser measurement point 4. ), various conventionally used methods such as the inverse distance weighting method (IWD), the Kriging method, and the averaging method can be employed. The 3D model of fallen timber created here is stored in the model storage means 190 (FIG. 1).

Once the 3D model of fallen timber is created, this 3D model of felled timber is displayed on the display means 130 (Step 103), and the operator specifies the harvesting position using the harvesting position specifying means 140 (FIG. 1) (Step 104). . Specifically, while checking the 3D model of felled timber displayed on the display means 130, the operator specifies a harvesting position by clicking on a desired position in the displayed 3D model of felled timber.

When the timber harvesting position is designated, the delivery means 112 sends out (moves) the felled timber so that the cutting means 114 is placed at the timber harvesting position. At this time, the felled wood can be sent out to a predetermined position by the operator's operation (that is, manually), or the sending means 112 can automatically send out the felled wood based on the 3D model of the felled wood and the harvesting position. It is also possible to have a specification in which it is sent out to a predetermined position. Then, the cutting means 114 cuts the felled timber at the harvesting position (Step 105).

(Second form)
FIG. 5 is a flowchart showing the main process flow of the model creation machine 100 in the second embodiment. As shown in this figure, in the case of the second form, as in the first form, first, felled timber is measured by the measuring means 115 (Step 201). Specifically, as described above, the gripping means 111 grips the felled timber, and while the limbing means 113 removes the branches while it is gripped, the delivery means 112 sends out the fallen timber, and the measuring means 115 measures the point cloud coordinates on the surface of felled timber after delimbing. The measured results here are transmitted to the model creation means 120 by wireless (or wired) communication means.

When the model creation means 120 receives the measurement result by the measurement means 115, the model creation means 120 calculates point group coordinates on the surface of the felled timber and creates a 3D model of the felled timber (Step 202). The 3D model of fallen timber created here is stored in the model storage means 190 (FIG. 1).

Once the 3D model of felled timber is created, the logging position determining means 150 (FIG. 1) determines the logging position based on the 3D model of felled timber and the material grade (Step 203). Here, the material grade is a so-called standard that is determined by including at least the ``axial line'' that indicates the degree of curvature of the tree trunk, and the ``end diameter (Fig. 6)'' after cutting. Note that it is preferable to set a plurality of material grades (for example, grade A, grade B, grade C, . . . ) in advance as the material grade. Further, the material grade can be set based on a standard value, such as a material whose axial line is closer to a straight line and whose end diameter is larger, the higher the grade, or it can be set according to the demands of the customer. For example, if a customer wants a material with an appropriate degree of bending, the closer the axial shape is to that request, the higher the grade. If the customer specifies an end, the closer to the end, the higher the grade. This is why it is classified as a grade.

The sampling position determining means 150 determines the sampling position so that the maximum number of materials matching the material grade can be obtained. Specifically, the harvesting position determining means 150 reads out a 3D model of felled timber from the model storage means 190 (FIG. 1), and also reads a plurality of preset material grades from the material grade storage means 170 (FIG. 1). The 3D model of felled timber is read out and the material grade is compared to calculate the harvesting location. Normally, the length of the material is determined, so it is possible to determine the optimum sampling position where the most material matching the material grade can be obtained. In addition, when a level (high grade/low grade) is given to the material grade, it is preferable to set the specification to determine the sampling position so that the maximum amount of material matching the high-level material grade can be obtained.

When the timber harvesting position is determined, the delivery means 112 sends out (moves) the felled timber so that the cutting means 114 is placed at the timber harvesting position. At this time, the felled wood can be sent out to a predetermined position by the operator's operation (that is, manually), or the sending means 112 can automatically send out the felled wood based on the 3D model of the felled wood and the harvesting position. It is also possible to have a specification in which it is sent out to a predetermined position. Then, the cutting means 114 cuts the felled timber at the harvesting position (Step 204).

(Third form)
FIG. 7 is a flowchart showing the main process flow of the model creation machine 100 in the third embodiment. As shown in this figure, in the case of the third form, as in the first form and the second form, first, felled timber is measured by the measuring means 115 (Step 301). Specifically, as described above, the gripping means 111 grips the felled timber, and while the limbing means 113 removes the branches while it is gripped, the delivery means 112 sends out the fallen timber, and the measuring means 115 measures the point cloud coordinates on the surface of felled timber after removing branches. The measured results here are transmitted to the model creation means 120 by wireless (or wired) communication means.

When the model creation means 120 receives the measurement result by the measurement means 115, the model creation means 120 calculates point group coordinates on the surface of the fallen timber and creates a 3D model of the fallen timber (Step 302). The 3D model of fallen timber created here is stored in the model storage means 190 (FIG. 1).

Once the 3D model of felled timber is created, the logging position determining means 150 (FIG. 1) determines the logging position based on the 3D model of felled timber, the material grade, and the grade unit price (Step 303). Here, the grade unit price is the amount per unit volume set for each material grade explained in the second embodiment. For example, in Figure 8, three material grades are set: grade A, grade B, and grade C. Grade A has a unit price of 12,000 yen/ ^m3 , and grade B has a unit price of 8,000 yen/m3. Grade unit price of ³ is given, and grade C is given a grade unit price of 5,000 yen/ ^m3 .

The sampling position determining means 150 determines the sampling position so that the total cost of the material is the highest. Specifically, the harvesting position determining means 150 reads out a 3D model of fallen timber from the model storage means 190 (FIG. 1), and also stores a plurality of material grades and grade unit prices in advance from the grade unit price storage means 180 (FIG. 1). While reading and comparing the 3D model of felled timber with the material grade, the total amount of material is calculated based on the grade unit price and the harvesting position is determined. Normally, the length of the material is determined, so it is possible to determine the optimal location where the total cost of the material is the highest.

When the timber harvesting position is determined, the delivery means 112 sends out (moves) the felled timber so that the cutting means 114 is placed at the timber harvesting position. At this time, the felled wood can be sent out to a predetermined position by the operator's operation (that is, manually), or the sending means 112 can automatically send out the felled wood based on the 3D model of the felled wood and the harvesting position. It is also possible to have a specification in which it is sent out to a predetermined position. Then, the cutting means 114 cuts the felled timber at the harvesting position (Step 304).

The model creation lumber construction machine of the present invention can be used for felled timber of various tree species, and can be used for felled timber placed not only in mountainous areas but also in various places. . Given that the claimed invention aims to ensure the objectivity and efficiency of work and eliminate the chronic labor shortage in the forestry industry, it is an invention that can be expected to not only be used industrially but also make a significant contribution to society. It can be said.

100 Model-making material-making machine 110 Main body (of the model-making material-making machine) 111 Gripping means (of the main body) 112 Delivery means (of the main body) 113 Limbing means (of the main body) 114 Cutting means (of the main body) 115 Measuring means (of the main body) 120 Model creation means (of the model creation machine) 130 Display means (of the model creation machine) 140 Sampling position designation means (of the model creation machine) 150 (Model creation machine) Sampling position determination means (of the lumber machine) 160 Moving body (of the model creation lumber machine) 170 Material grade storage means (of the model creation lumber machine) 180 Grade unit price storage means (of the model creation lumber machine) 190 (Model creation) Model storage means (of the lumber making machine) MD Measuring device (of the model making lumber machine)

Claims (6)

a gripping means for gripping felled wood;
a sending means for sending out the wood while the wood is gripped by the gripping means; a delimbing means for delimbing the wood while sending out the wood with the sending means;
a cutting means for cutting the wood to obtain a material;
a measuring means attached to the gripping means;
Model creation means for creating a three-dimensional model representing the external shape of the wood based on the measurement point group acquired by the measurement means,
The measuring means is installed on the retreating side of the wood being fed out of the grasping means,
The measuring means is capable of non-contact measuring the coordinates of a plurality of points on the surface of the wood after delimbing ,
Furthermore, the measuring means measures the surface of the wood at the delimbed part while sending out the wood with the sending means,
The model creation means creates the three-dimensional model of the wood after being delimbed.
A model making material machine characterized by: The measuring means is composed of two or more laser distance measuring devices,
The model making machine according to claim 1, characterized in that: Display means for displaying the outer shape of the wood based on the three-dimensional model;
further comprising a cutting position designating means for an operator to specify a cutting position for cutting the wood with respect to the external shape of the wood displayed on the display means,
The cutting means cuts the wood at the harvesting position specified by the timber harvesting position specifying means,
The model making machine according to claim 1 or claim 2, characterized in that: a material grade storage means for storing a material grade determined including an axial line indicating the degree of curvature of a tree trunk and an end diameter after cutting;
further comprising a cutting position determining means for determining a cutting position for cutting the wood based on the material grade read from the material grade storage means and the three-dimensional model;
The sampling position determining means determines the sampling position so that a maximum amount of the material matching the material grade can be obtained,
The cutting means cuts the wood at the harvesting position determined by the timber harvesting position determining means,
The model making machine according to claim 1 or claim 2, characterized in that: The material grade, which is determined by including the axial alignment indicating the degree of curvature of the tree trunk and the end diameter after cutting, is associated with the grade unit price, which is the price per unit volume set for each of the multiple material grades. grade unit price storage means for storing the grade unit price;
Further comprising a cutting position determining means for determining a cutting position for cutting the wood based on the material grade and the grade unit price read from the grade unit price storage means and the three-dimensional model,
The sampling position determining means determines the sampling position so that the total amount of the material obtained is the highest,
The cutting means cuts the wood at the harvesting position determined by the timber harvesting position determining means,
The model making machine according to claim 1 or claim 2, characterized in that: Further comprising a moving body having a driver's cab and a boom,
The gripping means, the feeding means, the limbing means, and the cutting means are fixed to the tip of the boom,
The measuring means is attached to the operator's cab or the boom,
The model creation means is based on a group of measurement points acquired by the measurement means attached to the gripping means, the measurement means attached to the operator's cab , or the measurement means attached to the boom. , creating the three-dimensional model representing the external shape of the wood;
The model making machine according to any one of claims 1 to 5, characterized in that:

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