JP2021070544A - Cable yarding system - Google Patents

Abstract

To provide a cable yarding system which no manual loading/unloading works are required at a logging area and a wood collecting area, and moreover, capable of reducing the number of personnel required for collecting woods.SOLUTION: A cable yarding system (100) comprises a grapple device (3) and a cable yarder (1) to move the grapple device (3), and transports the cut woods from a logging area to a wood collection area. The cable yarding system (100) has a driving control part (31) to control the driving of the grapple device (3) and the cable yarder (1), an imaging part (3s) to capture an image below the grapple device (3), and an image recognition part (32) to recognize the woods in the image. The driving control part (31) controls the driving of the grapple device (3) and the cable yarder (1) according to the recognized result by the image recognition part (32).SELECTED DRAWING: Figure 7

Description

The present invention relates to an overhead wire collecting system, and more particularly to an overhead wire collecting system using a grapple device.

Conventionally, there is known an overhead wire collecting system for transporting felled timber from a timber logging area where timber is logged to a timber logging area where timber is collected (see, for example, Patent Document 1). This Patent Document 1 describes that the timber suspended from the carrier is transported to the timber collecting area by moving the carrier along a wire.

In the overhead wire collecting system described in Patent Document 1, it is possible to easily perform the unloading work of timber at the timber collecting area. However, the timber loading work in the logging area had to be done manually. In addition, in order to carry out the loading work, for example, it is necessary to climb a steep mountain road or the like to reach the timber logging area, and the loading work has been troublesome and dangerous for the worker.

On the other hand, in order to eliminate the need for manual loading work in the logging area, it is also considered to transport the timber using a grapple device capable of mechanically grasping the timber. However, in this case, it is necessary to mount the drive source on the grapple device, and there is a concern that the grapple device becomes large in size and weight increases. Also, it has been difficult to smoothly move such a grapple device along the wire.

In addition, when performing work using the grapple device from loading, transporting, and unloading timber, the workers who operate the grapple device are assigned to the timber logging area or timber logging area, and the felled timber is used. It was necessary to work while visually recognizing the position of.

Japanese Patent No. 4360935

The present invention has been made in consideration of the above-mentioned circumstances, and does not require manual loading and unloading work at the timber logging area and the timber collecting area, and moreover, the timber collecting area is not required. The purpose is to provide an overhead wire collecting system that can reduce the number of personnel required for the operation.

In order to solve the above problems, the overhead wire collecting system of the present invention includes a grapple device and an overhead wire collecting machine for moving the grapple device, and is an overhead wire for transporting the felled timber from the timber logging area to the timber logging area. An image that recognizes the wood in the logging system, a drive control unit that controls the driving of the grapple device and the overhead wire collecting machine, an imaging unit that captures an image below the grapple device, and an image that recognizes the wood in the image. It has a recognition unit, and the drive control unit controls the drive of the grapple device and the overhead wire collecting machine according to the recognition result of the image recognition unit.

In such an overhead wire collecting system of the present invention, in order to control the drive of the grapple device and the overhead wire collecting machine according to the recognition result of the image recognition unit, manual loading at the timber logging area and the timber collecting area is performed. No work or unloading work is required, and the number of personnel required for collecting timber can be reduced.

Further, in one aspect of the present invention, the drive control unit changes the position of the grapple device when the wood is not included in the image, and the grapple when the wood is included in the image. The device performs a gripping operation for grasping the wood.

Further, in one aspect of the present invention, the drive control unit performs mechanical reinforcement learning of the gripping operation of the wood.

Further, in one aspect of the present invention, the drive control unit moves the grapple device to the timber collecting area after the gripping operation, and the grapple device releases the timber at the timber collecting area. carry out.

Further, in one aspect of the present invention, the grapple device has a main body portion and a grapple arm provided below the main body portion, and the image pickup unit, the image recognition unit, and the drive control unit are the main body. It is provided in the department.

Further, in one aspect of the present invention, the grapple device includes an acceleration sensor unit, and the drive control unit identifies a vertically downward position in the image based on the detection result of the acceleration sensor unit.

Further, in one aspect of the present invention, the grapple device is provided so as to be movable along the wire of the lifting line, which comprises an endless styler type configuration having at least a skyline, an endless line, and a lifting line.

The present invention provides an overhead wire collecting system that does not require manual loading and unloading work in timber logging and timber collecting areas, and can reduce the number of personnel required for timber collecting. Can be provided.

It is a figure which shows the schematic structure of the overhead wire collecting system provided with the grapple device which concerns on embodiment of this invention. It is a top view which shows an example of the collecting range of the overhead wire collecting system of FIG. It is a perspective view which shows the overhead wire collecting machine provided in the overhead wire collecting system of FIG. It is a figure which shows the schematic structure of the hydraulic circuit of the overhead wire collecting machine of FIG. It is a figure which shows the schematic structure of the grapple device including the grapple drive device. It is a figure which shows the opening and closing operation of the grapple arm of the grapple device of FIG. It is a block diagram which shows the structure of the overhead wire collecting system 100. It is a figure which showed typically the loading, transporting, and unloading operation of the wood by the automatic control of the overhead wire collecting system 100. It is a flowchart which shows the control from the start of automatic control. It is a flowchart which shows the control which follows FIG. It is a flowchart which shows the control which follows FIG. It is a flowchart which shows the control which follows FIG. It is a schematic diagram showing an example of the image which imaged the lower region of the grapple device 3 by the image pickup unit 3s.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a diagram showing a schematic configuration of an overhead wire collecting system 100 including a grapple device 3 according to an embodiment of the present invention. FIG. 2 is a plan view showing an example of the collection range R1 of the overhead wire collection system 100 of FIG. FIG. 3 is a perspective view showing an overhead wire collecting machine 1 provided in the overhead wire collecting system 100 of FIG. FIG. 4 is a diagram showing a schematic configuration of a hydraulic circuit of the overhead wire collecting machine 1 of FIG. FIG. 5 is a diagram showing a schematic configuration of a grapple device 3 including a grapple drive device according to an embodiment of the present invention. FIG. 6 is a diagram showing an opening / closing operation of a pair of grapple arms (hereinafter referred to as tongs) 3c of the grapple device 3 of FIG.

First, the schematic configuration of the overhead wire collecting system 100 will be described with reference to FIGS. 1 and 2. In the present embodiment, the overhead wire collecting system 100 is configured as an endless styler type overhead wire collecting system. As shown in FIGS. 1 and 2, the overhead wire collecting system 100 includes an overhead wire collecting machine 1, a carrier (carriage) 2, a grapple device 3, a skyline (main line) SKL, an endless line (endless line) ELL, and lifting. It is composed of a line (loading line) LFL, a hole back line (pulling line) HBL, and the like.

The skyline SKL is bridged between the original pillar position P4 and the leading pillar position P2 provided at a position farther than the timber logging area P3. The skyline SKL extends substantially in a straight line. For example, one end of the skyline SKL is connected to a tree or the like at the original pillar position P4 outside the timber collecting area P1, and the other end of the skyline SKL is connected to a tree or the like at the front pillar position P2. Is connected to.

The timber collecting area P1 is the unloading position of the timber in the overhead wire collecting system 100, and this timber collecting area P1 is not only a limited one place, but the timber collecting area P1 is the tip pillar position P2 and the original. The location is not particularly limited as long as it is located directly below the skyline SKL that is bridged between the pillar positions P4.

A carrier 2 is attached to the skyline SKL so as to be able to travel via the pulley S. Both ends of the endless line ELL forming the endless track are connected to the carrier 2. The endless line ELL is hung on the plurality of pulleys E and the winch drum 11E of the winch 10E for the endless line of the overhead wire collecting machine 1. In this case, the pulley E is installed in the timber collecting area P1, in the vicinity of the tip pillar position P2, in the vicinity of the overhead wire collecting machine 1, and the like.

By running the endless line ELL with the endless line winch 10E provided in the overhead wire collecting machine 1, the carrier 2 can be moved along the skyline SKL. Specifically, by driving the winch drum 11E of the endless line winch 10E so as to extend the endless line ELL in the E1 direction, the carrier 2 moves in the S1 direction along the skyline SKL. On the contrary, by driving the winch drum 11E so as to extend the endless line ELL in the E2 direction, the carrier 2 moves in the S2 direction along the skyline SKL.

A pair of pulleys La and La are suspended from the carrier 2 via a connecting member such as a wire, and a lifting line LFL drawn from the overhead wire collecting machine 1 is sandwiched between the pair of pulleys La and La. The middle part of is bridged. A grapple device 3 is provided at an intermediate portion of the lifting line LFL located between the pair of pulleys La and La. The grapple device 3 is suspended from the lifting line LFL via a pair of pulleys Lb and Lb.

One end of the lifting line LFL is connected to, for example, a tree at the front pillar position P2. The other end of the lifting line LFL is wound around a winch drum 11L of the lifting line winch 10L of the overhead wire collecting machine 1. The lifting line LFL includes a pair of pulleys La, La, a pair of pulleys Lb, Lb, a pulley L provided in the vicinity of the wood collecting area P1, a pulley L provided in the vicinity of the overhead wire collecting machine 1, and the like. Has been handed over to.

The grapple device 3 can be raised and lowered by winding and unwinding the lifting line LFL to the winch drum 11L of the lifting line winch 10L provided in the overhead wire collecting machine 1. Specifically, by driving the winch drum 11L so as to extend the lifting line LFL from the winch drum 11L in the L1 direction, the length of the intermediate portion of the lifting line LFL located between the pair of pulleys La, La Increases and the grapple device 3 descends. On the contrary, by driving the winch drum 11L so as to wind the lifting line LFL around the winch drum 11L, the length of the intermediate portion of the lifting line LFL described above becomes smaller and the grapple device 3 rises.

One end of the hole back line HBL drawn from the overhead wire collecting machine 1 is connected to the side surface of the grapple device 3. The other end of the hole back line HBL is wound around the winch drum 11H of the hole back line winch 10H of the overhead wire collecting machine 1. The hole back line HBL is hung on a pulley Ha provided at a position away from the skyline SKL, a pulley H provided near the pulley Ha, a pulley H provided near the overhead wire collecting machine 1, and the like. There is. Here, the pair of pulleys Lb and Lb described above are provided on the upper portion (main body portion) 3a of the grapple device 3, and the hole back line HBL is connected to the side surface of the grapple device 3. The upper portion 3a of the grapple device 3 and the lower portion 3b of the grapple device 3 are connected via a cross joint (universal joint) 3d, and the lower portion 3b is connected to the upper portion 3a via a rotator 3r. It is provided so that it can turn.

A tongs 3c is provided on the lower portion 3b of the grapple device 3, and by closing the tongs 3c, it is possible to grab the wood from both the left and right sides and transport it to the wood collecting area P1 in this state. There is. Further, by opening the tongs 3c, it is possible to release the grasped timber and lower it to the timber collecting area P1. The details of the grapple device 3 and the grapple drive device for driving the grapple device 3 will be described later.

By winding and unwinding the hole back line HBL to the winch drum 11H of the winch 10H for the hole back line provided in the overhead wire collecting machine 1, the grapple device 3 intersects the skyline SKL in the lateral direction. It is possible to move to. In this case, the grapple device 3 is suspended by driving the winch drum 11H of the winch 10H for the hole back line in synchronization with the drive of the winch drum 11L of the winch 10L for the lifting line described above. The tension of the line LFL is adjusted.

Specifically, by driving the winch drum 11L so as to extend the lifting line LFL from the winch drum 11L in the L1 direction, the length of the intermediate portion of the lifting line LFL located between the pair of pulleys La, La Becomes larger so that the grapple device 3 can move laterally away from the skyline SKL. In this case, by synchronously driving the winch drum 11H so as to wind the hole back line HBL around the winch drum 11H, the grapple device 3 is pulled in the direction approaching the pulley Ha described above, and is laterally separated from the skyline SKL. The grapple device 3 moves in the direction.

On the contrary, by driving the winch drum 11L so as to wind the lifting line LFL around the winch drum 11L, the length of the intermediate portion of the lifting line LFL described above becomes smaller, and the grapple device 3 moves to the skyline SKL. It will be pulled in the approaching direction. In this case, the grapple device 3 moves in the direction approaching the skyline SKL by synchronously driving the winch drum 11H so as to extend the hole back line HBL from the winch drum 11H in the H1 direction.

By extending and winding the hole back line HBL in this way, it is possible to move the grapple device 3 not only directly under the skyline SKL but also in the lateral direction away from the skyline SKL. Then, by moving the grapple device 3 in this way, for example, it is possible to collect wood in the collection range R1 as shown in FIG. In this case, the lumber collection range R1 can be changed to an arbitrary range including the timber logging area P3 by adjusting the installation position of the pulley Ha described above. It should be noted that the feeding / winding of the hole back line HBL shall be performed in synchronization with the movement of the carrier 2 due to the running of the endless line ELL described above and the raising / lowering of the grapple device 3 by the feeding / winding of the lifting line LFL. Is possible.

As shown in FIGS. 1, 3, and 4, the overhead wire collecting machine 1 includes three winches (endless line winch 10E, lifting line winch 10L, and hole back line winch 10H) and these three winches. It is configured as a three-body type hydraulic material collector equipped with an engine 21 which is a drive source for winches 10E, 10L, and 10H. That is, the overhead wire collecting machine 1 includes an endless line winch 10E for winding and feeding the endless line ELL, a lifting line winch 10L for winding and feeding the lifting line LFL, and a hole back line HBL. A winch 10H for a hole back line that winds up and unwinds is installed.

The components of the winch drive device for rotationally driving the winches 10E, 10L, and 10H are mounted on the frame ASSY (frame assembly) 12 which is the main body of the winch. The frame ASSY 12 is integrally provided with the engine frame 21a in which the engine 21 is built. The frame ASSY 12 and the engine frame 21a are provided on the base frame 16 installed on the ground. A winch cover 17 is attached to the side of the lifting line winch 10L and the hole back line winch 10H.

The hole back line winch 10H is provided at the front end of the overhead wire collecting machine 1. The winch 10H for the hole back line has a configuration in which the winch drum 11H is rotatably supported by the frame ASSY 12. The rotation axis of the winch drum 11H extends in the left-right direction. In the present embodiment, the winch drum 11H of the winch 10H for the hole back line is rotatably supported between the pair of wall portions constituting the frame ASSY 12. The pair of wall portions of the frame ASSY 12 are arranged parallel to each other with a predetermined interval in the left-right direction. The winch 10H for the hole back line has a configuration in which a pair of hydraulic motors 13H and 13H are arranged to face each other at both ends of the winch drum 11H in the rotation axis direction, and the winch drum is provided by the pair of hydraulic motors 13H and 13H. It is configured to drive 11H.

A lifting line winch 10L is provided on the rear side of the hole back line winch 10H. The winch 10L for the lifting line has a configuration in which the winch drum 11L is rotatably supported by the frame ASSY 12. The rotation axis of the winch drum 11L extends in the left-right direction. In the present embodiment, the winch drum 11L of the lifting line winch 10L is rotatably supported between the pair of wall portions constituting the frame ASSY 12. Like the winch 10H for the hole back line, the winch 10L for the lifting line has a configuration in which a pair of hydraulic motors 13L and 13L are arranged to face each other at both ends of the winch drum 11L in the rotation axis direction. The winch drum 11L is driven by the hydraulic motors 13L and 13L.

An endless line winch 10E is provided on the rear side of the lifting line winch 10L. The winch 10E for the endless line has a configuration in which the winch drum 11E is rotatably supported by the frame ASSY 12. The rotation axis of the winch drum 11E extends in the left-right direction. In the present embodiment, the winch drum 11E of the winch 10E for the endless line is provided on the side of one of the pair of wall portions constituting the frame ASSY 12. Unlike the winch 10H for the hole back line and the winch 10L for the lifting line, the winch 10E for the endless line is configured to drive the winch drum 11E by the hydraulic motor 13 supported on one of the wall portions. In the present embodiment, the hydraulic motor 13 is composed of a triple motor.

The overhead wire collecting machine 1 includes, for example, a hydraulic circuit 20 as shown in FIG. By controlling the hydraulic oil supplied to the hydraulic motors 13, 13L, 13H of the three winches 10E, 10L, 10H via the hydraulic circuit 20, the drive control of the three winches 10E, 10L, 10H is performed. It has become. In the present embodiment, it is possible to independently perform drive control of the three winches 10E, 10L, and 10H by operating an operation lever or the like (not shown) or by a control signal from a drive control unit described later. Yes (independent control). Further, as described above, the hole back line is synchronized with the endless line winch 10E and the lifting line winch 10L by operating an operation lever or the like (not shown) or by a control signal from a drive control unit described later. It is possible to control the drive of the winch 10H (tuned control).

The hydraulic circuit 20 mainly includes a hydraulic oil tank 22 for storing hydraulic oil, a hydraulic pump unit 23 driven by an engine 21, a winch drive unit 24 for driving winches 10E, 10L, and 10H, and a switching control unit 25. A tuning control unit 26, a tension control unit 27, and the like are provided. The hydraulic pump unit 23 is provided with three hydraulic pumps (endless line pump 23E, lifting line pump 23L, and hole back line pump 23H). The hydraulic pump unit 23 is configured as a triple direct connection type hydraulic pump in which these three hydraulic pumps 23E, 23L, and 23H are directly connected to the output shaft of the engine 21. In the present embodiment, the hole back line pump 23H, the endless line pump 23E, and the lifting line pump 23L are arranged in series in order from the engine 21 side.

Each of the pumps 23E, 23L, and 23H of the hydraulic pump unit 23 is configured as a variable displacement hydraulic pump whose pump flow rate (discharge amount) can be changed by, for example, adjusting the inclination angle of the swash plate, and drives the engine 21. The pumps 23E, 23L, and 23H can be driven by force. In this case, by adjusting the inclination angle of the swash plate built in each of the pumps 23E, 23L, 23H, it is possible to independently control the discharge amount of each of the pumps 23E, 23L, 23H. Specifically, by setting the inclination angle of the swash plate of each pump 23E, 23L, 23H to 0 ° (neutral state), even if the engine 21 is driven, it is in an idling state in which hydraulic oil is not discharged. The pumps 23E, 23L, and 23H can be controlled independently. Further, by controlling the inclination angle of the swash plate of each pump 23E, 23L, 23H to the positive side (plus side), the hydraulic oil is discharged to the oil passage on the positive side in a normal rotation state, and each pump 23E, 23L, 23L, It is possible to control each of the 23Hs independently. On the contrary, by controlling the inclination angle of the swash plate of each pump 23E, 23L, 23H to the negative side (minus side), the hydraulic oil is discharged to the oil passage on the negative side, and each pump 23E, 23L, 23L, It is possible to control each of the 23Hs independently.

The hydraulic pump unit 23 is connected to the winch drive unit 24 via a switching control unit 25, a tuning control unit 26, a tension control unit 27, and the like. The switching control unit 25 is provided with a valve or the like for switching the oil passage of the hydraulic circuit 20. The tuning control unit 26 is provided with a valve or the like for tuning control of the above-mentioned hole back line winch 10H. The tension control unit 27 is provided with a valve for holding the tension of the endless line ELL, the lifting line LFL, and the hole back line HBL at a predetermined value.

The winch drive unit 24 is provided with three winch drive units (endless line winch drive unit 24E, lifting line winch drive unit 24L, and hole back line winch drive unit 24H). The endless line winch drive unit 24E is connected to the endless line pump 23E, and the hydraulic oil discharged from the endless line pump 23E is supplied to the hydraulic motor 13 of the endless line winch drive unit 24E. ing. The drive state (normal rotation state, neutral state, and reverse rotation state) of the hydraulic motor 13 is switched according to the drive state (normal rotation state, neutral state, and reverse rotation state) of the endless line pump 23E. Further, the rotation speed of the hydraulic motor 13 is controlled according to the discharge amount of the endless line pump 23E.

The lifting line winch drive unit 24L is connected to the lifting line pump 23L, and the hydraulic oil discharged from the lifting line pump 23L is the first and second of the lifting line winch drive unit 24L. It is designed to be supplied to the hydraulic motors 13L and 13L at the same time. Depending on the driving state (normal rotation state, neutral state, and reverse rotation state) of the lifting line pump 23L, the driving states (positive) of the first and second hydraulic motors 13L and 13L of the lifting line winch drive unit 24L. The rolling state, the neutral state, and the reverse state) are switched at the same time. Further, the rotation speeds of the first and second hydraulic motors 13L and 13L of the lifting line winch drive unit 24L are simultaneously controlled according to the discharge amount of the lifting line pump 23L. That is, the first and second hydraulic motors 13L and 13L of the winch drive unit 24L for the lifting line rotate in the same direction and at the same rotation speed, and the rotation of the first and second hydraulic motors 13L and 13L. It is configured to drive the winch drum 11L of the winch 10L for the lifting line.

The hole back line winch drive unit 24H is connected to the hole back line pump 23H, and the hydraulic oil discharged from the hole back line pump 23H is the first and second of the hole back line winch drive unit 24H. It is designed to be supplied to the hydraulic motors 13H and 13H at the same time. The drive states (positive) of the first and second hydraulic motors 13H and 13H of the hole back line winch drive unit 24H according to the drive states (normal rotation state, neutral state, and reverse rotation state) of the hole back line pump 23H. The rolling state, the neutral state, and the reverse state) are switched at the same time. Further, the rotation speeds of the first and second hydraulic motors 13H and 13H of the hole back line winch drive unit 24H are controlled to be the same according to the discharge amount of the hole back line pump 23H. That is, the first and second hydraulic motors 13H and 13H of the winch drive unit 24H for the hole back line rotate in the same direction and at the same rotation speed, and the first and second hydraulic motors 13H and 13H rotate. Is configured to drive the winch drum 11H of the winch 10H for the hole back line.

In the present embodiment, the tongs 3c are driven by operating the hydraulic cylinder 3p with the electric power charged in the battery 3j mounted on the grapple device 3. Hereinafter, the grapple device 3 and the grapple drive device for driving the grapple device 3 will be described with reference to FIGS. 5 and 6.

In the grapple device 3, as described above, the upper portion 3a, which is the main body portion, is connected to the lower portion 3b, which is the arm portion, via the cross joint 3d. On the upper portion 3a of the grapple device 3, a pair of pulleys Lb, Lb, a speed increasing mechanism 3e, an information processing unit 3f, an alternator (generator) 3h, a battery (storage device) 3j, a power unit (hydraulic drive device) 3k, and an imaging unit 3s etc. are installed. The power unit 3k is provided with an electric motor 3l, a hydraulic pump 3m, a hydraulic valve 3n, and the like. Further, a tongs 3c, a hydraulic cylinder 3p, a link mechanism 3q and the like are mounted on the lower portion 3b of the grapple device 3. A cross joint 3d, a rotator (swivel mechanism) 3r, and the like are provided between the upper portion 3a and the lower portion 3b of the grapple device 3.

The alternator 3h provided on the upper portion 3a of the grapple device 3 is electrically connected to the battery 3j via the power generation relay 3i, and the electric power generated by the alternator 3h is charged to the battery 3j. ing. In the present embodiment, regenerative power generation is performed in which the rotational energy of the pair of pulleys Lb and Lb is converted into electrical energy by the alternator 3h. Specifically, when the grapple device 3 moves along the lifting line LFL, the pair of pulleys Lb and Lb rotate, and this rotation is accelerated by the speed increasing mechanism 3e. Then, the rotation accelerated by the speed increasing mechanism 3e is transmitted to the alternator 3h, so that power is generated by the alternator 3h. The alternator 3h can generate electricity even when the pair of pulleys Lb and Lb rotate in one direction, and can also generate electricity when the pair of pulleys Lb and Lb rotate in the opposite direction. For example, as described above, the alternator 3h can generate electricity both when the grapple device 3 is raised and when the grapple device 3 is lowered. Further, power can be generated even when the carrier 2 is moved along the endless line ELL, and more power can be generated in this case. The electric power generated by the alternator 3h is charged to the battery 3j via the power generation relay 3i.

The battery 3j is electrically connected to the information processing unit 3f and the electric motor 3l, and the electric power of the battery 3j is supplied to the information processing unit 3f, the imaging unit 3s, and the electric motor 3l, respectively. In the power unit 3k, the hydraulic pump 3m and the hydraulic valve 3n are driven by the electric motor 3l.

The tongs 3c provided on the lower portion 3b of the grapple device 3 are opened and closed by the hydraulic cylinder 3p. When the electric motor 3l of the power unit 3k is driven by the electric power of the battery 3j and the hydraulic pump 3m and the hydraulic valve 3n of the power unit 3k are operated, hydraulic oil is supplied to the hydraulic cylinder 3p via the power unit 3k. As a result, the hydraulic cylinder 3p expands and contracts, and the expansion and contraction operation of the hydraulic cylinder 3p is transmitted via the link mechanism 3q, so that the tongs 3c open and close. Specifically, the tongs 3c operate in the opening direction due to the contraction operation of the hydraulic cylinder 3p. On the contrary, the extension operation of the hydraulic cylinder 3p causes the tongs 3c to operate in the closing direction. In the present embodiment, the tongs 3c can operate between the open position shown by the solid line in FIG. 6 and the closed position shown by the alternate long and short dash line.

Then, with the tongs 3c open and the wood located between the tongs 3c, the tongs 3c are gradually closed by extending the hydraulic cylinder 3p, and the tongs 3c grab the wood from both the left and right sides. (Pinched). While the timber is grasped by the tongs 3c, the timber can be lifted upward by driving the overhead wire collecting machine 1, and further, the timber can be transported to the timber collecting place P1. Further, the timber can be lowered downward by driving the overhead wire collecting machine 1 in a state where the timber transported to the timber collecting place P1 is grasped by the tongs 3c.

On the contrary, when the hydraulic cylinder 3p is contracted while the wood is grasped by the tongs 3c, the tongs 3c gradually open and the wood is released from the tongs 3c. This makes it possible to unload the timber transported to the timber collecting area P1 at a predetermined position.

The rotator 3r provided between the upper portion 3a and the lower portion 3b of the grapple device 3 is driven by driving the power unit 3k with the electric power of the battery 3j. That is, the electric power of the battery 3j drives the electric motor 3l of the power unit 3k, which operates the hydraulic pump 3m and the hydraulic valve 3n of the power unit 3k to supply hydraulic oil to the rotator 3r. As a result, the rotator 3r rotates, and the lower portion 3b is rotated with respect to the upper portion 3a of the grapple device 3 according to the rotational operation of the rotator 3r.

In the present embodiment, the speed-up mechanism 3e is configured as a two-stage speed-up mechanism as shown in FIG. That is, the speed-increasing mechanism 3e includes a pair of first speed-increasing mechanism and a second speed-increasing mechanism, so that the rotation of the pair of pulleys Lb and Lb is accelerated in two stages and input to the alternator 3h. It has become.

In the present embodiment, as described above, the grapple device 3 includes a pair of pulleys Lb and Lb for moving along the lifting line LFL of the overhead wire collecting system 100, a tongue 3c for grasping wood, and the like. Operated by the power of a hydraulic cylinder 3p for opening and closing the tongue 3c, an alternator 3h that generates electricity by rotating a pair of pulleys Lb and Lb, a battery 3j that charges the power generated by the alternator 3h, and a battery 3j. A power unit 3k having a hydraulic pump 3m and a hydraulic valve 3n is provided. Then, the power unit 3k is driven by the electric power of the battery 3j, and the hydraulic cylinder 3p is operated by the hydraulic pressure of the power unit 3k to drive the tongs 3c. That is, the electric power of the battery 3j is converted into an electric power by the power unit 3k, and the tongs 3c is driven by the electric power converted by the power unit 3k.

According to the present embodiment, when the grapple device 3 moves along the lifting line LFL, the pair of pulleys Lb and Lb rotate, and the electric power generated by the alternator 3h due to the rotation of the pair of pulleys Lb and Lb is the battery 3j. To be charged. The power unit 3k is driven by the electric power charged in the battery 3j, and the tongs 3c are driven by the oil pressure of the power unit 3k. In the present embodiment, since both the alternator 3h and the battery 3j are mounted on the grapple device 3, it is not necessary to mount the large-capacity battery 3j as a drive source for driving the tongs 3c. This makes it possible to reduce the size and weight of the battery 3j.

Further, in the timber logging area P3, the tongs 3c can be driven by driving the power unit 3k with the electric power of the battery 3j mounted on the grapple device 3, and the tongs 3c can easily mechanically grasp the wood from both the left and right sides. it can. Then, while the timber is grasped by the tongs 3c, it can be easily transported from the timber logging area P3 to the timber collecting area P1. Further, in the timber collecting area P1, the power unit 3k is driven by the electric power of the battery 3j to drive the tongs 3c, and the timber grasped by the tongs 3c is released to a predetermined position of the timber collecting area P1. It can be easily lowered. As a result, it is possible to eliminate the need for manual loading work at the timber logging area P3 and manual unloading work at the timber logging area P1, and the overhead wire collecting system 100 makes it possible to collect timber from the timber logging area P3. Wood can be easily transported to the ground P1. In this case, it is not necessary to climb a steep mountain road or the like to reach the timber logging area in order to carry out the loading work, and it is not necessary to carry out the loading work, which is a troublesome and dangerous work for the worker.

Further, in the present embodiment, since the rotations of the pair of pulleys Lb and Lb are transmitted to the alternator 3h via the speed increasing mechanism 3e, the regenerative power generation by the alternator 3h can be efficiently performed. In this case, since the speed-up mechanism 3e is configured as a multi-stage speed-up mechanism, regenerative power generation by the alternator 3h can be performed more efficiently.

Further, in the present embodiment, the lower portion 3b on which the tongs 3c is mounted is provided so as to be rotatable by the rotator 3r with respect to the upper portion 3a on which the pair of pulleys Lb and Lb are mounted. Then, the power unit 3k is driven by the electric power charged in the battery 3j, the electric power of the battery 3j is converted into the electric power by the power unit 3k, and the rotator 3r is driven by the electric power of the power unit 3k. As a result, in the timber logging area P3, the rotator 3r is driven by driving the power unit 3k with the electric power of the battery 3j mounted on the grapple device 3, and the lower portion 3b is swiveled with respect to the upper portion 3a. Therefore, the orientation of the tongs 3c can be changed so that the felled timber can be grasped from both the left and right sides. In this way, the orientation of the tongs 3c can be easily changed according to the orientation of the timber logged in the timber logging area P3, and the timber can be easily grasped by the tongs 3c.

The image capturing unit 3s is a device such as a camera provided in the grapple device 3, captures an image of a lower region of the grapple device 3, and transmits the captured image data to the information processing unit 3f. Although FIGS. 5 and 6 show an example in which the imaging unit 3s is provided on the upper portion 3a of the grapple device 3, it may be provided on the lower portion 3b. Further, as the image pickup unit 3s, a plurality of cameras or the like may be used, or a plurality of cameras may capture images in different directions and combine them to generate one image.

The information processing unit 3f is connected to each other via wireless communication so that information communication is possible between the controller 3g and the overhead wire collecting machine 1. Further, the information processing unit 3f is connected to the power generation relay 3i, the battery 3j, the imaging unit 3s, and the electric motor 3l. The controller 3g is provided in an operating device (not shown) located at a position away from the grapple device 3. For example, an operator near the timber collecting area P1 operates the operating device to obtain the grapple device 3. Remote control and display of images captured by the imaging unit 3s are possible.

When the grapple device 3 is remotely controlled by the controller 3g, when an operator near the timber collecting area P1 operates the operation device, an operation signal is transmitted from the controller 3g and received by the information processing unit 3f. The information processing unit 3f sends a control signal to each unit in response to the operation signal. As a result, it is possible to remotely control the charge control of the battery 3j, the drive control of the tongs 3c by the power unit 3k, the drive control of the rotator 3r by the power unit 3k, and the drive control of the overhead wire collecting machine 1. The grapple device 3 may be remotely controlled by a communication means other than the information processing unit 3f and the controller 3g.

As will be described later, when the information processing unit 3f automatically controls the grapple device 3, the operator uses the controller 3g to start and stop the automatic control, switch to the manual operation, check the image during the automatic operation, and the like. It can be carried out. At the time of automatic control, each unit is automatically controlled according to the control signal generated by the information processing unit 3f, and semi-automatic control in which only the transfer is automatically performed can be performed.

Next, the automatic control of the grapple device 3 will be described in detail with reference to FIGS. 7 to 13. FIG. 7 is a block diagram showing the configuration of the overhead wire collecting system 100. As shown in FIG. 7, in the overhead wire collecting system 100, the grapple device 3, the overhead wire collecting machine 1 and the controller 3g are connected to each other so as to be able to communicate with each other. Further, the grapple device 3 includes an information processing unit 3f, an imaging unit 3s, and a drive unit 40, and the information processing unit 3f includes a drive control unit 31, an image recognition unit 32, a machine reinforcement learning unit 33, and an acceleration sensor unit 34. It has.

The information processing unit 3f is a device that performs information processing by a program recorded in advance or machine reinforcement learning, and communicates information with each unit of the overhead wire collecting system 100. The configuration of the information processing unit 3f is not limited, and a known computer device including a central processing unit (CPU), a memory, an external storage device, an information communication means, and the like can be used.

The drive control unit 31 is a part configured as a part of the information processing unit 3f, and is an overhead wire collecting machine 1 and a drive unit 40 based on the outputs of the image recognition unit 32, the machine reinforcement learning unit 33, and the acceleration sensor unit 34. Control the drive of. By controlling the drive of the overhead wire collecting machine 1 by the drive control unit 31, the grapple device 3 is moved, raised, and lowered within the collecting range R1. Further, when the drive control unit 31 controls the drive of the drive unit 40, the grapple device 3 performs an opening / closing operation of the tongs 3c and a turning operation of the lower portion 3b. The details of the automatic control by the drive control unit 31 will be described later.

The image recognition unit 32 acquires an image captured by the image pickup unit 3s, and recognizes the shape, size, position, orientation, and the like of the wood and other structures included in the image. As a technique of image recognition by the image recognition unit 32, a known technique can be used.

The machine reinforcement learning unit 33 compares the control of the drive unit 40 and the overhead wire collecting machine 1 by the drive control unit 31 with the results of the loading work and the unloading work, and executes the machine reinforcement learning to control the drive. The control efficiency by the unit 31 is improved. As the machine reinforcement learning by the machine reinforcement learning unit 33, a known technique such as deep learning using multi-layer neural networking can be used.

The acceleration sensor unit 34 is a portion that detects the movement, orientation, and acceleration of each portion of the grapple device 3. The acceleration sensor unit 34 may be composed of a plurality of acceleration sensors, and may detect the position, orientation, and acceleration of each of the upper portion 3a, the lower portion 3b, and the imaging unit 3s of the grapple device 3.

The drive unit 40 is a part for mechanically driving each part of the grapple device 3, and in the example shown in FIG. 5, the battery 3j, the electric motor 3l, the hydraulic pump 3m, the hydraulic valve 3n, the rotator 3r, and the hydraulic cylinder 3p. Includes. The drive unit 40 is driven and controlled based on a control signal from the drive control unit 31 to realize an opening / closing operation of the tongs 3c and a turning operation of the lower portion 3b.

FIG. 8 is a diagram schematically showing the loading, transporting, and unloading operations of wood by the automatic control of the overhead wire collecting system 100. In the example shown in FIG. 8, an example is shown in which the controller 3g manually operates the wood until it is grasped by the tongs 3c, and then the automatic control is started.

In the automatic control of the overhead wire collecting system 100, the operation is repeated as shown in the stages A to I in FIG. 8 under the control of the drive control unit 31. In the winding step of the A stage, the LFL is rotated in the positive direction, the winding length is measured by the LFL counter, and the HBL is operated in synchronization. In the transfer step of the B stage, the ELL is rotated in the positive direction, the moving distance is measured by the ELL counter, and the HBL is operated in synchronization. Further, while the grapple device 3 is being moved in the transport process, the image recognition unit 32 executes image recognition to detect the wood collecting area P1. In the winding step of the C stage, the LFL is rotated in the opposite direction, the winding length is measured by the LFL counter, and the HBL is operated in synchronization. Further, even during the winding process, the image recognition unit 32 performs image recognition and the acceleration sensor unit 34 detects the distance to detect the ground clearance. In the unloading step of the D stage, the tongs 3c are opened and the arrangement operation of releasing the timber at the timber collecting area P1 is executed.

In the winding step of the E stage, the LFL is rotated in the positive direction, the winding length is measured by the LFL counter, and the HBL is operated in synchronization. In the F-stage air carrier feed process, the ELL is rotated in the opposite direction, the moving distance is measured by the ELL counter, and the HBL is operated in synchronization. Further, while the grapple device 3 is being moved in the air carrier feeding process, the image recognition unit 32 executes image recognition to detect wood within the material collecting range R1. In the pull-in step of the G stage, the LFL is rotated in the opposite direction, the winding length is measured by the LFL counter, and the HBL is operated in synchronization. Further, even during the pull-in process, the position and orientation of the wood are detected by image recognition by the image recognition unit 32, and the lower portion 3b is also swiveled.

In the winding step of the H stage, the LFL is rotated in the opposite direction, the winding length is measured by the LFL counter, and the HBL is operated in synchronization. Further, even during the winding process, the image recognition unit 32 performs image recognition and the acceleration sensor unit 34 detects the distance to detect the ground clearance. In the loading step of the I stage, the tongs 3c are closed and the wood gripping operation is performed. Further, the image recognition unit 32 also recognizes the wood and the tongs 3c during the loading process.

Next, with reference to FIGS. 9 to 12, the loading, transporting, and unloading operations of wood by the automatic control of the overhead wire collecting system 100 will be described in more detail. FIG. 9 is a flowchart showing control from the start of automatic control. FIG. 10 is a flowchart showing the control following FIG. FIG. 11 is a flowchart showing the control following FIG. FIG. 12 is a flowchart showing the control following FIG.

First, while viewing the image of the lower region of the grapple device 3 captured by the imaging unit 3s and displayed on the controller 3g, the operator manually operates the grapple device 3 and the overhead wire collecting machine 1 with the controller 3g to manually load the load. Execute the hanging operation. Here, an example in which the automatic operation is started from the winding process of the A stage is shown, but the automatic operation can be executed from an arbitrary stage by manually operating the other processes.

When the automatic operation is started, the drive control unit 31 sends a control signal to the overhead wire collecting machine 1 to execute the winding step of the A stage. During the winding process, it is determined whether the tongs 3c is grasping the wood, and if it is determined that the tongs 3c is not grasping the wood, it is determined that the wood has fallen off and the operation shifts to the winding stop operation in the winding process of stage E. To do. If it is determined that the wood is being gripped, it is determined whether the wood has been wound up to the winding limit position. If NO, the winding process is continued. If YES, the rotation of the LFL is stopped and the winding stop operation is started. To do. After the hoisting stop operation, the process proceeds to the B-stage transfer process.

Here, whether or not the tongs 3c is grasping the wood is determined by the change in the load amount measured by the separately provided load sensor and the recognition of the wood by the image recognition unit 32 of the image captured by the image pickup unit 3s. be able to. Further, the determination of winding up to the winding limit position can be made by using the measurement result by the LFL counter, the distance measurement from the ground by an altimeter, the GPS device, or the laser sensor provided separately.

After the winding stop operation, the drive control unit 31 sends a control signal to the overhead wire collecting machine 1 to execute the transfer step of the B stage, and moves the grapple device 3 in the direction of the timber collecting place P1. During the transfer process, it is determined whether the grapple device 3 has reached the lumber collection limit position, and if it does, the transport direction is reset so that the transport direction is the wood collection site P1. , Continue the transport process. If it has not reached the material collection limit position, it is judged whether it has reached the unloading position, if it is not the unloading position, the transport process is continued, and if it is the unloading position, the rotation of the ELL is stopped. It shifts to the transport stop operation. After the transport stop operation, the process shifts to the winding step of the C stage.

Here, to determine whether the grapple device 3 has reached the material collection limit position, the position is calculated by the measurement result of the ELL counter or a separately provided GPS device, and the position is calculated at the preset material collection limit position. Determine if there is. Further, whether or not the grapple device 3 is in the unloading position is determined based on the measurement result of the ELL counter and the recognition of the image captured by the imaging unit 3s. For image recognition of the unloading position, it may be used to arrange a mark such as a two-dimensional bar code on the timber collecting area P1 in advance.

After the transport stop operation, the drive control unit 31 sends a control signal to the overhead wire collecting machine 1 to execute the winding step of the C stage. While the winding process is being executed, it is determined whether the lower end of the grapple device 3 has reached the ground clearance, if it is not the ground clearance, the winding process is continued, and if it is above the ground clearance, the winding stop operation is started. To do. After the unwinding stop operation, the process proceeds to the D-stage unloading process.

Here, for determining whether the lower end of the grapple device 3 is the ground clearance, the measurement result by the LFL counter, the distance measurement to the ground by a separately provided altimeter, GPS device, laser sensor, or the like can be used.

After the unwinding stop operation, the drive control unit 31 sends a control signal to the drive unit 40 to execute the unloading step of the D stage. In the unloading process, in the grapple device 3 that has moved to the timber collecting area P1, the hydraulic cylinder 3p is driven in response to the control signal from the drive control unit 31 to open the tongs 3c, and the gripped timber is released. Is executed. After the placement operation is performed, the process proceeds to the E-stage winding process.

After the arrangement operation, the drive control unit 31 sends a control signal to the overhead wire collecting machine 1 to execute the winding step of the E stage. At this time, the tongs 3c may be in the open state, but if necessary, the winding step may be executed after the tongs 3c are closed. During the winding process, it is determined whether the grapple device 3 has reached the winding limit position, if it is not the winding limit position, the winding process is continued, and if it is the winding limit position, the rotation of the LFL is stopped and the winding is performed. Shift to stop operation. After the hoisting stop operation, the process shifts to the F-stage empty carrier feed process.

Here, the determination of whether or not the grapple device 3 is at the winding limit position can be made by using the measurement result of the LFL counter, the distance measurement to the ground by an altimeter, the GPS device, or the laser sensor provided separately.

After the hoisting stop operation, the drive control unit 31 sends a control signal to the overhead wire collecting machine 1 to execute the F-stage air carrier feeding process, and causes the grapple device 3 to move in the direction of the timber logging area P3 within the logging range R1. Move to. During the execution of the air carrier feeding process, it is determined whether the grapple device 3 has reached the lumber collection limit position, and if it does, the air carrier is fed so that the transport direction is the timber logging area P3. Reset and continue the empty carrier feeding process. When the material collection limit position has not been reached, the image recognition unit 32 recognizes the image of the lower region captured by the image pickup unit 3s and determines whether or not the wood exists. If there is no wood in the image, the empty carrier feed process is continued, and if wood is present, the rotation of the ELL is stopped and the operation shifts to the empty carrier feed stop operation. After the empty carrier feed stop operation, the process shifts to the G-stage lead-in process.

Here, as the timber logging area P3 to which the grapple device 3 is moved in the air carrier feeding process, the position where the previous loading process was executed or its surroundings may be set, and other positions may be newly set. You may do so. Further, when the image recognition unit 32 recognizes the wood, the machine reinforcement learning unit 33 is used to determine whether the size, orientation, and overlap can be grasped by the tongs 3c, and the size, orientation, and overlap cannot be grasped. In some cases, the empty carrier feeding process may be continued.

After the air carrier feed stop operation, the drive control unit 31 sends a control signal to the overhead wire collecting machine 1 and the drive unit 40 to execute the pull-in step of the G stage. During the drawing step, the image recognition unit 32 recognizes the image of the lower region captured by the imaging unit 3s, determines whether or not the wood exists, and continues the pulling step if the wood does not exist. When the wood is present in the image, the drive control unit 31 determines whether the wood is located vertically below the grapple device 3, and if it is not vertically below, the pull-in process is continued. When the wood is located vertically below the grapple device 3, the drive control unit 31 stops the rotation of the LFL and shifts to the pull-in stop operation.

Here, when the image recognition unit 32 recognizes the wood, the machine reinforcement learning unit 33 is used to determine whether the size, orientation, and overlap can be grasped by the tongs 3c, and the size, orientation, and overlap that can be gripped. It may be determined that wood is present only in some cases. Further, when determining whether the wood is located vertically below the grapple device 3, the orientation and inclination of the grapple device 3 and the imaging unit 3s are specified from the detection result of the acceleration sensor unit 34, and the imaging unit 3s takes an image. Identify which position in the image is the vertically downward position.

After the pull-in stop operation, the drive control unit 31 drives the rotator 3r to rotate the lower portion 3b of the grapple device 3 to shift to the tongs turning operation for adjusting the direction of the tongs 3c. Even during the tongs turning operation, the drive control unit 31 determines whether the tongs 3c and the target wood are in the intersecting direction, and if they do not intersect, the tongs turning operation is continued, and if they intersect, the rotator 3r is stopped and the tongs turn stop operation is started. After the tongs turning stop operation, the process shifts to the H-step winding process.

FIG. 13 is a schematic view showing an example of an image in which the lower region of the grapple device 3 is captured by the imaging unit 3s. In the example shown in FIG. 13, images captured by a plurality of cameras are combined to generate one image, and the lower portion 3b of the grapple device 3 is located in the center of the image and extends diagonally near the center. Wood is placed. In this figure, the vertically downward position of the grapple device 3 is the center in the vertical and horizontal directions of the image, and it is determined that the wood exists vertically below. Further, it is determined that the arrangement direction of the wood and the direction of the tongs 3c intersect.

After the tongs turning stop operation, the drive control unit 31 sends a control signal to the overhead wire collecting machine 1 to execute the H-step winding step. While the winding process is being executed, it is determined whether the lower end of the grapple device 3 has reached the ground clearance, if it is not the ground clearance, the winding process is continued, and if it is above the ground clearance, the winding stop operation is started. To do. After the unwinding stop operation, the process proceeds to the I-stage loading process.

Here, for determining whether the lower end of the grapple device 3 is the ground clearance, the measurement result by the LFL counter, the distance measurement to the ground by a separately provided altimeter, GPS device, laser sensor, or the like can be used.

After the unwinding stop operation, the drive control unit 31 sends a control signal to the drive unit 40 to execute the loading process of the I stage. In the loading process, the drive control unit 31 drives the hydraulic cylinder 3p to close the tongs 3c and performs a gripping operation for grasping the wood. At this time, the positional relationship between the tongs 3c and the wood is set to intersect each other by the tongs turning motion as shown in FIG. 13, and the lower end of the grapple device 3 becomes the ground clearance in the H-step winding process. Therefore, the wood can be sandwiched between the tongs 3c simply by closing the tongs 3c. After the loading process, the process shifts to the A-stage winding process again, and the timber collection by automatic control is repeatedly executed.

In the automatic control described above, the drive control unit 31 uses the machine reinforcement learning unit 33 to recognize the image of the wood in the image, determine the wood that can be gripped, the crossing direction between the wood and the tongs 3c, and the gripping operation and the arrangement operation. Machine reinforcement learning is performed on the opening and closing operation of the tongs 3c to optimize the operation.

As described above, in the overhead wire collecting system 100 of the present embodiment, the image pickup unit 3s captures an image below the grapple device 3, and the image recognition section 32 recognizes the wood in the image, and the recognition result is obtained. The drive control unit 31 controls the drive of the grapple device 3 and the overhead wire collecting machine 1 accordingly. As a result, the timber that has been logged can be transported from the timber logging area P3 to the timber logging area P1 by automatic control. Therefore, manual loading and unloading work is not required, and the number of personnel required for collecting timber can be reduced.

Further, the drive control unit 31 uses the machine reinforcement learning unit 33 to perform machine reinforcement learning such as a gripping operation of wood, so that the work efficiency of loading, transporting, and unloading can be improved. Further, the grapple device 3 is provided with the acceleration sensor unit 34, and the grapple device 3 is in a swaying state or an inclined state in order to specify a vertically downward position in the image captured by the imaging unit 3s based on the detection result of the acceleration sensor unit 34. Even so, it is possible to appropriately recognize the timber and the timber collecting area P1 and carry out the gripping operation and the arranging operation.

In the above embodiment, the machine reinforcement learning unit 33 learns the optimum operation during the collection of wood by the automatic control of the overhead wire collection system 100, but the machine uses a reduced size model and learning data image in advance. After executing reinforcement learning, machine reinforcement learning may be repeated in real life.

In the above embodiment, components such as a speed increasing mechanism 3e, an information processing unit 3f, an alternator 3h, a battery 3j, and a power unit 3k are arranged on the upper portion (main body portion) of the grapple device 3, but the present invention is not limited to these. A part or all of the constituent parts of the above may be provided in the lower portion (arm portion) of the grapple device 3.

In the above embodiment, the case where the present invention is applied to the grapple driving device for driving the grapple device 3 provided in the endless styler type overhead wire collecting system 100 has been described. However, the present invention is not limited to this, and the present invention may be applied to a grapple drive device used in the overhead wire collecting system 100 of a method other than the above. For example, the overhead wire collecting system 100 may have a configuration in which the grapple device 3 can be moved along a wire other than the lifting line LFL.

The present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the claims, and the embodiments obtained by appropriately combining the technical means disclosed in the different embodiments. Is also included in the technical scope of the present invention.

The present invention can be used in an overhead wire collecting system using a grapple device.

100 ... Overhead wire collecting system P1 ... Wood collecting site P2 ... Tip pillar position P3 ... Wood felling site P4 ... Original pillar position R1 ... Collecting range 1 ... Overhead wire collecting machine 2 ... Carrier 3 ... Grapple device 10E ... For endless line Winch 10H ... Winch 10L for hole back line ... Winch 11E, 11H, 11L for lifting line ... Winch drum 13 ... Hydraulic motor 13L, 13H ... Hydraulic motor 16 ... Base frame 17 ... Winch cover 20 ... Hydraulic circuit 21 ... Engine 21a ... Engine frame 22 ... Hydraulic oil tank 23 ... Hydraulic pump unit 23E ... Endless line pump 23H ... Hole back line pump 23L ... Lifting line pump 24 ... Winch drive unit 24E ... Endless line winch drive unit 24H ... Hall back line Winch drive unit 24L ... Winch drive unit for lifting line 25 ... Switching control unit 26 ... Tuning control unit 27 ... Tension control unit 31 ... Drive control unit 32 ... Image recognition unit 33 ... Machine strengthening learning unit 34 ... Acceleration sensor unit 3a ... Upper part 3b ... Lower part 3c ... Tongue 3d ... Cross joint 3e ... Acceleration mechanism 3f ... Information processing unit 3g ... Controller 3h ... Alternator 3i ... Power generation relay 3j ... Battery 3k ... Power unit 3l ... Electric motor 3m ... Flood control pump 3n ... Hydraulic valve 3p ... Hydraulic cylinder 3q ... Link mechanism 3r ... Rotator 3s ... Imaging unit 40 ... Drive unit

Claims (7)

An overhead wire collecting system equipped with a grapple device and an overhead wire collecting machine for moving the grapple device, and transporting the felled timber from a logging area to a timber collecting area.
A drive control unit that controls the drive of the grapple device and the overhead wire collecting machine,
An imaging unit that captures an image below the grapple device,
It has an image recognition unit that recognizes the wood in the image, and has an image recognition unit.
The drive control unit is an overhead wire collecting system characterized in that the drive of the grapple device and the overhead wire collecting machine is controlled according to a recognition result of the image recognition unit. In the overhead wire collecting system according to claim 1,
The drive control unit changes the position of the grapple device when the wood is not included in the image, and when the wood is included in the image, the grapple device grips the wood. An overhead wire collecting system characterized by carrying out. In the overhead wire collecting system according to claim 2,
The drive control unit is an overhead wire collecting system characterized in that the gripping operation of the wood is mechanically strengthened and learned. In the overhead wire collecting system according to claim 2 or 3.
After the gripping operation, the drive control unit moves the grapple device to the timber collecting area, and the grapple device performs an arrangement operation of releasing the timber at the timber collecting area. Timber collection system. In the overhead wire collecting system according to any one of claims 1 to 4.
The grapple device has a main body portion and a grapple arm provided below the main body portion.
An overhead wire collecting system characterized in that the image pickup unit, the image recognition unit, and the drive control unit are provided in the main body unit. In the overhead wire collecting system according to any one of claims 1 to 5,
The grapple device includes an acceleration sensor unit and includes an acceleration sensor unit.
The drive control unit is an overhead wire collecting system characterized in that a vertically downward position is specified in the image based on a detection result of the acceleration sensor unit. In the overhead wire collecting system according to any one of claims 1 to 6.
With an endless styler configuration with at least a skyline, an endless line, and a lifting line,
An overhead wire collecting system, wherein the grapple device is provided so as to be movable along a wire of the lifting line.

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