JP7330064B2 - overhead wire collection system - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a wire collection system, and more particularly to a wire collection system using a grapple device.

2. Description of the Related Art Conventionally, there has been known an overhead wire lumber collection system that transports felled lumber from a lumber logging site where lumber is harvested to a lumber harvesting region where lumber is collected (see, for example, Patent Document 1). This Patent Literature 1 describes conveying lumber suspended from a carrier to a lumber collection site by moving the carrier along a wire.

In the overhead wire logging system described in Patent Document 1, it is possible to easily unload lumber at a lumber logging site. However, the timber loading work at the timber 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 a lumber logging area, and the loading work is troublesome and dangerous work for workers.

On the other hand, in order to eliminate the need for manual loading work at a lumber logging site, it is also being considered to transport lumber using a grapple device capable of mechanically grasping lumber. However, in this case, it is necessary to mount a driving source on the grapple device, and there is concern about an increase in the size and weight of the grapple device. Also, it has been difficult to move such a grapple device smoothly along the wire.

In addition, when performing work using a grapple device, from loading to transporting and unloading of timber, workers who operate the grapple device are placed at the timber logging site and the timber collection site, and the felled timber is It was necessary to perform the work while visually checking the position of the

Japanese Patent No. 4360935

The present invention has been devised in view of the above-described circumstances, and is capable of eliminating the need for manual loading and unloading operations at a lumber logging site and a lumber collecting site, and furthermore, providing a method for collecting lumber. It is an object of the present invention to provide an overhead wire lumber collection system capable of reducing the number of personnel required for

In order to solve the above problems, the overhead wire logging system of the present invention includes a grapple device and an overhead wire logging device for moving the grapple device. A lumber collection system, comprising: a drive control unit for controlling the driving of the grapple device and the wire collection machine; an imaging unit for capturing an image below the grapple device; and an image for recognizing the lumber in the image. and a recognition unit, wherein the drive control unit controls driving of the grapple device and the overhead wire collector according to the recognition result of the image recognition unit.

In such an overhead wire collection system of the present invention, since the driving of the grapple device and the overhead wire collection machine is controlled according to the recognition result of the image recognition unit, the load is manually placed at the lumber felling site and the lumber collection site. Work and unloading work are not required, and it is possible to reduce the number of workers required for collecting lumber.

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 changes the position of the grapple device when the wood is included in the image. A device performs a gripping action to grip the wood.

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

In one aspect of the present invention, after the gripping operation, the drive control unit moves the grapple device to the timber collection site, and performs an arrangement operation in which the grapple device releases the timber at the timber collection site. implement.

In one aspect of the present invention, the grapple device includes a main body and a grapple arm provided below the main body, and the imaging section, the image recognition section, and the drive control section are connected to the main body. provided in the department.

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

In one aspect of the invention, there is an endless tier configuration having at least a skyline, an endless line, and a lifting line, wherein the grapple device is movable along a wire of the lifting line.

The present invention provides an overhead wire timber collection system that does not require manual loading and unloading operations at timber logging sites and timber collection sites, and that can reduce the number of workers required for timber collection. can provide.

1 is a diagram showing a schematic configuration of an overhead wire collection system provided with a grapple device according to an embodiment of the present invention; FIG. FIG. 2 is a plan view showing an example of a collection range of the overhead wire collection system of FIG. 1; FIG. 2 is a perspective view showing an overhead wire collecting machine provided in the overhead wire collecting system of FIG. 1; FIG. 4 is a diagram showing a schematic configuration of a hydraulic circuit of the wire collector of FIG. 3; 1 is a diagram showing a schematic configuration of a grapple device including a grapple driving device; FIG. 6A and 6B are diagrams showing the opening and closing operation of the grapple arm of the grapple device of FIG. 5; 1 is a block diagram showing a configuration of an overhead wire collection system 100; FIG. FIG. 4 is a diagram schematically showing loading, transporting, and unloading operations of lumber under automatic control of the overhead wire lumber collection system 100. FIG. 4 is a flow chart showing control from the start of automatic control; FIG. 10 is a flow chart showing control following FIG. 9 ; FIG. FIG. 11 is a flow chart showing the control following FIG. 10; FIG. FIG. 12 is a flow chart showing the control following FIG. 11; FIG. FIG. 3 is a schematic diagram showing an example of an image of a lower area of the grapple device 3 captured by an imaging unit 3 s;

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a diagram showing a schematic configuration of a wire collection system 100 having 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 the 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 wire collector 1 of FIG. FIG. 5 is a diagram showing a schematic configuration of a grapple device 3 having a grapple driving device according to an embodiment of the present invention. 6A and 6B are diagrams showing opening and closing operations of a pair of grapple arms (hereinafter referred to as tongues) 3c of the grapple device 3 of FIG.

First, a schematic configuration of the overhead wire collection system 100 will be described with reference to FIGS. 1 and 2. FIG. In this embodiment, the overhead wire collection system 100 is configured as an endless tier type overhead wire collection system. As shown in FIGS. 1 and 2, the overhead wire harvesting system 100 includes an overhead wire harvesting machine 1, a carrier (carriage) 2, a grapple device 3, a skyline (main rope) SKL, an endless line (endless rope) ELL, and a lifting device. It consists of a line (loading rope) LFL, a haulback line (retrieving rope) HBL, and the like.

The skyline SKL spans between a base pillar position P4 and a front pillar position P2 provided at a position farther than the lumber logging site P3. The skyline SKL extends in a substantially 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 lumber collection site P1, and the other end of the skyline SKL is connected to a tree or the like at the leading pillar position P2. connected to

The timber collection site P1 is a position where timber is unloaded in the overhead wire collection system 100, and this timber collection site P1 is not limited to one location. It is not particularly limited as long as it is in the vicinity of directly below the skyline SKL that is bridged between the pillar positions P4.

A carrier 2 is attached to the skyline SKL via a pulley S so as to be able to travel. Both ends of an endless line ELL forming an endless track are connected to the carrier 2 . The endless line ELL is stretched over a plurality of pulleys E and a winch drum 11E of an endless line winch 10E of the wire collector 1 . In this case, the pulley E is installed in the vicinity of the front pole position P2, the vicinity of the overhead wire harvesting machine 1, etc., in the lumber harvesting site P1.

By causing the endless line ELL to run by the endless line winch 10E provided in the overhead wire collecting machine 1, the carriage 2 can be moved along the skyline SKL. Specifically, by driving the winch drum 11E of the endless line winch 10E so as to let out the endless line ELL in the E1 direction, the carriage 2 moves in the S1 direction along the skyline SKL. Conversely, by driving the winch drum 11E so as to let out 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, La is suspended from the carrier 2 via a connection member such as a wire. The middle part of the A grapple device 3 is provided at an intermediate portion of the lifting line LFL positioned between the pair of pulleys La, La. The grapple device 3 is suspended from the lifting line LFL via a pair of pulleys Lb, Lb.

One end of the lifting line LFL is connected to, for example, a tree or the like at the front post position P2. The other end of the lifting line LFL is wound around the winch drum 11L of the lifting line winch 10L of the wire collector 1 . The lifting line LFL includes the pair of pulleys La, La, the pair of pulleys Lb, Lb, the pulley L provided near the lumber collecting site P1, the pulley L provided near the overhead wire collecting machine 1, and the like. is handed over to

The grapple device 3 can be moved up and down by winding and unwinding the lifting line LFL to and from the winch drum 11L of the lifting line winch 10L provided in the overhead wire harvester 1 . Specifically, by driving the winch drum 11L so as to feed the lifting line LFL from the winch drum 11L in the L1 direction, the length of the intermediate portion of the lifting line LFL positioned between the pair of pulleys La and La increases and the grapple device 3 descends. Conversely, 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 is reduced and the grapple device 3 is lifted.

One end of the haulback line HBL pulled out from the wire collector 1 is connected to the side surface of the grapple device 3 . The other end of the haulback line HBL is wound around the winch drum 11H of the haulback line winch 10H of the overhead wire collector 1 . The haulback line HBL is stretched over 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 wire collector 1, and the like. there is Here, the above-described pair of pulleys Lb, Lb are provided on the upper portion (body portion) 3a of the grapple device 3, and the haul-back line HBL is connected to the side surface of the grapple device 3. As shown in FIG. An upper portion 3a of the grapple device 3 and a 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 rotatable.

A lower portion 3b of the grapple device 3 is provided with tongues 3c, and by closing the tongues 3c, it is possible to grab the wood from both left and right sides and convey it to the lumber collection site P1 in this state. there is Further, by opening the tongues 3c, the grasped lumber can be released and lowered to the lumber collection site P1. Details of the grapple device 3 and the grapple driving device for driving the grapple device 3 will be described later.

A winch 10H for the haulback line provided in the overhead wire harvester 1 winds and feeds the haulback line HBL to and from the winch drum 11H, thereby moving the grapple device 3 in the lateral direction intersecting the spanning direction of the skyline SKL. It is possible to move to In this case, by driving the winch drum 11H of the winch 10H for the haul-back line in synchronization with the driving of the winch drum 11L of the winch 10L for the lifting line described above, the lifting grapple device 3 is suspended. The tension of the line LFL is adjusted.

Specifically, by driving the winch drum 11L so as to feed the lifting line LFL from the winch drum 11L in the L1 direction, the length of the intermediate portion of the lifting line LFL positioned between the pair of pulleys La and La increases, allowing the grapple device 3 to move laterally away from the skyline SKL. In this case, by synchronously driving the winch drum 11H so as to wind the haulback line HBL around the winch drum 11H, the grapple device 3 is pulled in a direction approaching the pulley Ha described above, and the horizontal pulley is pulled away from the skyline SKL. The grapple device 3 moves in the direction.

Conversely, 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 is reduced, and the grapple device 3 moves toward the skyline SKL. You will be pulled in the direction you approach. In this case, the winch drum 11H is synchronously driven so that the haulback line HBL is extended from the winch drum 11H in the direction H1, thereby moving the grapple device 3 toward the skyline SKL.

By extending and winding the haulback line HBL in this manner, it is possible to move the grapple device 3 not only directly below the skyline SKL but also laterally away from the skyline SKL. By such movement of the grapple device 3, for example, it is possible to collect lumber within a lumber collection range R1 as shown in FIG. In this case, the lumber collection range R1 can be changed to any range that includes the logging site P3 by adjusting the installation position of the pulley Ha described above. It should be noted that the payout and winding of the haul back line HBL should be performed in synchronism with the movement of the carrier 2 due to the running of the endless line ELL described above and the raising and lowering of the grapple device 3 due to the payout and winding of the lifting line LFL. is possible.

As shown in FIGS. 1, 3, and 4, the overhead wire harvester 1 includes three winches (endless line winch 10E, lifting line winch 10L, and hallback line winch 10H), and these three winches. It is configured as a three-cylinder type hydraulic material collecting machine equipped with an engine 21 which is a driving source of the winches 10E, 10L, and 10H. That is, the overhead wire harvester 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 haulback line HBL. A winch 10H for the haulback line that winds up and feeds out is mounted.

Components of a winch driving device for rotating each winch 10E, 10L, 10H are mounted on a frame ASSY (frame assembly) 12, which is a winch main body. The frame ASSY 12 is provided integrally with an engine frame 21a in which the engine 21 is housed. The frame ASSY 12 and the engine frame 21a are provided on a base frame 16 installed on the ground. A winch cover 17 is attached to the side of the lifting line winch 10L and the haulback line winch 10H.

A haulback line winch 10</b>H is provided at the front end of the overhead wire collector 1 . The haul-back line winch 10H has a structure in which a winch drum 11H is rotatably supported by a frame ASSY 12. As shown in FIG. A rotating shaft of the winch drum 11H extends in the left-right direction. In this embodiment, the winch drum 11H of the haul-back line winch 10H is rotatably supported between a pair of wall portions that constitute the frame ASSY 12 . A 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 haul-back line winch 10H has a structure in which a pair of hydraulic motors 13H, 13H are arranged facing each other in the direction of the rotation axis of a winch drum 11H. 11H is driven.

A lifting line winch 10L is provided behind the haulback line winch 10H. The lifting line winch 10L has a structure in which a winch drum 11L is rotatably supported by a frame ASSY 12. As shown in FIG. A rotating shaft of the winch drum 11L extends in the left-right direction. In this embodiment, the winch drum 11L of the lifting line winch 10L is rotatably supported between a pair of wall portions forming the frame ASSY 12. As shown in FIG. The lifting line winch 10L, like the haulback line winch 10H, has a configuration in which a pair of hydraulic motors 13L, 13L are arranged facing each other in the rotation axis direction of the winch drum 11L. The winch drum 11L is driven by the hydraulic motors 13L, 13L.

An endless line winch 10E is provided behind the lifting line winch 10L. The endless line winch 10E has a structure in which a winch drum 11E is rotatably supported by a frame ASSY 12. As shown in FIG. A rotating shaft of the winch drum 11E extends in the left-right direction. In this embodiment, the winch drum 11E of the endless line winch 10E is provided on the side of one of the pair of walls forming the frame ASSY 12 . Unlike the winch 10H for the haul-back line and the winch 10L for the lifting line, the endless line winch 10E has a configuration in which the winch drum 11E is driven by the hydraulic motor 13 supported on the one wall. In this embodiment, the hydraulic motor 13 is composed of a triple motor.

The wire collecting machine 1 includes a hydraulic circuit 20 as shown in FIG. 4, for example. 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 this embodiment, it is possible to independently drive and control the three winches 10E, 10L, and 10H by operating an operation lever (not shown) or by a control signal from a drive control section, which will be described later. (single control). Further, by operating an operation lever (not shown) or by a control signal from a drive control unit (to be described later), as described above, the haul-back line is synchronized with the endless line winch 10E and the lifting line winch 10L. It is possible to drive and control the winch 10H (synchronization control).

The hydraulic circuit 20 mainly includes a hydraulic oil tank 22 that stores hydraulic oil, a hydraulic pump unit 23 that is driven by the engine 21, a winch drive unit 24 that drives the winches 10E, 10L, and 10H, a switching control unit 25, A tuning control section 26, a tension control section 27, and the like are provided. The hydraulic pump unit 23 includes three hydraulic pumps (an endless line pump 23E, a lifting line pump 23L, and a hall-back line pump 23H). The hydraulic pump unit 23 is configured as a three-connection hydraulic pump in which these three hydraulic pumps 23E, 23L, and 23H are directly connected to the output shaft of the engine 21. As shown in FIG. In this embodiment, a hallback line pump 23H, an endless line pump 23E, and a lifting line pump 23L are arranged in series in order from the engine 21 side.

Each of the pumps 23E, 23L, 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 adjusting the inclination angle of the swash plate, for example. Each pump 23E, 23L, 23H can be driven by force. In this case, by adjusting the inclination angles of the swash plates built in the pumps 23E, 23L and 23H, the discharge amounts of the pumps 23E, 23L and 23H can be controlled independently. Specifically, by setting the inclination angle of the swash plate of each of the pumps 23E, 23L, and 23H to 0° (neutral state), each of the pumps 23E, 23L, and 23H is in an idling state in which hydraulic oil is not discharged even if the engine 21 is running. It is possible to control the pumps 23E, 23L, 23H independently. Further, by controlling the inclination angle of the swash plate of each pump 23E, 23L, 23H to the positive side (plus side), each pump 23E, 23L, 23H can be controlled independently. Conversely, by controlling the inclination angles of the swash plates of the pumps 23E, 23L, 23H to the negative side (minus side), the pumps 23E, 23L, 23H are reversed to discharge hydraulic oil to the negative side oil passages. 23H can be controlled independently.

The hydraulic pump section 23 is connected to the winch driving section 24 via a switching control section 25, a tuning control section 26, a tension control section 27, and the like. The switching control unit 25 is provided with valves and the like for switching the oil passages of the hydraulic circuit 20 . The tuning control unit 26 is provided with valves and the like for performing tuning control of the winch 10H for the hall-back line described above. The tension control unit 27 is provided with valves and the like for maintaining the tension of the endless line ELL, the lifting line LFL, and the haul-back line HBL at a predetermined value.

The winch drive section 24 includes three winch drive sections (an endless line winch drive section 24E, a lifting line winch drive section 24L, and a hallback line winch drive section 24H). The endless line winch driving section 24E is connected to the endless line pump 23E, and hydraulic oil discharged from the endless line pump 23E is supplied to the hydraulic motor 13 of the endless line winch driving section 24E. ing. The drive state (forward rotation state, neutral state, and reverse rotation state) of the hydraulic motor 13 is switched according to the drive state (forward 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 driving section 24L is connected to the lifting line pump 23L, and the hydraulic oil discharged from the lifting line pump 23L is supplied to the first and second lifting line winch driving sections 24L. The power is supplied to the hydraulic motors 13L, 13L at the same time. In accordance with the driving state (forward rotation state, neutral state, and reverse rotation state) of the lifting line pump 23L, the driving states (forward rotation state, neutral state, and reverse rotation state) of the first and second hydraulic motors 13L, 13L of the lifting line winch driving section 24L reverse state, neutral state, and reverse state) are switched at the same time. In addition, the rotational speeds of the first and second hydraulic motors 13L, 13L of the lifting line winch driving section 24L are simultaneously controlled according to the discharge amount of the lifting line pump 23L. In other words, the first and second hydraulic motors 13L and 13L of the lifting line winch driving portion 24L rotate in the same direction and at the same rotational speed. is configured to drive the winch drum 11L of the lifting line winch 10L.

The haul-back line winch drive unit 24H is connected to the haul-back line pump 23H, and hydraulic oil discharged from the haul-back line pump 23H is supplied to the first and second haul-back line winch drive units 24H. The hydraulic motors 13H, 13H are supplied simultaneously. In accordance with the driving state (normal rotation state, neutral state, and reverse rotation state) of the haul-back line pump 23H, the driving state (normal state) of the first and second hydraulic motors 13H, 13H of the haul-back line winch driving section 24H is changed. reverse state, neutral state, and reverse state) are switched at the same time. In addition, the rotation speeds of the first and second hydraulic motors 13H, 13H of the winch driving section 24H for the haul-back line are controlled to be the same according to the discharge amount of the haul-back line pump 23H. That is, the first and second hydraulic motors 13H, 13H of the haul-back line winch driving portion 24H rotate in the same direction and at the same rotational speed. is configured to drive the winch drum 11H of the winch 10H for the haul-back line.

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

In the grapple device 3, as described above, the upper portion 3a, which is the body portion, is connected to the lower portion 3b, which is the arm portion, via the cross joint 3d. The upper portion 3a of the grapple device 3 includes a pair of pulleys Lb, Lb, a speed increasing mechanism 3e, an information processing section 3f, an alternator (generator) 3h, a battery (capacitor) 3j, a power unit (hydraulic drive device) 3k, and an imaging section. 3s is installed. The power unit 3k includes an electric motor 3l, a hydraulic pump 3m, a hydraulic valve 3n, and the like. A tongue 3c, a hydraulic cylinder 3p, a link mechanism 3q, and the like are mounted on the lower portion 3b of the grapple device 3. As shown in FIG. Between the upper portion 3a and the lower portion 3b of the grapple device 3, a cross joint 3d, a rotator (turning mechanism) 3r, and the like are provided.

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

The battery 3j is electrically connected to the information processing section 3f and the electric motor 3l, and the power of the battery 3j is supplied to the information processing section 3f, the imaging section 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.

A tongue 3c provided on the lower portion 3b of the grapple device 3 is driven to open and close by a 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 tongue 3c opens and closes by transmitting the expansion and contraction of the hydraulic cylinder 3p through the link mechanism 3q. Specifically, the contracting motion of the hydraulic cylinder 3p causes the tongue 3c to move in the opening direction. Conversely, the extension operation of the hydraulic cylinder 3p causes the tongue 3c to move in the closing direction. In this embodiment, the tongue 3c is operable between an open position indicated by solid lines in FIG. 6 and a closed position indicated by two-dot chain lines.

With the tongues 3c open and a piece of wood positioned between the tongues 3c, the tongues 3c are gradually closed by extending the hydraulic cylinder 3p so that the pieces of wood are grasped by the tongues 3c from both the left and right sides. be (caught). By driving the wire collecting machine 1 while grasping the wood with the tongs 3c, the wood can be lifted upward and furthermore, the wood can be transported to the wood collecting site P1. In addition, it is possible to lower the lumber by driving the overhead wire lumber collector 1 while gripping the lumber transported to the lumber collecting site P1 with the tongues 3c.

Conversely, when the hydraulic cylinder 3p is retracted while the tongues 3c are gripping the wood, the tongues 3c are gradually opened and the wood is released from the tongues 3c. As a result, the lumber conveyed to the lumber collection site P1 can be unloaded at a predetermined position.

A 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 motor 3l of the power unit 3k is driven by the electric power of the battery 3j, thereby operating the hydraulic pump 3m and the hydraulic valve 3n of the power unit 3k, thereby supplying hydraulic oil to the rotator 3r. As a result, the rotator 3r rotates, and the lower portion 3b of the grapple device 3 rotates with respect to the upper portion 3a according to the rotation of the rotator 3r.

In this embodiment, as shown in FIG. 5, the speed increasing mechanism 3e is configured as a two-stage speed increasing mechanism. That is, the speed increasing mechanism 3e includes a pair of first speed increasing mechanism and second speed increasing mechanism, and the rotation of the pair of pulleys Lb, 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 lumber collection system 100, the tongs 3c for gripping lumber, A hydraulic cylinder 3p for opening and closing the tongue 3c, an alternator 3h for generating electricity by rotating a pair of pulleys Lb, Lb, a battery 3j for charging the electricity generated by the alternator 3h, and operated by the electric power of the battery 3j. A power unit 3k having a hydraulic pump 3m and a hydraulic valve 3n is provided. The tongue 3c is driven by driving the power unit 3k with electric power from the battery 3j and operating the hydraulic cylinder 3p with the hydraulic pressure of the power unit 3k. That is, the electric power of the battery 3j is converted into hydraulic pressure by the power unit 3k, and the tongue 3c is driven by the hydraulic pressure converted by the power unit 3k.

According to this embodiment, when the grapple device 3 moves along the lifting line LFL, the pair of pulleys Lb, Lb rotates, and the rotation of the pair of pulleys Lb, Lb generates electric power in the alternator 3h, which is transferred to the battery 3j. is charged to The power unit 3k is driven by electric power charged in the battery 3j, and the tongue 3c is driven by the hydraulic pressure of the power unit 3k. In this 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 tongues 3c. As a result, it is possible to reduce the size and weight of the battery 3j.

Further, in the logging site P3, the power unit 3k is driven by the power of the battery 3j mounted on the grapple device 3, thereby driving the tongues 3c, and the tongues 3c can easily mechanically grasp the wood from both the left and right sides. can. Then, the timber can be easily conveyed from the timber felling site P3 to the timber collection site P1 in a state in which the timber is gripped by the tongues 3c. Also, in the lumber pile P1, the power unit 3k is driven by the electric power of the battery 3j to drive the tongues 3c, release the lumber gripped by the tongues 3c, and place it at a predetermined position on the lumber pile P1. can be taken down easily. As a result, it is possible to eliminate the need for manual loading work at the lumber logging site P3 and manual unloading work at the lumber logging site P1. The lumber can be easily transported to the ground P1. In this case, it is no longer necessary to climb a steep mountain road or the like to a lumber logging site in order to carry out the loading work, and the loading work, which is troublesome and dangerous for workers, is not necessary.

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

Further, in this embodiment, the lower portion 3b on which the tongue 3c is mounted is rotatably provided by the rotator 3r with respect to the upper portion 3a on which the pair of pulleys Lb, Lb are mounted. 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 hydraulic pressure by the power unit 3k, and the rotator 3r is driven by the hydraulic pressure of the power unit 3k. As a result, the power unit 3k is driven by the electric power of the battery 3j mounted on the grapple device 3 in the logging site P3, thereby driving the rotator 3r and rotating the lower portion 3b with respect to the upper portion 3a. , the direction of the tongs 3c can be changed so that the felled wood can be grasped from both the left and right sides. Thus, the orientation of the tongues 3c can be easily changed according to the orientation of the timber cut at the timber logging site P3, and the timber can be easily gripped by the tongues 3c.

The image capturing unit 3s is a device such as a camera provided in the grapple device 3, captures an image of the lower area of the grapple device 3, and transmits the captured image data to the information processing unit 3f. 5 and 6 show an example in which the imaging section 3s is provided in the upper portion 3a of the grapple device 3, but it may be provided in the lower portion 3b. Further, as the imaging unit 3s, a plurality of cameras or the like may be used, and a single image may be generated by taking images in different directions with a plurality of cameras and synthesizing them.

The information processing section 3f is connected to the controller 3g and the wire collector 1 via wireless communication so that information can be communicated with each other. The information processing section 3f is also connected to the power generation relay 3i, the battery 3j, the imaging section 3s, and the electric motor 3l. The controller 3g is provided in an operating device (not shown) located away from the grapple device 3. For example, a worker near the lumber pile P1 operates the operating device to control the grapple device 3. Remote operation and display of images captured by the imaging unit 3s are possible.

When the grapple device 3 is remotely operated by the controller 3g, when a worker near the lumber collection site P1 operates the operating device, an operation signal is transmitted from the controller 3g and received by the information processing section 3f. The information processing section 3f sends a control signal to each section according to the operation signal. As a result, charging control of the battery 3j, drive control of the tongs 3c by the power unit 3k, drive control of the rotator 3r by the power unit 3k, and drive control of the wire collector 1 can be performed by remote control. Note that the grapple device 3 may be remotely operated by communication means other than the information processing section 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 or stop the automatic control, switch to manual operation, check images during automatic operation, and the like. It can be carried out. During automatic control, each part is automatically controlled according to the control signal generated by the information processing section 3f, and semi-automatic control for automatically performing only transportation can also be performed.

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

The information processing unit 3f is a device that performs information processing by means of a prerecorded program or machine reinforcement learning, and communicates information with each unit of the wire collection system 100. FIG. The configuration of the information processing section 3f is not limited, and a known computer device equipped with a central processing unit (CPU), memory, external storage device, information communication means, etc. can be used.

The drive control unit 31 is a part configured as a part of the information processing unit 3f, and controls the overhead wire collector 1 and the 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 The drive control unit 31 controls the driving of the overhead wire collecting machine 1, so that the grapple device 3 moves within the collecting range R1, moves up, and moves down. Further, the driving control unit 31 controls driving of the driving unit 40, so that the tongues 3c are opened and closed and the lower part 3b is turned in the grapple device 3. FIG. Details of automatic control by the drive control unit 31 will be described later.

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

The machine reinforcement learning unit 33 compares the control of the drive unit 40 and the overhead wire collector 1 by the drive control unit 31 with the results of the loading and unloading operations, and executes machine reinforcement learning to control the drive. The efficiency of control 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 section 34 is a section that detects the movement, orientation, and acceleration of each section of the grapple device 3 . The acceleration sensor section 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 portion 3s of the grapple device 3.

The drive section 40 is a section for mechanically driving each section of the grapple device 3, and in the example shown in FIG. contains. The drive unit 40 is driven and controlled based on a control signal from the drive control unit 31 to realize opening and closing operations of the tongues 3c and turning operations of the lower part 3b.

FIG. 8 is a diagram schematically showing loading, transporting, and unloading operations of lumber under automatic control of the overhead wire lumber collection system 100. As shown in FIG. The example shown in FIG. 8 shows an example in which the controller 3g is manually operated until the wood is gripped with the tongs 3c, and then the automatic control is started.

In the automatic control of the wire collection system 100, the operation shown in stages A to I in FIG. In the winding process of the A stage, the LFL is rotated in the forward direction, the winding length is measured by the LFL counter, and the HBL is synchronized and operated. In the B-stage transfer process, the ELL is rotated in the forward direction, the movement 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 lumber pile P1. In the lowering step of the C stage, the LFL is rotated in the reverse direction, the lowering length is measured by the LFL counter, and the HBL is operated in synchronization. Also, during the lowering process, image recognition by the image recognition unit 32 and distance detection by the acceleration sensor unit 34 are performed to detect ground clearance. In the unloading process of the D stage, the tongs 3c are opened, and the placement operation of releasing the lumber at the lumber collection site P1 is executed.

In the E-stage winding process, the LFL is rotated in the forward direction, the winding length is measured by the LFL counter, and the HBL is synchronized and operated. In the empty carrier feeding process of stage F, the ELL is rotated in the reverse direction, the movement 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 empty carrier feeding step, the image recognition unit 32 executes image recognition to detect lumber within the lumber collection range R1. In the pull-in process of the G stage, the LFL is rotated in the reverse direction, the length of winding down is measured by the LFL counter, and the HBL is synchronized and operated. In addition, the position and direction of the lumber are detected by image recognition in the image recognition unit 32 during the retraction process, and the lower part 3b is rotated.

In the lowering step of the H stage, the LFL is rotated in the opposite direction, the lowering length is measured by the LFL counter, and the HBL is operated in synchronization. Also, during the lowering process, image recognition by the image recognition unit 32 and distance detection by the acceleration sensor unit 34 are performed to detect ground clearance. In stage I, the loading process, the tongues 3c are closed and the wood is gripped. Further, image recognition is performed by the image recognition unit 32 during the loading process, and the wood and the tongs 3c are recognized.

Next, with reference to FIGS. 9 to 12, the operation of loading, transporting, and unloading lumber under the automatic control of the overhead wire lumber collection system 100 will be described in more detail. FIG. 9 is a flow chart showing control from the start of automatic control. FIG. 10 is a flow chart showing the control following FIG. FIG. 11 is a flow chart showing the control following FIG. FIG. 12 is a flow chart showing the control following FIG.

First, while viewing the image of the lower area 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 collector 1 by remotely controlling the controller 3g. Execute the hanging motion. Here, an example in which automatic operation is started from the winding process of stage A is shown, but manual operation can be performed up to other processes and automatic operation can be executed from any stage.

When the automatic operation is started, the drive control unit 31 sends a control signal to the overhead wire collector 1 to perform the A stage winding process. During the winding process, it is determined whether the tongues 3c are gripping the wood, and if it is determined that the wood is not gripped, it is determined that the wood has fallen off, and the winding stop operation in the winding process of stage E is performed. do. If it is determined that the lumber is gripped, it is determined whether the lumber has been hoisted up to the hoisting limit position. If NO, the hoisting process is continued. do. After the winding stop operation, the process proceeds to the B-stage conveying process.

Here, whether or not the tongues 3c are gripping a piece of wood is determined by the change in the amount of load measured by a separately provided load sensor, or by the image recognition section 32 recognizing the piece of wood in the image captured by the imaging section 3s. be able to. In addition, the determination of whether to wind up to the hoisting limit position can be made using the measurement results of the LFL counter, the distance to the ground by a separately provided altimeter, GPS device, laser sensor, or the like.

After the hoisting stop operation, the drive control unit 31 sends a control signal to the overhead wire harvester 1 to execute the B-stage conveying process and move the grapple device 3 in the direction of the lumber harvesting site P1. During the transport process, it is determined whether the grapple device 3 has reached the lumber collection limit position, and if it has reached the lumber collection limit position, the transport direction is reset so that the transport direction is the lumber collection site P1. , continue the transfer process. If the material collection limit position has not been reached, it is determined whether or not the unloading position has been reached. If the unloading position is not reached, the transfer process is continued. Move to transfer stop operation. After the conveying stop operation, the process moves to the C-stage lowering process.

Here, whether or not the grapple device 3 has reached the material collection limit position is determined by calculating the position using the measurement result of the ELL counter or a separately provided GPS device, etc., and determining the material collection limit position set in advance. determine if there is Further, whether or not the grapple device 3 is at the unloading position is determined based on the result of measurement by the ELL counter and recognition of the image captured by the imaging section 3s. For the image recognition of the unloading position, a mark such as a two-dimensional bar code may be arranged in advance on the lumber pile P1.

After the conveying stop operation, the drive control unit 31 sends a control signal to the overhead wire collector 1 to execute the lowering process of the C stage. During the lowering process, it is determined whether or not the lower end of the grapple device 3 has reached the ground level. If not, the lowering process is continued, and if the ground level is reached, the lowering operation is stopped. do. After the lowering stop operation, the unloading process of the D stage is shifted to.

Here, whether or not the lower end of the grapple device 3 is above the ground can be determined using the measurement result of the LFL counter, the distance measurement from the ground by a separately provided altimeter, GPS device, laser sensor, or the like.

After the lowering stop operation, the drive control section 31 sends a control signal to the drive section 40 to execute the D-stage unloading process. In the unloading process, in the grapple device 3 that has moved to the lumber collection site P1, the hydraulic cylinder 3p is driven in response to a control signal from the drive control unit 31 to open the tongues 3c, thereby releasing the gripped lumber. is executed. After the arranging operation is performed, the E stage of the winding process is performed.

After the arranging operation, the drive control unit 31 sends a control signal to the overhead wire collector 1 to execute the E-stage winding process. At this time, the tongues 3c may be in an open state, but the winding process may be performed after the tongues 3c are closed as necessary. During the hoisting process, it is determined whether the grapple device 3 has reached the hoisting limit position, and if it is not at the hoisting limit position, the hoisting process is continued, and if it is at the hoisting limit position, the rotation of the LFL is stopped and the hoisting is started. Move to stop operation. After the hoisting stop operation, the process shifts to the F-stage empty carrier feeding process.

Here, the judgment as to whether the grapple device 3 is at the hoisting limit position can be made by using the measurement result of the LFL counter, the distance measurement to the ground by a separately provided altimeter, GPS device, laser sensor, or the like.

After the hoisting stop operation, the drive control unit 31 sends a control signal to the overhead wire harvesting machine 1 to execute the F stage empty carrier feeding process, and the grapple device 3 moves toward the lumber logging site P3 within the logging range R1. move to During execution of the empty carrier feeding step, it is determined whether or not the grapple device 3 has reached the lumber collection limit position. Reset and continue the empty carrier feeding process. When the lumber collection limit position has not been reached, the image recognition unit 32 recognizes the image of the lower area captured by the imaging unit 3s and determines whether or not there is lumber. If the wood does not exist in the image, the empty carrier feeding process is continued, and if the wood exists, the rotation of the ELL is stopped and the empty carrier feeding stop operation is performed. After the empty carrier feeding stop operation, the process shifts to the G-stage pulling-in process.

Here, as the lumber felling site P3 to which the grapple device 3 is to be moved in the empty carrier feeding process, the position where the previous loading process was performed or its surroundings may be set, or another position may be newly set. You can do it. When the image recognition unit 32 recognizes a piece of wood, the size, orientation, and overlap that can be grasped by the tongues 3c are determined using the machine reinforcement learning unit 33, and the size, orientation, and overlap that cannot be grasped are determined. In this case, the empty carrier feeding step may be continued.

After the empty carrier feeding stop operation, the drive control section 31 sends a control signal to the overhead wire collector 1 and the drive section 40 to execute the pulling-in process of the G stage. During execution of the pulling-in process, the image recognition section 32 recognizes the image of the lower area captured by the imaging section 3s and determines whether or not the wood exists. If the wood does not exist, the pulling-in process continues. If there is wood in the image, the drive control unit 31 determines whether or not the wood is positioned vertically below the grapple device 3, and if not vertically below, the retraction process continues. When the wood is positioned 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 recognizing wood by the image recognition unit 32, the machine reinforcement learning unit 33 is used to determine whether the size, orientation, and overlap can be grasped by the tongues 3c. It may be determined that wood exists only when Further, when determining whether or not the wood is positioned vertically below the grapple device 3, the direction and inclination of the grapple device 3 and the imaging unit 3s are specified based on the detection result of the acceleration sensor unit 34, and the image is captured by the imaging unit 3s. 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 part 3b of the grapple device 3 to shift to a tongue turning operation for adjusting the orientation of the tongue 3c. Even during the tongs turning operation, the drive control unit 31 determines whether or not the tongs 3c and the target wood are in the direction to intersect. 3r is stopped to shift to the tongue turning stop operation. After the tong rotation stop operation, the process proceeds to the H-stage lowering process.

FIG. 13 is a schematic diagram showing an example of an image of the lower area of the grapple device 3 captured by the imaging unit 3s. In the example shown in FIG. 13, a single image is generated by synthesizing images captured by a plurality of cameras, and the lower portion 3b of the grapple device 3 is in the center of the image, and extends obliquely near the center. wood is placed. In this figure, the vertically downward position of the grapple device 3 is the center of the image on the top, bottom, left, and right, and it is determined that the wood exists vertically below. Also, it is determined that the direction in which the wood is arranged and the direction in which the tongue 3c intersects.

After the tong rotation stop operation, the drive control unit 31 sends a control signal to the wire collector 1 to execute the H-stage lowering process. During the lowering process, it is determined whether or not the lower end of the grapple device 3 has reached the ground level. If not, the lowering process is continued, and if the ground level is reached, the lowering operation is stopped. do. After the hoisting stop operation, the I-stage loading process is started.

Here, whether or not the lower end of the grapple device 3 is above the ground can be determined using the measurement result of the LFL counter, the distance measurement from the ground by a separately provided altimeter, GPS device, laser sensor, or the like.

After the lowering stop operation, the drive control section 31 sends a control signal to the drive section 40 to execute the I-stage loading process. In the loading process, the drive control unit 31 drives the hydraulic cylinder 3p to close the tongues 3c and perform a gripping operation of gripping the wood. At this time, the positional relationship between the tongues 3c and the wood is such that the tongues 3c are rotated to intersect each other as shown in FIG. Therefore, the wood can be sandwiched between the tongues 3c simply by closing the tongues 3c. After the loading process, the hoisting process of the A stage is performed again, and the lumber is collected repeatedly by automatic control.

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 of the wood and the tongs 3c, and the gripping operation and placement operation. Machine reinforcement learning is performed on the opening and closing motion of the tongue 3c to optimize the motion.

As described above, in the wire collection system 100 of the present embodiment, the imaging unit 3s captures an image below the grapple device 3, the image recognition unit 32 recognizes the wood in the image, and the recognition result is In response, the drive control unit 31 controls the driving of the grapple device 3 and the wire collector 1 . As a result, felled lumber can be transported from the lumber felling site P3 to the lumber collection site P1 under automatic control. Therefore, manual loading and unloading operations are not required, and it is possible to reduce the number of workers required for collecting lumber.

In addition, the drive control unit 31 uses the machine reinforcement learning unit 33 to perform machine reinforcement learning of the wood grasping motion and the like, so that the work efficiency of loading, transporting, and unloading can be improved. In addition, since the grapple device 3 includes the acceleration sensor unit 34 and the vertically downward position in the image captured by the imaging unit 3s is specified based on the detection result of the acceleration sensor unit 34, the grapple device 3 is shaken or tilted. Even so, it is possible to appropriately recognize the lumber and the lumber pile P1, and perform the grasping operation and the arranging operation.

In the above embodiment, the machine reinforcement learning unit 33 learns the optimum operation during the lumber collection by automatic control of the overhead wire lumber collection system 100. After performing reinforcement learning, machine reinforcement learning may be repeated with the real object.

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

In the above-described embodiment, the case where the present invention is applied to the grapple driving device that drives the grapple device 3 provided in the endless tier type 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 driving device used in a wire collection system 100 of a method other than the above. For example, the overhead wire collection system 100 may be configured such that the grapple device 3 can move along wires other than the lifting line LFL.

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

INDUSTRIAL APPLICABILITY The present invention can be used in a wire collection system using a grapple device.

Reference numerals 100: Overhead wire collecting system P1: Timber collecting site P2: Leading pole position P3: Timber logging site P4: Base pole position R1: Timber collecting range 1: Overhead wire collecting machine 2: Carriage 3: Grapple device 10E: For endless line Winch 10H Winch for haulback line 10L Winch for lifting line 11E, 11H, 11L Winch drum 13 Hydraulic motors 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 section 23E Endless line pump 23H Hole back line pump 23L Lifting line pump 24 Winch drive section 24E Endless line winch drive section 24H Hole back line winch driving unit 24L for lifting line winch driving unit 25 switching control unit 26 tuning control unit 27 tension control unit 31 drive control unit 32 image recognition unit 33 machine reinforcement learning unit 34 acceleration sensor unit 3a Upper part 3b Lower part 3c Tongue 3d Cruciform joint 3e Speed increasing mechanism 3f Information processor 3g Controller 3h Alternator 3i Power generation relay 3j Battery 3k Power unit 3l Electric motor 3m Hydraulic pump 3n Hydraulic valve 3p Hydraulic cylinder 3q Link mechanism 3r Rotator 3s Imaging unit 40 Driving unit

Claims (6)

An overhead wire logging system that includes a grapple device and an overhead wire logging machine that moves the grapple device, and transports felled timber from a logging area to a logging area,
a drive control unit that controls driving of the grapple device and the overhead wire collector;
an imaging unit that captures an image below the grapple device;
an image recognition unit that recognizes the wood in the image;
The drive control unit controls driving of the grapple device and the wire collector according to the recognition result of the image recognition unit,
Further, the grapple device includes an acceleration sensor unit,
The overhead wire collection system, wherein the drive control unit identifies a vertically lower position in the image based on the detection result of the acceleration sensor unit . In the overhead wire collection 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 grips the wood by the grapple device when the wood is included in the image. An overhead wire collection system characterized by carrying out. In the overhead wire collection system according to claim 2,
The overhead wire lumber collection system, wherein the drive control unit performs machine reinforcement learning of the gripping motion of the lumber. In the overhead wire collection system according to claim 2 or 3,
After the gripping operation, the drive control unit moves the grapple device to the lumber collection site, and the grapple device performs an arrangement operation in which the grapple device separates the lumber at the lumber collection site. collection system. In the overhead wire collection system according to any one of claims 1 to 4,
The grapple device has a main body and a grapple arm provided below the main body,
The overhead wire collection system, wherein the imaging section, the image recognition section, and the drive control section are provided in the main body section. In the overhead wire collection system according to any one of claims 1 to 5 ,
with an endless tiler style configuration having at least a skyline, an endless line and a lifting line,
The overhead wire collecting system, wherein the grapple device is provided movably along the wire of the lifting line.

Images