Overhead line utilization system and overhead line utilization method

Abstract

The overhead line utilization system is provided with a control device, and the control device is configured to: maintain the position information of a plurality of support columns including the height of the support columns, obtain the position information of the transporter including the height of the transporter, and calculate the winding amounts of a plurality of working ropes for moving the transporter to a target position. The control device is configured to calculate the inclination of the plurality of working ropes suspending the transporter by using at least the position information of the plurality of support columns and the position information of the transporter, and calculate the winding amount of the working rope for moving the transporter to the target position based on the calculated inclination of the plurality of working ropes.

Description

Technical Field

[0001] The present invention relates to a technique for moving a device suspended from an overhead wire in the air by using the overhead wire. Background Art

[0002] Japanese Unexamined Patent Application Publication No. 2020-162456 discloses an overhead wire utilization system including: a plurality of columns; an overhead wire supported by the columns; a winch device capable of winding the overhead wire; a lifting device connected to the overhead wire and capable of moving in the air by winding the overhead wire by the winch device; and a detection device suspended from the lifting device. The overhead wire utilization system controls the driving of the winch device while monitoring the position information of the detection device based on the detection location information, moves the detection device and the lifting device in a substantially horizontal direction, and stops the winch device at the detection location. Summary of the Invention

[0003] In the technique described in Japanese Unexamined Patent Application Publication No. 2020-162456, it moves based on the position information of the detection device. However, due to the inclination and deflection of the overhead wire, the moving distances of the horizontal conveyors are different, so position deviation may occur. In addition, when moving the conveyor on the overhead wire of the overhead wire utilization system, the actual position of the conveyor is difficult to grasp due to the time lag of the position information, the inclination or deflection of the overhead wire.

[0004] The present invention provides a technique for accurately calculating the winding amount of an overhead wire in the movement control of a conveyor to a target position.

[0005] One aspect of the present invention includes: a first main cable and a second main cable supported by a plurality of columns and fixed at both ends; a plurality of working cables movably supported on one of the first main cable and the second main cable; a winch device configured to wind the plurality of working cables respectively; a conveyor connected to the plurality of working cables and configured to move in the air between the first main cable and the second main cable; and a control device configured to hold the position information of the plurality of columns including the height of the columns, obtain the position information of the conveyor including the height of the conveyor, and calculate the winding amounts of the plurality of working cables for moving the conveyor to the target position. The control device is configured to calculate the inclination of the plurality of working cables suspending the conveyor by using at least the position information of the plurality of columns and the position information of the conveyor, and calculate the winding amount of the working cable for moving the conveyor to the target position based on the calculated inclination of the plurality of working cables.

[0006] In the overhead wire utilization system of the above aspect, the control device may be configured to calculate the horizontal movement amount based on the difference between the current position and the target position of the conveyor. The control device may be configured to convert the calculated horizontal movement amount into the winding amount of the working cable according to the inclination of the working cable.

[0007] In the overhead line utilization system of the above-described manner, the overhead line utilization system may also include: a first mobile device connected to the working cable and movably supported along a first main cable; and a second mobile device connected to the working cable and movably supported along a second main cable. The transporter may be movable in the air between the first mobile device and the second mobile device. The control device may be configured to obtain position information of the first mobile device and the second mobile device including the heights of the first mobile device and the second mobile device. The control device may be configured to calculate the inclination of a plurality of working cables connected to the first mobile device and the second mobile device based on the position information of a plurality of support columns and the position information of the first mobile device and the second mobile device. The control device may be configured to calculate the winding amount of the working cable corresponding to the horizontal movement amount of the first mobile device and the second mobile device based on the calculated inclination of the plurality of working cables.

[0008] Another aspect of the present invention is an overhead line utilization method executed by a computer using an overhead line utilization system, the overhead line utilization system including: a first main cable and a second main cable supported by a plurality of support columns and fixed at both ends; a plurality of working cables movably supported on one of the first main cable and the second main cable; a winding device configured to wind the plurality of working cables respectively; and a transporter connected to the plurality of working cables and configured to move in the air between the first main cable and the second main cable. The method includes: a step of maintaining position information of a plurality of support columns including the heights of the support columns; a step of obtaining position information of the transporter including the height of the transporter; and a step of calculating the winding amount of the plurality of working cables for moving the transporter to a target position. In the calculating step, it includes the following steps: calculating the inclination of the plurality of working cables suspending the transporter using at least the position information of the plurality of support columns and the position information of the transporter; and calculating the winding amount of the working cable for moving the transporter to the target position based on the calculated inclination of the plurality of working cables.

[0009] According to the present invention, it is possible to provide a technique for accurately calculating the winding amount of an overhead line in the movement control of a transporter to a target position. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Hereinafter, the features, advantages, and technical and industrial significance of the exemplary embodiments of the present invention will be described with reference to the accompanying drawings, in which the same reference numerals denote the same components.

[0011] Figure 1 is a diagram for explaining an overhead line utilization system.

[0012] Figure 2 is a diagram showing the functional configuration of the overhead line utilization system according to the embodiment.

[0013] Figure 3It is a top view of the wire harness utilization system and is a diagram for explaining the movement of the transporter in the Y direction.

[0014] Figure 4 It shows the wire harness utilization system observed in the X direction and is a diagram for explaining the method of calculating the winding amount of the movement amount in the horizontal direction with respect to the first moving device.

[0015] Figure 5 It shows the wire harness utilization system observed in the Y direction and is a diagram for explaining the movement of the transporter in the X direction and the Z direction.

[0016] Figure 6 It is a flowchart of the process of moving the transporter to the target position. Detailed implementation mode

[0017] Figure 1 It is a diagram for explaining the wire harness utilization system 1. The wire harness utilization system 1 includes a first support column 10a, a second support column 10b, a third support column 10c, a fourth support column 10d, a first main cable 12a, a second main cable 12b, a first working cable 14a, a second working cable 14b, a third working cable 14c, and a fourth working cable 14d, a first moving device 16a, a second moving device 16b, a transporter 18, a clamping device 19, a control device (not shown), a first winch device 24a, and a second winch device 24b.

[0018] The wire harness utilization system 1 is a so-called H-type wire harness utilization system and can use the main cables 12a and 12b and the working cables 14a, 14b, 14c, and 14d (these cables are called wire harnesses) tightened in the air to hang the trees 20 felled in the forest and transport them to the vicinity of the logging yard. Thus, even without building roads, the trees 20 can be transported from the forest.

[0019] The four support columns 10a, 10b, 10c, and 10d are erected at positions suitable for erection determined based on the configuration of the trees and the position of the logging yard. The support columns 10a, 10b, 10c, and 10d are set to a size of about 5 meters to 10 meters according to the size of the wire harness utilization system 1 and the like.

[0020] The main cables 12a and 12b and the working cables 14a, 14b, 14c, and 14d are fixed to the struts 10a, 10b, 10c, and 10d as overhead lines, or are hung on the pulleys of the struts 10a, 10b, 10c, and 10d. The first main cable 12a is fixed to the first strut 10a and the second strut 10b, and the second main cable 12b is fixed to the third strut 10c and the fourth strut 10d, functioning as an overhead track. Additionally, the fixing positions of the main cables 12a and 12b can also be fixed to the ground near the struts 10a, 10b, 10c, and 10d via the struts 10a, 10b, 10c, and 10d. The first main cable 12a and the second main cable 12b are arranged not to intersect. The lengths of the main cables 12a and 12b are about 300 meters to 2000 meters.

[0021] The working cables 14a, 14b, 14c, and 14d function as moving cables wound by the winching devices 24a and 24b, moving the moving devices 16a and 16b and the transporter 18. The first working cable 14a and the third working cable 14c are used to move the moving devices 16a and 16b, and the second working cable 14b and the fourth working cable 14d are used to move the transporter 18 between the main cables 12a and 12b.

[0022] The first working cable 14a and the third working cable 14c are hung on the pulleys provided on the struts 10a, 10b, 10c, and 10d, with one end connected to the moving devices 16a and 16b and the other end connected to the winching devices 24a and 24b. The first working cable 14a includes a working cable that is connected to the first moving device 16a from the first winching device 24a via the second strut 10b, the first moving device 16a, and the first strut 10a, and a working cable that is connected to the first moving device 16a via the second strut 10b. The first working cable 14a is provided to move the first moving device 16a. That is, one of the first working cables 14a passes through the first moving device 16a from the second strut 10b and turns back at the first strut 10a to be connected to the first moving device 16a.

[0023] The third working cable 14c includes a working cable that is connected to the second moving device 16b from the second winching device 24b via the fourth strut 10d, the second moving device 16b, and the third strut 10c, and a working cable that is connected to the second moving device 16b via the fourth strut 10d. The third working cable 14c is provided to move the second moving device 16b. That is, one of the third working cables 14c passes through the second moving device 16b from the fourth strut 10d and turns back at the third strut 10c to be connected to the second moving device 16b.

[0024] One end of the second working cable 14b is fixed to the first winch device 24a, and the other end is fixed to the first support column 10a. The second working cable 14b is fixed to the first support column 10a from the first winch device 24a via the second support column 10b, the first moving device 16a, the transporter 18, and the first moving device 16a. That is, the second working cable 14b extends from the first winch device 24a to the second support column 10b, bends at the first moving device 16a and turns back at the transporter 18, and bends again at the first moving device 16a and is connected to the first support column 10a.

[0025] One end of the fourth working cable 14d is fixed to the second winch device 24b, and the other end is fixed to the third support column 10c. The fourth working cable 14d is fixed to the third support column 10c from the second winch device 24b via the fourth support column 10d, the second moving device 16b, the transporter 18, and the second moving device 16b. That is, the fourth working cable 14d extends from the second winch device 24b to the fourth support column 10d, bends at the second moving device 16b and turns back at the transporter 18, and bends again at the second moving device 16b and is connected to the third support column 10c.

[0026] A pair of moving devices 16a, 16b are respectively supported by a pair of main cables 12a, 12b and can move along the main cables 12a, 12b. The transporter 18 suspends the clamping device 19 by a lifting cable. A position detection unit for detecting the position information of the transporter 18 using a satellite positioning system is provided on the support columns 10a, 10b, 10c, 10d, the moving devices 16a, 16b, and the transporter 18. The clamping device 19 can clamp the tree 20. A drive source for lifting and lowering the clamping device 19 is provided on the transporter 18.

[0027] The winch devices 24a, 24b function as winches for winding the working cables 14a, 14b, 14c, 14d respectively, and have drums and motors for winding or unwinding the respective working cables 14a, 14b, 14c, 14d. The winch devices 24a, 24b drive the motors according to the drive instructions of the control device to rotate the drums, and send the drive results to the control device.

[0028] The operation of the wire harness utilization system 1 will be described. The first winch device 24a winds one side of the first working wire 14a and unwinds the other side, causing the first moving device 16a to move along the first main wire 12a. In addition, the second winch device 24b winds one side of the third working wire 14c and unwinds the other side, causing the second moving device 16b to move along the second main wire 12b. As a result, the transporter 18 is displaced in the direction along the main wires 12a and 12b. Additionally, the direction parallel to the first main wire 12a is sometimes set as the Y direction, the direction that is the relative direction of the first main wire 12a and the second main wire 12b and is orthogonal to the Y direction is set as the X direction, and the vertical direction is set as the Z direction.

[0029] Next, the movement of the transporter 18 in the relative direction of the first main wire 12a and the second main wire 12b will be described. If the winch devices 24a and 24b wind one side of the second working wire 14b and the fourth working wire 14d and unwind the other side, the distance from the first moving device 16a to the transporter 18 and the distance from the second moving device 16b to the transporter 18 change, and the transporter 18 is displaced in the X direction between the first moving device 16a and the second moving device 16b.

[0030] In addition, if the winch devices 24a and 24b wind both the second working wire 14b and the fourth working wire 14d, the transporter 18 rises, and if both the second working wire 14b and the fourth working wire 14d are unwound, the transporter 18 descends. As a result, the transporter 18 is displaced in the Z direction. By combining the winding and unwinding of the working wires 14a, 14b, 14c, and 14d in this way, the transporter 18 can move in three-axis directions within the area surrounded by the four columns 10a, 10b, 10c, and 10d.

[0031] In addition, in Figure 1 the mode of the wire harness utilization system 1 shown, the working wires 14a, 14b, 14c, and 14d are wound by a set of the first winch device 24a and the second winch device 24b, but it is not limited to this mode. For example, four winch devices for winding the working wires 14a, 14b, 14c, and 14d can be provided for each of the columns 10a, 10b, 10c, and 10d. As a result, since the working wires 14a, 14b, 14c, and 14d do not need to be folded back and extended to the winch devices 24a and 24b, the total length of the working wires 14a, 14b, 14c, and 14d can be shortened, and the load applied to the columns 10a, 10b, 10c, and 10d can be reduced. In addition, the configuration of the wire harness is not limited to this mode, and the working wires 14a, 14b, 14c, and 14d can be made common, and the number of the working wires 14a, 14b, 14c, and 14d can be configured not only as 6 but also as 4.

[0032] Figure 2 FIG. 1 is a diagram showing the functional configuration of the overhead line utilization system 1 according to an embodiment. Each function of the overhead line utilization system 1 can be configured by circuit blocks, memories, and other LSIs in terms of hardware, and can be implemented by system software, application programs, etc. loaded into the memory in terms of software. Therefore, those skilled in the art should understand that each function of the overhead line utilization system 1 can be implemented in various forms only by hardware, only by software, or by a combination thereof, and is not limited to any one of them.

[0033] The plurality of support columns 10a, 10b, 10c, 10d are each provided with a communication unit 40 and a position detection unit 42 that detects the position information of the support columns 10a, 10b, 10c, 10d using the Global Positioning System (GNSS). The position detection unit 42 is provided at the top of the support columns 10a, 10b, 10c, 10d, and it detects the height of the support columns 10a, 10b, 10c, 10d. That is, the position information detected by the position detection unit 42 includes the position information on the horizontal plane shown by latitude and longitude and the position information in the height direction. The position information in the height direction can be the altitude. The position detection unit 42 may also have a GPS device and a height sensor. The top of the support columns 10a, 10b, 10c, 10d is the position where the support columns 10a, 10b, 10c, 10d are engaged with the working ropes 14a, 14b, 14c, 14d. The position information of the support columns 10a, 10b, 10c, 10d only needs to be sent to the control device 22 once.

[0034] The first mobile device 16a is provided with a communication unit 44 and a position detection unit 46 that detects the position information of the first mobile device 16a using the Global Positioning System. The position detection unit 46 detects not only the position on the horizontal plane but also the height of the first mobile device 16a. The position detection unit 46 detects the position information 10 times per second, for example, and the communication unit 44 periodically sends the position information to the control device 22.

[0035] The second mobile device 16b is provided with a communication unit 48 and a position detection unit 50 that detects the position information of the second mobile device 16b using the Global Positioning System. The position detection unit 50 detects the position of the second mobile device 16b on the horizontal plane and the height of the second mobile device 16b.

[0036] The transporter 18 is provided with a communication unit 52 and a position detection unit 54 that detects the position information of the transporter 18 using the Global Positioning System. The position detection unit 54 detects the position of the transporter 18 on the horizontal plane and the height of the transporter 18. In this way, the support columns 10a, 10b, 10c, 10d, the mobile devices 16a, 16b, and the transporter 18 send their respective position information to the control device 22.

[0037] The control device 22 includes a communication unit 26, an acquisition unit 28, a holding unit 30, a drive amount calculation unit 32, a target setting unit 34, an input unit 36, and an output control unit 38.

[0038] The control device 22 can remotely control the winch devices 24a, 24b, the transporter 18, and the clamping device 19, and the control device 22 is provided in the control room. The communication unit 26 can perform wireless communication with the mobile devices 16a, 16b, the winch devices 24a, 24b, the transporter 18, and the clamping device 19.

[0039] An input unit 36 is provided in the control device 22, and the input unit 36 includes a touch panel that accepts the operation of the operator, a mechanical controller, etc. The control for moving the transporter 18 is executed by a pre-set program. On the other hand, the control for lowering the clamping device 19 and the control for clamping the tree 20 can be executed by a pre-set program, or can also be operated by the operator through the control device 22. For example, the operator performs the control while watching the images sent from the cameras provided on the transporter 18 and the clamping device 19, etc. In this way, the control of the overhead line utilization system 1 can also be a combination of the program and the operation of the operator.

[0040] The acquisition unit 28 acquires the position information of the support columns 10a, 10b, 10c, 10d, the mobile devices 16a, 16b, and the transporter 18 via the communication unit 26, and holds the acquired position information in the holding unit 30. The operator can pre-measure the position information of the support columns 10a, 10b, 10c, 10d and hold it in the holding unit 30.

[0041] The input unit 36 accepts the input of the operator. The operator inputs the target position of the transporter 18, and the input unit 36 acquires the information of the input target position. In addition, the target position information can also be sent from other server devices. The target position information is, for example, the position coordinates of the tree 20 to be logged and the position coordinates of the skidding site. The target setting unit 34 sets the target position of the transporter 18. The target position information includes latitude, longitude, and altitude.

[0042] The driving amount calculation unit 32 calculates the winding amounts of the hoisting devices 24a and 24b for moving the carrier 18 to the target position. In addition, the driving amount calculation unit 32 calculates the rotational speeds of the hoisting devices 24a and 24b. The rotational speeds of the hoisting devices 24a and 24b are calculated such that the rotational speeds in the starting section and the stopping section are lower than the rotational speeds in the section therebetween. Further, the rotational speeds of the hoisting devices 24a and 24b can be calculated such that the rotational speed when the carrier 18 is not carrying an object is faster than the rotational speed when the carrier 18 is carrying an object. The driving amount calculation unit 32 generates a driving instruction for slowly decelerating the rotational speeds of the motors of the hoisting devices 24a and 24b to stop the carrier 18. In the stop control, the deceleration for decelerating the rotational speed of the motor is preset in a manner such that the tree suspended from the carrier 18 does not swing significantly, and is set through experiments or the like. The driving amount calculation unit 32 generates driving instruction information corresponding to the rotational speeds and winding amounts of the hoisting devices 24a and 24b, and the output control unit 38 controls the outputs of the hoisting devices 24a and 24b according to the driving instruction information.

[0043] Here, the working ropes 14a, 14b, 14c, and 14d suspending the carrier 18 are very long, and thus are inclined with respect to the horizontal direction. Therefore, the winding amounts of the hoisting devices 24a and 24b for the working ropes 14a, 14b, 14c, and 14d do not match the moving distance of the carrier 18 in the horizontal direction. Therefore, the driving amount calculation unit 32 also calculates the winding amounts taking into account the inclination of the working ropes 14a, 14b, 14c, and 14d. In addition, when the winding amount is negative, it indicates unwinding, and the winding amount also includes the case of unwinding.

[0044] The driving amount calculation unit 32 calculates the inclination of the plurality of working ropes 14a, 14b, 14c, and 14d suspending the carrier 18 using at least the position information of the plurality of columns 10a, 10b, 10c, and 10d and the position information of the carrier 18, and calculates the winding amounts of the working ropes 14a, 14b, 14c, and 14d for moving the carrier 18 to the target position based on the calculated inclination of the plurality of working ropes 14a, 14b, 14c, and 14d.

[0045] The driving amount calculation unit 32 calculates the inclination of the plurality of working ropes 14a, 14b, 14c, 14d connected to the first moving device 16a and the second moving device 16b based on the position information of the plurality of struts 10a, 10b, 10c, 10d and the position information of the first moving device 16a and the second moving device 16b. According to the calculated inclination of the plurality of working ropes 14a, 14b, 14c, 14d, the winding amount of the working ropes 14a, 14b, 14c, 14d corresponding to the horizontal movement amount of the first moving device 16a and the second moving device 16b is calculated. The calculation method of this winding amount will be described in detail with reference to the new drawings.

[0046] Figure 3 FIG. is a plan view of the overhead line utilization system 1 and is a view for explaining the movement of the transporter 18 in the Y direction. The transporter 18 moves from the current position P1 to the target position P2 in the Y direction. The first moving device 16a and the second moving device 16b are arranged side by side in the X direction.

[0047] The driving amount calculation unit 32 acquires the target position P2 and calculates the horizontal movement amount of the first moving device 16a and the second moving device 16b. The movement amount of the first moving device 16a is calculated as the movement amount D1 in the Y direction based on the target position P2 and the position P1 of the transporter 18. In addition, in the actual calculation process, the horizontal movement amount is calculated based on the position coordinates shown by latitude and longitude.

[0048] Regarding the horizontal movement amount of the second moving device 16b, it is calculated as the movement amount D2 based on the movement amount D1 in the Y direction and the inclination θ1 of the second main rope 12b (third working rope 14c) with respect to the first main rope 12a (first working rope 14a). The inclination θ1 of the second main rope 12b with respect to the first main rope 12a is calculated based on the line segment calculated according to the position information of the first strut 10a and the second strut 10b and the line segment calculated according to the position information of the third strut 10c and the fourth strut 10d. In this way, the movement amount of the transporter 18 in the Y direction to the target position P2 is decomposed into the movement amounts of the first moving device 16a and the second moving device 16b. Here, the movement amount D1 of the first moving device 16a and the movement amount D2 of the second moving device 16b in the Y direction do not reflect the inclination of the first main rope 12a. In addition, the inclination of the first main rope 12a is the same as that of the first working rope 14a, and the inclination of the second main rope 12b is the same as that of the third working rope 14c.

[0049] Figure 4Fig. 0 shows the overhead line utilization system 1 observed in the X direction, and is a diagram for explaining a method of calculating the winding amount D3 of the movement amount D1 in the horizontal direction with respect to the first moving device 16a. The movement amount of the first moving device 16a required to move the position P1 of the transporter 18 to the target position P2 is the movement amount D1 in the horizontal direction.

[0050] The drive amount calculation unit 32 calculates the inclination θ2 of the first working rope 14a based on the position information of the first moving device 16a and the position information of the second support column 10b, and calculates the winding amount D3 of the first hoisting device 24a based on the calculated inclination θ2 and the movement amount D1 in the horizontal direction. In this way, the winding amount D3 is calculated by converting the movement amount D1 of the first moving device 16a according to the inclination θ2 of the first working rope 14a. In addition, when the first moving device 16a moves toward the first support column 10a side, the movement amount D1 is converted according to the inclination θ3 of the first working rope 14a. The inclination θ3 of the first working rope 14a is calculated based on the position information of the first support column 10a and the position information of the first moving device 16a. The movement amount D2 of the second moving device 16b is also similarly converted into a winding amount according to the inclination of the third working rope 14c.

[0051] The first hoisting device 24a winds the first working rope 14a with the winding amount D3 to move the first moving device 16a to the target position P2.

[0052] Figure 5 Fig. 10 shows the overhead line utilization system 1 observed in the Y direction, and is a diagram for explaining the movement of the transporter 18 in the X direction and the Z direction. In Figure 5 it, the process of moving the transporter 18 from the position P1 to the target position P3 is shown.

[0053] The drive amount calculation unit 32 calculates the movement amount D4 in the X direction and the movement amount D5 in the Z direction based on the position P1 of the transporter 18 and the target position P3. The drive amount calculation unit 32 calculates the winding amount D6 of winding the second working rope 14b based on the movement amount D4 in the X direction and the inclination θ4 of the second working rope 14b. The inclination θ4 of the second working rope 14b is calculated based on the position information of the first moving device 16a and the position information of the transporter 18. In this way, the winding amount D6 is calculated by converting the movement amount D4 in the X direction with the inclination θ4 of the second working rope 14b.

[0054] The driving amount calculation unit 32 calculates the winding amount D7 of the fourth working rope 14d based on the movement amount D4 in the X direction and the inclination θ5 of the fourth working rope 14d. In addition, since the winding amount D7 is negative, the second hoisting device 24b pays out the fourth working rope 14d. In this way, based on the movement amount D4 in the X direction, the inclination θ4 of the second working rope 14b, and the inclination θ5 of the fourth working rope 14d, the winding amount D6 of the second working rope 14b and the winding amount D7 of the fourth working rope 14d are calculated. The first hoisting device 24a winds the second working rope 14b with the winding amount D6, and the second hoisting device 24b unwinds the fourth working rope 14d with the winding amount D7, whereby the transporter 18 moves in the X direction by the movement amount D4.

[0055] Next, the driving amount calculation unit 32 inputs the movement amount D5 and the inclination θ4 of the second working rope 14b into a prescribed function, and calculates the winding amount of the second working rope 14b required to lower the transporter 18 by the movement amount D5. In addition, the driving amount calculation unit 32 inputs the movement amount D5 and the inclination θ5 of the fourth working rope 14d into a prescribed function, and calculates the winding amount of the fourth working rope 14d required to lower the transporter 18 by the movement amount D5. The winding amounts of the second working rope 14b and the fourth working rope 14d are calculated to be less than the movement amount D5 in the Z direction.

[0056] In this way, the driving amount calculation unit 32 decomposes the difference between the position of the transporter and the target position into components in the X direction, Y direction, and Z direction, and based on the inclinations of the working ropes 14a, 14b, 14c, 14d, converts the movement amount of each of these components into the winding amounts of the working ropes 14a, 14b, 14c, 14d. In the movement in the Y direction, based on the calculated winding amounts, the hoisting devices 24a, 24b wind the first working rope 14a and the third working rope 14c. In the movement in the X direction and the Z direction, based on the calculated winding amounts, the hoisting devices 24a, 24b wind the second working rope 14b and the fourth working rope 14d. Thereby, it is possible to move with high precision while reflecting the inclinations of the working ropes 14a, 14b, 14c, 14d when moving the transporter 18 to the target position. In addition, finally, the position of the transporter 18 can be adjusted to be close to the target position through feedback control.

[0057] Figure 6 It is a flowchart of the process of moving the transporter 18 to the target position. The target setting unit 34 receives the target position information from the input unit 36 and sets the target position (S10). The acquisition unit 28 acquires the position information of the moving devices 16a, 16b, and the transporter 18 (S12).

[0058] The driving amount calculation unit 32 decomposes the distance from the position of the transporter 18 to the target position into components in the X, Y, and Z directions, and calculates the movement amounts in these three directions (S14). The driving amount calculation unit 32 calculates the movement amounts of the first moving device 16a and the second moving device 16b respectively according to the movement amount in the Y direction (S16).

[0059] As Figure 4 and Figure 5 shown, the driving amount calculation unit 32 calculates the inclinations of the plurality of working ropes 14a, 14b, 14c, and 14d respectively (S18). The driving amount calculation unit 32 converts the movement amounts in the three directions into the winding amounts of the plurality of working ropes 14a, 14b, 14c, and 14d respectively according to the inclinations of the plurality of working ropes 14a, 14b, 14c, and 14d (S20). In addition, regarding the conversion process, the winding amount can be calculated by inputting the movement amount and the inclinations of the working ropes 14a, 14b, 14c, and 14d into a prescribed function, or a two-dimensional map can be used to calculate the winding amount corresponding to the movement amount and the inclinations of the working ropes 14a, 14b, 14c, and 14d.

[0060] The driving amount calculation unit 32 generates instruction information based on the calculated winding amounts of the plurality of working ropes 14a, 14b, 14c, and 14d, and the output control unit 38 controls the hoisting devices 24a and 24b according to the winding amounts of the plurality of working ropes 14a, 14b, 14c, and 14d (S22).

[0061] The present invention has been described based on the embodiments. The embodiments are merely examples, and those skilled in the art can understand that various variations can be made in the combination of each component and each processing procedure, and such variations are also within the scope of the present invention.

[0062] In the embodiment, the manner in which the clamping device 19 clamps the tree is shown, but it is not limited to this manner. For example, an inspection device for detecting the state of the tree can also be suspended on the transporter 18. In addition, a cutting device for cutting the tree can also be suspended on the transporter 18. In this way, the operating device suspended on the transporter 18 is not limited to the clamping device 19, but is a device that performs a prescribed operation and can be replaced according to the use.

[0063] In addition, in the embodiment, the manner in which the overhead line utilization system 1 is installed in the forest to transport the tree 20 is shown, but it is not limited to this manner. For example, the overhead line utilization system 1 can also be installed in a fishery farm to transport bait and harvests. In addition, the overhead line utilization system 1 can also be installed in a mine or a mining site to transport equipment or minerals. In addition, the overhead line utilization system 1 can also be installed at a construction site to transport building materials. In this way, the manner of using the overhead line utilization system 1 is not limited to forestry and can be used for undertakings of transporting objects.

[0064] In addition, in the embodiment, a method of moving the transporter 18 in the three-axis directions by the control device 22 is shown, but it is not limited to this method. For example, the control device 22 may perform movement control only in the X direction and the Y direction. In this method, a device that can move up and down is suspended from the transporter 18.

[0065] In addition, in the embodiment, a method in which the transporter 18 is arranged between a pair of moving devices 16a and 16b is shown, but it is not limited to this method. For example, the transporter 18 may be connected to four working cables 14a, 14b, 14c, and 14d extending from four columns 10a, 10b, 10c, and 10d, and supported by the working cables 14a, 14b, 14c, and 14d arranged in a so-called X shape.

Claims

1. An overhead line utilization system, characterized in that, Comprising: A first main cable and a second main cable supported by a plurality of struts and fixed at both ends; A plurality of working cables movably supported on one of the first main cable and the second main cable; A hoisting device configured to wind the plurality of working cables respectively; A transporter connected to the plurality of working cables and configured to move in the air between the first main cable and the second main cable; And A control device configured to maintain position information of the plurality of struts including the height of the struts, obtain position information of the transporter including the height of the transporter, and calculate the winding amounts of the plurality of working cables for moving the transporter to a target position, wherein the control device is configured to: Calculate the inclination of the plurality of working cables suspending the transporter by using at least the position information of the plurality of struts and the position information of the transporter, Calculate the winding amount of the working cable for moving the transporter to the target position according to the calculated inclination of the plurality of working cables.

2. The overhead line utilization system according to claim 1, characterized in that The control device is configured to: calculate the horizontal movement amount according to the difference between the current position and the target position of the transporter, and convert the calculated horizontal movement amount into the winding amount of the working cable according to the inclination of the working cable.

3. The overhead line utilization system according to claim 1 or 2, characterized in that, Further comprising: A first moving device connected to the working cable and movably supported along the first main cable; And A second moving device connected to the working cable and movably supported along the second main cable, wherein the transporter is movable in the air between the first moving device and the second moving device, The control device is configured to: Obtain position information of the first moving device and the second moving device including the height of the first moving device and the second moving device, Calculate the inclination of the plurality of working cables connected to the first moving device and the second moving device according to the position information of the plurality of struts and the position information of the first moving device and the second moving device, Calculate the winding amount of the working cable corresponding to the horizontal movement amount of the first moving device and the second moving device according to the calculated inclination of the plurality of working cables.

4. An overhead line utilization method executed by a computer using an overhead line utilization system, the overhead line utilization system comprising: a first main cable and a second main cable supported by a plurality of struts and fixed at both ends; a plurality of working cables movably supported on one of the first main cable and the second main cable; A hoisting device configured to wind the plurality of working cables respectively; And a transporter connected to the plurality of working cables and configured to move in the air between the first main cable and the second main cable, The overhead line utilization method is characterized by including: A step of maintaining position information of the plurality of struts including the height of the struts; A step of obtaining position information of the transporter including the height of the transporter; and A step of calculating the winding amounts of the plurality of working cables for moving the transporter to a target position, wherein the calculating step includes the following steps: Calculate the inclination of a plurality of the working ropes suspending the carrier using at least the position information of a plurality of the struts and the position information of the carrier; and Calculate the winding amount of the working ropes for moving the carrier to the target position based on the inclination of the plurality of the calculated working ropes.

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