Aerial cable collection system

Abstract

To provide an aerial cable collection system that can improve workability in remote operation of a grapple device and enables a single worker to perform both material collection work and processing work.SOLUTION: An aerial cable collection system includes: a carriage 2 that is capable of traveling along a skyline SKL; a grapple device 3 that is suspended from the carriage 2 by a lifting line LFL; a plurality of element-data acquisition sensors that are provided on the grapple device 3 and used to acquire element data for constructing combined three-dimensional shape information of the grapple device 3 and surrounding objects; a second control device; and a goggle-type display device. The second control device includes: a three-dimensional shape construction unit that constructs the combined three-dimensional shape information using the plurality of pieces of element data; and a three-dimensional image creation unit that creates, from the combined three-dimensional shape information, a three-dimensional image that is an image viewing the grapple device 3 and the objects from a predetermined viewpoint. The goggle-type display device is disposed at a position away from the grapple device 3 and displays the three-dimensional image.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a cable logging system equipped with a grapple device. [Background technology]

[0002] Conventionally, an overhead line logging system is known that transports felled timber from a loading dock (lumber harvesting site) where the timber is harvested to an unloading dock (lumber harvesting site) where the timber is processed (see, for example, Patent Document 1).

[0003] The overhead line logging system of Patent Document 1 is configured as an endless tiler system. Specifically, the overhead line logging system of Patent Document 1 includes a carriage mounted so as to be able to travel along a substantially straight skyline, a grapple device suspended from the carriage by a lifting line so as to be able to move up and down, and an overhead line logging machine. A pair of lifting line pulleys are attached to the grapple device. A lifting line is suspended between the lifting line pulleys. The overhead line logging machine is equipped with a drum for reeling in and paying out the lifting line, a drum for the endless line, and a drum for the haul back line. The endless line is provided to move the grapple device along the skyline. The haul back line is provided to move the grapple device laterally, intersecting the direction in which the skyline is suspended.

[0004] The grapple device includes a pair of grapple arms that can be opened and closed, a hydraulic cylinder that opens and closes the grapple arms, a power unit that drives the hydraulic cylinder, a radio-controlled receiver, etc. The radio-controlled receiver receives an operation signal from a radio-controlled transmitter, and the power unit, etc. are activated based on the operation signal. The radio-controlled transmitter is operated by a worker located away from the grapple device. The worker can remotely control the grapple device from a safe location. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Publication No. 2020-75807 Summary of the Invention [Problem to be solved by the invention]

[0006] In the above-described conventional overhead cable logging system, when remotely operating the grapple device, the worker had to visually check the operating status of the grapple device while working. The visual check can be performed, for example, by directly checking the operating status of the grapple device or by indirectly checking the status using camera footage. If the camera and its display device were installed at a distance from each other and a wireless communication device were used to transmit a video signal from the camera to the display device, the worker would likely be able to work from a greater distance from the grapple device.

[0007] However, in conventional overhead line logging systems, when a camera that captures the grapple arm is attached to the grapple device's main body, it is difficult for the operator to grasp the relative distance between the grapple arm and the ground or the object being grasped from the camera image alone. It is also difficult for the operator to grasp the current position of the grapple device's main body or the grapple arm from the camera image alone. Therefore, in conventional overhead line logging systems, the operator in charge of operating the grapple device must remotely operate the grapple device from a position where they can directly see the grapple device's operating status. As a result, conventional overhead line logging systems have the problem of being difficult to handle long-distance timber transport or timber transport on steep terrain, resulting in poor workability.

[0008] In addition, in conventional overhead line logging systems, the operator of the grapple device performed the logging work of transporting timber from the loading dock to the unloading dock and collecting it at the unloading dock. Meanwhile, at the unloading dock, another operator operated a logging machine known as a processor. This other operator operated the logging machine to perform the logging work of de-branching and cutting the timber to a specified length after it was transported from the loading dock to the unloading dock. In other words, conventional overhead line logging systems required two operators, one to perform the logging work and one to perform the logging work. If one operator could perform both the logging work and the logging work, labor productivity could be improved by reducing the number of workers required.

[0009] The present invention was made in consideration of the above-mentioned situation, and its purpose is to provide an overhead line logging system that can improve the operability of remotely operating a grapple device and enable one person to perform both logging and construction work. [Means for solving the problem]

[0010] The inventions disclosed in this specification to solve the above-mentioned problems are configured as follows: That is, a first invention is characterized in that it comprises a carriage mounted so as to be able to travel along a skyline, a grapple device suspended from the carriage by a lifting line so as to be able to rise and fall freely, a plurality of element data acquisition sensors provided on the grapple device and acquiring element data for constructing composite three-dimensional shape information of the grapple device and a surrounding object, a control device, and a display device, the control device having a three-dimensional shape construction unit that constructs the composite three-dimensional shape information using the plurality of element data, and a three-dimensional image creation unit that creates a three-dimensional image from the composite three-dimensional shape information, which is an image of the grapple device and the object viewed from a predetermined viewpoint, and the display device is disposed at a position remote from the grapple device and configured to display the three-dimensional image.

[0011] According to the first aspect of the present invention, composite three-dimensional shape information of the grapple device and surrounding objects (grabbed object and ground) is constructed based on element data from multiple element data acquisition sensors. A three-dimensional image, which is an image of the grapple device and the object viewed from a predetermined viewpoint, is then created by a three-dimensional image creation unit from the composite three-dimensional shape information. The created three-dimensional image is then displayed on a display device located away from the grapple device. This allows the current operating status of the grapple device to be displayed on the display device from a viewpoint that is easy for the operator to grasp.

[0012] Specifically, the current posture of the grapple device, the current positional relationship between the grapple device and the object, etc., can be displayed on the display device as a three-dimensional shape of the grapple device and the object as seen from a viewpoint similar to that of direct visual observation by the worker. Furthermore, since the three-dimensional shape is constructed first and then the three-dimensional image to be displayed on the display device is created, the viewpoint of the three-dimensional image can be easily switched to the viewpoint the worker wants to see. This allows the worker to remotely operate the grapple device from a viewpoint that is as easy to work with as or better than direct visual observation, without being limited by the relative positional relationship between the worker and the grapple device. Furthermore, this system can easily handle long-distance timber transportation and timber transportation on steep terrain. As a result, a wire logging system with excellent workability can be achieved.

[0013] Furthermore, because the operator can remotely operate the grapple device from a viewpoint that is as easy to work with as or better than direct visual observation, without being restricted by the relative positional relationship between the operator and the grapple device, it is also possible to perform logging operations from the location of the logging machine where the logging operations are being performed. This allows the operator operating the logging machine to also perform logging operations using the display device. As a result, it is now possible for one person to perform both logging and logging operations, improving labor productivity by reducing the number of people required compared to conventional methods.

[0014] The second invention is characterized in that, in the first invention, the grapple device comprises a grapple arm portion that can be opened and closed freely, and an equipment storage portion whose lower surface is connected to the connection portion at the upper end of the grapple arm portion, and the element data acquisition sensor includes a 3D sensor attached to the equipment storage portion and acquiring an object image in the lower area.

[0015] According to the second aspect of the present invention, when the grapple arm is lowered from above toward a target object on the ground, element data of a three-dimensional object image of the grapple arm, the object, and the ground around the object can be easily acquired. Furthermore, because a 3D sensor is attached to the equipment housing connected to the grapple arm, the relative position between the 3D sensor and the grapple arm can be maintained constant regardless of whether the grapple arm is raised or lowered. This allows for stable acquisition of object images during the actions of bringing the grapple arm closer to the object and grasping the object with the grapple arm. As a result, the construction of composite three-dimensional shape information and the creation of a three-dimensional image can be performed smoothly and continuously, allowing the worker to work in a situation similar to directly viewing the grapple device and the object.

[0016] A third invention is characterized in that, in the second invention, two 3D sensors are provided on the underside of the device accommodating section so as to be point symmetrical with respect to the connection section.

[0017] According to the third aspect of the present invention, when the grapple arm is lowered from above toward an object on the ground, the 3D sensor can acquire images of the object below at two locations equally spaced horizontally from the grapple arm. This eliminates the risk that the grapple arm will block the acquisition of images of the object and the ground around the object, and allows for the creation of a balanced and stable three-dimensional image that includes the object and the ground around the object.

[0018] In a fourth invention, in the third invention, the element data acquisition sensor includes an opening / closing sensor that detects the opening / closing state of the multiple arm members of the grapple arm section, and a rotation angle sensor that detects the rotation angle of the grapple arm section relative to the equipment storage section, the element data includes data on the opening / closing state and data on the rotation angle, and the three-dimensional shape construction unit is configured to use information on the three-dimensional shape of the ground and the grasped object created from the data acquired by the 3D sensor as first three-dimensional shape information, and to use information on the three-dimensional shape of the grapple device created by computer graphics corresponding to the opening / closing state and the current value of the rotation angle as second three-dimensional shape information, and to construct the composite three-dimensional shape information by combining the first three-dimensional shape information and the second three-dimensional shape information.

[0019] According to the fourth aspect of the present invention, in the 3D image displayed on the display device, not only the grapple arm but also the entire grapple device can be displayed using computer graphics. Furthermore, the grapple device in the 3D image can reflect the open / closed state and posture of the grapple arm in real time. This allows the display device to more accurately reproduce a situation similar to that experienced when the worker is directly viewing the grapple device and the object being grasped.

[0020] A fifth invention is characterized in that, in the fourth invention, the three-dimensional shape construction unit calculates the distance between the grapple device and the ground based on the acquired data of the 3D sensor, and constructs the composite three-dimensional shape information in which the grapple device and the ground are positioned according to the distance, and the three-dimensional image creation unit is configured to create the three-dimensional image that displays the grapple device based on the ground.

[0021] According to the fifth aspect of the present invention, the three-dimensional image displayed on the display device can be made to show a situation similar to that in which the worker is standing on the ground near the grapple device and operating the grapple device, thereby eliminating the sense of incongruity felt by the worker operating the grapple device when looking at the three-dimensional image on the display device, and improving workability.

[0022] The sixth invention is characterized in that, in the fifth invention, a viewpoint switching operation unit is provided for switching the viewpoint of the three-dimensional image displayed on the display device, and the three-dimensional image creation unit is configured to create a three-dimensional image of the viewpoint after switching based on the viewpoint switching content obtained by operating the viewpoint switching operation unit.

[0023] According to the sixth aspect of the present invention, an operator who operates the grapple device while viewing a stereoscopic image on the display device can switch the stereoscopic image to a preferred viewpoint by operating the viewpoint switching operation unit.

[0024] A seventh invention is characterized in that, in the fifth invention, the three-dimensional image creation unit is configured to create a three-dimensional image in which the viewpoint of the grapple device, the object being held, and the ground changes from a vertically downward direction to a horizontal direction as the distance between the grapple device and the ground decreases.

[0025] According to the seventh aspect of the present invention, the viewpoint can be automatically switched as needed for a series of operations of the grapple device, such as first aligning the grapple device horizontally with the object above it, then lowering the grapple device to align the height of the grapple arm and the object to grasp it, thereby improving the worker's workability.

[0026] The eighth invention is characterized in that, in any one of the second to seventh inventions, the grapple device is provided with a load sensor that measures the load acting on the grapple arm portion, and the three-dimensional image creation unit is configured to change the three-dimensional image depending on the magnitude of the load acting on the load sensor.

[0027] According to the eighth aspect of the present invention, for example, when an operator tries to grasp and lift an object with the grapple arm unit that is close to the load-bearing limit of the grapple device, a three-dimensional image showing the grapple device shaking is displayed, allowing the operator to understand at a glance that they are forcing the grapple device to do too much. This allows the operator to easily adjust the amount of the object grasped by the grapple arm unit to an appropriate amount, thereby improving workability. [Effects of the Invention]

[0028] The overhead line logging system according to the present invention can improve the operability of remotely controlling the grapple device, allowing one person to carry out logging work and timber processing work. [Brief explanation of the drawings]

[0029] [Figure 1] 1 is a diagram showing a schematic configuration of an overhead line material collection system according to an embodiment of the present invention; [Figure 2] FIG. 2 is a left side view of the grapple device. [Figure 3] FIG. 2 is a right side view of the grapple device. [Figure 4] FIG. 3 is a view taken along the arrow AA in FIG. 2. [Figure 5] 1 is a side view of a main part of a grapple device showing the detection angle range of a 3D sensor. FIG. [Figure 6] FIG. 10 is a bottom view of the main part of the grapple device showing the detection angle range of the 3D sensor and the viewing angle range of the GMSL camera. [Figure 7] FIG. 2 is a block diagram showing electrical connections of devices mounted on the grapple device of the present embodiment. [Figure 8] FIG. 10 is a conceptual diagram showing the process of information change from element data acquired by an element data acquisition sensor to the creation of a 3D image. [Figure 9] 10A and 10B are image diagrams showing specific examples of stereoscopic images presented to a worker. [Figure 10] FIG. 2 is a block diagram showing electrical connections of devices arranged on the worker side in this embodiment. [Figure 11]FIG. 2 is a block diagram showing the schematic configuration of an overhead cable yarding machine. [Figure 12] FIG. 2 is a block diagram showing the schematic configuration of a loading area relay. [Figure 13] FIG. 2 is a block diagram showing the schematic configuration of an unloading site repeater. [Figure 14] FIG. 10 is a flow chart for explaining a specific method for creating composite three-dimensional shape information from element data acquired by an element data acquisition sensor. [Figure 15] 10 is a flow diagram for explaining a flow for switching the viewpoint of a 3D image by operating a viewpoint switching operation unit of an operation terminal. FIG. [Figure 16] FIG. 10 is an explanatory diagram showing a specific example of viewpoint movement centered on the grapple device. [Figure 17] 10A and 10B are explanatory diagrams showing automatic viewpoint switching when the grapple device is brought closer to a piece of wood. [Figure 18] 10A and 10B are side views showing specific examples of how a stereoscopic image is changed depending on the magnitude of a load acting on a load sensor. DETAILED DESCRIPTION OF THE INVENTION

[0030] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 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 100A according to one embodiment of the present invention.

[0031] The overhead line logging system 100A of this embodiment is configured as an endless tiler system. As shown in Figure 1, the overhead line logging system 100A includes a carriage 2 mounted so as to be able to travel along a skyline SKL, a grapple device 3 suspended from the carriage 2 by a lifting line LFL for lifting and lowering, an overhead line logging machine 1, a loading area repeater 91 installed at or near a loading area P2, an unloading area repeater 92 installed at or near an unloading area P1, and an operation terminal 5A operated by an operator at the unloading area P1. The overhead line logging system 100A also includes a radio control system 4 for radio-controlling the grapple device 3 and the overhead line logging machine 1 via the operation terminal 5A.

[0032] The skyline SKL is stretched between a base post position P3 provided at the unloading area P1 and a leading post position P4 provided at a position farther away than the loading area P2. The skyline SKL extends in a substantially straight line, with, for example, one end of the skyline SKL connected to a tree or the like at the base post position P3 and the other end of the skyline SKL connected to a tree or the like at the leading post position P4.

[0033] A carriage 2 is attached to the Skyline SKL so that it can run via a pair of Skyline pulley sections 22, 22. Both ends of an endless line ELL, which forms a catenary, are connected to the carriage 2. The endless line ELL is stretched across multiple endless line pulleys E and the endless line drum 11 of the overhead line logging machine 1. The endless line pulleys E are installed near the unloading area P1, near the leading post position P4, near the overhead line logging machine 1, etc.

[0034] The overhead line yarding machine 1 reels out and retracts the endless line ELL, lifting line LFL, and haul back line HBL. The overhead line yarding machine 1 is equipped with an endless line drum 11, a lifting line drum 12, and a haul back line drum 13. Each drum is driven by the driving force of an engine 14. The endless line ELL is moved by the endless line drum 11 provided on the overhead line yarding machine 1, thereby moving the carrier 2 along the skyline SKL. Specifically, by driving the endless line drum 11 to retract the endless line ELL in the E1 direction, the carrier 2 moves along the skyline SKL in the S1 direction. Furthermore, by driving the endless line drum 11 to reel out the endless line ELL in the E2 direction, the carrier 2 moves along the skyline SKL in the S2 direction.

[0035] The carriage 2 has a carriage main body 21. A pair of lifting line pulley units 23, 23 and an operation signal wireless repeater 41 are attached to the bottom of the carriage main body 21. An intermediate portion of the lifting line LFL drawn out from the overhead cable logging machine 1 is suspended between the pair of lifting line pulley units 23, 23. A grapple device 3 is provided in the intermediate portion of the lifting line LFL located between the pair of lifting line pulley units 23, 23. The grapple device 3 is suspended from the lifting line LFL via a pair of lifting line pulleys 322, 322.

[0036] One end of the lifting line LFL is connected to, for example, a tree or the like at the loading area P2. The other end of the lifting line LFL is wound around the lifting line drum 12 of the overhead cable logging machine 1. The lifting line LFL is stretched across the above-mentioned pair of lifting line pulley units 23, 23, the pair of lifting line pulleys 322, 322, the lifting line pulley L provided near the unloading area P1, and the like.

[0037] The lifting line drum 12 provided on the overhead cable collection machine 1 retracts and reels in the lifting line LFL, thereby enabling the grapple device 3 to be raised and lowered. Specifically, by driving the lifting line drum 12 so as to reel out the lifting line LFL in the L1 direction, the length of the middle portion of the lifting line LFL located between the pair of lifting line pulley units 23, 23 increases, and the grapple device 3 descends. Conversely, by driving the lifting line drum 12 so as to retract the lifting line LFL, the length of the middle portion of the lifting line LFL decreases, and the grapple device 3 ascends.

[0038] One end of the haul back line HBL pulled out from the overhead line logging machine 1 is connected to the side of the grapple device 3. The other end of the haul back line HBL is wound around a haul back line drum 13. The haul back line HBL is stretched over a first haul back line pulley Ha provided at a position away from the skyline SKL, a haul back line pulley H provided near the overhead line logging machine 1, and the like.

[0039] FIG. 2 is a left side view of the grapple device 3. FIG. 3 is a right side view of the grapple device. FIG. 4 is a view taken along the line AA in FIG. 2. As shown in FIGS. 2 and 3, the grapple device 3 includes a grapple main body 31 and a swinging hanger mechanism 32 disposed above the grapple main body 31. The grapple main body 31 includes a grapple arm 312 that can be opened and closed, and an equipment housing 311 that houses a power unit 351 that drives the grapple arm 312. The grapple arm 312 includes a swinging joint 312a attached to the lower end of the equipment housing 311, an arm base 312b provided at the lower end of the swinging joint 312a, and a pair of arm members 312c attached to the arm base 312b.

[0040] The base end of each arm member 312c is connected to the arm base 312b so as to be freely rotatable up and down. A hydraulic cylinder 353 is attached to the arm base 312b. The hydraulic cylinder 353 is provided to rotate the pair of arm members 312c, 312c in conjunction with each other. The pair of arm members 312c, 312c rotate up and down in conjunction with each other, thereby opening and closing the pair of arm members 312c, 312c. By closing the pair of arm members 312c, 312c, it is possible to grip a piece of wood T as a gripped object from both the left and right sides, and in this state, it is possible to transport the felled wood T from the loading area P2 to the unloading area P1 (see FIG. 1). In addition, by opening the pair of arm members 312c, 312c, it is possible to release the gripped wood T and lower it to the unloading area P1.

[0041] The swinging hanger mechanism 32 is suspended by a lifting line LFL from the carriage 2, which is moved along the skyline SKL, so as to be able to move up and down freely. The swinging hanger mechanism 32 has a lifting line pulley 322 across which the lifting line LFL is hung for raising and lowering the grapple main body 31. A pair of lifting line pulleys 322 are provided so as to be aligned in the direction of movement of the carriage 2 (front-to-back direction) when the grapple main body 31 is in a vertically suspended state in which it is located vertically below the carriage 2.

[0042] The swinging hanger mechanism 32 is swingably connected to the equipment housing 311 of the grapple main body 31 so that the inclination of the pair of lifting line pulleys 322, 322 can follow the change in inclination of the lifting line LFL when the grapple main body 31 moves horizontally from a position vertically below the carriage 2. Specifically, the equipment housing 311 and the swinging hanger mechanism 32 are connected by a connecting shaft 33 that extends in the direction of movement of the carriage 2 when in the vertically suspended state. The swinging hanger mechanism 32 has a hanger main body 321 extending along the connecting shaft 33 and a pair of support members 323, 323 that extend downward from both longitudinal ends of the hanger main body 321 and support both ends of the connecting shaft 33. The lifting line pulleys 322 are attached to both longitudinal ends of the hanger main body 321.

[0043] A haul back line attachment portion 34 is provided on the connecting shaft portion 33. The haul back line attachment portion 34 is disposed between a pair of lifting line pulleys 322, 322. The haul back line attachment portion 34 is provided in the longitudinal center portion of the connecting shaft portion 33. One end of a haul back line HBL for moving the grapple main body portion 31 in a lateral direction intersecting the direction of movement of the carrier 2 is attached to the haul back line attachment portion 34.

[0044] 3, a display unit 363 and a voice notification unit 367 are attached to one side of the equipment housing unit 311. The display unit 363 is used to check the operating status of the grapple device 3. The voice notification unit 367 is used to notify people around the grapple device 3 of the operating status of the grapple device 3 and the status of the unloading area P1.

[0045] Furthermore, a plurality of 3D sensors 61 (see FIG. 5) are attached to the equipment housing 311. As shown in FIGS. 2 to 4, the 3D sensor 61 in this embodiment includes a first stereo camera 611, a second stereo camera 612, a first LiDAR sensor 613, and a second LiDAR sensor 614. The first stereo camera 611 is attached to the underside of the front end of the equipment housing 311. The second stereo camera 612 is attached to the underside of the rear end of the equipment housing 311. As shown in FIG. 4, the first stereo camera 611 and the second stereo camera 612 are provided on the underside of the equipment housing 311 so as to be point-symmetric with respect to the swing joint 312a. The first stereo camera 611 and the second stereo camera 612 are provided to capture an image of an area below the equipment housing 311 and acquire an object image in the area below.

[0046] As shown in FIGS. 2 to 4, the first LiDAR sensor 613 is attached to the lower front surface of the equipment housing 311. The first LiDAR sensor 613 is provided to mainly capture an image of an area forward of the equipment housing 311 and obtain an object image in the forward area. The second LiDAR sensor 614 is attached to the lower rear surface of the equipment housing 311. The second LiDAR sensor 614 is provided to mainly capture an image of an area rearward of the equipment housing 311 and obtain an object image in the rear area.

[0047] In addition, a first GMSL camera 365 and a second GMSL camera 366 are attached to the equipment housing section 311. The first GMSL camera 365 is attached to the lower right side of the equipment housing section 311. The first GMSL camera 365 mainly photographs the area to the right of the equipment housing section 311. In addition, the second GMSL camera 366 is attached to the lower left side of the equipment housing section 311. The second GMSL camera 366 mainly photographs the area to the left of the equipment housing section 311. The first GMSL camera 365 and the second GMSL camera 366 are provided mainly so that an operator can check the status of the payout and retraction of the haul back line HBL using camera images.

[0048] FIG. 5 is a side view of the grapple device 3 showing the detection angle range of the 3D sensor 61. FIG. 6 is a bottom view of the grapple device 3 showing the detection angle range of the 3D sensor 61 and the viewing angle range of the GMSL cameras 365, 366. As shown in FIGS. 5 and 6, the first LiDAR sensor 613 and the second LiDAR sensor 614 serving as the 3D sensor 61 have detection angle ranges of angle θ1 in the vertical direction and angle θ3 in the horizontal direction. In this embodiment, both angles θ1 and θ3 are set to, for example, 180°. That is, the first LiDAR sensor 613 and the second LiDAR sensor 614 have dome-shaped detection angle ranges.

[0049] As shown in FIG. 5, the first stereo camera 611 and the second stereo camera 612 serving as the 3D sensor 61 have a downward detection angle range of angle θ2. In this embodiment, the angle θ2 is set to, for example, 70°. The first GMSL camera 365 has a rightward viewing angle range of angle θ4. The second GMSL camera 366 has a leftward viewing angle range of angle θ4. In this embodiment, the angle θ4 is set to, for example, 120°.

[0050] Fig. 7 is a block diagram showing the electrical connections of devices mounted on the grapple device 3 of this embodiment. As shown in Fig. 7, the grapple device 3 includes a plurality of element data acquisition sensors 6, a hydraulic drive unit 35, a rotation electric motor 368, a generator 361, a battery 362, a GNSS receiver 364, a display unit 363, an audio notification unit 367, a control device 7, a first GMSL camera 365, a second GMSL camera 366, an operation signal receiving unit 42b, a grapple site video transmitting unit 43a, a Wi-Fi communication unit 45a, and a linkage signal communication unit 46a, which are electrically connected to each other.

[0051] The multiple element data acquisition sensors 6 include the above-mentioned 3D sensor 61, rotation angle sensor 62, opening / closing sensor 63, and load sensor 64. The opening / closing sensor 63 detects the open / closed state of the pair of arm members 312c, 312c of the grapple arm section 312. In this embodiment, the opening / closing sensor 63 is configured to be able to detect not only the two simple open / closed states of the pair of arm members 312c, 312c, but also the opening / closing angle. The opening / closing sensor 63 is configured, for example, with a rotation angle sensor such as a rotary encoder or an inertial sensor. The rotation angle sensor 62 detects the rotation angle of the grapple arm section 312 relative to the equipment housing section 311. In addition, the load sensor 64 measures the load acting on the grapple arm section 312.

[0052] The hydraulic drive unit 35 has a power unit 351, a solenoid valve 352, and a hydraulic cylinder 353 (see FIG. 3). The power unit 351 and the solenoid valve 352 are provided in the equipment housing section 311. The power unit 351 is an integrated unit of an electric motor and a hydraulic pump, and supplies hydraulic oil to the hydraulic cylinder 353. The solenoid valve 352 controls the extension and retraction of the hydraulic cylinder 353. In addition, a rotation electric motor 368 is provided in the equipment housing section 311. The rotation electric motor 368 is provided to rotate the grapple arm unit 312 relative to the equipment housing section 311.

[0053] The generator 361 is provided in the swinging hanger mechanism 32. The generator 361 performs regenerative power generation by converting the rotational energy of the lifting line pulley 322 into electrical energy. The battery 362 is provided in the equipment housing 311. The battery 362 stores the power generated by the generator 361. The stored power is supplied to power-consuming devices in the grapple device 3, such as the control device 7 and the electric motor of the power unit 351. The GNSS receiver 364 is provided so that the control device 7 can grasp the current position of the grapple device 3.

[0054] The control device 7 is provided in the equipment housing section 311. There are two types of control device 7: a first control device 71 and a second control device 72A. The first control device 71 is provided to control the opening / closing and rotation of the grapple arm section 312 of the grapple device 3 based on an operation signal transmitted from the operation terminal 5A. The first control device 71 has a control signal output section 711. The first control device 71 is also electrically connected to the power unit 351, the solenoid valve 352, and the electric motor for rotation 368. The first control device 71 sends control signals from the control signal output section 71 to the power unit 351, the solenoid valve 352, and the electric motor for rotation 368, thereby controlling the grapple arm section 312.

[0055] The second control device 72A is configured with an AI edge computer. The second control device 72A mainly has the function of processing image-related data. All element data acquisition sensors 6 (3D sensor 61, rotation angle sensor 62, opening / closing sensor 63, and load sensor 64) are connected to the second control device 72A. The second control device 72A is also connected to a GNSS receiver 364, a first GMSL camera 365, a second GMSL camera 366, an audio notification unit 367, a grapple on-site image transmission unit 43a, a Wi-Fi communication unit 45a, and a linkage signal communication unit 46a. The second control device 72A has a three-dimensional shape construction unit 721 and a three-dimensional image creation unit 722.

[0056] FIG. 8 is a conceptual diagram showing the process of information change until a three-dimensional image V is created from element data D1, D2, and D3 acquired by the element data acquisition sensor 6. FIG. 9 is a visual diagram showing a specific example of the three-dimensional image V presented to the worker. The three-dimensional shape construction unit 721 constructs composite three-dimensional shape information SH3 using data acquired by the multiple element data acquisition sensors 6. Specifically, as shown in FIG. 8, the first stereo camera 611 and the second stereo camera 612 acquire element data D1 as imaging data. The three-dimensional shape construction unit 721 processes this element data D1 into first three-dimensional shape information SH1, which is information on the three-dimensional shapes of the wood T and the ground G.

[0057] The rotation angle sensor 62 acquires element data D2 as data on the rotation angle of the grapple arm unit 312. The open / close sensor 63 acquires element data D3 as data on the open / close state of the arm member 312c of the grapple arm unit 312. The three-dimensional shape construction unit 721 creates the grapple device 3 corresponding to the current values ​​of the element data D2 and D3 using computer graphics, and defines information on this three-dimensional shape as second three-dimensional shape information SH2. The three-dimensional shape construction unit 721 synthesizes the first three-dimensional shape information SH1 and the second three-dimensional shape information SH2 to construct composite three-dimensional shape information SH3. The composite three-dimensional shape information SH3 is a synthesis of the three-dimensional shapes of the wood T and ground G and the three-dimensional shape of the grapple device 3 so that the positional relationship between them is similar to the actual shape.

[0058] The three-dimensional image creation unit 722 creates a three-dimensional image V, which is an image of the grapple device 3, the wood T, and the ground G viewed from a predetermined viewpoint, from the composite three-dimensional shape information SH3. A specific example of the three-dimensional image V is shown in FIG. 9. In FIG. 9, the wood T and the ground G are created as three-dimensional shapes using element data D1 from the first stereo camera 611 and the second stereo camera 612, and textures of the captured images are applied to these three-dimensional shapes. On the other hand, the three-dimensional shape of the grapple device 3 is computer graphics itself.

[0059] As shown in Figure 1, the overhead line logging system 100A of this embodiment is configured so that an operator who operates the logging machine M at the unloading site P1 also operates the overhead line logging machine 1 and the grapple device 3 using an operation terminal 5A in the control room of the logging machine M. In other words, one operator performs logging work using the grapple device 3 and logging work using the logging machine M at the unloading site P1. Therefore, equipment is installed in the control room of the logging machine M to allow for comfortable operation of the grapple device 3.

[0060] Fig. 10 is a block diagram showing the electrical connections of devices arranged on the operator's side in this embodiment. As shown in Fig. 10, the control room of the timber-making machine M is provided with a goggle-type display device 81A, a first monitor 82, a second monitor 83, an operation terminal 5A, and an operation-side control device 73A. The goggle-type display device 81A is worn on the head of an operator operating the timber-making machine M. So-called VR goggles or MR goggles are used for the goggle-type display device 81A. When the operator operates the grapple device 3 at the loading area P2, the goggle-type display device 81A displays a stereoscopic image V that three-dimensionally depicts the grapple device 3, the timber T as a grasped object, and the ground G around the timber T. The first monitor 82 and the second monitor 83 are attached to the control room of the timber-making machine M. The first monitor 82 displays a camera image of the overhead line timber-collection machine 1. In addition, the second monitor 83 displays camera images from one of the first GMSL camera 365, the second GMSL camera 366, the first stereo camera 611, and the second stereo camera 612 attached to the grapple device 3, or multiple camera images by splitting the screen.

[0061] The operation terminal 5A is handheld. It is equipped with various switches, levers, and the like for operating the overhead line logging machine 1 and the grapple device 3. Specifically, the operation terminal 5A includes a logging machine operation unit 52 for operating the overhead line logging machine 1, a grapple operation unit 53, a screen switching operation unit 54, and a viewpoint switching operation unit 55. The logging machine operation unit 52 includes lever switches (not shown) for unwinding and retracting the endless line drum 11, the lifting line drum 12, and the haul back line drum 13. The grapple operation unit 53 includes a switch (not shown) for opening and closing the grapple arm 312 and a switch (not shown) for rotating the grapple arm 312. The screen switching operation unit 54 includes, for example, a dial switch (not shown) for switching the type of camera image displayed on the second monitor 83. The viewpoint switching operation unit 55 includes a lever switch (not shown) for switching the viewpoint of the 3D image V displayed on the goggle-type display device 81A.

[0062] The operation-side control device 73A is installed in the control room of the timber-making machine M. The operation-side control device 73A is electrically connected to the goggle-type display device 81A, the first monitor 82, the second monitor 83, and the operation terminal 5A. The operation-side control device 73A also has a viewpoint detection unit 731. The viewpoint detection unit 731 detects how the viewpoint of the stereoscopic image V has been switched by operating the viewpoint switching operation unit 55.

[0063] Figure 11 is a block diagram showing the schematic configuration of the overhead line logging machine 1. As shown in Figure 11, the overhead line logging machine 1 comprises a logging machine main body 1a and a logging machine imaging camera 1b that is positioned a short distance from the logging machine main body 1a and captures images of the logging machine main body 1a. The logging machine main body 1a has an engine unit 14 for driving the endless line drum 11, the lifting line drum 12, and the haul back line drum 13, and a drum drive control unit 15 that controls the drive of the drums 11 to 13. The logging machine imaging camera 1b captures images to be displayed on a first monitor 82 provided in the operator's cabin of the timber processing machine M.

[0064] Next, the wireless communication system 4 of FIG. 1 will be described in detail with reference to FIGS. 7, 10, and 11. The wireless communication system 4 is configured as a system that uses multiple types of wireless communication depending on the purpose and characteristics of the equipment being used. First, the wireless communication system 4 has a function of transmitting operation signals to the overhead line logging machine 1 and the grapple device 3 via specified low-power radio when the logging machine operation unit 52 and the grapple operation unit 53 are operated on the operation terminal 5A. Specified low-power radio is characterized by a slow transmission speed but a long communication distance. To achieve this function, the operation terminal 5A is equipped with an operation signal transmitter 42a, as shown in FIG. 10. The grapple device 3 is also equipped with an operation signal receiver 42b, as shown in FIG. 7. The operation signal receiver 42b is electrically connected to the first control device 71. In this embodiment, the operation signal receiver 42b is configured to receive the operation signal via the operation signal wireless repeater 41 rather than directly from the operation signal transmitter 42a. In another embodiment, the operation signal receiving unit may be configured to receive the operation signal directly without going through the operation signal wireless repeater. Also, the overhead line collection machine 1 is provided with an operation signal receiving unit 42c, as shown in Figure 11.

[0065] Second, the wireless communication system 4 has the function of transmitting camera images from the first GMSL camera 365, second GMSL camera 366, first stereo camera 611, and second stereo camera 612 mounted on the grapple device 3, as well as camera images from the logging machine imaging camera 1b mounted on the overhead line logging machine 1, to the operator's cabin of the timber processing machine M via full HD image transmission. For this function, the grapple device 3 is equipped with a grapple site image transmitter 43a as shown in FIG. 7. Furthermore, the overhead line logging machine 1 is equipped with a logging machine site image transmitter 44a as shown in FIG. 11. Furthermore, the operating control device 73A is electrically connected to a grapple site image receiver 43b and a logging machine site image receiver 44b as shown in FIG. 10.

[0066] Third, the wireless communication system 4 has a function of transmitting the three-dimensional image V from the grapple device 3 to the operating control device 73A via Wi-Fi in order to display the three-dimensional image V on the goggle-type display device 81A worn by the worker in the control room of the timber processing machine M. Wi-Fi has the advantage of being able to provide a shorter communication distance but a faster transmission speed compared to specified low-power radio. For this function, the grapple device 3 is provided with a Wi-Fi communication unit 45a, as shown in FIG. 7. The Wi-Fi communication unit 45a is electrically connected to the second control device 72A. Furthermore, a Wi-Fi communication unit 45b is electrically connected to the operating control device 73A, as shown in FIG. 10.

[0067] Fourth, the wireless communication system 4 has a function of communicating coordination signals between the grapple device 3 and the overhead line logging machine 1 so that the grapple device 3 can automatically move between the loading point P2 and the unloading point P1 in coordination with the overhead line logging machine 1. For this function, the grapple device 3 is equipped with a coordination signal communication unit 46a, as shown in FIG. 7. The coordination signal communication unit 46a is electrically connected to the second control device 72A. Furthermore, the overhead line logging machine 1 is equipped with a coordination signal communication unit 46b, as shown in FIG. 11. An operator in the control room of the logging machine M can perform logging work while the grapple device 3 automatically moves between the loading point P2 and the unloading point P1.

[0068] FIG. 12 is a block diagram showing the schematic configuration of the loading area repeater 91. FIG. 13 is a block diagram showing the schematic configuration of the unloading area repeater 92. The overhead line collection system 100A of this embodiment ensures stable transmission of stereoscopic video V via Wi-Fi and camera video via full HD image transmission, even when the distance between the unloading area P1 and the loading area P2 is long or the terrain between the unloading area P1 and the loading area P2 is steep. To achieve this, the loading area repeater 91 and the unloading area repeater 92 are used. As shown in FIG. 12, the loading area repeater 91 is provided with a first Wi-Fi repeater 47a and a first camera video repeater 47b. Furthermore, as shown in FIG. 13, the unloading area repeater 92 is provided with a second Wi-Fi repeater 47c and a second camera video repeater 47d.

[0069] 14 is a flow chart for explaining a specific method for creating composite three-dimensional shape information SH3 from element data acquired by the element data acquisition sensor 6 in the three-dimensional shape construction unit 721. As shown in Fig. 14, first, in step S01, the first stereo camera 611 and the second stereo camera 612 simultaneously capture images of the area below the equipment housing section 311 of the grapple device 3. At this time, if the grapple device 3 is first moved to directly above the wooden piece T as the grasped object, the first stereo camera 611 and the second stereo camera 612 capture images of the wooden piece T and the surrounding ground G.

[0070] Next, in step S02, the three-dimensional shape construction unit 721 creates first depth data from two images with parallax per frame simultaneously acquired by the first stereo camera 611. Next, in step S03, the three-dimensional shape construction unit 721 creates second depth data from two images with parallax per frame simultaneously acquired by the second stereo camera 612. Next, in step S04, the three-dimensional shape construction unit 721 combines a total of four image data per frame, consisting of two images with parallax per frame from the first stereo camera 611 and two images with parallax per frame from the second stereo camera 612, to create a composite captured image.

[0071] Next, in step S05, the three-dimensional shape construction unit 721 creates composite depth data from the first depth data and the second depth data. Because the first stereo camera 611 and the second stereo camera 612 are separated from each other, there are areas where their fields of view overlap and areas where they do not. Therefore, the composite depth data is created by, for example, reducing the overlapping range of fields of view to one piece of depth data and adding existing depth data for the non-overlapping range of fields of view.

[0072] Next, in step S06, the three-dimensional shape construction unit 721 obtains the three-dimensional coordinates of each pixel of the composite captured image. At this time, the X and Y coordinates are obtained from the position of the target pixel in the entire two-dimensional composite captured image. Furthermore, the Z coordinate is obtained from the data of the position corresponding to the target pixel in the composite depth data. Next, in step S07, the three-dimensional shape construction unit 721 creates a polygon three-dimensional object for each pixel of the composite captured image. Then, each polygon is placed at the three-dimensional coordinate position calculated in S06. Next, in step S08, the three-dimensional shape construction unit 721 texture-maps the composite captured image onto the surface of all polygonal solids. The three-dimensional shape construction unit 721 performs the image processing of steps S01 to S08 described above to create first three-dimensional shape information SH1.

[0073] Next, in step S09, the three-dimensional shape construction unit 721 obtains the distance h to the wood T or ground G that exists directly below the grapple device 3. For this, the Z coordinate of the three-dimensional coordinates calculated in step S06 is used. Because the mounting positions of the stereo cameras 611, 612 on the grapple device 3 are fixed, the X and Y coordinates corresponding to the position directly below the grapple device 3 are known in advance. The distance h can be obtained from the Z coordinate value that corresponds to the X and Y coordinates of the position directly below the grapple device 3.

[0074] Next, in step S10, the three-dimensional shape construction unit 721 acquires the rotation angle of the grapple arm unit 312 relative to the equipment housing unit 311 from the data of the rotation angle sensor 62. Next, in step S11, the three-dimensional shape construction unit 721 acquires the opening and closing angle of the arm member 312c of the grapple arm unit 312 from the data of the opening and closing sensor 63. Next, in step S12, the three-dimensional shape construction unit 721 creates, by computer graphics, the grapple device 3 in a posture corresponding to the acquired rotation angle data (element data D2) and opening and closing angle data (element data D3). The three-dimensional shape construction unit 721 performs the image processing of the above-mentioned steps S09 to S12, thereby creating second three-dimensional shape information SH2.

[0075] Next, in step S13, the three-dimensional shape construction unit 721 constructs composite three-dimensional shape information SH3 by combining the first three-dimensional shape information SH1 and the second three-dimensional shape information SH2. Specifically, the wood T, the ground G, and the grapple device 3 are arranged in one space so that the wood T and the ground G are separated from the grapple device 3 by the distance h obtained in step S09. Next, in step S14, it is determined whether the work has been completed. If the work has not been completed, the image processing of the above-mentioned steps S01 to S14 is repeated for every one to several frames of the images from the first stereo camera 611 and the second stereo camera 612.

[0076] FIG. 15 is a flow diagram illustrating the process of switching the viewpoint of the 3D image V by operating the viewpoint switching operation unit 55 of the operation terminal 5A. As described above, the 3D shape construction unit 721 constructs composite 3D shape information SH3. The composite 3D shape information SH3 is information about a 3D shape that is synthesized so that the size ratio and relative positional relationship of the ground G, the wood T, and the grapple device 3 are the same as those of the real thing. This composite 3D shape information itself does not include information about the orientation and distance from which the objects are positioned within the space represented by the 3D image V. The 3D image creation unit 722 creates the 3D image V by viewing the composite 3D shape information SH3 from a predetermined viewpoint. In this embodiment, this viewpoint can be switched by operating the viewpoint switching operation unit 55 of the operation terminal 5A.

[0077] A specific description will be given with reference to Fig. 15. First, in step S21, the three-dimensional image creation unit 722 creates a three-dimensional image V of the ground G, wood T, and grapple device 3 at an initial viewpoint. Next, in step S22, the three-dimensional image V of the initial viewpoint is transmitted from the three-dimensional image creation unit 722 to the goggle-type display device 81A via the Wi-Fi communication unit 45a, the first Wi-Fi relay unit 47a of the loading area repeater 91, the second Wi-Fi relay unit 47c of the unloading area repeater 92, the Wi-Fi communication unit 45b, and the operating-side control device 73A. Next, in step S23, the three-dimensional image V of the initial viewpoint is displayed on the goggle-type display device 81A worn by the operator in the cockpit of the timber processing machine M.

[0078] When a worker viewing the 3D image V displayed on the goggle-type display device 81A wants to change the viewpoint of the 3D image V, the worker operates the viewpoint switching operation unit 55 of the operation terminal 5A. In this case, in step S24, the viewpoint detection unit 731 of the operating-side control device 73A detects the operation content of the viewpoint switching operation unit 55. Next, in step S25, the viewpoint switching content is transmitted from the operating-side control device 73A to the 3D image creation unit 722 via the Wi-Fi communication unit 45b, the second Wi-Fi relay unit 47c of the unloading area repeater 92, the first Wi-Fi relay unit 47a of the loading area repeater 91, and the Wi-Fi communication unit 45a.

[0079] In step S26, the three-dimensional image creation unit 722 creates a three-dimensional image V of the ground G, wood T, and grapple device 3 at the post-switching viewpoint based on the received viewpoint switching content. Next, in step S27, the three-dimensional image V at the post-switching viewpoint is transmitted from the three-dimensional image creation unit 722 to the goggle-type display device 81A via the Wi-Fi communication unit 45a, the first Wi-Fi relay unit 47a of the loading area repeater 91, the second Wi-Fi relay unit 47c of the unloading area repeater 92, the Wi-Fi communication unit 45b, and the operating-side control device 73A. Then, in step S28, the three-dimensional image V at the post-switching viewpoint is displayed on the goggle-type display device 81A. Thereafter, the contents of steps S24 to S28 are performed each time the worker operates the viewpoint switching operation unit 55.

[0080] FIG. 16 is an explanatory diagram showing a specific example of viewpoint movement centered on the grapple device 3. In this embodiment, viewpoint switching, which is performed by operating the viewpoint switching operation unit 55 of the operation terminal 5A, is performed around a viewpoint movement center point O provided on the grapple arm unit 312 of the grapple device 3, as shown in FIG. 16. For example, the viewpoint switching operation unit 55 can select a preferred viewpoint on a first spherical surface SU1 that is a first distance D1 away from the viewpoint movement center point O. The viewpoint switching operation unit 55 can also select a preferred viewpoint on a second spherical surface SU2 that is a second distance D2 away from the viewpoint movement center point O. This allows the worker to view the grapple device 3 and the wood T from various angles using the stereoscopic image V. The worker can also view the grapple device 3 and the wood T from either a near or far position using the stereoscopic image V.

[0081] Although the viewpoint of the stereoscopic image V is uniquely determined based on the operation of the viewpoint switching operation unit 55, the present invention is not limited to this configuration. The grapple device 3 is first positioned horizontally so as to be directly above the wooden piece T to be grasped, and then the grapple device 3 is lowered to grasp the wooden piece T. However, there may be a preferred viewpoint for this series of operations, and the viewpoint may be automatically switched. Fig. 17 is an explanatory diagram showing automatic viewpoint switching when the grapple device 3 is brought closer to the wooden piece T.

[0082] As shown in FIG. 17, when the grapple device 3 is located far from the ground G (the position of the grapple device 3 indicated by the solid line), it is easier to operate the grapple device when the viewpoint is facing directly downward when positioning the grapple device 3 in the horizontal direction. On the other hand, when the grapple device is brought closer to the wooden piece T (the position of the grapple device 3 indicated by the two-dot chain line) and the grapple arm unit 312 is used to grasp the wooden piece T, it is easier to operate the grapple device 3 when the viewpoint is facing directly to the side of the grapple arm unit 312 and the wooden piece T. Therefore, as the grapple device 3 is brought closer to the wooden piece T (in the direction of arrow K in FIG. 17), the viewpoint of the stereoscopic image V relative to the wooden piece T and the ground G is automatically changed from the vertically downward direction to the horizontal direction (in the direction of arrow J in FIG. 17). Such a configuration is also preferable.

[0083] As described above, this embodiment is provided with a load sensor 64. Regarding this load sensor 64, it is preferable to vary the three-dimensional image V in accordance with the magnitude of the load acting on the load sensor 64, rather than simply displaying the magnitude of the load acting on the load sensor 64 as a numerical value on a display. FIG. 18 is a side view showing a specific example in which the three-dimensional image V is varied in accordance with the magnitude of the load acting on the load sensor 64. For example, as shown in FIG. 18, when an attempt is made to grip and lift a piece of wood T whose weight is close to the load-bearing limit of the grapple device 3 with the grapple arm unit 312, a three-dimensional image V with a limit trembling mark 84 is displayed. This allows the worker to intuitively recognize that a large load is being placed on the grapple device 3, causing strain.

[0084] As described above, the overhead cable logging system 100A according to the embodiment includes the carriage 2 mounted so as to be able to travel along the skyline SKL, the grapple device 3 suspended from the carriage 2 by a lifting line LFL so as to be able to rise and fall freely, a plurality of element data acquisition sensors 6 (3D sensor 61, rotation angle sensor 62, open / close sensor 63) provided on the grapple device 3 and acquiring element data D1, D2, and D3 used to construct composite three-dimensional shape information SH3 of the grapple device 3 and surrounding objects (wood T and ground G), a second control device 72A, and a goggle-type display device 81A. The second control device 72A includes a three-dimensional shape construction unit 721 that constructs the composite three-dimensional shape information SH3 using the plurality of element data D1, D2, and D3, and a three-dimensional image creation unit 722 that creates a three-dimensional image V, which is an image of the grapple device 3 and the object viewed from a predetermined viewpoint, from the composite three-dimensional shape information SH3. The goggle-type display device 81A is disposed at a position away from the grapple device 3, and is configured to display a stereoscopic image V.

[0085] According to the above configuration, composite three-dimensional shape information SH3 of the grapple device 3 and surrounding objects (wood T and ground G) is constructed based on element data from the multiple element data acquisition sensors 6. Then, a three-dimensional image V, which is an image of the grapple device 3 and the surrounding objects viewed from a predetermined viewpoint, is created by the three-dimensional image creation unit 722 from the composite three-dimensional shape information SH3. The created three-dimensional image V is then displayed on the goggle-type display device 81A located at a distance from the grapple device 3. This allows the current operating status of the grapple device 3 to be displayed on the goggle-type display device 81A from a viewpoint that is easy for the operator to grasp.

[0086] Specifically, the current posture of the grapple device 3, the current positional relationship between the grapple device 3 and the object, etc., can be displayed on the goggle-type display device 81A as a three-dimensional shape of the grapple device 3 and the object as seen from a viewpoint similar to that of direct visual observation by the worker. Furthermore, since the three-dimensional shape is first constructed and then the three-dimensional image V to be displayed on the goggle-type display device 81A is created, the viewpoint of the three-dimensional image V can be easily switched to the viewpoint that the worker wants to see. This allows the worker to remotely operate the grapple device 3 from a viewpoint that is at least as comfortable as direct visual observation, without being limited by the relative positional relationship between the worker and the grapple device 3. Furthermore, this system can easily handle long-distance lumber transportation and lumber transportation on steep terrain. As a result, excellent workability is achieved.

[0087] Furthermore, the worker can remotely operate the grapple device 3 from a viewpoint that is as easy to work with as or better than direct visual observation, without being restricted by the relative positional relationship between the worker and the grapple device 3, so it is also possible to perform timber collection work from the location of the timber-processing machine M where the timber-processing work is being performed. This allows the worker operating the timber-processing machine M to also perform timber collection work using the goggle-type display device 81A. As a result, it becomes possible for one person to perform both timber collection work and timber-processing work, and labor productivity is improved by reducing the number of people required compared to conventional methods.

[0088] In the above embodiment, the grapple device 3 includes a grapple arm unit 312 that can be opened and closed, and an equipment housing unit 311 whose underside is connected to a swing joint unit 312a at the upper end of the grapple arm unit 312. The element data acquisition sensor 6 includes a 3D sensor 61 that is attached to the equipment housing unit 311 and acquires an object image in the lower area.

[0089] According to the above configuration, when the grapple arm unit 312 is lowered from above toward the target piece of wood T on the ground G, the element data D1 of a three-dimensional object image of the grapple arm unit 312, the piece of wood T, and the ground G around the piece of wood T can be easily acquired. Furthermore, because the 3D sensor 61 is attached to the equipment housing 311 connected to the grapple arm unit 312, the relative position between the 3D sensor 61 and the grapple arm unit 312 can be maintained constant regardless of whether the grapple arm unit 312 is raised or lowered. This makes it possible to stably acquire object images of the actions of bringing the grapple arm unit 312 closer to the piece of wood T and gripping the piece of wood T with the grapple arm unit 312. As a result, the construction of the composite three-dimensional shape information SH3 and the creation of the three-dimensional image V can be performed smoothly and continuously, allowing the worker to work in a situation similar to that of directly viewing the grapple device 3 and the piece of wood T.

[0090] In the above embodiment, two 3D sensors 61 are provided on the lower surface of the device housing portion 311 so as to be point symmetrical with respect to the swing joint portion 312a.

[0091] According to the above configuration, when the grapple arm unit 312 is lowered from above toward the wood T on the ground G, the 3D sensor 61 can acquire images of an object below at two locations that are equally spaced horizontally from the grapple arm unit 312. This eliminates the risk that the object images of the wood T and the ground G around the wood T will be blocked by the grapple arm unit 312 and will not be able to be acquired, and a well-balanced and stable three-dimensional image V including the wood T and the ground G around the wood T can be created.

[0092] In the above embodiment, the element data acquisition sensor 6 includes an opening / closing sensor 63 that detects the open / closed state of the multiple arm members 312c of the grapple arm unit 312, and a rotation angle sensor 62 that detects the rotation angle of the grapple arm unit 312 relative to the equipment housing unit 311. The element data includes data D2 from the rotation angle sensor 62 and data D3 from the opening / closing sensor 63. The three-dimensional shape construction unit 721 defines information on the three-dimensional shapes of the ground G and wood T created from the data acquired by the 3D sensor 61 as first three-dimensional shape information SH1. Furthermore, information on the three-dimensional shape of the grapple device 3 created by computer graphics corresponding to the current values ​​of the element data D2 and D3 is defined as second three-dimensional shape information SH2. The three-dimensional shape construction unit 721 then constructs composite three-dimensional shape information SH3 by combining the first three-dimensional shape information SH1 and the second three-dimensional shape information SH2.

[0093] According to the above configuration, in the stereoscopic image V displayed on the goggle-type display device 81A, not only the grapple arm unit 312 but also the entire grapple device 3 can be displayed using computer graphics. Furthermore, the grapple device 3 in the stereoscopic image V can reflect in real time the open / closed state and posture of the grapple arm unit 312. This makes it possible to more accurately reproduce on the goggle-type display device 81A a situation similar to that which would occur if the worker were directly viewing the grapple device 3 and the timber T.

[0094] In the above embodiment, the three-dimensional shape construction unit 721 calculates the distance h between the grapple device 3 and the ground G based on the data acquired by the 3D sensor 61, and calculates composite three-dimensional shape information SH3 in which the grapple device 3 and the ground G are positioned according to the distance h. The three-dimensional image creation unit 722 is configured to create a three-dimensional image V that displays the grapple device 3 with the ground G as a reference.

[0095] According to the above configuration, the three-dimensional image V displayed on the goggle-type display device 81A can show a situation similar to that in which an operator is standing on the ground G near the grapple device 3 and operating the grapple device 3. This eliminates the sense of incongruity felt by the operator operating the grapple device 3 by looking at the three-dimensional image V on the goggle-type display device 81A, improving workability.

[0096] In the above embodiment, the overhead wire material collection system 100A includes a viewpoint switching operation unit 55 that switches the viewpoint of the 3D image V displayed on the goggle-type display device 81A. The 3D image creation unit 722 is configured to create a 3D image V of the viewpoint after switching, based on the viewpoint switching content obtained by operating the viewpoint switching operation unit 55.

[0097] According to the above configuration, an operator who operates the grapple device 3 while viewing the three-dimensional image V on the goggle-type display device 81A can appropriately switch the three-dimensional image V to a preferred viewpoint by operating the viewpoint switching operation unit 55.

[0098] In the above embodiment, the three-dimensional image creation unit 722 is configured to create a three-dimensional image V in which the viewpoint of the grapple device 3, the wood T, and the ground G changes from a vertically downward direction to a horizontal direction as the distance h between the grapple device 3 and the ground G becomes closer.

[0099] According to the above configuration, the viewpoint can be automatically switched as needed for a series of operations of the grapple device 3, such as first aligning the grapple device 3 horizontally with respect to the wooden piece T at a position above the wooden piece T, then lowering the grapple device 3 to align the height positions of the grapple arm section 312 and the wooden piece T and gripping the wooden piece T. This improves the worker's workability.

[0100] In the above embodiment, the grapple device 3 includes a load sensor 64 that measures the load acting on the grapple arm unit 312. The 3D image creation unit 722 is configured to change the 3D image V according to the magnitude of the load acting on the load sensor 64.

[0101] According to the above configuration, when an operator attempts to grip and lift a piece of lumber T that is close to the load-bearing limit of the grapple device 3 with the grapple arm unit 312, the operator can see at a glance that he or she is forcing the grapple device 3 to do too much by displaying the three-dimensional image V with the limit vibration mark 84. This allows the operator to easily adjust the amount of lumber T gripped by the grapple arm unit 312 to an appropriate amount, thereby improving workability.

[0102] The embodiments disclosed herein are illustrative in all respects and are not intended to be limiting. The technical scope of the present invention is not interpreted solely by the above-described embodiments, but is defined by the claims. The technical scope of the present invention also includes all modifications within the scope and meaning equivalent to the claims.

[0103] For example, in the above embodiment, when the viewpoint switching operation unit 55 of the operation terminal 5A is operated, the viewpoint switching content is transmitted from the operation-side control device 73A to the 3D image creation unit 722 via the Wi-Fi communication unit 45b, the second Wi-Fi relay unit 47c of the unloading area repeater 92, the first Wi-Fi relay unit 47a of the loading area repeater 91, and the Wi-Fi communication unit 45a of the grapple device 3. The present invention is not limited to this, and the configuration may be such that when the viewpoint switching operation unit 55 of the operation terminal is operated, the viewpoint switching content is transmitted to the grapple device 3 without passing through the unloading area repeater 92 and the loading area repeater 91.

[0104] Furthermore, in the above embodiment, the viewpoint switching operation unit 55 is capable of selecting a preferred viewpoint on the first spherical surface SU1 that is a first distance D1 away from the viewpoint movement center point O. Furthermore, the viewpoint switching operation unit 55 is capable of selecting a preferred viewpoint on the second spherical surface SU2 that is a second distance D2 away from the viewpoint movement center point O. However, the present invention is not limited to this, and the viewpoint switching operation unit 55 may be configured to be capable of selecting a preferred viewpoint on a circumference that is a predetermined radius away from the viewpoint movement center point O on a horizontal plane that passes through the viewpoint movement center point O. [Explanation of symbols]

[0105] 1. Catenary Yard 2 carrier 3 Grapple Device 6-element data acquisition sensor 55 Viewpoint switching operation section 61 3D Sensor 62 Rotation angle sensor 63 Open / close sensor 64 Load Sensor 72A Second control device (control device) 81A Goggle-type display device (display device) 100A overhead line collection system 311 Equipment storage section 312 Grapple Arm 312a Swing joint part (connection part) 312c Arm member 721 Three-dimensional shape construction section 722 3D Image Creation Department h distance D1 Element data D2 Element Data D3 Element Data G Ground (object) T Wood (object, grasped object) V 3D image SH1 1st 3D shape information SH2 2nd 3D shape information SH3 Composite 3D shape information HBL Hole Back Line LFL Lifting Line SKL Skyline

Claims

1. a carriage that can be attached so as to be able to run along the skyline; a grapple device suspended from the carrier by a lifting line so as to be able to rise and fall freely; a plurality of element data acquisition sensors provided in the grapple device and configured to acquire element data for constructing composite three-dimensional shape information of the grapple device and a surrounding object; a control device; a display device, The control device a three-dimensional shape constructing unit that constructs the composite three-dimensional shape information using a plurality of the element data; a three-dimensional image creation unit that creates a three-dimensional image, which is an image of the grapple device and the object viewed from a predetermined viewpoint, from the composite three-dimensional shape information; The display device is disposed at a position remote from the grapple device and configured to display the stereoscopic image. A wire collection system characterized by:

2. The grapple device includes a grapple arm unit that can be opened and closed, and an equipment storage unit in which a connection portion at an upper end of the grapple arm unit is connected to a lower surface, The element data acquisition sensor includes a 3D sensor attached to the equipment housing to acquire an object image of a lower area.

2. The overhead line material collection system according to claim 1.

3. Two 3D sensors are provided on the lower surface of the device accommodating section so as to be point symmetric with respect to the connection section.

3. The overhead line material collection system according to claim 2.

4. The element data acquisition sensor includes an open / close sensor that detects the open / close state of the plurality of arm members of the grapple arm unit, and a rotation angle sensor that detects the rotation angle of the grapple arm unit relative to the equipment storage unit, the element data includes data on the open / close state and data on the rotation angle, The three-dimensional shape construction unit is configured to set information on the three-dimensional shape of the ground and the gripped object created from the data acquired by the 3D sensor as first three-dimensional shape information, and to set information on the three-dimensional shape of the grapple device created by computer graphics corresponding to the open / closed state and the current value of the rotation angle as second three-dimensional shape information, and to construct the composite three-dimensional shape information by combining the first three-dimensional shape information and the second three-dimensional shape information.

4. The overhead line material collection system according to claim 3.

5. the three-dimensional shape construction unit calculates a distance between the grapple device and the ground based on the acquired data of the 3D sensor, and constructs the composite three-dimensional shape information in which the grapple device and the ground are arranged in accordance with the calculated distance; The three-dimensional image creation unit is configured to create the three-dimensional image displaying the grapple device based on the ground.

5. The overhead line material collection system according to claim 4.

6. a viewpoint switching operation unit for switching a viewpoint of the stereoscopic image displayed on the display device, The stereoscopic image creation unit is configured to create a stereoscopic image of a post-switching viewpoint based on the viewpoint switching content obtained by operating the viewpoint switching operation unit.

6. The overhead line material collection system according to claim 5.

7. the three-dimensional image creation unit is configured to create a three-dimensional image in which a viewpoint with respect to the grapple device, the object being held, and the ground is changed from a vertically downward direction to a horizontal direction as the distance between the grapple device and the ground becomes closer, 6. The overhead line material collection system according to claim 5.

8. The grapple device includes a load sensor that measures a load acting on the grapple arm portion, The three-dimensional image creation unit is configured to change the three-dimensional image according to the magnitude of the load acting on the load sensor. The overhead line material collection system according to any one of claims 2 to 7.

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