Aerial cable collection system

Abstract

To provide an aerial cable collection system capable of wirelessly transmitting image-related data in real time and in a stable manner between a grapple device and a display device, even over long distances and in steep terrain, when a worker views a stereoscopic image on the display device and remotely operates the grapple device.SOLUTION: An aerial cable collection system includes: a carriage 2 capable of traveling along a skyline SKL; a grapple device 3 suspended from the carriage 2 via a lifting line LFL; a plurality of element-data acquisition sensors provided on the grapple device 3; a second control device; a goggle-type display device; and a Wi-Fi communication unit. The second control device includes a three-dimensional shape construction unit that is provided on the grapple device and constructs combined three-dimensional shape information, and a three-dimensional image creation unit that is provided on the grapple device 3 and creates a stereoscopic image from the combined three-dimensional shape information. The goggle-type display device displays the stereoscopic image transmitted from the grapple device via the wireless communication unit.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 winch for reeling in and out the lifting line, a winch for the endless line, and a winch 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. Visual inspection can be performed, for example, by directly observing the grapple device or by visually observing the camera image of the grapple device displayed on a display device. By arranging the camera mounted on the grapple device and the display device viewed by the worker at a distance from each other and transmitting a video signal from the camera to the display device via a wireless communication device, the worker can work from a position even farther away from the grapple device.

[0007] However, when remotely operating a grapple device from a location where it cannot be seen, it is necessary to install multiple cameras on the grapple device to ensure a wide field of view. Furthermore, in order for a worker to accurately grasp the distance between the grapple device and the wood to be grasped during remote operation, it is considered to use a stereo camera that can obtain distance information rather than a monocular camera. Therefore, the amount of video-related data sent from the grapple device to the display device tends to be large.

[0008] Furthermore, in order to improve the operability of remotely operating a grapple device, the applicant has considered creating a three-dimensional image of an object, such as a piece of wood to be grasped by the grapple device and the terrain around the piece of wood, based on data acquired by a stereo camera, 3D-LiDAR, or the like, and displaying the image on a display device. In this case, the amount of image-related data handled between the display device and the grapple device will be even greater. Furthermore, in order to perform work smoothly and safely, the image-related data handled between the display device and the grapple device must be transmitted stably in real time, regardless of long distances or steep terrain.

[0009] The present invention has been made in consideration of the above-mentioned situation, and its purpose is to provide a wire logging system that allows a worker to view a three-dimensional image of objects around the grapple device on a display device and remotely operate the grapple device, and can wirelessly communicate image-related data between the grapple device and the display device in real time and stably, regardless of long distances or steep terrain. [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 mounted on the grapple device and acquiring element data for constructing composite three-dimensional shape information of a surrounding object, a control device, a display device, and a wireless communication unit for communicating between the grapple device and the display device, the control device comprising: a three-dimensional shape construction unit mounted on the grapple device and constructing the composite three-dimensional shape information by combining the plurality of element data, and a three-dimensional image creation unit mounted on the grapple device and creating a three-dimensional image from the composite three-dimensional shape information, which is an image of the object viewed from a predetermined viewpoint, and the display device is configured to display the three-dimensional image transmitted from the grapple device via the wireless communication unit.

[0011] According to the first aspect of the present invention, element data from a plurality of element data acquisition sensors provided in the grapple device is used to construct composite 3D shape information of an object around the grapple device. A 3D image is then created from the composite 3D shape information, and the 3D image is displayed on a display device. Image-related data is communicated between the grapple device and the display device via a wireless communication unit. A 3D shape construction unit that constructs composite 3D shape information by synthesizing the element data, and a 3D image creation unit that creates a 3D image from the composite 3D shape information are provided in the grapple device. While the 3D shape construction unit and the 3D image creation unit perform high-load image processing, the process from acquiring element data to creating a 3D image is carried out solely within the grapple device. This minimizes the amount of data transferred between devices, allowing for smooth creation of a 3D image based on the element data.

[0012] Furthermore, the image-related data transmitted from the grapple device to the display device is processed 3D image data. This reduces the amount of data communication compared to when the grapple device sends the element data itself before image processing via a wireless communication unit to the display device. This reduces the impact of data loss and delays when transmitting image-related data via wireless communication. As a result, when a worker views the 3D image on the display device and remotely operates the grapple device, the image-related data can be wirelessly transmitted stably and in real time between the grapple device and the display device, regardless of long distances or steep terrain. Even when workers are in a location far from the loading area and out of sight, they can use the 3D image to smoothly perform logging work, feeling as if they are at the loading area.

[0013] The second invention is characterized in that, in the first invention, an operation terminal has a viewpoint switching operation unit for switching the viewpoint of the three-dimensional image and communicates with the grapple device via the wireless communication unit, the wireless communication unit is configured to be able to transmit a viewpoint detection signal based on the operator's operation of the viewpoint switching operation unit from the operation terminal to the grapple device, and the three-dimensional image creation unit is configured to create the three-dimensional image with the viewpoint switched based on the received viewpoint detection signal.

[0014] According to the second aspect of the present invention, the worker can view the surrounding objects of the grapple device from a desired viewpoint by operating the viewpoint switching operation unit provided on the operation terminal. This allows the worker to more accurately grasp the positional relationship between the grapple device and the object being gripped, such as wood, from the 3D image displayed on the display device. As a result, the workability is excellent.

[0015] In a third invention, the device comprises: a carriage that is attached so as to be able to run along a skyline; a grapple device that is 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 that are provided on the grapple device and acquire element data for constructing composite three-dimensional shape information of surrounding objects; a control device; a display device; and a wireless communication unit that communicates between the grapple device and the display device, wherein the control device comprises: a three-dimensional shape construction unit that is provided on the grapple device and constructs the composite three-dimensional shape information by synthesizing the plurality of element data; and a three-dimensional image creation unit that is provided near the display device and electrically connected to the display device and creates a three-dimensional image from the composite three-dimensional shape information, which is an image of the object viewed from a predetermined viewpoint, wherein the three-dimensional image creation unit creates the three-dimensional image using the composite three-dimensional shape information transmitted from the three-dimensional shape construction unit of the grapple device via the wireless communication unit, and the display device is configured to display the three-dimensional image created by the three-dimensional image creation unit.

[0016] According to a third aspect of the present invention, element data from multiple element data acquisition sensors provided in the grapple device is used to construct composite 3D shape information of an object around the grapple device. A 3D image is then created from the composite 3D shape information, and the 3D image is displayed on a display device. Image-related data is communicated between the grapple device and the display device via a wireless communication unit. A 3D shape construction unit that constructs the composite 3D shape information by synthesizing the element data is provided in the grapple device. A 3D image creation unit that creates the 3D image from the composite 3D shape information is provided near the display device. While the 3D shape construction unit performs high-load image processing, the entire process from acquiring the element data to constructing the composite 3D shape information is performed within the grapple device. The image-related data transmitted from the grapple device to the display device is the composite 3D shape information. This reduces the amount of data communication compared to transmitting the element data itself before image processing from the grapple device to the display device via a wireless communication unit. This reduces the impact of data loss and delays when transmitting image-related data via wireless communication. As a result, when an operator views a three-dimensional image on a display device and remotely operates the grapple device, image-related data can be wirelessly transmitted in real time and stably between the three-dimensional shape construction unit of the grapple device and the three-dimensional image creation unit near the display device, regardless of long distances or steep terrain.

[0017] Furthermore, the 3D image creation unit performs high-load image processing using the composite 3D shape information transmitted wirelessly, but the creation of the 3D image from the composite 3D shape information is also performed close to the display device. This minimizes the amount of data transferred between the 3D image creation unit and the display device. This allows the display device to smoothly display the 3D image after the viewpoint change, especially when the 3D image creation unit creates a 3D image with a viewpoint change. Even when workers are in a location far from the loading area and out of sight, they can use the 3D image to smoothly perform lumber collection work, feeling as if they are at the loading area.

[0018] A fourth invention is characterized in that, in the third invention, the display device is configured as a goggle type device to be worn on the head of the worker, and has a viewpoint detection unit that detects movement of the worker's viewpoint, the viewpoint detection unit is configured to transmit a viewpoint detection signal based on the movement of the worker's viewpoint to the 3D image creation unit, and the 3D image creation unit is configured to create the 3D image with the viewpoint switched based on the received viewpoint detection signal.

[0019] According to the fourth aspect of the present invention, when a worker moves his or her head or eyes while wearing a goggle-type display device, the viewpoint detection unit can detect the worker's viewpoint movement. Then, based on the viewpoint detection signal transmitted by the viewpoint detection unit, the 3D image creation unit creates a 3D image after the viewpoint has been switched. The 3D image after the viewpoint has been switched is transmitted to the display device and displayed. The worker can switch the viewpoint of the 3D image with an intuitive operation, resulting in excellent operability. Furthermore, because the viewpoint of the 3D image is switched between the 3D image creation unit and the display device, which are electrically connected and located close to each other, the viewpoint of the 3D image can be switched smoothly and without delay.

[0020] The fifth invention is characterized in that, in any one of the first to fourth inventions, the display device comprises a first display device used by a worker who operates the grapple device, and a second display device used by a person who monitors or observes the work status of the worker.

[0021] According to the fifth aspect of the present invention, it is possible for not only the worker operating the grapple device but also multiple people to share and check the 3D image of the object around the grapple device. This allows flexible responses, such as when the worker operating the grapple device is a beginner, for an observer viewing the same 3D image to send advice from a remote location, resulting in excellent operability. [Effects of the Invention]

[0022] According to the overhead line collection system of the present invention, when an operator views a three-dimensional image of objects around the grapple device on a display device and remotely operates the grapple device, image-related data can be wirelessly transmitted between the grapple device and the display device in real time and stably, regardless of long distances or steep terrain. [Brief explanation of the drawings]

[0023] [Figure 1] 1 is a diagram showing a schematic configuration of an overhead wire material collection system according to a first 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] 2 is a block diagram showing electrical connections of devices mounted on the grapple device of the first embodiment. FIG. [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 the first 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 area repeater. [Figure 14]4 is a flowchart for explaining a flow of switching the viewpoint of a 3D image by operating a viewpoint switching operation unit of the operation terminal according to the first embodiment. FIG. [Figure 15] FIG. 10 is a block diagram showing electrical connections of devices mounted on the grapple device of the second embodiment. [Figure 16] FIG. 10 is a block diagram showing electrical connections of devices arranged on the worker side in the second embodiment. [Figure 17] FIG. 10 is a flowchart illustrating a flow of switching the viewpoint of a stereoscopic image by a display device according to a second embodiment. [Figure 18] FIG. 11 is a block diagram showing the electrical connections of devices arranged on the operator's side and the observer's side in the third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0024] 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 a first embodiment of the present invention.

[0025] The overhead line logging system 100A of the first embodiment is configured as an endless tiler. 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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°.

[0044] Fig. 7 is a block diagram showing the electrical connections of devices mounted on the grapple device 3 of the first 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] As shown in Figure 1, the overhead line logging system 100A of the first 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.

[0054] Fig. 10 is a block diagram showing the electrical connections of devices arranged on the operator's side in the first 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.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] 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 its slow transmission speed but 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. In this embodiment, the operation signal receiver 42b is electrically connected to the first control device 71. 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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 cable collection system 100A of the first embodiment is designed to stably transmit 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. For this purpose, 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.

[0063] FIG. 14 is a flow diagram illustrating the flow 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 relationship and relative position 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 at 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 in which the composite 3D shape information SH3 is viewed from a predetermined viewpoint. In the first embodiment, this viewpoint can be switched by operating the viewpoint switching operation unit 55 of the operation terminal 5A.

[0064] A specific description will be given with reference to Fig. 14. 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.

[0065] 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.

[0066] 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.

[0067] FIG. 15 is a block diagram showing the electrical connections of the equipment mounted on the grapple device 3 in the overhead line collection system 100B of the second embodiment. FIG. 16 is a block diagram showing the electrical connections of the equipment located on the operator side in the overhead line collection system 100B of the second embodiment. As shown in FIG. 15, the overhead line collection system 100B of the second embodiment differs from the first embodiment in that the control device 7 of the grapple device 3 does not include a 3D shape creation unit 722. Specifically, the second control device 72B of the second embodiment includes a 3D shape construction unit 721 similar to the second control device 72A of the first embodiment, but does not include the 3D shape construction unit 722. The grapple device 3 of the second embodiment differs from the first embodiment only in the second control device 72B, and the other configurations are similar to those of the first embodiment. The 3D shape construction unit 721 of the second control device 72B constructs composite 3D shape information SH3 by combining multiple element data D1, D2, and D3. The composite solid shape information SH3 created by the solid shape construction unit 721 is sent to the worker side.

[0068] In the second embodiment, the equipment arranged on the operator's side is also different from that in the first embodiment. Specifically, as shown in FIG. 16 , the operating-side control device 73B includes a 3D image creation unit 732. The 3D image creation unit 732 creates a 3D image V, which is an image of the grapple device 3, the wood T, and the ground G viewed from a predetermined viewpoint, from composite 3D shape information SH3. The composite 3D shape information SH3 used by the 3D image creation unit 732 is transmitted from the 3D shape construction unit 721 of the grapple device 3 via the Wi-Fi communication units 45a and 45b. The operating-side control device 73B is provided near the goggle-type display device 81B and is electrically connected to the goggle-type display device 81B. The 3D image V created by the 3D image creation unit 732 of the operating-side control device 73B is displayed on the goggle-type display device 81B.

[0069] In the second embodiment, the operation terminal 5B does not include the viewpoint switching operation unit 55 as in the first embodiment. Instead, the goggle-type display device 81B is provided with a viewpoint detection unit 811 including an IMU (Inertial Measurement Unit). In the second embodiment, when the worker switches the viewpoint of the 3D image V displayed on the goggle-type display device 81B, there is no need to operate the operation terminal 5B. When the worker moves his / her head or eyes while wearing the goggle-type display device 81B, the viewpoint detection unit 811 is configured to detect the movement of the worker's viewpoint. In addition, the viewpoint detection unit 811 is configured to transmit a viewpoint detection signal based on the movement of the worker's viewpoint to the 3D image creation unit 732. The 3D image creation unit 732 is configured to create the 3D image V with the switched viewpoint based on the received viewpoint detection signal.

[0070] Next, a case where the viewpoint of the stereoscopic image V is switched in the second embodiment will be described in detail. Fig. 17 is a flow chart for explaining the flow of switching the viewpoint of the stereoscopic image V by the goggle-type display device 81B according to the second embodiment. As shown in Fig. 17, first, in step S31, the stereoscopic image creation unit 732 of the operation-side control device 73B creates a stereoscopic image V of the ground G, wood T, and grapple device 3 at the initial viewpoint. Next, in step S32, the stereoscopic image V is transmitted from the stereoscopic image creation unit 732 to the goggle-type display device 81B, and the stereoscopic image V of the initial viewpoint is displayed on the goggle-type display device 81B.

[0071] Next, in step S33, viewpoint detection unit 811 detects the three-dimensional position of the viewpoint and the line-of-sight vector of the person wearing goggle-type display device 81B. Next, in step S34, a viewpoint detection signal is transmitted from viewpoint detection unit 811 to stereoscopic image creation unit 732, which then creates stereoscopic image V of the post-switching viewpoint. Next, in step S35, stereoscopic image creation unit 732 transmits stereoscopic image V of the post-switching viewpoint to goggle-type display device 81B, and the image is displayed.

[0072] 18 is a block diagram showing the electrical connections of devices arranged on the worker's side and the observer's side in a third embodiment of the overhead line collection system 100C. The third embodiment of the overhead line collection system 100C includes a goggle-type display device 81A used by a worker who operates the grapple device 3, and a goggle-type display device 81C used by a person who monitors or observes the worker's work status. The goggle-type display device 81C is electrically connected to an observer-side control device 74. The observer-side control device 74 is also electrically connected to a Wi-Fi communication unit 45c. In the third embodiment, the configuration other than the goggle-type display device 81C, the observer-side control device 74, and the Wi-Fi communication unit 45c is the same as in the first embodiment.

[0073] In the third embodiment, the stereoscopic image V displayed on the worker's goggle-type display device 81A is transmitted from the stereoscopic image creation unit 722 of the grapple device 3 to the goggle-type display device 81A via the Wi-Fi communication unit 45a, the first Wi-Fi relay unit 47a, the second Wi-Fi relay unit 47c, the Wi-Fi communication unit 45b, and the operation-side control device 73A. The same stereoscopic image V as the stereoscopic image V displayed on the worker's goggle-type display device 81A is also transmitted to the goggle-type display device 81C used by a person monitoring or observing the worker's work status. Specifically, the stereoscopic image V is transmitted from the stereoscopic image creation unit 722 of the grapple device 3 to the goggle-type display device 81C via the Wi-Fi communication unit 45a, the first Wi-Fi relay unit 47a, the second Wi-Fi relay unit 47c, the Wi-Fi communication unit 45c, and the observer-side control device 74. This allows the worker and the observer to simultaneously view the same stereoscopic image V.

[0074] As described above, the overhead line lumber collection system 100A according to the first embodiment comprises a carrier 2 that is mounted so as to be able to run along the skyline SKL, a grapple device 3 that is suspended from the carrier 2 by a lifting line LFL so as to be able to move up and down freely, a plurality of element data acquisition sensors 6 (3D sensor 61, rotation angle sensor 62, opening / closing sensor 63) that are provided on the grapple device 3 and acquire element data D1, D2, D3 for constructing composite three-dimensional shape information SH3 of the grapple device 3 and surrounding objects (wood T and ground G), a second control device 72A, a goggle-type display device 81A, and a Wi-Fi communication unit 45 that communicates between the grapple device 3 and the goggle-type display device 81A. The second control device 72A is provided in the grapple device 3 and includes a three-dimensional shape construction unit 721 that constructs composite three-dimensional shape information SH3 by combining multiple element data D1, D2, and D3, and a three-dimensional image creation unit 722 that is provided in the grapple device 3 and creates a three-dimensional image V, which is an image of the grapple device 3 and an object viewed from a predetermined viewpoint, from the composite three-dimensional shape information SH3. The goggle-type display device 81A is configured to display the three-dimensional image V transmitted from the grapple device 3 via the Wi-Fi communication unit 45.

[0075] According to the above configuration, element data from a plurality of element data acquisition sensors 6 provided in the grapple device 3 is used to construct composite three-dimensional shape information SH3 of the grapple device 3 and objects around the grapple device 3. A three-dimensional image V is then created from the composite three-dimensional shape information SH3, and the three-dimensional image V is displayed on the goggle-type display device 81A. Image-related data is communicated between the grapple device 3 and the goggle-type display device 81A via a Wi-Fi communication unit 45. The grapple device 3 is provided with a three-dimensional shape construction unit 721 that constructs the composite three-dimensional shape information SH3 by combining the element data D1, D2, and D3, and a three-dimensional image creation unit 722 that creates the three-dimensional image V from the composite three-dimensional shape information SH3. The three-dimensional shape construction unit 721 and the three-dimensional image creation unit 722 perform high-load image processing, but the grapple device 3 performs processes from acquiring the element data D1, D2, and D3 to creating the three-dimensional image V. This minimizes the amount of data that needs to be transferred between devices, making it possible to smoothly create a three-dimensional image V based on the element data D1, D2, and D3.

[0076] Furthermore, the image-related data transmitted from the grapple device 3 to the goggle-type display device 81A is the processed 3D image V. This reduces the amount of data communication compared to transmitting the element data D1, D2, and D3 directly from the grapple device 3 to the goggle-type display device 81A via the Wi-Fi communication unit 45 before image processing. This reduces the impact of data loss and delays when transmitting image-related data wirelessly. As a result, when a worker views the 3D image V on the goggle-type display device 81A and remotely controls the grapple device 3, the image-related data can be wirelessly communicated in real time and stably between the grapple device 3 and the goggle-type display device 81A, regardless of the long distance or steep terrain. Even when the worker is in a location far from the loading area P2 and out of sight, he or she can smoothly perform logging work using the 3D image V, feeling as if he or she were at the loading area P2.

[0077] The overhead wire collection system 100A of the first embodiment described above includes an operation terminal 5A that has a viewpoint switching operation unit 55 for switching the viewpoint of the stereoscopic image V and communicates with the grapple device 3 via a Wi-Fi communication unit 45. The Wi-Fi communication unit 45 is configured to be able to transmit a viewpoint detection signal based on the operation of the viewpoint switching operation unit 55 by the worker from the operation terminal 5A to the grapple device 3. The stereoscopic image creation unit 722 is configured to create a stereoscopic image V with the viewpoint switched based on the received viewpoint detection signal.

[0078] According to the above configuration, the worker can check the object around the grapple device 3 from a desired viewpoint by operating the viewpoint switching operation unit 55 provided on the operation terminal 5A. This allows the worker to more accurately grasp the positional relationship between the grapple device 3 and the object being held, such as a piece of wood T, from the stereoscopic image V displayed on the goggle-type display device 81A. As a result, workability is excellent.

[0079] The overhead wire logging system 100B of the second embodiment 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 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, opening / closing 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 72B, an operating control device 73B, a goggle-type display device 81B, and a Wi-Fi communication unit 45 for communicating between the grapple device 3 and the goggle-type display device 81B. The second control device 72B is provided on the grapple device 3 and includes a three-dimensional shape construction unit 721 that constructs the composite three-dimensional shape information SH3 by combining the plurality of element data D1, D2, and D3. The operation-side control device 73B is provided near the goggle-type display device 81B and is electrically connected to the goggle-type display device 81B, and includes a three-dimensional image creation unit 732 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 three-dimensional image creation unit 732 creates the three-dimensional image V using the composite three-dimensional shape information SH3 transmitted from the three-dimensional shape construction unit 721 of the grapple device 3 via the Wi-Fi communication unit 45. The goggle-type display device 81B is configured to display the three-dimensional image V created by the three-dimensional image creation unit 732.

[0080] According to the above configuration, element data from a plurality of element data acquisition sensors 6 provided in the grapple device 3 is used to construct composite three-dimensional shape information SH3 of the grapple device 3 and objects around the grapple device 3. A three-dimensional image V is then created from the composite three-dimensional shape information SH3, and the three-dimensional image V is displayed on the goggle-type display device 81B. Image-related data is communicated between the grapple device 3 and the goggle-type display device 81B via a Wi-Fi communication unit 45. A three-dimensional shape construction unit 721 that constructs the composite three-dimensional shape information SH3 by combining the element data D1, D2, and D3 is provided in the grapple device 3. A three-dimensional image creation unit 732 that creates the three-dimensional image V from the composite three-dimensional shape information SH3 is provided near the goggle-type display device 81B. The three-dimensional shape construction unit 721 performs image processing that involves a high load, but the process from acquiring the element data D1, D2, and D3 to constructing the composite three-dimensional shape information SH3 is performed only within the grapple device 3. The image-related data transmitted from the grapple device 3 to the goggle-type display device 81B becomes composite three-dimensional shape information SH3. This reduces the amount of data communication compared to transmitting the element data D1, D2, and D3 directly before image processing from the grapple device 3 to the goggle-type display device 81B via the Wi-Fi communication unit 45. This reduces the effects of data loss and delays when transmitting image-related data via wireless communication. As a result, when an operator views the three-dimensional image V on the goggle-type display device 81B and remotely operates the grapple device 3, the image-related data can be wirelessly communicated in real time and stably between the three-dimensional shape construction unit 721 of the grapple device 3 and the three-dimensional image creation unit 732 near the goggle-type display device 81B, regardless of long distances or steep terrain.

[0081] Furthermore, the 3D image creation unit 732 performs high-load image processing using the wirelessly transmitted composite 3D shape information SH3, but the creation of the 3D image V from the composite 3D shape information SH3 is performed close to the goggle-type display device 81B. This makes it possible to minimize the amount of data transferred between the 3D image creation unit 732 and the goggle-type display device 81B. This makes it possible, particularly when the 3D image creation unit 732 creates a 3D image V with a switched viewpoint, to smoothly display the 3D image V after the viewpoint switch on the goggle-type display device 81B. Even if a worker is in a location far from the loading area P2 and out of sight, he or she can smoothly perform lumber collection work using the 3D image V, feeling as if he or she is at the loading area P2.

[0082] In the overhead wire collection system 100B of the second embodiment, the goggle-type display device 81B is configured in the form of goggles to be worn on the head of the worker, and includes a viewpoint detection unit 811 that detects movement of the worker's viewpoint. The viewpoint detection unit 811 is configured to transmit a viewpoint detection signal based on the movement of the worker's viewpoint to the 3D image creation unit 732. The 3D image creation unit 732 is configured to create a 3D image V with the viewpoint switched based on the received viewpoint detection signal.

[0083] According to the above configuration, when the worker moves his / her head or eyes while wearing the goggle-type display device 81B, the viewpoint detection unit 811 can detect the movement of the worker's viewpoint. Then, based on the viewpoint detection signal transmitted by the viewpoint detection unit 811, the 3D image creation unit 732 creates the 3D image V after the viewpoint has been switched. The 3D image V after the viewpoint has been switched is transmitted to the goggle-type display device 81B and displayed. The worker can switch the viewpoint of the 3D image V with an intuitive operation, resulting in excellent operability. Furthermore, the viewpoint switching of the 3D image V is performed between the 3D image creation unit 732 and the goggle-type display device 81B, which are electrically connected and located close to each other, so the viewpoint switching of the 3D image V can be performed smoothly and without delay.

[0084] The overhead wire collection system 100C of the third embodiment described above includes a goggle-type display device 81A used by a worker operating the grapple device 3, and a goggle-type display device 81C used by a person monitoring or observing the worker's work status.

[0085] According to the above configuration, it becomes possible for not only the worker operating the grapple device 3 but also multiple people to share and check the 3D image V of the grapple device 3 and the object around the grapple device 3. This allows flexible responses, such as when the worker operating the grapple device 3 is a beginner, for an observer viewing the same 3D image V to send advice from a remote location, resulting in excellent operability.

[0086] 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. [Explanation of symbols]

[0087] 1. Overhead cable yarding machine 2 carrier 3 Grapple Device 5A Operation terminal 5B Operation terminal 6-element data acquisition sensor 45 Wi-Fi communication department (wireless communication department) 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) 72B Second control device (control device) 81A Goggle-type display device (display device) 81B Goggle-type display device (display device) 81C Goggle-type display device (display device) 100A overhead line collection system 100B overhead line logging system 100C overhead line logging system 721 Three-dimensional shape construction section 722 3D Image Creation Department 732 3D Image Creation Department 811 Viewpoint detection unit D1 Element data D2 Element Data D3 Element Data G Ground (object) T Wood (object, grasped object) V 3D image 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 a surrounding object; a control device; A display device; a wireless communication unit that communicates between the grapple device and the display device, The control device a three-dimensional shape construction unit provided in the grapple device and configured to construct the composite three-dimensional shape information by synthesizing a plurality of the element data; a three-dimensional image creation unit that is provided in the grapple device and creates a three-dimensional image, which is an image of the object viewed from a predetermined viewpoint, from the composite three-dimensional shape information; The display device is configured to display the stereoscopic image transmitted from the grapple device via the wireless communication unit. A wire collection system characterized by:

2. an operation terminal having a viewpoint switching operation unit for switching a viewpoint of the stereoscopic image and communicating with the grapple device via the wireless communication unit; The wireless communication unit is configured to be able to transmit a viewpoint detection signal based on an operation of the viewpoint switching operation unit by an operator from the operation terminal side to the grapple device, the stereoscopic image creation unit is configured to create the stereoscopic image with the viewpoint switched based on the received viewpoint detection signal.

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

3. 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 a surrounding object; a control device; A display device; a wireless communication unit that communicates between the grapple device and the display device, The control device a three-dimensional shape construction unit provided in the grapple device and configured to construct the composite three-dimensional shape information by synthesizing a plurality of the element data; a stereoscopic image creating unit that is provided near the display device and electrically connected to the display device, and that creates a stereoscopic image, which is an image of the object viewed from a predetermined viewpoint, from the composite stereoscopic shape information; the three-dimensional image creation unit creates the three-dimensional image using the composite three-dimensional shape information transmitted from the three-dimensional shape construction unit of the grapple device via the wireless communication unit; The display device is configured to display the stereoscopic image created by the stereoscopic image creation unit. A wire collection system characterized by:

4. the display device is configured as a goggle type that is worn on the head of the worker, and has a viewpoint detection unit that detects movement of the worker's viewpoint, the viewpoint detection unit is configured to transmit a viewpoint detection signal based on a movement of the viewpoint of the worker to the three-dimensional image creation unit; The stereoscopic image creation unit is configured to create the stereoscopic image with the viewpoint switched based on the received viewpoint detection signal.

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

5. The display device includes a first display device used by an operator who operates the grapple device, and a second display device used by a person who monitors or observes the work status of the operator.

5. The overhead line material collection system according to claim 1, wherein the overhead line material collection system is a system for collecting materials from a plurality of wires.

Images