Tree treatment equipment

Abstract

To provide a device for accurately measuring a length of a tree (material) and accurately performing material production work.SOLUTION: There is provided a tree processing device comprising: a plurality of material feeding parts 30 which drives a travel part 31 which contacts a tree W for feeding the tree W in a material length direction; a length measurement part 38 for measuring a delivery amount of the tree W; and a control part 60 for controlling drive of the plurality of material feeding parts 30 on the basis of detection signal detected by the length measurement part 38. The length measurement part 38 has a plurality of position information detection parts 39 which detects positional information related to a delivery amount of the tree W, the control part 60 selects the detection signal at which, a difference with the delivery amount of the tree W is small, out of a plurality of detection signals detected by the position information detection parts 39, then, on the basis of the selected detection signals, controls the driving of the material feeding parts 30.SELECTED DRAWING: Figure 9

Description

[Technical field]

[0001] The present invention relates to a tree processing device for carrying out lumber processing work. [Background technology]

[0002] Conventionally, tree processing devices known as harvesters or processors have been proposed (see, for example, Patent Document 1). Tree processing devices are attached to a working arm provided on a base machine such as a hydraulic excavator and are used for lumber processing. In lumber processing using a processor among tree processing devices, the work of de-branching felled trees and the cutting work of cutting the de-branched trees (lumber) to any length to form logs are carried out consecutively. In lumber processing using a harvester, the work of felling standing trees can also be carried out.

[0003] A tree processing device mainly has a gripping unit, a log feeding unit, a length measuring unit, a branching unit, and a cutting unit. The gripping unit grips the tree to be processed. The log feeding unit sends the tree in the length direction by driving crawlers or the like that are in contact with the gripped tree using a hydraulic motor.

[0004] The length measuring unit measures the length of the tree (timber) that has been sent out, i.e., the length of the timber. The length measuring unit has, for example, an encoder that measures the number of rotations of the hydraulic motor that drives the crawler. The length measuring unit measures the length of the timber, and when the timber has been sent out to a preset length, the feeding unit stops sending out the timber.

[0005] The branching unit performs branching by bringing a cutter into contact with the tree branches being forcefully fed by the feeding unit, while the cutting unit cuts the fed logs to a set length to form logs of the desired length. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2000-157075 A Summary of the Invention [Problem to be solved by the invention]

[0007] However, when a tree (lumber) is sent out in the length direction by the feeding section, the crawler may temporarily spin freely on the surface of the lumber due to a large load being applied to the tree (lumber). Even when the crawler is spinning freely and the tree (lumber) is not being fed, the hydraulic motor is rotating. In the case of a length measuring section that measures the lumber length based on the rotation speed of the hydraulic motor, the encoder detects the rotation speed of the hydraulic motor and adds the lumber length even when the crawler is spinning freely. For this reason, even if the log is cut based on the length measured by the length measuring section, the length of the log may not be the desired length, resulting in an error in the log length.

[0008] An object of the present invention is to provide a tree processing device capable of measuring the length of trees (timber) with high accuracy and performing timber processing work with high accuracy. [Means for solving the problem]

[0009] The tree treatment device of the present invention comprises: a plurality of feeding units that feed the trees in a length direction by driving a traveling unit that is in contact with the trees; a length measuring unit for measuring the amount of tree feed; A control unit that controls the driving of the plurality of material feeding units based on a detection signal detected by the length measuring unit, the length measuring unit has a plurality of position information detecting units that detect position information related to the sending amount of the tree; The control unit selects a detection signal from the multiple detection signals detected by the multiple position information detection units that has a small difference from the tree's sending amount, and controls the drive of the material sending unit based on the selected detection signal. Effect of the Invention

[0010] According to the tree processing machine of the present invention, the length of trees (timber) can be measured with high accuracy, and timber processing work can be carried out with high accuracy. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a side view of a tree processing device according to a first embodiment. [Diagram 2] FIG. 2 is a front view of the tree processing device. [Diagram 3] FIG. 3 is a top view of the tree processing device. [Figure 4] FIG. 4 is a front view of the material feeding section. [Diagram 5] FIG. 5 is a diagram showing a state in which felling and timber processing work is carried out by the tree processing device. [Figure 6] FIG. 6 is a diagram showing a state in which lumber processing work is carried out by the tree processing device. [Figure 7] FIG. 7 is a plan view showing a state in which lumber processing work is carried out by the tree processing system. [Figure 8] FIG. 8 is a diagram showing a schematic configuration of a hydraulic circuit of the tree processing device. [Figure 9] FIG. 9 is a block diagram showing a control system of the tree processing device. [Figure 10] FIG. 10 is a diagram showing an operation unit in the control system of the tree processing device. [Figure 11] FIG. 11 is a diagram showing a display unit of an operation unit in the control system of the tree processing device. [Figure 12] FIG. 12 is a graph showing the relationship between the travel distance of the crawler (detected by the encoder) and the length of the material actually delivered. [Figure 13] FIG. 13 is a flowchart showing the measurement of log length by the tree processing device and the control of the log feeding section. [Figure 14] FIG. 14 is a graph showing the relationship between the travel distance of the crawler (amount detected by the encoder) and the length of the material actually delivered in the second embodiment. [Figure 15] FIG. 15 is a flowchart showing the measurement of wood length and the control of the wood feeding section by the tree processing device according to the second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] The tree processing device according to one embodiment of the present invention includes: a plurality of feeding units that feed the trees in a length direction by driving a traveling unit that is in contact with the trees; a length measuring unit for measuring the amount of tree feed; A control unit that controls the driving of the plurality of material feeding units based on a detection signal detected by the length measuring unit, the length measuring unit has a plurality of position information detecting units that detect position information related to the sending amount of the tree; The control unit selects a detection signal from among the multiple detection signals detected by the multiple position information detection units that has a smaller difference from the tree's sending amount, and controls the drive of the material sending unit based on the selected detection signal (first configuration).

[0013] According to the above configuration, the control unit selects, from the multiple detection signals detected by the multiple position information detection units, a detection signal that has a small difference from the tree's sending amount, and controls the drive of the material sending unit based on the selected detection signal. This allows the length of trees (timber) to be measured with high accuracy, enabling timber processing work to be carried out with high precision.

[0014] In the first configuration, The plurality of position information detection units are provided to detect position information related to a travel distance of the traveling unit, The control unit may select the detection signal having the smallest detection amount from among the multiple detection signals detected by the multiple position information detection units as the detection signal having the smallest difference from the transmission amount of the tree (second configuration).

[0015] According to the above configuration, the control unit selects the detection signal with the smallest detection amount from among the multiple detection signals detected by the multiple position information detection units as the detection signal with the smallest difference from the tree's sending amount, and controls the drive of the material sending unit based on that detection signal. Therefore, the drive of the material feeding section can be controlled based on the detection signal with the smallest error in the detected amount, enabling material-making operations to be carried out with high precision.

[0016] In the first configuration, The plurality of position information detection units are provided to detect position information related to a travel distance of the traveling unit, The control unit may select a detection signal having the smallest change in detection amount from among the multiple detection signals detected by the multiple position information detection units within a predetermined time period, and may determine the sum of the changes in the selected detection signals as the detection signal having the smallest difference from the transmission amount of the tree (third configuration).

[0017] According to the above configuration, the control unit determines the sum of the changes in the selected detection signals as a detection signal that is less different from the feeding amount of the tree, and controls the drive of the feeding unit based on the detection signal. This makes it possible to measure the length of the lumber with high accuracy while reducing errors in the detection amount that occur within a specified time, thereby enabling lumber production work to be carried out with high accuracy.

[0018] [Embodiment 1] Hereinafter, the tree processing device 100 according to the first embodiment of the present invention will be described in detail with reference to the drawings.

[0019] In the drawings, the same or corresponding parts are given the same reference numerals and their description will not be repeated. In order to make the description easier to understand, the drawings referred to below show simplified or schematic configurations and omit some components. Furthermore, the dimensional ratios between components shown in each drawing do not necessarily represent the actual dimensional ratios. In the drawings, arrow F indicates the front, and arrow B indicates the rear. Arrow L indicates the left, and arrow R indicates the right. Arrow U indicates the upward direction, and arrow D indicates the downward direction.

[0020] In this specification, a standing tree or a tree with branches (whole timber) that has been felled is referred to as a tree W, a whole trunk timber after branches have been removed is referred to as a timber W, and timber that has been cut into logs is referred to as a log WL, but these may sometimes be described as trees W or timber W without making a distinction between them.

[0021] [Overall configuration] Fig. 1 is a side view of a base machine 200 to which a tree processing device 100 according to embodiment 1 is attached. As shown in Fig. 1, a tree processing system 300 is configured by attaching the tree processing device 100 to the base machine 200.

[0022] The base machine 200 is a hydraulic excavator, and includes a lower traveling body 110, an upper rotating body 120, a work arm 130, and a cab 150. The base machine is not limited to a hydraulic excavator. For example, a wheeled base machine may be used.

[0023] The lower traveling body 110 has a caterpillar track device 112. The caterpillar track device 112 is a device for traveling by circulating tracks with drive wheels.

[0024] The upper rotating body 120 is supported so as to be freely rotatable with respect to the lower traveling body 110. The upper rotating body 120 is driven to rotate with respect to the lower traveling body 110 by a rotating device 114 equipped with a hydraulic actuator.

[0025] The working arm 130 is an articulated arm that extends from the upper rotating body 120 and performs bending and extending movements. The tree processing device 100 is attached to the tip of the working arm 130. The working arm 130 operates by hydraulic control and changes the direction and position of the tree processing device 100. The working arm 130 has a boom 131, an arm 133, and a tip arm 135 of the tree processing device 100.

[0026] The boom 131 is supported so as to be able to rise and fall on the front side of the upper rotating body 120. The boom 131 can be raised and lowered by a boom cylinder 141 which is a hydraulic actuator.

[0027] The arm 133 is connected to the tip of the boom 131 so as to be swingable up and down. The arm 133 is swingable by an arm cylinder 143 which is a hydraulic actuator.

[0028] A distal arm 135 of the tree processing device 100 is connected to the distal end of the arm 133 so as to be able to swing up and down. The distal arm 135 is connected to a first support pin 136 at the distal end of the arm 133 and to a second support pin 137 provided on one end of a link member 138. The other end of the link member 138 is connected to the distal end of the arm 133. The distal end of a bucket cylinder 145 is connected to the link member 138.

[0029] The boom 131, the arm 133, and the tip arm 135 can be raised and lowered by a boom cylinder 141, an arm cylinder 143, and a bucket cylinder 145. In addition, the boom 131, the arm 133, and the tip arm 135 are rotated by rotating the upper rotating body 120 by the rotating device 114.

[0030] The operator's cab 150 is provided in the upper rotating body 120. An operator gets into the operator's cab 150 and operates the operating devices in the operator's cab 150 to perform travel operations of the lower traveling body 110, rotation operations of the upper rotating body 120, drive operations of the working arm 130, operation of the tree processing device 100, and the like.

[0031] The tree processing device 100 is a harvester that grips standing trees W to fell them, and also performs timber processing work while sending the trees W in the length direction. The tree processing device 100 also has a branching function that cuts branches of the trees W, and a cutting function that cuts the trees W to a predetermined length. A control unit 60 that controls the drive of the tree processing device 100 is disposed in the driver's cab 150 of the base machine 200 and in the tree processing device 100. The configuration of the tree processing device 100 will be described in detail later.

[0032] Fig. 2 is a front view of the tree processing device 100. Fig. 3 is a top view of the tree processing device 100. As shown in Figs. 2 and 3, the tree processing device 100 has a tree processing device main body 11, a gripping unit 20, a tilting unit 25, a material feeding unit 30, a length measuring unit 38 (see Fig. 4), a branching unit 40, a cutting unit 45, and a control unit 60.

[0033] The tree processing device main body 11 is a part that forms the base of the tree processing device 100. The tree processing device main body 11 is attached to the tip arm 135 via the tilt arm 27 of the tilt section 25 and the rotator 13.

[0034] The gripping unit 20 is a part that opens and closes the multiple material feeding units 30 to grip or release the tree W. The gripping unit 20 has an opening and closing mechanism 21. The opening and closing mechanism 21 is actuated by an opening and closing hydraulic cylinder 23 (see FIG. 8 ), and opens and closes the multiple material feeding units 30 to grip or release the tree W.

[0035] The tilt unit 25 is a part that switches the position of the tree processing device 100 to fell and grip standing trees W. The tilt unit 25 has a tilt arm 27. The tree processing device main body 11 is attached to the tilt arm 27 so that it can be raised and lowered. The tilt unit 25 is operated by a tilt hydraulic cylinder 28 (see Figures 6 and 8) and raises and lowers the tree processing device main body 11 relative to the tilt arm 27. The tree processing device main body 11 can be switched in position by the tilt unit 25 between a first position P1 (see Figure 5a) facing up and down and a second position P2 facing horizontally (see Figures 2 and 5b).

[0036] The material feeding section 30 is a section that feeds the gripped tree W in the direction of the length of the tree. In this embodiment, two material feeding sections 30 are provided. The two material feeding sections 30 are provided in the opening / closing mechanism 21 of the gripping section 20 so as to face each other. Each material feeding section 30 has a crawler 31, a frame 34, and a material feeding drive motor 35. The crawler 31 is formed of a chain-type crawler. The frame 34 is attached to the opening / closing mechanism 21. A driving sprocket 37 (see FIG. 4) and a driven sprocket (not shown) are supported by the frame 34. The crawler 31 is wound around the driving sprocket 37 and the driven sprocket. The material feeding drive motor 35 rotates the driving sprocket 37 to move the crawler 31. The tree W is gripped by the two feeding parts 30, and the two crawlers 31 are caused to travel in the same direction while in contact with the tree W, so that the gripped tree W can be sent out in the direction of its length. The crawlers 31 correspond to the traveling parts of the present invention.

[0037] The distance between the two crawlers 31 is variable. When the tree W is sent out, the diameter of the tree W changes depending on the position of the tree W, so the distance between the crawlers 31 changes due to hydraulic force in accordance with the size of the diameter of the tree W. In addition, when the diameter of the tree W becomes large and a force is applied to spread the crawlers 31, the crawlers 31 can open outward against the hydraulic force of the opening / closing mechanism 21.

[0038] The length measuring unit 38 is attached to the material feeding unit 30 (see Figure 4) and measures the amount of tree W fed. The length measuring unit 38 has an encoder 39. The encoder 39 corresponds to the position information detection unit of the present invention. The length measuring unit 38 detects position information relating to the distance traveled by the crawler 31 by detecting the rotation of the drive sprocket 37 (material feeding drive motor 35) using the encoder 39.

[0039] The branching unit 40 is a part that performs branching of the tree W sent out by the material feeding unit 30. The branching unit 40 has an opening / closing body 41 and a cutter 43. The opening / closing body 41 can be opened and closed, and is arranged so as to surround the outer peripheral surface of the tree W gripped by the gripping unit 20 when closed. The opening / closing body 41 is operated by an opening / closing body hydraulic cylinder 42 (see FIG. 8). The cutter 43 is attached to one side of the opening / closing body 41. The cutter 43 comes into sliding contact with the surface of the tree W sent out by the material feeding unit 30 to cut the branches of the tree W. The opening / closing body 41 may perform an opening / closing operation in response to a control signal input from the control unit 60, or may operate in conjunction with the gripping unit 20.

[0040] The cutting unit 45 is a section that cuts the material W sent out by the material feeding unit 30 to a predetermined length and cuts it into logs. The cutting unit 45 is provided at the end of the material feeding unit 30 opposite the branching unit 40. The cutting unit 45 has a cutting saw 46 (see Figure 6). The cutting unit 45 performs a cutting operation by driving the cutting saw 46 in response to a control signal input from the control unit 60.

[0041] Fig. 4 is a front view of the material conveying section 30. In this embodiment, two material conveying sections 30 are provided, and Fig. 4 shows one of them. In Fig. 4, a part of the material conveying section 30 is broken away to show the internal structure. As shown in Fig. 4, the material conveying section 30 has a crawler 31, a frame 34, and a material conveying drive motor 35.

[0042] The crawler 31 is configured by connecting a plurality of crawler links 32 in an endless manner. A row of a plurality of spikes 33 is provided on the outer surface of each crawler link 32. The spikes 33 function as a transmission part and an anti-slip part when the two feeding parts 30 grip and feed the tree W.

[0043] The frames 34 are disposed to face each other, and support a drive sprocket 37 and a driven sprocket (not shown). The drive sprocket 37 and the driven sprocket are wound around the crawler 31. The frames 34 are attached to the opening / closing mechanism 21 of the gripping part 20.

[0044] The log feeding drive motor 35 is attached to the frame 34, and a drive shaft 36 passes through the frame 34 and is connected to a drive sprocket 37. The log feeding drive motor 35 is a hydraulic motor driven by hydraulic oil, and rotates forward, reverse, and stops in response to a control signal input from the control unit 60. The log feeding drive motor 35 drives and rotates the drive sprocket 37, causing the crawler 31 to travel and feed the tree W.

[0045] An encoder 39 of a length measuring unit 38 is attached to the material feeding unit 30. In this embodiment, an encoder 39 is provided on each of the two material feeding units 30, and is attached coaxially with the drive shaft 36 of the material feeding drive motor 35. The detection signals from each encoder 39 are input to the control unit 60 (see FIG. 9). Based on the detection signals from each encoder 39, the travel distance of each crawler 31 can be calculated.

[0046] Here, when the two feed units 30 feed the tree W, if each crawler 31 does not spin idly relative to the tree W, the travel distance of each crawler 31 and the feed amount of the tree W will match. However, each crawler 31 may spin idly relative to the tree W, and the travel distance of each crawler 31 when spinning idly relative to the tree W differs from one another. For this reason, the travel distance of each crawler 31 and the feed amount of the tree W do not necessarily match. In this embodiment, the control unit 60 controls the drive of the feed unit 30 based on the detection signal that has the smallest difference between the travel distance of the crawler 31 and the feed amount of the tree W, out of the two detection signals detected by the two encoders 39. The contents of the control based on the detection signals output from the two encoders 39 will be described in detail later.

[0047] Fig. 5 is a diagram showing a state where felling and timber processing work is performed by the tree processing device 100. Fig. 5a shows a state where a standing tree W is felled by the tree processing device 100. Fig. 5b shows a state where the tree processing device 100 performs branching while feeding the tree W in the direction D1.

[0048] As shown in Figure 5a, when felling a standing tree W using the tree processing device 100, the tilt unit 25 is operated to place the tree processing device main body 11 in a first position P1 facing up and down. In the first position P1, the branching unit 40 is at the top and the cutting unit 45 is at the bottom. While in this first position P1, the gripping unit 20 is operated to grip the base of the standing tree W with the two feeding units 30, and in this state the cutting saw 46 of the cutting unit 45 is operated to cut the base of the standing tree W.

[0049] 5b, while the cut tree W is still being held by the two feeding units 30, the tilt unit 25 is operated to switch the position of the tree processing device main body 11 to the second position P2 facing horizontally. This allows the tree W to be felled by the tree processing device 100.

[0050] After the tree W is felled by the tree processing device 100, the crawlers 31 of the two feeding units 30 are then driven and rotated in the same direction to feed the tree W in the direction D1. At this time, the cutter 43 of the branching unit 40 is brought into sliding contact with the surface of the tree W fed by the feeding units 30 to cut the branches of the tree W.

[0051] In this embodiment, the amount of movement of the sent-out tree W is detected by each of the encoders 39 provided on the two material sending units 30, and the length from the cut end WP of the tree W to the cutting unit 45 is measured based on the detection signals from the two encoders 39. Then, when the material W has been sent out to a preset length, the material sending unit 30 is stopped, and the material W is cut by the cutting unit 45 to form a log WL ​​of the desired length.

[0052] Fig. 6 is a diagram showing a state in which lumber processing work is performed by the tree processing device 100. Fig. 6 shows a state in which lumber W is cut by the cutting unit 45. The cutting unit 45 has a cutting saw 46, a cutting saw drive motor 47, and a cutting saw hydraulic cylinder 48.

[0053] The cut-saw 46 is a chain saw, and has a saw bar 461 and a saw chain 463. The saw bar 461 is a plate-shaped member that guides the saw chain 463. The saw bar 461 is supported by a support shaft 465 so that it can swing. The saw chain 463 is wrapped around the saw bar 461 and a sprocket (not shown). A cut-saw drive motor 47 is connected to the sprocket. The cut-saw drive motor 47 is a hydraulic motor. When the cut-saw drive motor 47 is rotated by hydraulic oil, the saw chain 463 is rotated and the cutting operation is performed.

[0054] The cutting saw hydraulic cylinder 48 is an actuator that swings the cutting saw 46 forward and backward in the radial direction of the material W. The cutting saw hydraulic cylinder 48 expands and contracts due to hydraulic oil, so that the cutting saw 46 swings forward and backward in the radial direction of the material W, thereby performing the cutting operation.

[0055] 6 shows a state in which the log WL ​​cut by the cutting unit 45 is detached from the material W held by the crawler 31. A new cut end WP is formed in the material W held by the crawler 31. When the next log WL ​​is to be formed, the length measuring unit 38 measures (measures) the length from the new cut end WP to the cutting unit 45 (cut saw 46) while the material W is being sent out by the material feeding unit 30. The length of the material W is measured by the length measuring unit 38, and when the material W has been sent out to a preset length, the material feeding unit 30 is stopped, and the material W is cut by the cutting unit 45 to form a log WL ​​of the desired length.

[0056] Fig. 7 is a plan view showing a state where lumber processing work is performed by the tree processing system 300. Fig. 7 shows the lumber processing work in which the length of the lumber W is measured by the length measuring unit 38 and a log WL ​​having a length LP is formed.

[0057] As shown in Fig. 7a, while the material W is being fed by the feeding section 30, the length measuring section 38 measures the length from the cut edge WP to the cutting section 45. The material W has a cut edge WP formed thereon by being previously cut by the cutting section 45. When the length of the material W measured by the length measuring section 38 reaches a preset length LP, the feeding section 30 is stopped.

[0058] In the state shown in Fig. 7a, by cutting the timber W with the cutting unit 45, a log WL ​​of a desired length can be formed as shown in Fig. 7b. The position of the newly formed kerf WP coincides with the position of the cut saw 46 of the cutting unit 45. When subsequently forming logs WL from the same tree W, the newly formed kerf WP is used as a reference to similarly measure the timber length LP and cut the logs into bucks, allowing the logs WL to be formed continuously.

[0059] Fig. 8 is a diagram showing a schematic configuration of a hydraulic circuit 50 of the tree processing device 100. As shown in Fig. 8, the hydraulic circuit 50 is configured so that the rotator 13, the gripping unit 20, the tilting unit 25, the log feeding unit 30, the delimbing unit 40, and the cutting unit 45 are driven by hydraulic oil supplied from a hydraulic oil tank 51 and a hydraulic pump unit 52. In this embodiment, the drive of the rotator 13, the gripping unit 20, the tilting unit 25, the log feeding unit 30, the delimbing unit 40, and the cutting unit 45 can be controlled by operating an operating lever (not shown) or by a control signal from a control unit 60.

[0060] The rotator 13 has a rotator drive motor 14. The direction of the tree processing device 100 can be controlled by rotating the rotator drive motor 14 forward, reverse, and stopped by the hydraulic oil.

[0061] The gripping unit 20 has an opening / closing hydraulic cylinder 23 that operates the opening / closing mechanism 21. The opening / closing hydraulic cylinder 23 is extended and contracted by hydraulic oil, thereby opening and closing the two material feeding units 30 to grip or release the tree W.

[0062] The tilt section 25 has a tilt hydraulic cylinder 28. By expanding and contracting the tilt hydraulic cylinder 28 by hydraulic oil, the tree processing device body 11 can be raised or lowered relative to the tilt arm 27, and the position of the tree processing device body 11 can be switched between a first position P1 (see FIG. 5a) and a second position P2 (see FIG. 2 and FIG. 5b).

[0063] The material feeding section 30 has two material feeding drive motors 35. The material feeding drive motors 35 are rotated by hydraulic oil to rotate the crawler 31 and feed the tree W. In addition, the material feeding drive motors 35 are driven, decelerated, and stopped under drive control so that the material W can be cut into logs by the cutting section 45 at a position where a predetermined length of the material W has been fed.

[0064] The branching unit 40 has an opening / closing body hydraulic cylinder 42 that opens and closes the opening / closing body 41. The opening / closing body hydraulic cylinder 42 expands and contracts due to hydraulic oil, thereby opening and closing the opening / closing body 41 and embracing the tree W gripped by the gripping unit 20.

[0065] The cutting section 45 has a cut saw drive motor 47 and a cut saw hydraulic cylinder 48. The cut saw drive motor 47 is rotated by hydraulic oil, which drives the cut saw 46 to perform the cutting operation. The cut saw hydraulic cylinder 48 is expanded and contracted by hydraulic oil, which causes the cut saw 46 to swing back and forth in the radial direction of the material W, thereby performing the cutting operation.

[0066] Fig. 9 is a block diagram showing the control system of the tree processing device 100. Fig. 9 shows only a configuration in which the length of the material W is measured by two encoders 39 (first encoder 391, second encoder 392) of the length measuring unit 38 provided in the two material feeding units 30 (first material feeding unit 301, second material feeding unit 302) and the two material feeding units 30 (first material feeding unit 301, second material feeding unit 302) are controlled based on the measured length, and other configurations related to the control of the tree processing device 100 are omitted.

[0067] As shown in Fig. 9, the control unit 60 is a device that processes information using a pre-recorded program and communicates information with each part of the tree processing device 100. The configuration of the control unit 60 is not limited, and a known computer device equipped with a central processing unit (CPU), memory, an external storage device, information communication means, etc. can be used. In this embodiment, the control unit 60 is arranged in the driver's cab 150 of the base machine 200 and the tree processing device 100, but it may also be arranged integrally with the tree processing device 100. The control unit 60 may also communicate information with each part of the tree processing device 100 via wireless communication.

[0068] The control unit 60 has a drive control unit 61, a travel distance calculation unit 62, a travel distance determination unit 63, and a material length determination unit 65. The control unit 60 is configured to receive output signals from the two encoders 39 (first encoder 391, second encoder 392) attached to the two material feeding units 30 (first material feeding unit 301, second material feeding unit 302) and the operation unit 90.

[0069] The crawlers 31 provided on each of the two material feeding units 30 (the first material feeding unit 301 and the second material feeding unit 302) may each cause idling (slippage) with respect to the tree W. For this reason, the detection amounts of the detection signals output from the two encoders 39 (the first encoder 391 and the second encoder 392) may not match. In this case, the amount of tree W sent out calculated from the travel distance of the crawler 31 includes an error, and the error also differs for each crawler 31. In this embodiment, the detection signal with the smallest detection amount among the detection signals from the two encoders 39 (the first encoder 391 and the second encoder 392) is set as the detection signal with the smallest difference between the travel distance of the crawler 31 and the actual amount of tree W sent out. Then, the drive of the two material feeding units 30 (the first material feeding unit 301 and the second material feeding unit 302) is controlled based on the detection signal.

[0070] The drive control unit 61 is configured as a part of the control unit 60. The drive control unit 61 controls the drive of the two material feeding units 30 based on the travel distance of the crawler 31 selected by the travel distance determination unit 63 from the travel distances of the respective crawlers 31 calculated by the travel distance calculation unit 62.

[0071] The travel distance calculation unit 62 calculates the travel distance of each crawler 31 based on the detection signals output from the two encoders 39 (first encoder 391, second encoder 392).

[0072] The travel distance determination unit 63 determines the smaller travel distance of the travel distances of each crawler 31 calculated by the travel distance calculation unit 62. This is because, when it is taken into consideration that the two crawlers 31 each cause different slippage (idling) on ​​the tree W, the smaller calculated travel distance results in less slippage between the crawler 31 and the tree W, and therefore a smaller difference between the travel distance of the crawler 31 and the feed amount of the tree W. The travel distance of one crawler 31 selected by the travel distance determination unit 63 from the travel distances of each crawler 31 is set to the feed amount of the tree W (the length of the timber W).

[0073] The material length determination unit 65 determines whether the travel distance (= the length of the material W) of one of the crawlers 31 selected by the travel distance determination unit 63 has reached a preset length of the material W. When the material length determination unit 65 determines that the travel distance (= the length of the material W) of one of the crawlers 31 selected by the travel distance determination unit 63 has reached the preset length of the material W, the drive control unit 61 performs control to stop the drive of the two material feeding units 30 (the first material feeding unit 301, the second material feeding unit 302).

[0074] The operation unit 90 is a section for setting the processing contents to be performed by the tree processing device 100, such as setting an arbitrary length for the log WL ​​formed by the lumber processing work, and setting a position for forward rotation, deceleration, stopping, or reverse rotation of the material feeding unit 30 so that the material feeding can be stopped at a position of an arbitrary length. The operation unit 90 has a display unit 91 and an input unit 93.

[0075] The display unit 91 is a part that displays the processing contents by the tree processing device 100, and may be implemented by an indicator using an LED (Light Emitting Diode) or hardware such as a liquid crystal display device. The display unit 91 displays instruction information from the input unit 93 and the results of processing by the tree processing device 100.

[0076] The input unit 93 is a section where the operator inputs instructions regarding the processing contents to be performed by the tree processing device 100, and can be input by operating a physical switch or by touching a predetermined image area by configuring the display unit 91 as a touch panel. The instructions inputted by the input unit 93 are transmitted to the control unit 60 as instruction information.

[0077] Fig. 10 is a diagram showing an operation unit 90 in the control system of the tree processing device 100. Fig. 11 is a diagram showing a display unit 91 of the operation unit 90 in the control system of the tree processing device 100. As shown in Figs. 10 and 11, a virtual switch image is displayed on the touch panel type display unit 91, and it partially functions as an input unit 93. An operator in the driver's cab 150 of the base machine 200 performs lumber work on the tree W by constantly checking the processing contents displayed on the display unit 91, and inputs instruction information from the input unit 93 as necessary.

[0078] 10 shows a state in which an operation screen (normal screen) is displayed on the display unit 91. This operation screen shows that the measurement length setting value for bucking the material W is "205 cm."

[0079] Fig. 11 shows a state where the deceleration setting screen (setting menu) is displayed on the display unit 91. In this embodiment, during automatic length measurement, the material feeding speed of the material feeding unit 30 is set to switch from normal speed to slow speed just before the length measurement set value ("205 cm" in Fig. 10), and two deceleration patterns (deceleration 1 and deceleration 2) are set as deceleration patterns. Each numerical value displayed on the deceleration setting screen (setting menu) can be changed, and the changed numerical value can be input to the input unit 93 of each field of the display unit 91, which is a touch panel.

[0080] Here, a diagram will be used to explain that when the travel distances of the two crawlers 31 (amounts detected by the two encoders 39) are different, the smaller the travel distance of the crawler 31 (amount detected by the encoder 39), the smaller the amount of slippage (amount of idling) between the crawler 31 and the tree W, and the smaller the difference between the travel distance of the crawler 31 and the amount of tree W fed out. Figure 12 is a graph showing the relationship between the travel distance of the crawler 31 (amount detected by the encoder 39) and the length of the lumber W actually fed out. The vertical axis represents the travel distance of the crawler 31 (amount detected by the encoder 39), and the horizontal axis represents the length of the lumber W actually fed out.

[0081] In Fig. 12, line R1 (solid line) indicates the travel distance of the crawler 31 of the first material feeding section 301 (amount detected by the first encoder 391), and line R2 (dashed line) indicates the travel distance of the crawler 31 of the second material feeding section 302 (amount detected by the second encoder 392). Line RC (virtual line) indicates an ideal state in which the crawler 31 does not spin freely and the travel distance of the crawler 31 matches the length of the material W actually fed out. In Fig. 12, in order to make the spin of the crawler 31 easier to understand, the lines R1 and R2 show the spin distance of the crawler 31 larger than it actually is.

[0082] In the sections of lines R1 and R2 whose inclination is the same as that of line RC, the crawler 31 is not idling relative to the tree W, and the travel distance of the crawler 31 matches the length of the timber W actually fed out. In contrast, in the sections of lines R1 and R2 whose inclination is greater than that of line RC, the crawler 31 is idling relative to the tree W, and the travel distance of the crawler 31 (amount detected by the encoder 39) is greater than the length of the timber W actually fed out. In addition, the positions of idling and the lengths of the sections differ on lines R1 and R2 because the positions of idling relative to the tree W and the amount of idling differ for each crawler 31. For this reason, the travel distances of each crawler 31 (amount detected by the encoder 39) do not match each other, and do not match the actual amount of tree W fed out.

[0083] In the line RC, when the travel distance of the crawler 31 reaches the set value LP (vertical axis), the length of the material W actually sent out also reaches LP (horizontal axis). In contrast, in the lines R1 and R2, idling occurs, so the travel distance of the crawler 31 (detected by the encoder 39) is greater than the length of the material W actually sent out. For this reason, in the lines R1 and R2, the travel distance of the crawler 31 reaches the set value LP (vertical axis) before the ideal line RC. As a result, in the line R1, even if the travel distance of the crawler 31 (detected by the first encoder 391) reaches the set value LP (vertical axis), the length of the material W actually sent out is LR1 (horizontal axis), which is shorter than LP. In addition, in the line R2, even if the travel distance of the crawler 31 (detected by the second encoder 392) reaches the set value LP (vertical axis), the length of the material W actually sent out is LR2 (horizontal axis), which is shorter than LP. Furthermore, when comparing LR1 and LR2, which are the lengths of the material W that were actually delivered, LR2 is closer to the set length LP (horizontal axis) of the material W than LR1, and the error is smaller.

[0084] In other words, comparing lines R1 and R2, line R2, where the travel distance of the crawler 31 (detected by the encoder 39) is smaller, has less slippage of the crawler 31 and a smaller difference between the travel distance of the crawler 31 and the amount of tree W sent out.

[0085] However, when comparing lines R1 and R2 in more detail, there is no difference in the travel distance (detection amount of encoder 39) of crawler 31 for both lines R1 and R2 until the length of timber W actually delivered reaches L11 (horizontal axis). Also, in the section where the length of timber W is from L11 (horizontal axis) to L12 (horizontal axis), the travel distance (detection amount of encoder 39) of crawler 31 is smaller for line R1 (solid line) than for line R2 (dashed line), and it can be said that line R1 (solid line) has a smaller error between the travel distance of crawler 31 and the delivered amount of tree W. Then, in the section where the length of timber W exceeds L12 (horizontal axis), lines R1 and R2 are reversed, and the travel distance (detection amount of encoder 39) of crawler 31 is smaller for line R2 (dashed line) than for line R1 (solid line), and it can be said that line R2 (dashed line) has a smaller error between the travel distance of crawler 31 and the delivered amount of tree W.

[0086] In this way, the error between the line R1 and the line R2 and the length of the actually delivered material W varies depending on the position where the idling occurs and the amount of idling. Also, there are sections where the line R1 is more accurate than the line R2, and conversely, there are sections where the line R2 is more accurate than the line R1, and there are also sections where the accuracy of the lines R1 and R2 is equal. For this reason, the travel distances of the two crawlers 31 (detection amounts of the first encoder 391 and the second encoder 392) are compared, and the crawler 31 with the smaller travel distance (detection amount of the encoder 39) is selected, and the length of the material W is measured based on this, making it possible to measure the length of the material W with higher accuracy than when there is only one encoder.

[0087] Fig. 13 is a flow chart showing timber length measurement by the tree processing device 100 and control of the timber feeding unit 30. As shown in Fig. 13, when timber length measurement is started, a target value (measurement set value LP) is first set. The setting is performed with the setting menu displayed on the display unit 91 as shown in Fig. 11.

[0088] After setting the length measurement setting value, the operator confirms that the cut end WP of the material W is located at the position of the saw bar 461 of the cutting section 45 (position of the cut saw 46), and then performs the material feeding operation to start feeding the material W by the material feeding section 30 (driving the first material feeding section 301 and the second material feeding section 302).

[0089] When the sending out of the material W is started, the travel distance calculation unit 62 calculates the travel distance of each crawler 31 based on the detection signals output from the two encoders 39 (the first encoder 391 and the second encoder 392).

[0090] The travel distance determination unit 63 determines the smaller travel distance of each crawler 31 calculated by the travel distance calculation unit 62 .

[0091] The material length determination unit 65 determines whether the travel distance (= length of material W) of one of the crawlers 31 selected by the travel distance determination unit 63 has reached a preset target value (length measurement set value LP). If the target value (length measurement set value LP) has not been reached (NO), material feeding is continued. If the target value (length measurement set value LP) has been reached (YES), the material feeding unit 30 is stopped (stopping the first material feeding unit 301 and the second material feeding unit 302) and material length measurement is terminated.

[0092] In this embodiment, the travel distance of each crawler 31 is calculated based on the detection signals output from the two encoders 39, and then the smaller travel distance is determined by the travel distance determination unit 63, but the order is not limited to this. The detection signals output from the two encoders 39 may be compared first, the detection signal with the smaller detection amount is determined and selected, and the travel distance of the crawler 31 is calculated based on the selected detection signal. In either case, the length of the material W can be measured more accurately by controlling the drive of the material feeding unit 30 based on a detection signal in which the difference between the travel distance of the crawler 31 and the amount of tree W fed is small.

[0093] [Embodiment 2] Next, a tree processing device 100A according to embodiment 2 will be described. Fig. 14 is a graph showing the relationship between the travel distance of the crawler 31 (amount detected by the encoder 39) and the length of the timber W actually delivered in embodiment 2. Fig. 15 is a flowchart showing timber length measurement and control of the timber delivery section 30 by the tree processing device 100A according to embodiment 2.

[0094] As described in the first embodiment, the error between the lines R1 and R2 in Fig. 12 and the length of the actually delivered material W varies depending on the position where the idling occurs and the amount of idling of each crawler 31. Also, there are sections where the line R1 is more accurate than the line R2, and conversely, there are sections where the line R2 is more accurate than the line R1.

[0095] For this reason, in the second embodiment, the amounts detected by the two encoders 39 (the first encoder 391 and the second encoder 392) are compared every predetermined time (microtime), the encoder 39 with the smaller change in the amount detected within the predetermined time (microtime) is selected, and the length of the material W is measured based on the integrated value of the change in the amount detected. This makes it possible to measure the length of the material W with higher accuracy.

[0096] 14 is a graph showing the relationship between the amount detected by the encoder 39 (the amount of travel of the crawler 31) and the length of the material W actually sent out, with the vertical axis being the amount detected by the encoder 39 (the amount of travel of the crawler 31) and the horizontal axis being the length of the material W actually sent out. In addition, line R1 (solid line) and line R2 (thin dashed line) show the amount detected by the first encoder 391 (the amount of travel of the crawler 31 of the first material sending section 301) and the amount detected by the second encoder 392 (the amount of travel of the crawler 31 of the second material sending section 302).

[0097] Line R3 (thick dashed line) indicates the value obtained by comparing the detected amounts (changes in the detected amounts at a given time) of the two encoders 39 at given time intervals (very short time intervals) and integrating the smaller change in the detected amount. Line RC (imaginary line) indicates the ideal state in which the crawler 31 does not spin freely and the travel distance of the crawler 31 matches the length of the material W actually delivered.

[0098] 14, in the section where the length of the actually delivered material W is from 0 to L21, the lines R1 and R2 overlap, and the detection amounts of the encoder 39 (the travel distances of each crawler 31) match. Therefore, the line R3 overlaps with the lines R1 and R2.

[0099] In the section where the length of the material W is from L21 to L22, when comparing the amounts detected by the two encoders 39 (first encoder 391 and second encoder 392) for each predetermined time (micro time), the change in the amount detected by the encoder 39 is smaller for line R1 (solid line) than for line R2 (thin dashed line). For this reason, when the amount of change detected by the encoder 39 for each predetermined time (micro time) is selected for the section where the length of the material W is from L21 to L22 and the change is accumulated, the line R3 (thick dashed line) overlaps with the line R1 (solid line) in the section where the length of the material W is from L21 to L22.

[0100] In the section where the length of the material W is from L22 to L23, when the amounts detected by the two encoders 39 (the first encoder 391 and the second encoder 392) are compared for each predetermined time (very short time), the amount of change in the amount detected by the encoders 39 for line R1 (solid line) and line R2 (thin dashed line) is the same (the slopes are equal). Therefore, in the section where the length of the material W is from L22 to L23, if the amount of change in the amount detected by one of the encoders 39 is selected for each predetermined time (very short time) and the amount of change is accumulated, in the section where the length of the material W is from L22 to L23, line R3 (thick dashed line) will overlap with line R1 (solid line).

[0101] In the section where the length of the material W is from L23 to L24, when the amounts detected by the two encoders 39 (the first encoder 391 and the second encoder 392) are compared for each predetermined time (micro time), the change in the amount detected by the encoder 39 is smaller for the line R2 (thin dashed line) than for the line R1 (solid line). Therefore, in the section where the length of the material W is from L23 to L24, if the amount detected by the encoder 39 with the smaller change in the amount detected by the encoder 39 for each predetermined time (micro time) is selected and integrated, the linearity of the line R3 (thick dashed line) becomes the same as that of the line R2 (thin dashed line) in the section where the length of the material W is from L23 to L24. In addition, the magnitude of the integrated amount of the line R3 in the section where the length of the material W is from L23 to L24 becomes smaller (closer to the line RC) than the lines R1 (solid line) and R2 (thin dashed line).

[0102] In the section where the length of the material W is L24 or later, when comparing the amount of change in the detected amount of the two encoders 39 (the first encoder 391 and the second encoder 392) for each predetermined time (micro time), the amount of change in the detected amount is the same for lines R1 and R2 (the slopes of lines R1 and R2 are equal). Therefore, when the amount of change in the detected amount of the encoder 39 for each predetermined time (micro time) is accumulated in the section where the length of the material W is L24 or later, the linearity of line R3 (thick dashed line) is the same as line R1 (solid line) and line R2 (thin dashed line) in the section where the length of the material W is L24 or later. In addition, the magnitude of the accumulated amount of line R3 in the section where the length of the material W is L24 or later is smaller than line R1 (solid line) and R2 (thin dashed line) (closer to line RC).

[0103] For line R3, when the travel distance of the crawler 31 calculated based on the integrated value of the change in the detected amount reaches the set value LP (vertical axis), the length of the material W actually delivered becomes LR3. Although the length LR3 has an error with respect to the set value LP (horizontal axis), it is closer to the set value LP (horizontal axis) than the case based on line R1 (solid line) (LR1) and the case based on line R2 (thin dashed line) (LR2), and has high accuracy.

[0104] In this way, the change in the detected amount of the two encoders 39 (first encoder 391 and second encoder 392) is compared every predetermined time (very short time), the encoder 39 with the smaller change in the detected amount is selected, and the length of the material W is measured based on the accumulated value of the change, thereby making it possible to measure the length of the material W with higher accuracy.

[0105] Fig. 15 is a flow chart showing timber length measurement by the tree processing device 100A and control of the timber feeder 30. As shown in Fig. 15, when timber length measurement is started, a target value (measurement set value LP) is first set. The setting is performed with the setting menu displayed on the display unit 91 as shown in Fig. 11.

[0106] After setting the length measurement setting value, the operator confirms that the cut end WP of the material W is located at the position of the saw bar 461 of the cutting section 45 (position of the cut saw 46), and then performs the material feeding operation to start feeding the material W by the material feeding section 30 (driving the first material feeding section 301 and the second material feeding section 302).

[0107] When the delivery of the material W starts, the amounts detected by the two encoders 39 (the first encoder 391 and the second encoder 392) are compared at predetermined time intervals (micro time), and the encoder 39 with the smaller amount of change in the amount detected within the predetermined time interval (micro time) is selected. The amount of change in the selected amount of detection is integrated.

[0108] The travel distance calculation unit 62 calculates the travel distance of the crawler 31 based on a value obtained by accumulating the amount of change in the detected amount.

[0109] The material length determination unit 65 determines whether the travel distance (= length of material W) of the crawler 31 calculated by the travel distance calculation unit 62 has reached a preset target value (length measurement set value LP). If the target value (length measurement set value LP) has not been reached (NO), material feeding is continued. If the target value (length measurement set value LP) has been reached (YES), the material feeding unit 30 is stopped (first material feeding unit 301 and second material feeding unit 302 are stopped) and material length measurement is terminated.

[0110] In this embodiment, the amount of change in the detection signals output from the two encoders 39 over a predetermined time period is compared, the value with the smaller amount of change is selected and integrated, and the travel distance of the crawler 31 is calculated based on the integrated value, but the order is not limited. The amount of change in the travel distance of each crawler 31 over a predetermined time period may be calculated based on the amount of change in the detection signals output from the two encoders 39 over a predetermined time period, and then the smaller amount of change in the travel distance may be selected and integrated to calculate the travel distance of the crawler 31. In either case, the length of the material W can be measured more accurately by controlling the drive of the material feeding unit 30 based on a detection signal in which the difference between the travel distance of the crawler 31 and the amount of tree W fed is small.

[0111] [Variations] The tree processing device according to the present invention is not limited to the embodiment described above. In this embodiment, two encoders are provided, but three or more encoders may be provided. In addition, the position information detection unit is not limited to an encoder, and may be any unit that can detect position information related to the travel distance of the crawler.

[0112] In the second embodiment, the amount of change in the detected amount of the encoder is selected at predetermined time intervals, but the predetermined time does not have to be at regular intervals.

[0113] Although the embodiment of the present invention has been described above, the above-mentioned embodiment is merely an example for carrying out the present invention. Therefore, the present invention is not limited to the above-mentioned embodiment, and the above-mentioned embodiment can be appropriately modified and carried out without departing from the spirit of the present invention. [Industrial Applicability]

[0114] The present invention can be used in a tree processing device that uses a tree processing device. [Explanation of symbols]

[0115] 100 Tree treatment equipment 200 Base Machine 300 Tree Treatment System 30 Material transport section 31 Running part (crawler) 38 Position information detector (encoder) 60 Control section W Trees, timber

Claims

1. A method for feeding trees in a length direction by driving a traveling part that is in contact with the tree, comprising: a length measuring unit for measuring the amount of tree feed; A control unit that controls the driving of the plurality of material feeding units based on a detection signal detected by the length measuring unit, the length measuring unit has a plurality of position information detecting units that detect position information related to the sending amount of the tree; The plurality of position information detection units are provided to detect position information related to a travel distance of the traveling unit, The control unit selects a detection signal that has a smaller difference from the amount of material sent from the tree among the plurality of detection signals detected by the plurality of position information detection units, and controls the driving of the material sending unit based on the selected detection signal. Tree treatment equipment.

2. The control unit selects a detection signal having a smallest detection amount from among the plurality of detection signals detected by the plurality of position information detection units as a detection signal having a small difference from the transmission amount of the tree. The tree treatment device according to claim 1 .

3. The control unit selects a detection signal having the smallest change in detection amount from among the multiple detection signals detected by the multiple position information detection units within a predetermined time, and determines the sum of the changes in the selected detection signals as the detection signal having the smallest difference from the transmission amount of the tree. The tree treatment device according to claim 1 .

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