Tree processing system

Abstract

To provide a tree processing system capable of measuring a length of a material which is fed by a material feeding part in a non-contact manner, therefore, accurately measuring the length of the material even when the material feeding part is idling, thereby achieving accurate material production work.SOLUTION: There is provided a tree processing system comprising: a base machine 200 having a work arm 130; a tree processing device 10 having a material feeding part 30 attached to the work arm 130 and for feeding a tree W in a material length direction, a delimbing part 40 for delimbing the tree W fed by the material feeding part 30, and a cutting part 45 for cross cutting the tree W which is subjected to delimbing; a drive control part 61 for controlling driving of the tree processing device 10; an imaging part 80 for imaging an image of the tree W which is fed in the material length direction by the tree processing device 10; and an image recognition part 62 for recognizing a length of the tree W from the image. The drive control part 61 controls driving of the tree processing device 10 so as to perform cross cutting of the tree W at an optional length, according to a recognition result of the image recognition part 62.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a tree processing system that performs sawing operations using a tree processing device provided on a base machine.

Background Art

[0002] Conventionally, tree processing devices called harvesters or processors have been proposed (see, for example, Patent Document 1). The tree processing device is attached to a working arm provided on a base machine such as a hydraulic excavator and is used for sawing operations. In the sawing operation using a processor among tree processing devices, the branch removal operation of the felled tree and the cutting operation of cutting the branched tree (lumber) into an arbitrary length to form logs are continuously performed. In the sawing operation using a harvester, the felling operation of standing trees can also be performed.

[0003] The tree processing device mainly has a gripping part, a feeding part, a branch removal part, and a cutting part. The gripping part grips the tree that is the object of the sawing operation. The feeding part sends the tree in the log length direction by driving a crawler or the like that contacts the gripped tree. The branch removal part performs branch removal by bringing a cutter into contact with the branches of the tree that is vigorously sent out by the feeding part. The cutting part cuts the branched lumber into an arbitrary length to form logs.

[0004] The tree processing device has a length measuring mechanism that measures (measures the length of) the length of the lumber sent out, that is, the length of the lumber. The length measuring mechanism has, for example, an encoder that detects the number of rotations of the crawler. The length of the lumber is measured by the encoder, and when the lumber is sent out to a preset length, the feeding part is stopped, and the lumber is cut by the cutting part to form logs of a desired length.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] However, when the material is fed in the material length direction by the feeding unit, a large load may be applied to the tree (material), and the crawler may slip on the surface of the tree (material). When the crawler slips, an error occurs between the length of the material measured based on the rotation speed of the crawler and the actual length of the material fed. For this reason, even if the log is cut based on the length measured by the encoder, the length of the log does not become the desired length, and there is a problem that an error occurs in the length of the log.

[0007] An object of the present invention is to provide a tree processing system capable of accurately measuring the length of a material even when the feeding unit slips, by non-contact measurement of the length of the material fed by the feeding unit, and performing high-precision sawing work.

Means for Solving the Problems

[0008] The tree processing system of the present invention includes a base machine having a working arm, a tree processing device attached to the working arm and having a feeding unit for feeding a tree in the material length direction, a branch removing unit for removing branches of the tree fed by the feeding unit, and a cutting unit for cutting the branched material into logs, a drive control unit for controlling the drive of the tree processing device, an imaging unit for imaging an image of the material fed in the material length direction by the tree processing device, an image recognition unit for recognizing the length of the material from the image, and the drive control unit controls the drive of the tree processing device so as to cut the material into logs of an arbitrary length according to the recognition result of the image recognition unit.

Effects of the Invention

[0009] According to the tree processing system of the present invention, the length of the material can be accurately measured based on the image of the material, and high-precision sawing work can be performed.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Embodiments for Carrying Out the Invention

[0011] A tree processing system according to an embodiment of the present invention includes a base machine having a working arm, a tree processing device that is attached to the working arm and has a feeding unit for feeding a tree in the log length direction, a branch removing unit for removing branches of the tree fed by the feeding unit, and a cutting unit for cutting the branched material into pieces, a drive control unit for controlling the drive of the tree processing device, an imaging unit for imaging an image of the material fed in the log length direction by the tree processing device, and an image recognition unit for recognizing the length of the material from the image. The drive control unit controls the drive of the tree processing apparatus so as to cut the material into pieces of an arbitrary length according to the recognition result of the image recognition unit (first configuration).

[0012] According to the above configuration, the drive control unit of the tree processing system controls the drive of the tree processing apparatus so as to cut the material into pieces of an arbitrary length according to the recognition result of the image recognition unit. Therefore, even when the material feeding unit idles, the length of the material can be accurately measured based on the image of the material, and high-precision sawing work can be performed.

[0013] In the above first configuration, The image recognition unit may recognize the length from the cut end of the material sent out by the material feeding unit to the cutting unit (second configuration).

[0014] According to the above configuration, the length from the cut end of the material, where image recognition is relatively easy, to the cutting unit is recognized. Therefore, the length of the material can be accurately measured based on the image of the material, and high-precision sawing work can be performed.

[0015] In the above first or second configuration, The imaging unit may be attached to the front side of the driver's cab of the base machine (third configuration).

[0016] According to the above configuration, since the imaging unit is attached to the front side of the driver's cab of the base machine, the range imaged by the imaging unit can be widened. Therefore, it is possible to easily image the material sent out by the material feeding unit, and the length of the material can be accurately measured based on the image of the material.

[0017] [Embodiment 1] Hereinafter, with reference to the drawings, a tree processing system 100 according to Embodiment 1 of the present invention will be described in detail.

[0018] In the drawings, the same or corresponding parts are denoted by the same reference numerals, and their descriptions are not repeated. For the sake of clarity of explanation, in the drawings referred to below, the configurations are shown in a simplified or schematic manner, or some of the constituent members are omitted. Also, the dimensional ratios between the constituent members shown in each drawing do not necessarily represent the actual dimensional ratios. In the drawings, arrow F indicates the front, arrow B indicates the rear, arrow L indicates the left, arrow R indicates the right, arrow U indicates the upper side, and arrow D indicates the lower side.

[0019] In the following description, a standing tree or a branched tree (whole wood) obtained by felling a standing tree is referred to as tree W, the whole trunk material after debarking is referred to as material W, and the material cut into logs is referred to as log WL. However, there are cases where these are described as tree W or material W without distinction.

[0020] [Overall Configuration] First, the overall configuration of the tree processing system 100 will be described. FIG. 1 is a side view of the tree processing system 100 according to Embodiment 1. As shown in FIG. 1, the tree processing system 100 includes a base machine 200, a tree processing device 10, an information processing unit 60, and an imaging unit 80.

[0021] The base machine 200 is a hydraulic excavator and includes a lower traveling body 110, an upper revolving body 120, a working arm 130, and a cab 150. Note that the base machine is not limited to a hydraulic excavator. For example, a wheel-type base machine may be used.

[0022] The lower traveling body 110 has an endless track device 112. The endless track device 112 is a device for circulating the crawler by a drive wheel to travel.

[0023] The upper revolving body 120 is rotatably supported with respect to the lower traveling body 110. The upper revolving body 120 is rotationally driven with respect to the lower traveling body 110 by a slewing device 114 provided with a hydraulic actuator.

[0024] The working arm 130 is a multi-joint arm that extends from the upper revolving body 120 and performs bending and extending operations, and the tree processing device 10 is attached to its tip. The working arm 130 operates under hydraulic control to change the direction and position of the tree processing device 10. The working arm 130 has a boom 131, an arm 133, and a tip arm 135.

[0025] The boom 131 is supported on the front side of the upper revolving body 120 so as to be able to rise and fall. The boom 131 can be raised and lowered by a boom cylinder 141 which is a hydraulic actuator.

[0026] The arm 133 is connected to the tip of the boom 131 so as to be swingable in the vertical direction. The arm 133 can be swung by an arm cylinder 143 which is a hydraulic actuator.

[0027] The tip arm 135 is connected to the tip of the arm 133 so as to be swingable in the vertical direction. The tip arm 135 is connected to the first support pin 136 at the tip of the arm 133 and the second support pin 137 provided at one end of the link member 138. The other end of the link member 138 is connected to the tip of the arm 133. The tip of the bucket cylinder 145 is connected to the link member 138.

[0028] The working arm 130 (boom 131, arm 133, and tip arm 135) can be raised and lowered by the boom cylinder 141, the arm cylinder 143, and the bucket cylinder 145. Also, the turning of the working arm 130 (boom 131, arm 133, and tip arm 135) is performed by turning the upper revolving body 120 by the turning device 114.

[0029] The driver's cab 150 is provided on the upper revolving body 120. The operator boards the driver's cab 150 and operates the operating equipment in the driver's cab 150 to perform operations such as the traveling operation of the lower traveling body 110, the turning operation of the upper revolving body 120, the driving operation of the working arm 130, and the operation of the tree processing device 10.

[0030] The tree processing device 10 is a harvester, which grips and fells a standing tree W, and performs sawing operations while feeding the tree W in the log length direction. The tree processing device 10 also has a branch cutting function for cutting the branches of the tree W and a cutting function for cutting the tree W into a predetermined length. The configuration of the tree processing device 10 will be described in detail later.

[0031] The information processing unit 60 includes a drive control unit 61, an image recognition unit 62, etc. (see FIG. 7). The information processing unit 60 is arranged in the cab 150 of the base machine 200. The drive control unit 61 controls the drive of the tree processing device 10. The image recognition unit 62 recognizes the wood W in the image captured by the imaging unit 80. In this embodiment, the length of the wood W is measured by image recognition. The information processing unit 60 will be described in detail later.

[0032] The imaging unit 80 captures an image of the wood W sent out in the log length direction by the tree processing device 10. The imaging unit 80 is attached to the upper front side of the cab 150 of the base machine 200. The imaging unit 80 is a depth sensor, and for example, a stereo camera can be used. The imaging unit 80 may be any depth sensor that can be used for measuring the distance in space. Other depth sensors such as a depth camera and a ToF (Time of Flight) camera can also be used in addition to the stereo camera.

[0033] FIG. 2 is a front view of the tree processing device 10. As shown in FIG. 2, the tree processing device 10 has a tree processing device main body 11, a gripping part 20, a tilt part 25, a feeding part 30, a branch cutting part 40, and a cutting part 45.

[0034] The tree processing device main body 11 is a part that forms the base of the tree processing device 10. The tree processing device main body 11 is attached to the tip arm 135 of the base machine 200 via the tilt arm 27 of the tilt part 25 and the rotator 13.

[0035] The gripping part 20 is a part that opens and closes a plurality of crawlers 31 to grip or release the tree W. The gripping part 20 has an opening and closing mechanism 21. The opening and closing mechanism 21 is operated by an opening and closing hydraulic cylinder 23 (see Fig. 6), opens and closes a plurality of crawlers 31, and grips or releases the tree W.

[0036] The tilt part 25 is a part that switches the posture of the tree processing device 10 in order to fell the standing tree W. The tilt part 25 has a tilt arm 27. The tree processing device main body 11 is attached to the tilt arm 27 so as to be able to be tilted. The tilt part 25 is operated by a tilt hydraulic cylinder 28 (see Figs. 4 and 6), tilts the tree processing device main body 11 with respect to the tilt arm 27, and can switch the posture of the tree processing device main body 11 between a first posture P1 (see Fig. 3a) directed in the vertical direction and a second posture P2 directed in the horizontal direction (see Figs. 2 and 3b).

[0037] The feeding part 30 is a part that feeds the gripped tree W in the log length direction. The feeding part 30 has crawlers 31, a frame 34, and a feeding drive motor 35. The crawlers 31 are formed of chain-type crawlers, and small protrusions for biting into the tree W are arranged in a row on the outer surface. The frame 34 is attached to the opening and closing mechanism 21. A pair of sprockets (not shown) around which the crawlers 31 are wound is supported by the frame 34. The feeding drive motor 35 is a hydraulic motor, and rotates the crawlers 31 by rotationally driving the sprockets. The feeding drive motor 35 rotates forward, reverses, and stops according to a control signal input from the drive control unit 61, rotates the crawlers 31, and feeds out the tree W.

[0038] The tree W is elastically held by the clamping force of a plurality of crawlers 31. When the diameter of the tree W becomes smaller during the feeding of the tree W, the interval between the crawlers 31 closes corresponding to the diameter of the tree W. Also, when the diameter of the tree W becomes larger and a force to push the crawlers 31 apart acts, the crawlers 31 can open outward against the hydraulic pressure of the opening and closing mechanism 21.

[0039] The branch removing part 40 is a part for removing branches of the tree W sent out by the feeding part 30. The branch removing part 40 has an opening and closing body 41 and a cutter 43. The opening and closing body 41 is a part that opens and closes so as to hold the tree W held by the gripping part 20. The opening and closing body 41 is operated by a hydraulic cylinder 42 for the opening and closing body (see Fig. 6). The cutter 43 is attached to one side part of the opening and closing body 41. The cutter 43 makes sliding contact with the surface of the tree W sent out by the feeding part 30 and cuts the branches of the tree W. Note that the operation of the opening and closing body 41 may perform an opening and closing operation according to a control signal input from the drive control part 61, or may operate in conjunction with the gripping part 20.

[0040] The cutting part 45 is a part for cutting the material W sent out by the crawler 31 by a predetermined length and making it into logs. The cutting part 45 is provided at an end part on the side opposite to the branch removing part 40 with respect to the crawler 31. The cutting part 45 has a saw 46 (see Fig. 4). The cutting part 45 drives the saw 46 according to a control signal input from the drive control part 61 and executes a cutting operation.

[0041] Fig. 3 is a view showing a state where the sawing operation is performed by the tree processing device 10. Fig. 3a shows a state where the standing tree W is felled by the tree processing device 10. Fig. 3b shows a state where the tree W is fed in the direction D1 by the tree processing device 10 while performing branch removal.

[0042] As shown in Fig. 3a, when the standing tree W is felled by the tree processing device 10, the tilt part 25 is operated to set the posture of the tree processing device main body 11 to the first posture P1 directed in the vertical direction. In the first posture P1, the branch removing part 40 is above and the cutting part 45 is below. While maintaining this first posture P1, the gripping part 20 is operated to grip the vicinity of the root of the standing tree W with the crawler 31, and in this state, the saw 46 of the cutting part 45 is operated to cut the root of the standing tree W.

[0043] Subsequently, as shown in FIG. 3b, while the cut tree W is being gripped by the gripping portion 20, the tilting portion 25 is operated to switch the posture of the tree processing apparatus main body 11 to a second posture P2 facing the horizontal direction. Thereby, the standing tree W can be felled by the tree processing apparatus 10.

[0044] After the standing tree W is felled by the tree processing apparatus 10, subsequently, the feeding portion 30 is operated to rotate the crawler 31, and the tree W is fed in the direction D1. At this time, the cutter 43 of the branch removing portion 40 is brought into sliding contact with the surface of the tree W fed out by the feeding portion 30 to cut the branches of the tree W.

[0045] In the present embodiment, the length of the lumber W is measured (length measurement) by recognizing the length from the cut end WP of the lumber W to the cutting portion 45 by image recognition. By measuring the length of the lumber W by image recognition and stopping the feeding portion 30 when the lumber W is fed out to a preset length, and cutting the lumber W at the cutting portion 45, a log WL of a desired length is formed.

[0046] FIG. 4 is a view showing a state in which a sawing operation is performed by the tree processing apparatus 10. FIG. 4 shows a state in which the lumber W is being cut at the cutting portion 45. The cutting portion 45 includes a cut-off saw 46, a drive motor 47 for the cut-off saw, and a hydraulic cylinder 48 for the cut-off saw.

[0047] The cut-off saw 46 is a chain saw and has a saw bar 461 and a saw chain 463. The saw bar 461 is a plate-like member that guides the saw chain 463. The saw bar 461 is swingably supported by a support shaft 465. The saw chain 463 is wound around the saw bar 461 and a sprocket (not shown). A drive motor 47 for the cut-off saw is connected to the sprocket. The drive motor 47 for the cut-off saw is a hydraulic motor. When the drive motor 47 for the cut-off saw is rotated by hydraulic oil, the saw chain 463 is rotationally driven to perform a cutting operation.

[0048] The hydraulic cylinder 48 for the saw is an actuator that swings the saw 46 back and forth in the radial direction of the material W. When the hydraulic cylinder 48 for the saw expands and contracts by hydraulic oil, the saw 46 swings back and forth in the radial direction of the material W, and the cutting operation is executed.

[0049] In Fig. 4, it shows a state where the log WL sawn at the cutting part 45 has detached from the material W gripped by the crawler 31. A new cut WP is formed on the material W gripped by the crawler 31. When forming the next log WL, while feeding the material W by the feeding part 30, the length from the new cut WP to the cutting part 45 (saw 46) is measured (length measurement) by image recognition. By measuring the length of the material W by image recognition and stopping the feeding part 30 when the material W has been fed to a preset length, and cutting the material W at the cutting part 45, a log WL of a desired length is formed.

[0050] Fig. 5 is a plan view showing a state where the bucking operation is performed by the tree processing apparatus 10. In Fig. 5, it shows the bucking operation of measuring the length of the material W by image recognition and forming a log WL of length LP. The range defined by the two-dot chain line extending from the imaging part 80 shows an example of the area imaged by the imaging part 80. The area imaged by the imaging part 80 includes the range for bucking the tree W gripped by the tree processing apparatus 10 into logs WL.

[0051] As shown in Fig. 5a, while feeding the material W by the feeding part 30, the length from the cut WP to the cutting part 45 is recognized by image recognition. A cut WP previously cut at the cutting part 45 is formed on the material W. When the length of the material W measured by image recognition reaches the preset length LP, the feeding part 30 is stopped.

[0052] In the state shown in Fig. 5a, by cutting the material W at the cutting portion 45, a log WL of a desired length can be formed as shown in Fig. 5b. The position of the newly formed cut surface WP coincides with the position of the cutter bar 46 of the cutting portion 45. Subsequently, when forming a log WL from the same tree W, based on the newly formed cut surface WP, by measuring the material length LP and performing end cutting by the same image recognition, the log WL can be continuously formed.

[0053] Fig. 6 is a diagram showing a schematic configuration of the hydraulic circuit 50 of the tree processing system 100. As shown in Fig. 6, in the hydraulic circuit 50, the rotation unit 13, the gripping unit 20, the tilt unit 25, the material feeding unit 30, the branch trimming unit 40, and the cutting unit 45 are configured to be driven by the hydraulic oil supplied from the hydraulic oil tank 51 and the hydraulic pump unit 52. In the present embodiment, it is possible to perform drive control of the rotation unit 13, the gripping unit 20, the tilt unit 25, the material feeding unit 30, the branch trimming unit 40, and the cutting unit 45 by operating an operation lever (not shown) or by a control signal from the drive control unit 61.

[0054] The rotation unit 13 has a drive motor 14 for the rotation unit. By the forward rotation, reverse rotation, and stop of the drive motor 14 for the rotation unit by the hydraulic oil, the direction of the tree processing apparatus 10 can be controlled.

[0055] The gripping unit 20 has a hydraulic cylinder 23 for opening and closing that operates the opening and closing mechanism 21. By the expansion and contraction of the hydraulic cylinder 23 for opening and closing by the hydraulic oil, a plurality of crawlers 31 are opened and closed to grip or release the tree W.

[0056] The tilt unit 25 has a hydraulic cylinder 28 for tilting. By the expansion and contraction of the hydraulic cylinder 28 for tilting by the hydraulic oil, the main body 11 of the tree processing apparatus is tilted with respect to the tilt arm 27, and the posture of the main body 11 of the tree processing apparatus can be switched between the first posture P1 (see Fig. 3a) and the second posture P2 (see Figs. 2 and 3b).

[0057] The material feeding unit 30 has a pair of driving motors 35 for material feeding. When the driving motors 35 for material feeding rotate synchronously by hydraulic oil, the crawler 31 rotates and the tree W is sent out. Further, drive control is performed to drive, decelerate, and stop the driving motor 35 for material feeding so that the material W can be cut into pieces by the cutting unit 45 at the position where the material W is sent out by a predetermined length.

[0058] The branch removing unit 40 has a hydraulic cylinder 42 for opening and closing the opening and closing body 41. When the hydraulic cylinder 42 for opening and closing the opening and closing body expands and contracts by hydraulic oil, the opening and closing body 41 is opened and closed to hold the tree W held by the gripping unit 20.

[0059] The cutting unit 45 has a driving motor 47 for the cutter saw and a hydraulic cylinder 48 for the cutter saw. When the driving motor 47 for the cutter saw rotates by hydraulic oil, the cutter saw 46 is driven to execute a cutting operation. Further, when the hydraulic cylinder 48 for the cutter saw expands and contracts by hydraulic oil, the cutter saw 46 is swung so as to advance and retreat in the radial direction of the material W to execute a cutting operation.

[0060] FIG. 7 is a block diagram showing the control system of the tree processing system 100. In FIG. 7, only the configuration for measuring the length of the material W by image recognition and controlling the material feeding unit 30 based on the measurement result is shown, and the configurations related to the control of the other tree processing devices 10 are omitted.

[0061] As shown in FIG. 7, the information processing unit 60 is a device that performs information processing according to a pre-recorded program and conducts information communication with each part of the tree processing system 100. The configuration of the information processing unit 60 is not limited, and a known computer device equipped with a central processing unit (CPU), a memory, an external storage device, information communication means, etc. can be used.

[0062] The information processing unit 60 includes a drive control unit 61, an image recognition unit 62, and a log length determination unit 63. The information processing unit 60 is configured to receive output signals from the imaging unit 80 and the operation unit 90.

[0063] The drive control unit 61 is a part configured as a part of the information processing unit 60. The drive control unit 61 controls the driving of the feeding unit 30 and the cutting unit 45 of the tree processing apparatus 10 based on the outputs of the image recognition unit 62 and the log length determination unit 63. Specifically, the drive control unit 61 controls the driving of the feeding unit 30 and the cutting unit 45 so as to cut the material W into pieces of an arbitrary length according to the recognition result of the image recognition unit 62.

[0064] The image recognition unit 62 acquires the image captured by the imaging unit 80 and recognizes the length of the material W from the image. In the present embodiment, the image recognition unit 62 recognizes (measures) the length from the cut end WP of the material W sent out by the feeding unit 30 to the cutting unit 45 (the saw blade 46) (see FIG. 5).

[0065] The log length determination unit 63 determines whether the length of the material W recognized by the image recognition unit 62 has reached a preset length of the material W.

[0066] The operation unit 90 is a part for setting the processing content by the tree processing apparatus 10, such as setting an arbitrary length for the log WL formed by the sawing operation, or setting a position for forward rotation, deceleration, stop, or reverse rotation of the feeding unit 30 so as to stop the feeding at an arbitrary length position. The operation unit 90 includes a display unit 91 and an input unit 93.

[0067] The display unit 91 is a part for displaying the processing content by the tree processing apparatus 10, and hardware such as an indicator using an LED (Light Emitting Diode) or a liquid crystal display device can be used. The display unit 91 displays the instruction information by the input unit 93 and the result of the processing by the tree processing apparatus 10.

[0068] The input unit 93 is a part where an operator inputs instructions regarding the processing content by the tree processing apparatus 10. Input can be performed by operating a physical switch, or by configuring the display unit 91 as a touch panel and using input by touching a predetermined image area. The instructions input by the input unit 93 are transmitted to the information processing unit 60 as instruction information.

[0069] FIG. 8 and FIG. 9 are diagrams showing the display unit 91 of the control system of the tree processing system 100. As shown in FIG. 8 and FIG. 9, virtual switch images are displayed on the touch panel type display unit 91, and it is made to partially function as the input unit 93. The operator who boards the cab 150 of the base machine 200 checks the processing content displayed on the display unit 91 at any time, performs the bucking operation of the tree W, and inputs instruction information from the input unit 93 as necessary.

[0070] FIG. 8 shows a state where an operation screen (normal screen) is displayed on the display unit 91. This operation screen shows that the measured length setting value for performing the log cutting of the log W is "205 cm".

[0071] FIG. 9 shows a state where a deceleration setting screen (setting menu) is displayed on the display unit 91. In the present embodiment, during automatic length measurement, the feeding speed of the feeding unit 30 is set to be switched from the normal speed to the very slow speed before the measured length setting value ("205 cm" in FIG. 8). As deceleration patterns, two deceleration patterns (deceleration 1 and deceleration 2) are set.

[0072] In FIG. 9, deceleration 1 is set such that the feeding speed of the feeding unit 30 is switched from the normal speed to the very slow speed at "50 cm" before the measured length setting value ("205 cm" in FIG. 8) during automatic length measurement. Then, it stops at "1 cm" before the measured length setting value, that is, when the measured length value becomes "-1 cm (204 cm) from 205 cm", the forward rotation output of the feeding unit 30 is turned off, and it is set to reach the measured length setting value and complete the length measurement.

[0073] Also, considering the case where the material W overruns and exceeds the length measurement set value ("205 cm" in Fig. 8), it is set to return to ON at "+2 cm" of the length measurement set value, that is, when the length measurement value reaches "2 cm more than 205 cm (207 cm)", the reverse output of the feeding unit 30 is turned ON and switched from forward rotation to reverse rotation. By reversing, it is set to return to OFF at "+1 cm" of the length measurement set value, that is, when the length measurement value returns to "1 cm more than 205 cm (206 cm)", the reverse output of the feeding unit 30 is turned OFF to reach the length measurement set value, and the length measurement is set to be completed.

[0074] Also, deceleration 2 is set to switch the feeding speed of the feeding unit 30 from the normal speed to the slow speed at "5 cm" before the length measurement set value ("205 cm" in Fig. 8) during automatic length measurement. And it stops at "1 cm" before the length measurement set value, that is, when the length measurement value reaches "1 cm less than 205 cm (204 cm)", the forward output of the feeding unit 30 is turned OFF. However, due to inertia, it cannot stop exactly at the length measurement set value and overruns. It is set to return to ON at "+2 cm" of the length measurement set value, that is, when the length measurement value reaches "2 cm more than 205 cm (207 cm)", the reverse output of the feeding unit 30 is turned ON and switched from forward rotation to reverse rotation. By reversing, it is set to return to OFF at "+1 cm" of the length measurement set value, that is, when the length measurement value returns to "1 cm more than 205 cm (206 cm)", the reverse output of the feeding unit 30 is turned OFF to reach the length measurement set value, and the length measurement is set to be completed.

[0075] Note that each numerical value displayed on the deceleration setting screen (setting menu) can be changed, and the changed numerical value can be input into the input part 93 of each column of the display part 91 which is a touch panel.

[0076] Fig. 10 is a flowchart showing the length measurement and the control of the feeding unit 30 by the tree processing system 100. As shown in Fig. 10, when starting the length measurement, first, the deceleration value and the target value (length measurement set value) are set. The setting is performed in a state where the deceleration setting screen (setting menu) is displayed on the display part 91 as shown in Fig. 9. Hereinafter, the deceleration value and the target value (length measurement set value) will be described as being set to the values shown in Figs. 8 and 9.

[0077] After the operator sets the deceleration value and the target value (length measurement set value), the operator confirms that the cut end WP of the material W is located at the position of the sorter 461 of the cutting unit 45 (the position of the cut saw 46), and performs a feeding operation to start the feeding of the material W by the feeding unit 30.

[0078] When the feeding of the material W is started, the image recognition unit 62 starts measuring the distance from the cut end WP of the material W fed by the feeding unit 30 to the cutting unit 45 (cut saw 46).

[0079] The material length determination unit 63 determines the distance from the cut end WP of the material W recognized by the image recognition unit 62 to the cutting unit 45 (cut saw 46), and determines whether the preset length of the material W has been reached. Specifically, it determines whether the difference between the target value (length measurement set value) and the length measurement value is the deceleration value. As shown in FIG. 9, the deceleration value is "50 cm" before the length measurement set value ("205 cm" in FIG. 8) in deceleration 1, and "5 cm" before the length measurement set value ("205 cm" in FIG. 8) in deceleration 2. When the deceleration value has been reached (YES), the feeding speed of the feeding unit 30 is switched from the normal speed to the very slow speed. When the deceleration value has not been reached (NO), the feeding of the material W is continued while the feeding speed of the feeding unit 30 remains at the normal speed.

[0080] Even when the feeding speed of the feeding unit 30 is set to the very slow speed, the image recognition unit 62 continues to measure the distance from the cut end WP of the material W fed by the feeding unit 30 to the cutting unit 45 (cut saw 46).

[0081] Then, with the feeding speed of the feeding unit 30 set to a very low speed, the material length determination unit 63 determines the length of the material W recognized by the image recognition unit 62, and determines whether the preset length of the material W has been reached. Specifically, it determines whether the difference between the target value (measured length set value) and the measured length value is within a range. This "within the range" means "±1 cm" with respect to the target value (measured length set value) in the set value shown in FIG. 9. This is because it is set to stop the feeding unit 30 within a range of "±1 cm" with respect to the target value (measured length set value). When the difference between the target value (measured length set value) and the measured length value reaches within the range (YES), the feeding by the feeding unit 30 is stopped. When the difference between the target value (measured length set value) and the measured length value does not reach within the range (NO), the feeding is continued while keeping the feeding speed of the feeding unit 30 at a very low speed.

[0082] With the difference between the target value (measured length set value) and the measured length value reaching within the range and the feeding by the feeding unit 30 stopped, the cutting unit 45 executes a cutting operation to end the length measurement.

[0083] According to the tree processing system 100 according to the present embodiment described above, the drive control unit 61 controls the drive of the tree processing device 10 so as to cut the material W into pieces of an arbitrary length according to the recognition result of the image recognition unit 62. Therefore, even when the crawler 31 of the feeding unit 30 idles, the length of the material W can be accurately measured based on the image of the material W, and a high-precision sawing operation can be performed.

[0084] The image recognition unit 62 recognizes the length from the cut end WP of the material W, where image recognition is relatively easy, to the cutting unit 45. Therefore, the length of the material W can be accurately measured based on the image of the material W, and a high-precision sawing operation can be performed.

[0085] Since the imaging unit 80 is attached to the front side of the cab 150 of the base machine 200, the range imaged by the imaging unit 80 can be widened. Therefore, it is easy to image the material W sent out by the feeding unit 30, and the length of the material W can be accurately measured based on the image of the material W.

[0086] [Modification Example] The tree processing system according to the present invention is not limited to the above-described embodiment.

[0087] In this embodiment, the mounting position of the imaging unit 80 is on the front side of the cab 150 of the base machine 200, but it is not limited to this position. For example, the imaging unit 80 may be arranged on the working arm 130 or the tree processing device 10.

[0088] In this embodiment, the length of the material W is measured by recognizing the length from the cut end WP of the material W to the cutting part 45 by image recognition, but the length of the material W may also be measured by recognizing the distance between other two points.

[0089] Further, a non-contact length measurement by image recognition according to the present invention and a contact length measurement using a conventional encoder or the like may be used in combination to measure the length of the material W while complementing each other by both methods.

[0090] The embodiments of the present invention have been described above. However, the above-described embodiments are merely examples for implementing the present invention. Therefore, the present invention is not limited to the above-described embodiments, and it is possible to appropriately modify and implement the above-described embodiments without departing from the spirit thereof.

Industrial Applicability

[0091] The present invention can be used in a tree processing system using a tree processing device.

Explanation of Reference Numerals

[0092] 100 Tree processing system 200 Base machine 130 Working arm 10 Tree processing device 30 Material feeding section 40 Branch removing section 45 Cutting part 61 Drive control section 62 Image recognition section 80 Imaging unit W Trees, Timber

Claims

1. A base machine having a working arm, a tree processing device that is attached to the working arm and has a feeding section for feeding a tree in the log length direction, a branch removing section for removing branches of the tree fed by the feeding section, and a cutting section for cutting the log after the branches have been removed, a drive control section for controlling the drive of the tree processing device, an imaging section for imaging an image of the log fed in the log length direction by the tree processing device, an image recognition section for recognizing the length of the log from the image, and a log length determination section for determining whether or not a preset log length has been reached with respect to the length of the log recognized by the image recognition section, wherein the image recognition section measures the distance from the cut end of the log being fed by the feeding section to the cutting section, when the log length determination section determines that the preset log length has been reached with respect to the length of the log recognized by the image recognition section, the image recognition section completes the measurement, the drive control section stops the feeding by the feeding section, and controls the drive of the tree processing device so as to cut the log with the cutting section, a tree processing system.

2. The imaging section is attached to the front side of the cab of the base machine, The tree processing system according to claim 1.

Images