Logging vehicles and systems

Abstract

To provide a vehicle for material collection which can automate the loading / unloading work of lumber at a loading position, an unloading position and the like.SOLUTION: A vehicle for material collection comprises: a vehicle body part 10 which can travel; an arm 20 which is provided in the vehicle body part 10; a grapple device 30 which is provided in the arm 20; a drive control unit 51 which controls the drive of the vehicle body part 10, the arm 20 and the grapple device 30; an imaging unit 70 which images the periphery of the vehicle body part 10 and the periphery of the grapple device 30; and an image recognition unit 52 which recognizes lumber W in the image. The drive control unit 51 controls the drive of the vehicle body part 10, the arm 20 and the grapple device 30 in accordance with a recognition result of the image recognition unit 52.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a logging vehicle and a logging system, and more particularly to a logging vehicle such as a forwarder or a hydraulic excavator equipped with a grapple device, and a logging system including the logging vehicle. [Background technology]

[0002] Conventionally, forwarders have been used as timber collection vehicles. Forwarders are used, for example, to transport felled timber from a timber harvesting site (loading position) where timber is harvested to a timber collection site (unloading position) where timber is collected (see, for example, Patent Document 1).

[0003] The forwarder is equipped with a self-propelled crawler-type travel device attached to the bottom of the chassis frame. The upper part of the chassis frame is fitted with a driver's cab, loading platform, and folding crane. The crane is equipped with a grapple device that can be opened and closed to mechanically grasp lumber.

[0004] The forwarder can load and unload timber onto and from the loading and unloading positions by an operator manually operating the crane and grapple device. The forwarder can also be manually driven by an operator to transport the timber loaded onto the loading and unloading positions from the loading position to the unloading position. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2015-219707 Summary of the Invention [Problem to be solved by the invention]

[0006] However, when an operator manually loads and unloads timber onto a forwarder at the loading or unloading position, the operator must operate the crane and grapple device while visually checking the position of the timber and the position of the loading platform. Therefore, the task of manually loading and unloading timber onto a forwarder by an operator is not easy, and unless the operator is proficient in manual operation, it is difficult to properly load and unload timber. Furthermore, it is not easy for an operator to search for felled timber while manually operating a forwarder.

[0007] An object of the present invention is to provide a timber collection vehicle and timber collection system that can automatically travel and move, and can automatically load and unload timber at loading positions, unloading positions, etc. [Means for solving the problem]

[0008] The logging vehicle of the present invention is A drivable body part; an arm provided on the vehicle body; a grapple device provided on the arm; A logging vehicle equipped with a drive control unit that controls the drive of the vehicle body unit, the arm, and the grapple device; an imaging unit that captures an image of the periphery of the vehicle body and the periphery of the grapple device; Recognize wood in the image Recognition part and, The drive control unit Recognition part The drive of the vehicle body, the arm, and the grapple device is controlled according to the recognition result.

[0009] The logging system of the present invention includes a logging vehicle according to the present invention. [Effects of the Invention]

[0010] The logging vehicle of the present invention can automatically travel and move, and can also automatically load and unload timber at loading and unloading positions, etc.

[0011] According to the lumber collection system of the present invention, lumber can be loaded and unloaded automatically at loading and unloading positions, and the system can automatically travel between the loading and unloading positions. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is a side view of a logging vehicle according to a first embodiment. [Figure 2] FIG. 2 is a plan view of the logging vehicle. [Figure 3] FIG. 3 is a side view of the grapple device. [Figure 4] FIG. 4 is a block diagram showing a control system for a logging vehicle. [Figure 5] FIG. 5 is a diagram showing a schematic diagram of the operation of the logging vehicle under automatic control. [Figure 6] FIG. 6 is a flowchart showing the control from the start of automatic control. [Figure 7] FIG. 7 is a flowchart showing the control following FIG. [Figure 8] FIG. 8 is a flowchart showing the control following FIG. [Figure 9] FIG. 9 is a flowchart showing the control following FIG. [Figure 10] FIG. 10 is a flowchart showing the control following FIG. [Figure 11] FIG. 11 is a flowchart showing the control following FIG. [Figure 12] FIG. 12 is a flowchart showing the control following FIG. [Figure 13] FIG. 13 is a flowchart showing the control following FIG. [Figure 14] FIG. 14 is a diagram showing a logging vehicle constituting the logging system of the second embodiment. [Figure 15] FIG. 15 is a diagram showing a logging vehicle constituting the logging system of the second embodiment. [Figure 16] FIG. 16 is a diagram showing a timber collection vehicle and a timber transport vehicle that constitute the timber collection system of the second embodiment. [Figure 17] FIG. 17 is a diagram showing a timber collection vehicle and a timber transport vehicle that constitute the timber collection system of the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0013] The logging vehicle according to one embodiment of the present invention is A drivable body part; an arm provided on the vehicle body; a grapple device provided on the arm; A logging vehicle equipped with a drive control unit that controls the drive of the vehicle body unit, the arm, and the grapple device; an imaging unit that captures an image of the periphery of the vehicle body and the periphery of the grapple device; an image recognition unit that recognizes wood in the image, The drive control unit controls the driving of the vehicle body unit, the arm, and the grapple device in accordance with the recognition result of the image recognition unit (first configuration).

[0014] According to the above configuration, the drive control unit controls the drive of the vehicle body unit, the arm, and the grapple device in accordance with the recognition results of the image recognition unit, thereby enabling the vehicle to travel and move automatically, and to automatically load and unload lumber at loading and unloading positions, etc.

[0015] In the first configuration, The drive control unit When a piece of wood is included in the image within a range that can be grasped by the grapple device, the drive of the vehicle body, the arm, and the grapple device is controlled so that the grapple device performs a grasping operation to grasp the piece of wood; In the image, if the range that can be grasped by the grapple device does not include any wood, but the image includes wood that can be grasped, the drive of the body unit may be controlled so that it moves to a position where the range that can be grasped by the grapple device includes wood (second configuration).

[0016] According to the above configuration, if wood is included within the range that can be grasped by the grapple device, a grasping action is performed to grasp the wood using the grapple device, and if wood is not included within the range that can be grasped by the grapple device but graspable wood is included in the image, the grapple device moves to a position where the wood can be grasped. Therefore, at the loading position or unloading position, the grapple device can perform a gripping operation without any operation by the operator.

[0017] A logging system according to one embodiment of the present invention comprises: The timber collection vehicle according to the first or second configuration is included (third configuration).

[0018] According to the above configuration, loading and unloading of timber can be performed automatically at the loading position, unloading position, etc., and the vehicle can travel automatically between the loading position and the unloading position.

[0019] [Embodiment 1] A timber collection vehicle 100 according to a first embodiment of the present invention will be described in detail below with reference to the drawings. The timber collection vehicle 100 according to this embodiment has the form of a forwarder. The timber collection vehicle 100 can load and unload timber W onto the loading platform 15 by automatic operation at the loading position P1 and the unloading position P2 without an operator having to manually operate the crane 20 and the grapple device 30. The timber collection vehicle 100 can also automatically travel from the loading position P1 to the unloading position P2 and transport the timber W loaded onto the loading platform 15 without an operator having to manually operate it.

[0020] The following explanation will mainly focus on the control system that automatically drives and automatically performs gripping and placing operations for the logging vehicle 100. The logging vehicle 100 also has components such as an operating unit that allows an operator to manually drive the vehicle and manually load and unload lumber W, but detailed explanations of the components related to manual driving and manual operation will be omitted.

[0021] In the drawings, the same or corresponding parts are designated by the same reference numerals, and their description will not be repeated. For ease of understanding, the drawings referred to below show simplified or schematic configurations, and some components are omitted. Furthermore, the dimensional ratios between components shown in each drawing do not necessarily represent actual dimensional ratios. In the drawings, arrow F indicates the front, arrow B indicates the rear, arrow L indicates the left, and arrow R indicates the right. Arrow U indicates the upside, and arrow D indicates the downside.

[0022] [Overall configuration] First, the overall configuration of the logging vehicle 100 will be described. Fig. 1 is a side view of the logging vehicle 100 according to the first embodiment. Fig. 2 is a plan view of the logging vehicle 100. As shown in Figs. 1 and 2, the logging vehicle 100 includes a vehicle body 10, a crane 20, a grapple device 30, an information processing unit 50, and an imaging unit 70.

[0023] The vehicle body 10 includes a chassis frame 11 and a traveling device 12. The chassis frame 11 is the base of the vehicle body 10. A cab 14 and a loading platform 15 are provided on top of the chassis frame 11. The traveling device 12 is a crawler type that is self-propelled by a hydraulic system for traveling, and is located below the chassis frame 11. The traveling device 12 is driven by a vehicle body drive unit 18 (see Figure 4) that is also composed of a hydraulic system. Specifically, the vehicle body 10 can move forward, backward, change direction, turn, etc. by controlling the vehicle body drive unit 18. When the operator manually drives the logging vehicle 100, the operator sits in the cab 14. However, when the logging vehicle 100 is driven automatically, the operator does not need to sit in the cab 14.

[0024] The crane 20 is disposed between the driver's cab 14 of the chassis frame 11 and the loading platform 15. The crane 20 is used to load and unload lumber W onto and from the loading platform 15 by operating an openable and closable grapple device 30.

[0025] The crane 20 has a base 21, a column 22, and a boom 23. The crane 20 is driven by a crane drive unit 28 (see FIG. 4) that is composed of a hydraulic system. The crane drive unit 28 has a rotation device (not shown), an inner cylinder 24, an outer cylinder 25, and a boom telescopic cylinder 26. By controlling the crane drive unit 28, the crane 20 can rotate the column 22 and raise and lower and extend the boom 23. The crane 20 corresponds to the arm of the present invention.

[0026] The base 21 is fixed to the upper part of the chassis frame 11. The column 22 is configured so as to be able to turn with respect to the base 21 by a turning device (not shown) that constitutes the crane driving unit 28.

[0027] The boom 23 is of a folding type and is supported on the upper part of the column 22. The boom 23 has an inner boom 231 and an outer boom 232. The inner boom 231 is supported so as to be able to rise and fall relative to the column 22. The inner boom 231 is raised and lowered by an inner cylinder 24.

[0028] The outer boom 232 is connected to the inner boom 231 so as to be retractable and deployable. The outer boom 232 is configured with multiple cylindrical bodies nested one inside the other. The outer boom 232 is deployed and retracted by an outer cylinder 25, and is extended and retracted by a boom extension cylinder 26. A grapple device 30 is attached to the tip of the outer boom 232.

[0029] A work platform 27 is provided above the column 22. When an operator manually operates the crane 20 during the loading and unloading of the lumber W, the operator stands on the work platform 27 and operates the crane 20. However, when the loading and unloading of the lumber W is performed automatically, the operator does not need to stand on the work platform 27.

[0030] The grapple device 30 is a device that mechanically grips the wood W. The grapple device 30 includes an upper portion 31, a lower portion 32, and tongs 33. The grapple device 30 is driven by a grapple drive unit 38 (see FIG. 4) that is configured as a hydraulic system. The grapple drive unit 38 includes a rotator 35 and a hydraulic cylinder 36.

[0031] The upper portion 31 and the lower portion 32 are connected via a rotator 35. The rotator 35 is hydraulically rotatable, so that the lower portion 32 can rotate relative to the upper portion 31.

[0032] The lower portion 32 is provided with tongs 33. The tongs 33 can be opened and closed by a hydraulic cylinder 36, and the wood W can be gripped by closing the tongs 33, and the gripped wood W can be released by opening the tongs 33.

[0033] The information processing unit 50 has a drive control unit 51, an image recognition unit 52, etc. (see FIG. 4). The information processing unit 50 is arranged near the driver's cab 14 of the vehicle body unit 10. The drive control unit 51 controls the driving of the vehicle body unit 10, the crane 20, and the grapple device 30. The image recognition unit 52 recognizes wood W in an image captured by the imaging unit 70. The information processing unit 50 will be described in detail later.

[0034] The imaging unit 70 captures images of the surroundings of the logging vehicle 100 and the surroundings of the grapple device 30. The imaging unit 70 has a vehicle periphery imaging unit 71 and a grapple periphery imaging unit 72. The vehicle periphery imaging unit 71 mainly captures images of the surroundings of the logging vehicle 100, capturing images of lumber W, obstacles, people, etc. that exist around the logging vehicle 100. The grapple periphery imaging unit 72 mainly captures images of lumber W that are to be grasped by the grapple device 30. The two-dot chain lines shown on the vehicle periphery imaging unit 71 and the grapple periphery imaging unit 72 indicate an example of the angle of the area imaged by the vehicle periphery imaging unit 71 and the grapple periphery imaging unit 72.

[0035] The vehicle surroundings imaging unit 71 has a front area imaging unit 711, a rear area imaging unit 712, a right area imaging unit 713, and a left area imaging unit 714. The front area imaging unit 711 is disposed in the front of the cab 14 and images the area in front of the vehicle body 10. The rear area imaging unit 712 is disposed in the rear of the chassis frame 11 and images the area behind the vehicle body 10. The right area imaging unit 713 is disposed in the right of the cab 14 and images the area to the right of the vehicle body 10. The left area imaging unit 714 is disposed in the left of the cab 14 and images the area to the left of the vehicle body 10.

[0036] The grapple periphery imaging unit 72 has a boom imaging unit 721 and a grapple imaging unit 722. The boom imaging unit 721 is disposed at the base of the outer boom 232 and captures images of the grapple device 30 and the area below the grapple device 30. The grapple imaging unit 722 is disposed between the tongs 33 of the grapple device 30 and captures images of the area below the grapple device 30. Note that the attachment positions of the vehicle periphery imaging unit 71 and the grapple periphery imaging unit 72 shown in the figure are merely examples. For example, the grapple imaging unit 722 may be disposed outside the tongs 33.

[0037] Fig. 3 is a side view of the grapple device 30. As shown in Fig. 3, the upper section 31 of the grapple device 30 is swingably connected to the outer boom 232. The lower section 32 is connected to the upper section 31 via a rotator 35. The tongs 33 provided on the lower section 32 are driven to open and close by a hydraulic cylinder 36. Hydraulic oil for driving the rotator 35 and the hydraulic cylinder 36 is supplied via hydraulic piping 39 from a hydraulic pump, a hydraulic valve, and the like that constitute a grapple drive unit 38.

[0038] When hydraulic oil is supplied to the hydraulic cylinder 36 by drive control of the grapple drive unit 38, the hydraulic cylinder 36 expands and contracts. The expansion and contraction movement of the hydraulic cylinder 36 is transmitted via a link mechanism to open and close the tongs 33. In this embodiment, the tongs 33 can move between an open position indicated by a solid line in FIG. 3 and a closed position indicated by a two-dot chain line.

[0039] When the tongs 33 are open and the wood piece W is positioned between the tongs 33, the tongs 33 can be closed to perform a gripping operation of gripping the wood piece W with the tongs 33. In addition, when the tongs 33 are in a state where the wood piece W is gripped by the tongs 33, the tongs 33 can be opened to perform a placement operation of releasing the wood piece W from the tongs 33.

[0040] When hydraulic oil is supplied to the rotator 35 by drive control of the grapple drive unit 38, the rotator 35 rotates. In response to the rotation of the rotator 35, the lower part 32 of the grapple device 30 is rotated by a predetermined angle relative to the upper part 31. This allows the orientation of the tongs 33 to be changed so that the wood W can be gripped.

[0041] Next, automatic control of the logging vehicle 100 will be described in detail with reference to Figures 4 to 13. Figure 4 is a block diagram showing the control system of the logging vehicle 100.

[0042] As shown in Figure 4, the information processing unit 50 is a device that processes information using pre-recorded programs or machine learning, and communicates information with each part of the logging vehicle 100. There are no limitations on the configuration of the information processing unit 50, and any known computer device equipped with a central processing unit (CPU), memory, external storage device, information communication means, etc. can be used.

[0043] The information processing unit 50 has a drive control unit 51, an image recognition unit 52, a distance determination unit 53, a load determination unit 54, a driving route guidance unit 55, a load amount determination unit 56, and a machine learning unit 58. The information processing unit 50 is also configured to receive output signals from an imaging unit 70, a distance measurement unit 73, a load measurement unit 74, a satellite positioning system 75, and a self-contained navigation system 76.

[0044] The drive control unit 51 is a part configured as part of the information processing unit 50. The drive control unit 51 controls the driving of the vehicle body drive unit 18, the crane drive unit 28, and the grapple drive unit 38 based on the outputs of the image recognition unit 52, the distance determination unit 53, the load determination unit 54, the travel route guidance unit 55, the load amount determination unit 56, and the machine learning unit 58. Details of the automatic control by the drive control unit 51 will be described later.

[0045] The image recognition unit 52 acquires the image captured by the imaging unit 70 and recognizes the shape, size, position, orientation, etc. of wood, other structures, people, etc. included in the image.

[0046] The distance determination unit 53 determines the distance to the wood W, other structures, people, etc. included in the image captured by the imaging unit 70, and determines, for example, whether the wood W is included in a range that can be grasped by the grapple device 30. The distance to the wood W is calculated based on the output signal from the distance measurement unit 73. Note that the distance to the wood W may also be calculated by image recognition from the image captured by the imaging unit 70.

[0047] The load determination unit 54 determines whether the grapple device 30 has gripped the wood W, and determines whether the load caused by the wood W gripped by the grapple device 30 is an excessive load. The load determination unit 54 also determines a state in which there is no load, in the case in which the grapple device 30 has not been able to grip the wood W. The determination is made based on the load of the grapple device 30, and the load of the grapple device 30 is calculated based on an output signal from a load measurement unit 74 provided in the grapple device 30.

[0048] The travel route guidance unit 55 stores the travel route between the loading position P1 and the unloading position P2 of the lumber W. The travel route guidance unit 55 also outputs a control signal to the drive control unit 51 so that the logging vehicle 100 automatically travels along the travel route between the loading position P1 and the unloading position P2. The travel route stored in the travel route guidance unit 55 is stored using output signals from the satellite positioning system 75 and the autonomous navigation system 76. Specifically, for example, an operator manually drives the logging vehicle 100 along the travel route, and at that time, position information and the like corresponding to the travel route are input from the satellite positioning system 75 and the autonomous navigation system 76 to the travel route guidance unit 55 and stored therein.

[0049] The load amount determination unit 56 determines whether the load of the timber W loaded on the loading platform 15 is within the loadable range. The determination is made based on the load of the loading platform 15, which is calculated based on an output signal from a load measuring device such as a load cell (not shown) provided on the support part of the loading platform 15.

[0050] The machine learning unit 58 compares the drive control of the vehicle body drive unit 18, crane drive unit 28, and grapple drive unit 38 by the drive control unit 51 with the work results of the vehicle body unit 10, crane 20, and grapple device 30, and performs machine learning to improve the control efficiency of the drive control unit 51. For machine learning by the machine learning unit 58, known techniques such as deep learning using a multi-layer neural network can be used.

[0051] As described above, the imaging unit 70 captures images of the periphery of the logging vehicle 100 and the periphery of the grapple device 30. The vehicle surroundings imaging unit 71 mainly captures images of lumber W, obstacles, and people that exist around the logging vehicle 100. The grapple surroundings imaging unit 72 mainly captures images of the periphery of the grapple device 30, in particular the lumber W that is to be grasped by the grapple device 30.

[0052] The distance measurement unit 73 measures the distance to the wood W, other structures, people, etc. included in the image captured by the imaging unit 70. The output signal from the distance measurement unit 73 is input to the distance determination unit 53. As the distance measurement unit 73, for example, a laser distance sensor can be used.

[0053] The load measuring unit 74 measures the load applied to the grapple device 30. The load measuring unit 74 is provided in the grapple device 30, and an output signal is input to the load determining unit 54. As the load measuring unit 74, for example, a load cell can be used.

[0054] The satellite positioning system 75 is a system that acquires position information of the logging vehicle 100 based on signals from positioning satellites. A Global Navigation Satellite System (GNSS) can be used as the satellite positioning system 75. The output signal from the satellite positioning system 75 is input to the travel route guidance unit 55.

[0055] The autonomous navigation system 76 is a system that uses an acceleration sensor, a gyro sensor, etc. to obtain position information of the logging vehicle 100. An output signal from the autonomous navigation system 76 is input to the travel route guidance unit 55.

[0056] The vehicle body drive unit 18 drives the vehicle body unit 10. The vehicle body drive unit 18 is composed of a hydraulic system including a hydraulic pump, hydraulic valves, etc., provided on the vehicle body unit 10. The vehicle body drive unit 18 is controlled by the drive control unit 51 to drive the vehicle body unit 10, and can, for example, move the logging vehicle 100 forward, backward, change direction, turn, etc. along the travel route.

[0057] The crane driving unit 28 drives the crane 20. The crane driving unit 28 is made up of a hydraulic system including a hydraulic pump and hydraulic valves provided in the vehicle body 10, and a swing device (not shown) provided in the crane 20, an inner cylinder 24, an outer cylinder 25, and a boom telescopic cylinder 26 (see FIG. 1). The crane driving unit 28 is controlled by a drive control unit 51 to drive the crane 20, and can move the wood W by manipulating the position of the grapple device 30.

[0058] The grapple drive unit 38 drives the grapple device 30. The grapple drive unit 38 is composed of a hydraulic system including a hydraulic pump and a hydraulic valve provided in the vehicle body 10, and a rotator 35 and a hydraulic cylinder 36 (see FIG. 3) provided in the grapple device 30. The grapple drive unit 38 is controlled by a drive control unit 51 to drive the grapple device 30 and is capable of gripping and releasing wood W.

[0059] [Operation] Figure 5 is a diagram showing a schematic diagram of the operation under automatic control of the logging vehicle 100. As shown in Figure 5, under the automatic control of the logging vehicle 100, the operations shown in stages A to D are repeatedly performed under the control of the drive control unit 51.

[0060] In the movement operation to the loading position P1 in stage A, the robot automatically travels toward the loading position P1 along a pre-stored travel route using a global navigation satellite system (GNSS) 75 and a self-contained navigation system (inertial system) 76. During the automatic travel, the robot travels while determining whether there are people or obstacles in the surrounding area based on image recognition. At the loading position P1, the robot determines whether there is wood W within a range that can be grasped by the grapple device 30 using image recognition.

[0061] During the loading operation of the lumber W at stage B, the crane 20 and grapple device 30 are driven and controlled based on image recognition, and the operation of grasping the lumber W at the loading position P1 with the grapple device 30 (grasping operation) and the operation of loading the lumber W grasped by the grapple device 30 onto the loading platform 15 of the lumber collection vehicle 100 (placement operation) are repeatedly performed.

[0062] In the operation of moving the lumber W to the unloading position P2 in Stage C, the robot automatically travels from the loading position P1 to the unloading position P2 along a pre-stored travel route using a global navigation satellite system (GNSS) 75 and an autonomous navigation system (inertial system) 76. During the automatic travel, the robot travels while determining whether there are people or obstacles around it based on image recognition.

[0063] In the unloading operation of the timber W at stage D, the crane 20 and the grapple device 30 are driven and controlled based on image recognition, and the operation of grasping the timber W loaded on the loading platform 15 with the grapple device 30 (grasping operation) and releasing the timber W grasped by the grapple device 30 at the unloading position P2 (placement operation) and unloading is repeatedly performed.

[0064] Next, using Figures 6 to 13, the operation of moving the lumber W to the loading position P1, the operation of loading the lumber W, the operation of moving the lumber W to the unloading position P2, and the operation of unloading the lumber W under automatic control of the lumber collection vehicle 100 will be explained in more detail.

[0065] Fig. 6 is a flowchart showing control from the start of automatic control. Fig. 7 is a flowchart showing control following Fig. 6. Fig. 8 is a flowchart showing control following Fig. 7. Fig. 9 is a flowchart showing control following Fig. 8. Fig. 10 is a flowchart showing control following Fig. 9. Fig. 11 is a flowchart showing control following Fig. 10. Fig. 12 is a flowchart showing control following Fig. 11. Fig. 13 is a flowchart showing control following Fig. 12.

[0066] As shown in Figure 6, when automatic operation of the timber collection vehicle 100 begins, it starts moving to loading position P1 for timber W in stage A. The drive control unit 51 controls the drive of the vehicle body drive unit 18 to cause the timber collection vehicle 100 to travel toward loading position P1. While traveling, the travel route guidance unit 55 determines whether the vehicle is within the range of a pre-stored travel route based on output signals from the global navigation satellite system (GNSS) 75 and the autonomous navigation system (inertial system) 76. If the vehicle is traveling outside the range of the travel route (NO), the travel direction is corrected. If the vehicle is traveling within the range of the travel route (YES), the vehicle continues traveling.

[0067] The image recognition unit 52 acquires images captured by the imaging unit 70 while the vehicle is traveling and recognizes people and obstacles contained in the images. If a person or obstacle is recognized (NO), the automatic driving is stopped (2). If a person or obstacle is not recognized (YES), the vehicle continues traveling.

[0068] The travel route guidance unit 55 determines whether the logging vehicle 100 has reached a pre-stored loading position P1 based on output signals from the satellite positioning system 75 and the autonomous navigation system 76. If the logging vehicle 100 has reached the loading position P1 (YES), the drive control unit 51 controls the drive of the vehicle body drive unit 18 to stop the logging vehicle 100 from traveling. If the logging vehicle 100 has not yet reached the loading position P1 (NO), the logging vehicle 100 continues traveling.

[0069] When the timber collection vehicle 100 reaches and stops at the loading position P1, the image recognition unit 52 acquires the image captured by the imaging unit 70 and recognizes the wood W contained in the image. The distance measurement unit 73 measures the distance to the wood W contained in the image captured by the imaging unit 70. The distance determination unit 53 determines whether the wood W contained in the image captured by the imaging unit 70 is within a range that can be grasped by the grapple device 30.

[0070] If the distance determination unit 53 determines that the wood W is included in the range that can be grasped by the grapple device 30 (NO), the process proceeds to the loading operation of the wood W in stage B shown in FIG. 7 (3).

[0071] If the distance determination unit 53 determines that the wood W is not included in the range that can be grasped by the grapple device 30 (YES), the image recognition unit 52 determines whether or not the image includes wood W that can be grasped.

[0072] As a result, if the image recognition unit 52 determines that the image does not contain a grippable piece of wood W (NO), the drive control unit 51 stops the automatic operation of the timber collection vehicle 100 (2). If the image recognition unit 52 determines that the image contains a grippable piece of wood W (YES), the drive control unit 51 controls the drive of the vehicle body drive unit 18 to drive the timber collection vehicle 100 toward the piece of wood W (continued to (a) of Figure 7).

[0073] 7, when the drive control unit 51 controls the drive of the vehicle body drive unit 18 to drive the timber collection vehicle 100 toward the wood W, the image recognition unit 52 acquires the image captured by the imaging unit 70 and recognizes the wood W contained in the image. The distance measurement unit 73 measures the distance to the wood W contained in the image captured by the imaging unit 70. The distance determination unit 53 determines whether the wood W contained in the image captured by the imaging unit 70 is within a range that can be grasped by the grapple device 30.

[0074] If the distance determination unit 53 determines that the wood W is included in the range that can be grasped by the grapple device 30 (YES), the drive control unit 51 controls the drive of the vehicle body drive unit 18 to stop the timber collection vehicle 100 and proceeds to the loading operation of the wood W in stage B. If the distance determination unit 53 determines that the wood W is not included in the range that can be grasped by the grapple device 30 (NO), the vehicle continues traveling.

[0075] When the loading operation of the wood W in Stage B begins, the drive control unit 51 starts the gripping operation. Specifically, the drive control unit 51 drives and controls the grapple drive unit 38 to release the tongs 33 of the grapple device 30. The drive control unit 51 also drives and controls the crane drive unit 28 to rotate, raise and lower, extend and retract the crane 20, and move the grapple device 30 to the center above the piled wood W. Furthermore, the drive control unit 51 drives and controls the grapple drive unit 38 to rotate the rotator 35, and rotates the lower part 32 of the grapple device 30 relative to the upper part 31, changing the orientation of the tongs 33.

[0076] The image recognition unit 52 acquires images of the wood W to be grasped and the tongs 33 of the grapple device 30 while it is rotating, and recognizes the orientations of the wood W and the tongs 33. If the image recognition unit 52 determines that the tongs 33 and the wood W are not parallel (YES), the tongs 33 can grasp the wood W, and therefore the rotation of the tongs 33 is stopped.

[0077] If the image recognition unit 52 determines that the tongs 33 and the wood W are parallel (NO), the tongs 33 cannot grasp the wood W even if they are closed, so the tongs 33 are kept open and the grapple device 30 is moved to the top center of the piled wood W, and the tongs 33 continues to rotate (continued to (b) of Figure 8).

[0078] As shown in FIG. 8, after the rotation of the tongs 33 is stopped, the drive control unit 51 controls the drive of the crane drive unit 28 to lower the height of the boom 23 and lower the grapple device 30 toward the wood W.

[0079] The image recognition unit 52 acquires images of the wood W to be grasped and the tongs 33 of the grapple device 30, and recognizes the respective positions of the wood W and the tongs 33. If the image recognition unit 52, the distance measurement unit 73, and the distance determination unit 53 determine that the tongs 33 are at a height where they can grasp the wood W (YES), the tongs 33 can grasp the wood W, and therefore the descent of the boom 23 is stopped.

[0080] When the image recognition unit 52 and the distance determination unit 53 determine that the tongs 33 are not at a height where they can grip the wood W (NO), the boom 23 continues to descend.

[0081] When the tongs 33 are at a height that allows them to grip the wood W, the drive control unit 51 controls the drive of the grapple drive unit 38 to close the tongs 33 of the grapple device 30.

[0082] When the tongs 33 are closed, the load determination unit 54 determines whether the grapple device 30 has gripped the wood W. The determination is made based on the load of the grapple device 30, which is calculated based on an output signal from a load measurement unit 74 provided in the grapple device 30.

[0083] If the load determination unit 54 determines that the grapple device 30 is not gripping the wood W (NO), as shown in (6) of Figure 7, the drive control unit 51 controls the drive of the grapple drive unit 38 to open the tongs 33 of the grapple device 30 again, and performs the loading operation of the wood W at stage B again.

[0084] If the load determination unit 54 determines that the grapple device 30 is gripping a piece of wood W (YES), the load determination unit 54 further determines whether the load caused by the piece of wood W gripped by the grapple device 30 is an overload.

[0085] If the load determination unit 54 determines that the load caused by the wood W grasped by the grapple device 30 is an overload (NO), as shown in (6) of Figure 7, the drive control unit 51 controls the drive of the grapple drive unit 38 to open the tongs 33 of the grapple device 30, thereby releasing the wood W, and performs the wood W loading operation at stage B again.

[0086] If the load determination unit 54 determines that the load caused by the wood W grasped by the grapple device 30 is not an overload (YES), the drive control unit 51 drives and controls the crane drive unit 28 to rotate, raise and lower, extend and retract the crane 20, and moves the wood W grasped by the grapple device 30 directly above the loading platform 15 of the lumber collection vehicle 100, where it performs a placement operation.

[0087] In the placement operation, the image recognition unit 52 acquires images of the held wooden piece W and the loading platform 15 of the lumber collection vehicle 100, and recognizes the respective positions of the wooden piece W and the loading platform 15. If the image recognition unit 52 determines that the wooden piece W is not directly above the loading platform 15 (NO), the drive control unit 51 controls the drive of the crane driving unit 28 to continue the movement of the wooden piece W by the crane 20. If the image recognition unit 52 determines that the wooden piece W is directly above the loading platform 15 (YES), the drive control unit 51 controls the drive of the crane driving unit 28 to stop the movement of the wooden piece W by the crane 20 (continued to (c) of Figure 9).

[0088] As shown in Figure 9, after stopping the movement of the wood W by the crane 20, the drive control unit 51 drives and controls the grapple drive unit 38 to rotate the rotator 35, and rotates the lower part 32 relative to the upper part 31 of the grapple device 30 to change the orientation of the tongs 33.

[0089] The image recognition unit 52 acquires images of the wood W being held and the loading platform 15 of the timber collection vehicle 100, and recognizes the orientations of the wood W and the loading platform 15. Gripped wood W If it is determined that the platform 15 is parallel to the tongs 33 (YES), the lumber W can be loaded onto the platform 15, and therefore the rotation of the tongs 33 is stopped.

[0090] The image recognition unit 52 Gripped wood W If it is determined that the platform 15 is not parallel (NO), the lumber W cannot be loaded onto the platform 15, and therefore the tongs 33 continue to rotate.

[0091] After the rotation of the tongs 33 has stopped, the drive control unit 51 controls the drive of the crane drive unit 28 to lower the height of the boom 23 and lower the grapple device 30 toward the loading platform 15.

[0092] The image recognition unit 52 acquires images of the gripped wood W and the loading platform 15, and recognizes the respective positions of the wood W and the loading platform 15. If the image recognition unit 52 and the distance determination unit 53 determine that the gripped wood W is at a height close to that of the loading platform 15 or another piece of wood W loaded on the loading platform 15 (YES), the lowering of the boom 23 is stopped because the wood W can be loaded.

[0093] If the image recognition unit 52 determines that the gripped wood W is not at a height close to that of the loading platform 15 or other wood W loaded on the loading platform 15 (NO), the boom 23 continues to descend.

[0094] When the wood W is at a height that allows it to be loaded onto the loading platform 15, the drive control unit 51 controls the drive of the grapple drive unit 38 to release the tongs 33 of the grapple device 30, and places the grasped wood W on the loading platform 15 or another piece of wood W loaded on the loading platform 15.

[0095] When the timber W is loaded onto the loading platform 15, the load amount determination unit 56 determines whether the load of the timber W loaded onto the loading platform 15 is within the loadable range. The determination is made based on the load of the loading platform 15, which is calculated based on an output signal from a load measuring device such as a load cell (not shown) provided on the support part of the loading platform 15.

[0096] If the load amount determining unit 56 determines that further loading is not possible (NO), the process proceeds to the movement operation to the unloading position of the wood W in stage C shown in FIG. 10 (5).

[0097] If the load amount determination unit 56 determines that further loading is possible (YES), the image recognition unit 52 acquires the image captured by the imaging unit 70 and recognizes the wood W contained in the image. The distance measurement unit 73 measures the distance to the wood W contained in the image captured by the imaging unit 70. The distance determination unit 53 determines whether the wood W contained in the image captured by the imaging unit 70 is within a range that can be grasped by the grapple device 30.

[0098] If the distance determination unit 53 determines that the wood W is within the range that can be grasped by the grapple device 30 (NO), as shown in (6) of Figure 7, the drive control unit 51 controls the drive of the grapple drive unit 38 to open the tongs 33 of the grapple device 30 again, and performs the loading operation of the wood W at stage B again.

[0099] If the distance determination unit 53 determines that no timber W is included within the range that can be gripped by the grapple device 30 (YES), the image recognition unit 52 determines whether or not the image contains any timber W that can be gripped. If the image contains any timber W that can be gripped (NO), the drive control unit 51 controls the drive of the vehicle body drive unit 18 to drive the timber collection vehicle 100 toward the timber W, as shown in (4) of Figure 7.

[0100] On the other hand, if the image recognition unit 52 determines that the image does not contain any wood W that can be grasped (YES), the drive control unit 51 controls the drive of the crane drive unit 28 and the grapple drive unit 38 to store the crane 20 and the grapple device 30, and proceeds to the movement operation to the wood W unloading position at stage C.

[0101] As shown in Figure 10, when the operation shifts to the movement operation to the unloading position P2 of the lumber W in Stage C, the drive control unit 51 controls the drive of the vehicle body drive unit 18 to drive the lumber collection vehicle 100 toward the unloading position P2. While traveling, the travel route guidance unit 55 determines whether the vehicle is within the range of a pre-stored travel route based on output signals from the Global Navigation Satellite System (GNSS) 75 and the autonomous navigation system (inertial system) 76. If the vehicle is traveling outside the range of the travel route (NO), the travel direction is corrected. If the vehicle is traveling within the range of the travel route (YES), the vehicle continues traveling.

[0102] The image recognition unit 52 acquires images captured by the imaging unit 70 while the vehicle is traveling and recognizes people and obstacles contained in the images. If a person or obstacle is recognized (NO), the automatic driving is stopped (2). If a person or obstacle is not recognized (YES), the vehicle continues traveling.

[0103] The travel route guidance unit 55 determines whether the logging vehicle 100 has reached the pre-stored unloading position P2 based on output signals from the satellite positioning system 75 and the autonomous navigation system 76. If the logging vehicle 100 has reached the unloading position P2 (YES), the drive control unit 51 controls the drive of the vehicle body drive unit 18 to stop the logging vehicle 100 from traveling. If the logging vehicle 100 has not yet reached the unloading position P2 (NO), the logging vehicle 100 continues traveling (continued to (d) in Figure 11).

[0104] As shown in FIG. 11, when the timber collection vehicle 100 reaches the unloading position P2 and stops, the operation proceeds to stage D, where the timber W is unloaded.

[0105] When the unloading operation of the wooden piece W in stage D begins, the drive control unit 51 starts the gripping operation. Specifically, the drive control unit 51 drives and controls the grapple drive unit 38 to release the tongs 33 of the grapple device 30. The drive control unit 51 also drives and controls the crane drive unit 28 to rotate, raise and lower, extend and retract the crane 20, and move the grapple device 30 to the center above the top piece of wooden piece W loaded on the loading platform 15. The drive control unit 51 also drives and controls the grapple drive unit 38 to rotate the rotator 35, and rotates the lower part 32 of the grapple device 30 relative to the upper part 31 of the grapple device 30 to change the orientation of the tongs 33.

[0106] The image recognition unit 52 acquires images of the wood W to be grasped and the tongs 33 of the rotating grapple device 30, captured by the imaging unit 70, and recognizes the orientations of the wood W and the tongs 33. If the image recognition unit 52 determines that the tongs 33 and the wood W are not parallel (YES), the tongs 33 can grasp the wood W, and therefore the rotation of the tongs 33 is stopped.

[0107] If the image recognition unit 52 determines that the tongs 33 and the wood W are parallel (NO), the tongs 33 cannot grip the wood W even if they are closed, so the tongs 33 are kept open and the grapple device 30 is moved to the center above the loaded wood W, and the tongs 33 continues to rotate.

[0108] After stopping the rotation of the tongs 33, the drive control unit 51 controls the drive of the crane drive unit 28 to lower the height of the boom 23 and lower the grapple device 30 toward the timber W loaded on the loading platform 15.

[0109] The image recognition unit 52 acquires the images of the wood W to be grasped and the tongs 33 of the grapple device 30 captured by the imaging unit 70, and recognizes the respective positions of the wood W and the tongs 33. If the image recognition unit 52 and the distance determination unit 53 determine that the tongs 33 are at a height where they can grasp the wood W (YES), the tongs 33 can grasp the wood W, and therefore the descent of the boom 23 is stopped (continued to (e) of FIG. 12).

[0110] When the image recognition unit 52 and the distance determination unit 53 determine that the tongs 33 are not at a height where they can grip the wood W (NO), the boom 23 continues to descend.

[0111] As shown in FIG. 12, when the tongs 33 are at a height where they can grip the wood W, the drive control unit 51 controls the drive of the grapple drive unit 38 to close the tongs 33 of the grapple device 30.

[0112] When the tongs 33 are closed, the load determination unit 54 determines whether the grapple device 30 has gripped the wood W. The determination is made based on the load of the grapple device 30, which is calculated based on an output signal from a load measurement unit 74 provided in the grapple device 30.

[0113] If the load determination unit 54 determines that the grapple device 30 is not gripping the wood W (NO), as shown in (7) of Figure 11, the drive control unit 51 controls the drive of the grapple drive unit 38 to open the tongs 33 of the grapple device 30 again, and performs the unloading operation of the wood W at stage D again.

[0114] If the load determination unit 54 determines that the grapple device 30 is gripping a piece of wood W (YES), the load determination unit 54 further determines whether the load caused by the piece of wood W gripped by the grapple device 30 is an overload.

[0115] If the load determination unit 54 determines that the load caused by the wood W grasped by the grapple device 30 is an overload (NO), as shown in (7) of Figure 11, the drive control unit 51 controls the drive of the grapple drive unit 38 to open the tongs 33 of the grapple device 30, thereby releasing the wood W, and again performs the unloading operation of the wood W in stage D.

[0116] If the load determination unit 54 determines that the load caused by the wood W grasped by the grapple device 30 is not an overload (YES), the drive control unit 51 drives and controls the crane drive unit 28 to rotate, raise and lower, extend and retract the crane 20, and moves the wood W grasped by the grapple device 30 to directly above the unloading position P2, where it performs a placement operation.

[0117] In the placement operation, the image recognition unit 52 acquires images of the gripped wooden piece W and the unloading position P2, and recognizes the respective positions of the wooden piece W and the unloading position P2. If the image recognition unit 52 determines that the wooden piece W is not directly above the unloading position P2 or another wooden piece W that was previously unloaded at the unloading position P2 (NO), the drive control unit 51 controls the drive of the crane drive unit 28 to continue the movement of the wooden piece W by the crane 20. If the image recognition unit 52 determines that the wooden piece W is directly above the unloading position P2 or another wooden piece W that was previously unloaded at the unloading position P2 (YES), the drive control unit 51 controls the drive of the crane drive unit 28 to stop the movement of the wooden piece W by the crane 20.

[0118] After stopping the movement of the wood W by the crane 20, the drive control unit 51 drives and controls the grapple drive unit 38 to rotate the rotator 35, and rotates the lower part 32 relative to the upper part 31 of the grapple device 30 to change the orientation of the tongs 33.

[0119] The image recognition unit 52 acquires images of the gripped wood W and the loading platform 15 of the lumber collection vehicle 100 captured by the imaging unit 70, and recognizes the orientation of the gripped wood W and the other wood W that was previously unloaded at the unloading position P2. If the image recognition unit 52 determines that the gripped wood W and the existing wood W at the unloading position P2 are parallel (YES), the wood W can be unloaded at the unloading position P2, and so the rotation of the tongs 33 is stopped (continued to (f) of Figure 13).

[0120] If the image recognition unit 52 determines that the gripped wood W is not parallel to the existing wood W at the unloading position P2 (NO), the tongs 33 continue to rotate because the wood W cannot be unloaded at the unloading position P2.

[0121] As shown in Figure 13, after stopping the rotation of the tongs 33, the drive control unit 51 drives and controls the crane drive unit 28 to lower the height of the boom 23 and lower the grapple device 30 toward the ground at the unloading position P2 or the existing timber W at the unloading position P2.

[0122] The image recognition unit 52 acquires images of the gripped wood W, the ground at unloading position P2, or the existing wood W at unloading position P2 captured by the imaging unit 70, and recognizes the respective positions of the gripped wood W and the ground at unloading position P2 or the existing wood W at unloading position P2. If the image recognition unit 52 and the distance determination unit 53 determine that the gripped wood W is at a height close to the ground at unloading position P2 or the existing wood W at unloading position P2 (YES), the descent of the boom 23 is stopped because the wood W can be unloaded.

[0123] If the image recognition unit 52 determines that the gripped wood W is not at a height close to the ground at the unloading position P2 or the existing wood W at the unloading position P2 (NO), the boom 23 continues to descend.

[0124] When the timber W is at a height that allows it to be unloaded at the unloading position P2, the drive control unit 51 controls the drive of the grapple drive unit 38 to release the tongs 33 of the grapple device 30, and the grasped timber W is unloaded onto the ground at the unloading position P2 or onto existing timber W at the unloading position P2.

[0125] The image recognition unit 52 acquires an image of the loading platform 15 of the timber collection vehicle 100 captured by the imaging unit 70, and recognizes the timber W contained in the image. If it is determined that the timber W is contained in the image (NO), the unloading operation is performed again.

[0126] When the image recognition unit 52 determines that no wood W is included in the image (YES) and the unloading of the wood W loaded on the loading platform 15 is completed, the drive control unit 51 controls the drive of the crane drive unit 28 and the grapple drive unit 38 to store the crane 20 and the grapple device 30, and proceeds to the movement operation to the wood W loading position P1 in stage A.

[0127] According to the timber collection vehicle 100 of this embodiment described above, the drive control unit 51 controls the drive of the vehicle body 10, the crane 20, and the grapple device 30 in accordance with the recognition results of the image recognition unit 52. This makes it possible to automate the loading and unloading of lumber W at the loading position P1, the unloading position P2, etc.

[0128] When the wood W is included in the range that can be grasped by the grapple device 30, the grapple device 30 performs a grasping operation to grasp the wood W. Therefore, at the loading position P1 or the unloading position P2, the grapple device 30 can perform a grasping operation without operation by the operator.

[0129] If the wood W is not included in the range that can be grasped by the grapple device 30, but a graspable piece of wood W is included in the image, the timber collection vehicle 100 moves to a position where it can grasp the wood W. Therefore, at the loading position P1 or the unloading position P2, the timber collection vehicle 100 moves to a position where it can grasp the wood W without any operation by the operator, and the grapple device 30 can perform a grasping operation at the moved position.

[0130] The distance determination unit 53 determines whether or not the wood W included in the image is included in a range that can be grasped by the grapple device 30. Therefore, when it is determined that the wood W is included in a range that can be grasped by the grapple device 30, the grapple device 30 can perform a grasping operation to grasp the wood W without any operation by the operator.

[0131] After the gripping operation, the grapple device 30 is moved to the loading platform 15 where the wood W is to be placed or to the unloading position P2, and a placement operation is performed in which the grapple device 30 releases the wood W on the loading platform 15 or at the unloading position P2. Therefore, the gripping operation and the placement operation can be performed and the wood W can be unloaded at the loading position P1 or the unloading position P2 without any operation by the operator.

[0132] The machine learning unit 58 performs machine learning of the gripping and placing operations, thereby optimizing the gripping and placing operations using the grapple device 30.

[0133] The logging vehicle 100 can automatically travel between the loading position P1 and the unloading position P2 without being operated by an operator.

[0134] [Embodiment 2] Figures 14 and 15 are diagrams showing a timber collection vehicle 100A constituting a timber collection system 500 of embodiment 2. Figures 16 and 17 are diagrams showing a timber collection vehicle 100A and a timber transport vehicle 300 constituting the timber collection system 500 of embodiment 2. The timber collection system 500 of embodiment 2 is made up of a timber collection vehicle 100A and a timber transport vehicle 300. In the timber collection system 500 of this embodiment, the timber collection vehicle 100A and the timber transport vehicle 300 share the operations of stages A to D described in embodiment 1 (see Figure 5).

[0135] As shown in FIG. 14, the logging vehicle 100A is configured by attaching a grapple device 30 to the tip of an arm 120 of a hydraulic excavator, which is a base machine. The logging vehicle 100A includes, for example, a lower traveling body 113 having crawlers 112, and an upper swivel frame 115 that is rotatably supported on the lower traveling body 113 via an excavator body swivel bearing 114. A boom 122 is connected to the front of the upper swivel frame 115 by a boom cylinder 124 so that it can be raised and lowered. The arm 120 is connected to the tip of the boom 122 by an arm cylinder 126 so that it can swing freely. The grapple device 30 is connected to a first support pin 134 at the tip of the arm 120 and a second support pin 136 provided at one end of a link member 138. The other end of the link member 138 is connected to the tip of the arm 120, and the tip of a bucket cylinder 132 is connected to the middle part of the link member 138.

[0136] The arm 120 and boom 122 of this embodiment correspond to the arm of the present invention. The arm (arm 120 and boom 122) can be raised and lowered by a boom cylinder 124 and an arm cylinder 126, and the arm (arm 120 and boom 122) is rotated by rotating the upper rotating frame 115 via the excavator body rotating bearing 114.

[0137] 14 to 17 show the operation of loading lumber W at the loading position P1 or the operation of unloading lumber W at the unloading position P2 by the lumber collection system 500. In the operation of loading lumber W at the loading position P1, the operations are performed, for example, in the order of Figures 14, 15, 16, and 17. In contrast, in the operation of unloading lumber W at the unloading position P2, the operations are performed, for example, in the order of Figures 17, 16, 15, and 14.

[0138] As shown in Figures 16 and 17, the timber transport vehicle 300 does not have a grapple device, but does have a loading platform 315 for loading timber W. The timber transport vehicle 300 can automatically travel from a loading position P1 to an unloading position P2 to transport the timber W loaded on the loading platform 315. With regard to automatic travel, the timber transport vehicle 300 is equipped with a control system similar to that of the timber collection vehicle 100A.

[0139] In the timber collection system 500 according to this embodiment, at a loading position P1, the timber collection vehicle 100A loads timber W onto the loading platform 315 of the timber transporting vehicle 300 under automatic control. The timber transporting vehicle 300 loaded with timber W automatically travels from the loading position P1 to an unloading position P2 to transport the timber W. At the unloading position P2, the timber collection vehicle 100A unloads the timber W from the loading platform 315 of the timber transporting vehicle 300 under automatic control.

[0140] In the following description, it is assumed that separate logging vehicles 100A are positioned at the loading position P1 and the unloading position P2, and that the logging vehicle 100A performing loading operations at the loading position P1 and the logging vehicle 100A performing unloading operations at the unloading position P2 are different vehicles. However, the same logging vehicle 100A may perform operations at the loading position P1 and the unloading position P2. In this case, the same logging vehicle 100A automatically travels together with the timber transport vehicle 300 between the loading position P1 and the unloading position P2, performing loading operations at the loading position P1 and unloading operations at the unloading position P2.

[0141] [Operation] When automatic operation of the lumber collection system 500 begins, the lumber transport vehicle 300 moves to loading position P1 for the lumber W in Stage A. In the movement to loading position P1 in Stage A, the vehicle automatically travels toward loading position P1 along a pre-stored travel route using a global navigation satellite system (GNSS) 75 and a self-contained navigation system (inertial system) 76. During automatic travel, the vehicle travels while determining whether there are people or obstacles in the surrounding area based on image recognition.

[0142] When the timber transport vehicle 300 arrives at the loading position P1, the timber collection vehicle 100A positioned at the loading position P1 performs a loading operation of the timber W in stage B onto the loading platform 315 of the timber transport vehicle 300. The loading operation is performed by controlling the drive of the arm (arm 120 and boom 122), the shovel body swivel bearing 114, and the grapple device 30 based on image recognition.

[0143] When the loading operation of the lumber W in Stage B is completed, the lumber transport vehicle 300 performs a movement operation to unloading position P2 for the lumber W in Stage C. In the movement operation to unloading position P2 in Stage C, the lumber transport vehicle 300 automatically travels toward unloading position P2 along a pre-stored travel route using a global navigation satellite system (GNSS) 75 and a self-contained navigation system (inertial system) 76. During the automatic travel, the vehicle travels while determining whether there are people or obstacles in the surrounding area based on image recognition.

[0144] When the timber transport vehicle 300 arrives at the unloading position P2, the timber collection vehicle 100A (a vehicle different from the timber collection vehicle 100A that performed work at the loading position P1) positioned at the unloading position P2 performs an operation of unloading the timber W in stage D onto the loading platform 315 of the timber transport vehicle 300. The unloading operation is performed by controlling the drive of the arm (arm 120 and boom 122), the shovel body swivel bearing 114, and the grapple device 30 based on image recognition.

[0145] When the unloading operation of the lumber W in stage D is completed, the lumber transport vehicle 300 moves to the loading position P1 for the lumber W in stage A, and repeats the operations shown in stages A to D.

[0146] According to the lumber collection system 500 of this embodiment described above, loading and unloading of lumber W can be performed automatically at loading position P1, unloading position P2, etc., and the system can automatically travel between loading position P1 and unloading position P2.

[0147] [Variations] The logging vehicle according to the present invention is not limited to the above-described embodiment.

[0148] For example, in the automatic control described in the embodiment, the drive control unit 51 uses the machine learning unit 58 to perform machine learning on image recognition of the wood W in the image, determination of the wood W that can be grasped, the intersecting direction between the wood W and the tongs 33, the opening and closing operation of the tongs 33 during the grasping operation and placement operation, etc., in order to optimize the operation, but it is also possible to perform machine learning in advance using a reduced-size model or learning data images, and then repeat the machine learning on the actual object.

[0149] In the description of the embodiments, the grapple device of the present invention has been described using a stand-alone grapple device 30 having a gripping function as an example, but is not limited to this. The grapple device may be provided in, for example, a harvester or a processor. A harvester is a device that can perform processes such as felling, delimbing, and bucking standing trees, and the grapple device provided in the harvester can grip standing trees and lumber. A processor is a device that can perform processes such as delimbing and bucking trees after felling, and the grapple device provided in the processor can grip felled trees and lumber.

[0150] Although the embodiments of the present invention have been described above, the above-described embodiments are merely examples for carrying out the present invention. Therefore, the present invention is not limited to the above-described embodiments, and the above-described embodiments can be appropriately modified and carried out without departing from the spirit of the present invention. [Industrial Applicability]

[0151] The present invention can be used in logging vehicles and logging systems that use grapple devices. [Explanation of symbols]

[0152] 100 Logging vehicles 300 Timber transport vehicles 500 Logging System 10 Body 20 Crane (Arm) 30 Grapple Device 51 Drive control unit 52 Image Recognition Unit 70 Imaging unit W wood

Claims

1. A drivable body part; an arm provided on the vehicle body; a grapple device provided on the arm; A logging vehicle equipped with a drive control unit that controls the drive of the vehicle body unit, the arm, and the grapple device; an imaging unit that captures an image of the periphery of the vehicle body and the periphery of the grapple device; an image recognition unit that recognizes wood in the image, the drive control unit controls the drive of the vehicle body unit, the arm, and the grapple device in accordance with the recognition result of the image recognition unit; the imaging unit includes a grapple peripheral imaging unit that images the wood to be gripped by the grapple device, the grapple-periphery imaging unit is disposed in the grapple device and includes a grapple imaging unit that images an area below the grapple device; When the image includes timber within a range that can be grasped by the grapple device at a loading position for loading timber and at an unloading position for unloading timber, the drive control unit controls the drive of the vehicle body unit, the arm, and the grapple device so as to perform a gripping operation for gripping the wood piece with the grapple device and a placement operation for releasing the gripped wood piece by the grapple device at a position where the wood piece is to be placed; In the loading position and the unloading position, if the image does not include any wood within a range that can be grasped by the grapple device, but the image includes wood that can be grasped, the drive control unit controls the drive of the vehicle body unit, the arm, and the grapple device so that the vehicle body unit moves to a position where a wood piece is included in a range that can be grasped by the grapple device, and the grapple device performs the grasping operation and the placing operation; When the placing operation is performed at the loading position, The image recognition unit determines whether the gripped piece of wood is directly above a loading platform on which the wood is to be loaded, and the drive control unit continues or stops the movement of the wood by the arm depending on the determination result of whether the piece of wood is directly above the loading platform; Furthermore, the image recognition unit recognizes the orientation of the gripped timber and the loading platform, and determines whether the gripped timber and the loading platform are parallel. If it is determined that the gripped timber and the loading platform are parallel, the drive control unit lowers the height of the arm and controls the drive of the grapple device to place the gripped timber on the loading platform. When the placing operation is performed at the unloading position, The image recognition unit determines whether the gripped piece of wood is directly above another piece of wood that has been previously unloaded at the unloading position, and the drive control unit continues or stops the movement of the piece of wood by the arm depending on the result of the determination whether the piece of wood is directly above another piece of wood that has been previously unloaded at the unloading position. Furthermore, the image recognition unit recognizes the orientation of the gripped wood and another piece of wood that was previously unloaded at the unloading position, and determines whether the gripped wood and the existing piece of wood at the unloading position are parallel. If it is determined that the gripped wood and the existing piece of wood are parallel, the drive control unit lowers the height of the arm and controls the drive of the grapple device to place the gripped wood on top of the existing piece of wood at the unloading position. Logging vehicle.

2. A logging system comprising the logging vehicle according to claim 1.

Images