• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Arrangement for controlling a forest machine in connection with a tree felling situation, wherein the forest machine (100) comprises at least one two-part boom system (12), advantageously comprising a main boom (12.1) and a hinge boom (12.2), a tree handling device (14) connected to the boom system (12) for felling trees (16), first actuators (18) placed on the tree handling device (14) for performing the functions of the tree handling device (14), second actuators (20) placed in connection with the boom system (12) for performing the boom system (12) ) functions, first control devices (22) for controlling the first actuators (18) and second control devices (24) for controlling the second actuators (20) for the use of the tree handling device (14) and the barrier system (12), first determining devices (26) for measuring and / or estimating the operating status of the tree handling device (14) arranged to produce a first determination result, second determining devices (28) for measuring and / or estimating position of the boom system (12) relative to at least one degree of freedom arranged to produce a second determination result, a control system (30) for using the control signals formed by the first control devices (22) and the second control devices (24) for controlling the the first actuators (18) and the second actuators (20), the arrangement comprising a memory (32) connected to the control system (30) and programmatic means (34) arranged in the memory (32) for controlling the first actuators (18) and the second actuators (20), characterized in that in the arrangement one of the boom systems (12) and the tree handling devices (14) is an actuating unit and correspondingly the other is a control unit and the programmatic means (34) are arranged: to determine in the memory (32) at least one stored function for the stand unit, which is connected to a first activation signal (36) for the stand unit, and in connection with the tree felling situation for the tree (16): a) automatically select a pre-stored function for st the memory unit (32) on the basis of a first activation signal provided by the user, and b) generate a second activation signal (38) on the basis of the current operating status of the control unit, which contains a conditional criterion for starting a stored function for the control unit, c) automatically start a stored function for the control unit when the criterion for the second activation signal (38) is met and d) automatically perform a selected stored function for the control unit started by the second activation signal (38). In addition, the protection requirements 2-6.
    公开号:FI13033Y1
    申请号:FIU20214084U
    申请日:2017-08-30
    公开日:2021-10-12
    发明作者:Aleksi Kivi；Markku Savolainen
    申请人:Ponsse Oyj；
    IPC主号:
    专利说明:

    SYSTEM FOR CONTROLLING THE FUNCTIONS OF A BOOM OR WOOD-HANDLING EQUIPMENT
    The invention relates to an arrangement for controlling a forest machine in connection with a felling operation, in which the forest machine comprises at least - at least a two-part boom, preferably comprising a main boom and an articulated boom, - a wood handling device , - second actuators located in connection with the boom to perform boom functions, - first control means for controlling the first actuators and second control means for controlling the second actuators to operate the woodworking device and the boom, - first determining means for measuring and / or estimating to determine and / or estimate the position of the boom adjusted to at least one degree of freedom O 25 to produce a second determination result, s - a control system for using the control signals generated by the first control means and - the second control means = for controlling the first actuators and the second actuators 3, the arrangement comprising a memory N connected to the control system and memory means booms and woodworking equipment
    the other is a control unit and the other is a control unit, and the software means are adapted to: based on the current input provided by the user, and b) generate a second input based on the current operating state of the control unit that includes a conditional criterion for triggering the selected pre-stored function of the functional unit; the pre-stored function automatically, in which arrangement said software means are adapted to perform said functions a) to d) in the event of a felling of wood and to perform the automatic the pre-stored unit functions selected.
    - The invention also relates to a corresponding forest machine.
    S 25 s When using the wood chipper to fell a tree, it is often difficult for the user to see the functions of the harvester head and to schedule the 3 movements on the boom with the tree feller required by the felling event. Such a situation S 30 is repeated, for example, when approaching a tree with a harvester head, N whereby the user has to guide the harvester head towards the tree by means of a boom, while the pruning blades of the harvester head are closed to grip the tree. In this case, it is easy for the user to move the harvester head at too high a speed by means of a boom, whereby the harvester head strikes the tree at too high a speed, possibly damaging the tree, the harvester head or the boom or all of the above.
    Another example of a problematic situation is the felling of a tree, after which the user moves the boom at the base of the tree by moving the boom to the area where the treatment of the tree is carried out. If, in this situation, the user begins to move the harvester head on the boom while the tipping operation is in progress, the cutting device, such as a cutting saw, may be damaged. The problem, therefore, is that due to poor visibility, the user can easily damage the forest machine or the felled tree trunk, or both.
    Another related problem is that, in order to avoid damage, the user can easily wait too long, for example to complete the felling, even when the boom is safe to move. This wastes time waiting in vain and reduces work efficiency. The same felling operations can be repeated 500 to 2000 times in a single shift, so an extra wait of one second in one step, for example, can result in a loss of up to ten minutes of working time. An unnecessarily long wait for the boom to move can also lead to a dangerous situation, because the direction of fall of the tree O 25 is usually determined by moving the base of the tree in the opposite direction to the direction of felling s. = An automated position control system for a tool suspended from the boom end 3 is known from FI 123932 B. In this control system S 30, the boom control commands also automatically control the position of the tool at the same time, for example when the position of the harvester head approaches the tree. The problem with such a solution is that full automation requires heavy sensing and incorrect measurement of the sensing can damage the forest machine. In addition, sensoring increases the machine's manufacturing costs and cost, as well as the machine's potential failure points, increasing the likelihood of system failures and the need for maintenance. The object of the invention is to provide a simpler arrangement than the prior art and a forest machine for controlling the functions of a boom or a wood processing device suspended therein in connection with a tree felling event. The characteristic features of the arrangement according to the present invention appear from the appended protection requirement 1 and the characteristic features of the forestry machine from the protection requirement 6.
    The object of the arrangement according to the invention can be achieved by an arrangement for controlling a forest machine in connection with a felling operation, wherein the forest machine comprises at least a two-part boom, preferably comprising a main boom and an articulated boom. to perform boom functions. In addition, the forest machine comprises first control means for manually controlling the first actuators and second control means for manually controlling the second actuators for operating the boom and the wood processing device, and first determining means for measuring the operating state S 30 and / or estimating the first N and second determining means for measuring or determining the position 5 of the boom with respect to the at least one degree of freedom and / or estimating adapted to produce a second determining result. In addition, the forest machine includes a control system
    a system for using control signals generated by the first control means and the second control means to control the first actuators and the second actuators.
    The arrangement comprises a memory connected to the control system and software means arranged in the memory for controlling the first actuators and the second actuators at least partially automatically.
    In the arrangement, one of the boom and wood handling equipment is an operating unit and the other a control unit.
    The software means are adapted to determine in the memory the function of the at least one pre-stored operating unit associated with the first input for the operating unit.
    In addition, in the event of a tree felling event, the software means is adapted to automatically select the pre-stored unit function from memory based on the first user input, generate a second input based on the current operating state of the control unit containing a conditional criterion and perform the selected function of the pre-stored operating unit triggered by the second input automatically. - In the arrangement according to the invention, the pre-stored functions of the functional unit can be performed by means of software means O 25 after the user has selected them with the first input - and the operating mode of the control unit has changed so that the functional function of the functional unit is safe to perform.
    This allows the arrangement to be made considerably lighter than S 30 compared to fully automated systems, which would require considerably heavy sensing to detect possible disturbance conditions or to make the necessary position or operating mode determinations.
    Preferably, the wood processing device is a harvester head, which includes an inertial measurement unit for determining the movement space of the harvester head and, indirectly, the wood to be felled. With the help of the inertial measurement unit, the movement space of the harvester head and, indirectly, the felled wood can be determined accurately and the movements of the boom can be automated on the basis of it to optimize the end result.
    Preferably, the software means is adapted to perform the selected pre-stored function of the operating unit triggered by the second input automatically based on the determined and / or estimated degree of freedom of the operating unit. In this way, the arrangement provides a double assurance that the desired automatic function can be performed, since first the user accepts the function and then the review is performed programmatically.
    The purpose of the forest machine according to the invention can be achieved by a forest machine comprising an arrangement according to one of the above-mentioned embodiments.
    The arrangement according to the invention can advantageously be used - by a method for controlling the functions of a boom or a woodworking device suspended therein in connection with a felling event, in which method with the first control means and S 30 controls the boom by the second control means. In the method, one of the N booms and the wood processing device is an operating unit and the other is a control unit, respectively, in which at least one pre-stored function of the operating unit is defined in the memory, preferably in the memory of the forest machine control system,
    which is tied to a user-supplied first input for the functional unit.
    In the event of a tree felling event, the pre-stored function of the unit is automatically selected from the memory based on the first input provided by the user and a second input is generated based on the current specified operating mode of the control unit.
    In addition, the selected pre-stored function of the unit is automatically started when the second input criterion is met, and the pre-stored function of the selected unit is started automatically by the second input.
    By specifying a function unit pre-stored in memory, that function can be performed automatically when the operation mode of the control unit and the user allow the function to be performed.
    In this way, the woodworking device, the boom and the wood are protected by two safety features, ie an automated function of the operating unit, making it unlikely that the user will break the forest machine.
    On the other hand, the forest machine is protected by starting the function of the unit by the user, in which case the automated function of the unit cannot be started without the user's supervision in the event of unusual situations.
    This makes it easier to implement the forest machine and arrangement, as the method can be implemented without the need for heavy monitoring and annotation. = In this context, the operating unit means one selected from the woodworking device 3 and the boom, which performs the S 30 automatically pre-stored function.
    The control unit N, in turn, optionally means the other wood processing device and the boom, which is not an operating unit, based on the operating mode or position of which the preselected function of the operating unit can be started.
    The operation of the control unit is
    manual, while the operation of the function is automatic for the function shown. In this context, the definition of “in the event of felling a tree” refers to the functions of the wood processing device up to the cutting of the tree into shorter parts, i.e. preferably up to the felling event. In the felling operation, the base part of the tree is separated from the rest of the tree trunk.
    Preferably, the arrangement is used in connection with forest machines for felling and handling trees. Forest machines also handle very heavy trees, which increases the need for automation, as the forces on the boom and the woodworking equipment increase and thus the risk of damage to the equipment due to improper use.
    Preferably, the selected pre-stored function of the actuator triggered by the second input is performed automatically with respect to at least one degree of freedom of the determined and / or estimated position of the actuator.
    Degrees of boom freedom can be boom movement, boom direction, boom direction, boom extension, boom - boom relative position, boom load, boom O 25 tip distance from stand. & = Preferably, the woodworking device is a harvester head. In particular, the harvester head has several functions, which makes it difficult for 3 users to detect which phase in the harvester head is going. Therefore, the semi-automatic operation of the arrangement according to the invention is particularly advantageous in connection with the harvester heads 5.
    According to one embodiment, at least two pre-stored functions of the functional unit are assigned to the memory. In this case, the user can select the desired function already during the operation of the control unit from several pre-stored functions of the operating unit, if the operating situation of the control unit is such that there are alternatives for the next function of the operating unit. Preferably, when using the arrangement, the function of the operating unit pre-stored in the memory is determined before the tree is felled. In this case, the user can select the function of the pre-stored operating unit even before the criterion contained in the second input related to the operating mode of the control unit is met, whereby the pre-stored function of the operating unit can be started immediately when the criterion is met. This saves a considerable amount of time in just one shift. Preferably, when using the arrangement, the first input is formed on the basis of one or more quantities, which are: the control signal of the first control means, the control signal of the second control means, the determined characteristic of the tree, the current determined operating state of the control unit. Although the defined property of the tree or the current defined operating mode of the control unit are not directly user-generated events, but automatically performed measurements, the generation of the first of these inputs requires the user's approval and thus his participation in the operation. - For example, the determination of the tree property has required = that the user has controlled the wood processing device for the wood processing 3, whereby the determination of the wood properties can be performed S 30.
    According to a first embodiment of the invention, when using the arrangement, a wood processing device is used as the control unit and the boom as the operating unit. The functions of the woodworking device often control the use of the boom over time and determine the correct timing of boom movements.
    The mode of operation of the woodworking device to be determined may be one or more of the following: movement or position of pruning blades of the woodworking device, closing or opening movement or rotation of the feed roller , the position or mode of operation of the cutting saw flange, the position of the cutting saw of the cutting device of the woodworking device, the height position of the woodworking device with respect to the boom base, the position or mode of operation of the turning device of the woodworking device.
    The start of the boom pre-recorded function may depend on the above-mentioned functions, based on which the criterion for the start of boom operation contained in the second input is either met or not met.
    In this context, the term "movement of pruning blades" may mean the presence of pruning blades in motion.
    The function of the boom may be the movement of the boom and / or the change of the boom position with respect to at least one degree of freedom - and / or the increase or decrease of the boom load with at least one O 25 degree of freedom; locking or floating the actuators, ie releasing the movement of the other 3 actuators of the boom.
    All these functions S 30 are those which, if carried out carelessly or incorrectly timed N, are typical functions in which the user can damage the forest machine.
    In addition, the function of the boom may be a change in the trajectory of the user-generated control signal or the user-generated first input.
    Preferably, the criterion included in the second input is a change in the operating state of the wood treatment device. Operating mode means either an ongoing function of the woodworking device, such as felling or the like, or a pause between functions. For example, the end of a felling cut may be such a change in operating mode as a criterion for initiating a pre-recorded function of the boom. That is, when the felling is completed, the boom function can start if it has been approved by the user with the first input. According to a preferred embodiment, the second feed is the rotation of the cutting saw (saw chain) of the woodworking device or the position or progression of the cutting saw flange relative to the diameter of the base of the wood to be felled. In this context, boom lifting preferably means upward movement of the boom lifting cylinder, while boom bending means movement of the folding cylinder which moves the boom head towards the base. In addition, the function of the boom may advantageously further comprise the lateral movement of the boom when the boom is bent, whereby the head of the boom also moves partially laterally with respect to the base of the boom. S 25
    N s According to another embodiment, the boom is used as a control unit and the wood handling device as a functional unit. x a <The function of the wood processing device may be the movement of the feed rollers by the wood processing device S 30, the first feed may be the movement of N booms towards the tree and the second feed 5 may be a change in the position of the feed rollers. In such a case, it is preferable to control the wood processing device automatically according to the pre-stored function.
    The cutting device of the wood processing device used in the arrangement is preferably a chain saw, but it can also be a guillotine cutter, a knife cutter, a circular saw or another cutting device suitable for cutting wood. Preferably, in the system according to the invention, a pre-stored first input is also stored in the memory, by means of which the user can interrupt the operation of the selected pre-stored boom during the operation. This allows the user to interrupt the semi-automation function at any time if something special happens and there is a risk to the environment and / or the forest machine. This avoids the risk of fully automated operations when the user can start and stop the automation. When using the arrangement according to the invention, the pre-stored functions may be automatic path and / or functions of the operating unit, which according to the state of the art would be performed manually by the user together with the use of the control unit. In the arrangement according to the invention, the trajectories of the operating unit are not limited, but they are automated. - Preferably, the function of the preselected operating unit is performed for the same time as the operation of the control unit performed by the user. 3 Often the handling and felling of wood requires the simultaneous use of both the woodworking device = and the boom. In the arrangement according to the invention, the function of the operating unit 3 can be performed automatically, whereby the user can focus on performing the function of the control unit S30 manually.
    The advantage of the arrangement and the forest machine according to the invention is that it is easier to control the manual movements of demanding work steps, when the software means automatically schedules the movements of the operating unit according to the control unit work steps (completion) and prevents harmful functions before the previous work step is completed.
    The invention also prevents the forest machine from being broken when the functions damaging the forest machine are prevented in the wrong working phase or operating mode.
    As an additional advantage, the invention enables efficient work in poor visibility, whereby the crash event is not visible to the driver due to, for example, the night, the distance of the snow or the driver's vision.
    As another additional advantage, the invention enables worry-free working over longer distances, whereby the efficiency of working is improved as the need to move the forest machine is reduced and the working speed is increased.
    The safety of the felling event and the accuracy of the felling direction will also be improved, as the transfer of the wood base will be started as early as possible.
    The invention will now be described in detail with reference to the accompanying drawings, which illustrate some embodiments of the invention, in which:
    Figure 1 shows an axonometric view of a forest machine according to the invention and an arrangement therein, - Figure 2 shows the steps of using the arrangement according to the invention in block diagrams, s when the harvester head has gripped the tree, S Fig. 4b shows the felling event of the tree axonometrically, N when the tree is felled and turned to the pruning position by means of a boom and a harvester head, Fig. 5 shows the steps of using the second embodiment of the invention in block diagrams.
    Figure 1 shows an arrangement 10 according to the invention and a forest machine 100. Preferably, the arrangement 10 according to the invention is part of a forest machine 100, i.e. the forest machine 100 is already provided with an arrangement 10 according to the invention during manufacture. required components.
    In the first main embodiment of the invention shown in Figures 1 to 4b, the operating unit is a boom and the control unit is a wood processing device, and the operation and features of the invention are described in connection with this embodiment. In this context, the main embodiment means the selection of the operating unit and the control unit from the boom and the wood processing device.
    The arrangement 10 can be applied to a forest machine 100, such as a wheeled or crawler forest machine comprising at least a boom 12 and a wood processing device 14 with actuators 18 and 20, control means 22 and 24 and determining means 26 and 28. Preferably, the boom is made of at least two articulated booms. i.e. a structure consisting of a main boom 12.1 and an articulated boom 12.2, articulated to the frame of a forest machine 100, to which a wood processing device 14 for felling trees 16 O 25 is connected. Preferably, the articulated boom of the boom comprises s an extendable extension, a so-called telescopic extension, to increase the reach of the boom. Preferably, the wood processing device 14 is the harvester head 14 'shown in Figures 1 and 3, which is either suspended or otherwise connected to the boom 12. In describing embodiments hereafter S 30, a harvester head is used as an example of N wood processing equipment, but it should be understood that also an energy grab or other tool used for a dump event.
    To perform the functions of the harvester head 14 ', the forest machine 100 includes first actuators 18 of the harvester head 14', which may be, for example, hydraulic cylinders or motors using, for example, the harvester head 147 of Figure 3, cutting saw 60, pruning blades 52 and 56 54 and 58 and the opening and closing mechanism 55 of the feed rollers 54 and 58. To perform the functions of the boom 12, respectively, the actuator 12 includes second actuators 20 which are, for example, hydraulic cylinders 207 articulated between different parts of the boom 12.
    The first control means 22 controls the operation of the first actuators 18 and thereby the harvester head 14 "at least manually when the user controls the harvester head 14" himself.
    The second control means 24 in turn controls the operation of the second actuators 20 to operate the boom manually at least when the user controls the boom 12. The first control means and the second control means may also be arranged in a single controller located on the forest machine or remote control point.
    Most commonly, the first control means and the second control means are the joysticks in the cab of the forest machine used by the user.
    O 25 Since the arrangement 10 according to the invention and the forest machine 100 s aim to achieve semi-automation of the movements of the boom 12, it must be possible to monitor the functions or operating states of both the harvester head 14 ”and the boom 12 automatically. 3 The first determining means 26 performs a measurement and / or estimation of the operating state of the harvester head 14 ”S 30, producing a first determination result.
    The determining means are preferably sensors which measure the various functions of the harvester head 14 ', such as the rotational speed or position of the saw chain of the cutting saw, the position of the pruning blades, the position of the harvester head and the like. An inertial measurement unit (IMU) can also be used as one of the sensors, on the basis of which the position of the harvester head and the Motion state can be known accurately, but the position of the tree and the Motion state can be known indirectly. This is the case when the wood is sufficiently well in the grip of the harvester head (suitable support force against the bottom and with the cutting blades and feed rollers) and the length measurement of the wood works reliably. In addition to or instead of direct measurement, the operating states of the harvester head can also be evaluated, i.e. estimated from the previously determined results of the harvester head. This may mean, for example, that the time of the end of the felling is estimated on the basis of the change in the rotational speed of the cutting saw or the change in the speed of movement of the cutting flange or the change in the pressure or pressure of the pressure medium.
    In connection with the boom 12, the second determining means 28 measures and / or estimates the position or space of the boom 12 with respect to at least one degree of freedom to produce a second determination result. Preferably, the second determining means are also sensors 46, by means of which, for example, the current position or position of the boom is determined. In addition to or instead of this, the position of the boom, the trajectory or the internal stresses in the boom can also be assessed by means of actuators. In addition, it should be noted that the forces exerted by the harvester head on the tree trunk to be felled can also be determined. 3 I In a forest machine, the control signals generated by the first control means 22 and the second = control means 24 are converted by means of the control system 30 into commands for the valves controlling the movements S 30 of the actuators 18 and 20. The control system 30 may be N, for example, the central computer of the forest machine 100, which, using the CAN bus or the corresponding communication bus 5, transmits control commands between the control means, the determining means and the valves controlling the actuators.
    In the arrangement 10 according to the invention, the arrangement 10 itself comprises a memory 32 connected to the control system 30 and software means 34 arranged in the memory 32. Preferably, the software means operate between the control system, control means, determining means and actuators.
    The software means is preferably a software or computer program or computer program product running on a control system.
    According to one embodiment, the software means can also be located remotely, in which case the data of the forest machine control system is transmitted remotely to the software means to another location.
    In the arrangement 10, at least one pre-stored boom 12 function bound to the first input 36 for the boom is determined in the memory 32 by means of the software means 34.
    By this is meant that, for example, the user can predefine in the memory 32, via the graphical user interface of the terminal of the control system 30, the boom path he wishes to perform during or after or before the operation of a harvester head.
    Alternatively, this pre-stored boom function may already be stored in memory 32 on leaving the factory. & = Pre-storage in this context means that = one or more control signals 3 are stored in the memory for the valves controlling the other actuators of the boom.
    S 30 Preferably, one N pre-stored function is associated with a plurality of N control signals in series.
    In addition to the control signals, a second monitor to be monitored and a conditional criterion contained therein with which the control signals can be implemented are also defined in the memory for each function of the pre-stored boom.
    For example, if the pre-recorded boom function is a boom trajectory, the second input may be, for example, a change in the cutting chain rotation speed, whereby a conditional criterion for starting the boom trajectory may be a sudden increase in boom rotation speed.
    In addition, the criterion for the second input for starting the boom path may be, for example, a reduction in the rotational speed of the cutting saw below the limit value, or a change in the rotational speed by the limit value.
    Other options may be the position of the saw blade, the speed of movement, the speed of movement in relation to the rotational speed and / or the pressing force of the saw chain, or the rate of change thereof.
    The first input 36 for the boom is in this case preferably, for example, a command of the second control means to which the pre-stored boom function is linked.
    That is, the user can rotate control means, such as the joystick, to select a pre-recorded function if he decides not to perform that function manually.
    That is, when a user executes a command of a control means, the software means recognizes the command to be the same as the command to select a pre-stored boom function.
    When the first input 36 comes from the user to the software means 34, the software means 34 is adapted to automatically select the pre-stored boom 12 function s from the memory 32 based on the first user input 36 and to form a second input 38 based on the current = operating state of the harvester head 14 '. comprising 3 criteria, preferably a conditional, pre-stored boom 12 S 30 for starting the operation.
    In other words, the software N means 34 collects the determination results generated by the first determination means and on the basis of them form a second input 38, i.e. a start command for performing the selected pre-stored boom function when a criterion such as the end of felling is met. The pre-recorded boom function selected in this way will not start until the criterion is met and it is safe to start performing boom functions without breaking the harvester head or damaging the environment. A practical example may be that, for example, a sensor following the position of the harvester head cutting saw informs the control system of the position of the cutting saw. When the diameter of the wood is known from the information determined from the pruning blades and / or the feed rollers and at the same time the angle of rotation of the saw blade of the cutting saw out of the saw housing is monitored, it can be deduced when the wood is cut. In this case, the condition is that the tree has been cut across, and when it is filled, the preselected boom function can be started.
    Alternative criteria may be a change in the rotational speed of the cutting saw motor, so that the penetration of the wood can be identified by the accelerating rotational speed of the saw. Another alternative criterion may be a change in the rotational speed of the saw blade of the cutting saw, whereby through-sawing can be identified by the accelerating rotational speed of the saw flange. The third option is to monitor the pressure acting over the motor of the cutting saw, in which case the pressure drop indicates through-cutting. The fourth option is to monitor the current change if the motor of the cutting saw - is electric. A fifth option is to monitor the accelerations of the harvester head by means of an inertia measuring unit O 25, whereby the change here s can be interpreted as an event of through-cutting. In addition to this, the criterion may also be some other information obtained through the determination means E.
    D S 30 Finally, the software means is adapted to perform the function 5 of the pre-recorded boom 12 triggered by the second N input 38 automatically based on the determined and / or estimated position of the boom 12 with respect to at least one degree of freedom. That is, the software means 34 forwards the control signal or signals associated with the boom function pre-stored in the memory 32 from the control system 30 to the valves controlling the other actuators of the boom to operate the other actuators.
    Next, the steps of using the arrangement according to the invention will be described as steps 202 to 220 according to Figure 2. The arrangement according to the invention relates to the control of the boom in connection with a felling event, i.e. events prior to felling of felled wood. It is to be understood that although steps 202 to 220 are shown sequentially in Figure 2, steps 204 to 208 occur substantially simultaneously. According to step 204, the operating state of the harvester head is continuously determined and / or estimated by the first determining means so that the control system and the user have information about the current operating state of the harvester head. The operating mode of the harvester head can be an active mode in which the first actuators perform a certain function at the harvester head or a passive mode in which the harvester head waits for a boom function. At the same time, according to step 206, the operating mode of the boom is continuously determined and / or estimated by the second determining means so that the control system and the user have information about the current operating mode of the boom. The boom mode can be active - a mode in which other actuators perform a specific boom O 25 trajectory or boom tension, or a passive s mode in which the boom is waiting for harvester head operation or is - locked. Steps 204 and 206 occur continuously during all steps of using the E arrangement.
    D S 30 According to step 208, in the event of a tree felling event, the harvester head is guided by the first control means to perform the tree felling event and to support the felled tree when moving the tree. Correspondingly, the functions of the boom are controlled by other control means to bring the harvester head to the tree and to move the tree supported by the harvester head to the desired location for further processing. In addition, the boom can be used to tension the wood by means of a harvester head by pushing, pulling and / or lifting the wood, or to relieve the tension of the boom if the harvester head has been moved along the trunk of a tree that has not yet been felled. Preferably, the control functions of step 208 are performed manually by the user, i.e. the user controls the functions by the first control means and the second control means. Before, during, or after a tree felling operation, the user may select a pre-recorded boom operation according to step 210 that he or she wishes to perform automatically. The selection can be made, for example, using other control means. In this case, the control signal of the second control means acts as a first input 36 to the software means, which selects the function of the pre-stored boom from the memory according to step 211.
    In addition, in order to perform the pre-recorded boom function, a second input is required from the first means 38 of determining the harvester head, which determines the current operating state of the harvester head. This determination takes place continuously, as previously stated, in which case, in addition to the operating state, a conditional criterion contained in the second input is required, which defines - the permitted operating states of the harvester head or their subareas. = The fulfillment of the criterion is continuously monitored after the first 3 inputs reach the software means according to step 212 S 30. If the criterion is not met according to step 214, the N pre-stored boom operations cannot be started, but the program means continues the criterion check program cycle 220, which repeats steps 206, 212 and 214 until the criterion is met. In other words, the first
    their determination result is continuously compared with the criterion limit value or values, and when the determination result is within the allowable range, i.e., the function of the pre-recorded boom in the fulfillment area can be allowed, i.e., control signals can be forwarded according to step 216.
    In this case, the pre-recorded boom operation is performed according to step 218.
    Various embodiments of the use of the arrangement according to the invention are now shown with reference to Figures 3 to 4b.
    According to a first embodiment, the arrangement according to the invention can be used in the stage of felling a tree before felling or when approaching and gripping the tree.
    In this case, the pre-recorded boom function is the trajectory of the boom at a limited speed of movement towards the tree as the pruning blades of the harvester head close around the tree.
    This prevents the harvester head from being driven too hard into the tree and reduces the risk of the pruning blades breaking.
    Another embodiment takes place before the felling of the tree 16, when the tree 16 has been gripped by the harvester head 14 ', the pruning blades of the harvester head 14' are closed and the feed rollers are also attached to the tree according to Fig. 4a.
    In this case, when driving the harvester head to a tree stand or when driving the harvester head with feed rollers - upwards as a boom function pre-recorded on the tree trunk, the boom is controlled or the boom is monitored to reduce boom stresses.
    This reduces - the boom tension that occurs when the harvester head is driven = with the feed rollers attached to the tree and the position of the boom head changes when the 3 boom joints are in place.
    S 30 N According to the third embodiment, with the harvester head in the tree 5, the harvester head is pushed in one direction by moving the boom to obtain the desired tension and preferably also the direction.
    The bias can have three directions up,
    front or side, or a combination thereof. In this case, the pre-stored boom function is to move the boom in the desired direction to tension the tree trunk and / or the boom.
    According to the fourth embodiment, it is possible to push a large tree before felling, thus helping the tree to fall in the right direction and reducing the risk of the tree falling in the wrong direction or in the direction of the forest machine.
    According to a fifth and particularly preferred embodiment, the boom function pre-stored in connection with a tipping event is the locking of the other actuators of the boom. In this case, the second input is the speed of rotation of the cutting saw, above which 0, the other actuators of the boom are locked and the movement of the boom is prevented.
    The pre-recorded boom function of the sixth embodiment is a boom trajectory that can be implemented when the second input criterion is met. Here, the criterion is the rotational speed of the cutting saw, at which the pre-recorded trajectory can be realized. In other words, the movement of the boom is prevented while the cutting saw cuts the tree. Said boom path may be partly lifting (initially) and partly towing towards the machine or processing point or the intermittent sawing point. O 25 Intermittent sawing location means a location where felled wood can be pruned and cut according to the CTL. - In Fig. 4b, the boom 12 and the harvester head 14 'are driven to the place of the felling event. More specifically, the pre-recorded boom function 3, i.e. the boom trajectory S 30 in the direction of the forest machine, can be formed by determining the desired shape for the N trajectory, i.e. initially ascending and then linear. The zero point of the trajectory can be tied to the landfill, so that the trajectory between the zero point and the forest machine or processing point can be defined in the selected format.
    secondly, it is initially initially ascending towards the transfer point, after which the linear movement in a horizontal or selected angle is ascending or descending.
    The profile of the trajectory can be determined by the driver, such as ascending from a distance of 1 meter and otherwise at the same height.
    The seventh embodiment is otherwise the same as the sixth embodiment, but the height position of the forest machine with respect to the zero point is also taken into account in the slope work.
    In this case, the first and second determining means must determine the positions of the harvester head and the forest machine and the height differences between the positions.
    According to the eighth embodiment, the arrangement can be used to supply wood during felling.
    This means that when the wood is sawn across and fells, the wood at the harvester head is fed to the cutting point, allowing the potential energy of the wood to be utilized and time to be saved.
    As the wood moves downwards, it saves energy and fuel, as feeding the wood with the feed rollers in a horizontal position (standard situation) consumes more energy.
    More specifically, the pre-recorded boom function is a trajectory that is implemented when the harvester head inertia measurement unit or other boom determining means indicates that the tree is about to fall.
    O 25 According to the second main embodiment, the operating unit is a wood processing device and the control unit is a boom.
    In the first main embodiment of the invention shown above in connection with Figs.
    The following are examples of another main embodiment of the invention, in which the wood processing device acts as the operating unit and the boom as the control unit.
    An example of such a situation is when a harvester head acting as a woodworking device is caught from a height of about 2 meters in a situation where it is intended and necessary to drive the harvester head to the base (root) of the tree. This operation requires the movement of the boom to follow the variable attachment point and the rotation of the harvester head feed rollers (i.e., the feed) to drive the harvester head to the base of the tree.
    Figure 5 shows a simple block diagram of an implementation of a second main embodiment of the invention.
    Generally, using the arrangement, the tree felling event begins in accordance with step 302 and initially determines or estimates the condition or position of the harvester head in accordance with step 304.
    This can mean, for example, determining the position of the pruning troughs, on the basis of which the contact with the tree is inferred.
    At the same time, the operation of the boom is also determined according to step 306, which may be, for example, simply whether the boom is in motion or not.
    The user controls the harvester head with the first control means and the boom with the second control means according to step 308, for example, to bring the harvester head into contact with the tree to be felled by moving the boom toward the tree.
    When the user O 25 has guided the harvester head into contact with the tree and the harvester head recognizes the contact with the tree, the user provides the first input, i.e., starts to move the boom according to step 310.
    In this case, on the basis of the previously determined state of the harvester head or the position 3, such as the pruning arms closed, the user can select the pre-stored harvester head function from the memory according to step 311.
    In this case, the function can be, for example, the automatic running of the feed rollers to follow the boom.
    Before starting the preselected function, the automation checks whether the second input criterion is met.
    in accordance with step 312.
    Another input criterion can be, for example, the direction of movement of the boom in the direction of the tree or the position of the pruning blades from which the diameter of the tree is deduced.
    Trees with a sufficiently large diameter are so large that the harvesters of the harvester head may not be able to move the wood, but the transfer must be carried out by means of a boom.
    When the second criterion is met, the control system allows the pre-stored function to be performed according to step 316 and then performs the rotation of the feed rollers and travels along the tree trunk automatically following the movement of the boom according to step 318.
    Preferably, the control system adjusts the feed rate to correspond to the downward speed of the boom head, thereby minimizing or preventing stresses in the boom and harvester head.
    Preferably, the steering system is able to drive the boom to adjust its position so that the boom head follows the direction of the tree trunk when the boom head is steered substantially downwards, for example for only one part of the boom (i.e. with only one driver). Another example of the implementation of the second main embodiment of the invention is a situation where the wood is felled and horizontal.
    It is particularly advantageous to use the invention in a situation where the wood is particularly large and the power of the boom, forestry machine or harvester head is not sufficient to handle the wood in the normal way.
    When O 25 is to follow the tree with a crane, the movement of the boom and the feed of the harvester head must be synchronized together and parallel to the tree trunk =.
    In this case, the driver controls the boom, in which case the feed of the harvester automatically travels along the trunk of the tree, following the movement of the 3 booms.
    In this way, the supply of the harvester head and the functions of the harvester head S 30 are made to react (for example to stop) faster than the movement of the boom.
    When the boom stops moving abruptly, the feed of the harvester head also stops quickly.
    It is advantageous in the combination of the functions of the boom and the harvester head according to the invention that the movement is synchronized according to a slower party. That is, since the boom often moves slower than the feed of the harvester head, it is advantageous to make the harvester head monitor the functions of the boom. In this case, the harvester head is the operating unit and the boom control unit. Embodiments of the invention do not depend on the presence of a driver. In other words, they can operate on a fully autonomous, automatic or remote machine. The implementation of the invention requires knowledge of the position of the boom and the state of motion, i.e. sensing with respect to the position and state of motion (acceleration), and knowledge of the operating state of the harvester head. OF O
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    权利要求:
    Claims (6)
    [1]
    An arrangement for controlling a forest machine in connection with a tree felling event, wherein the forest machine (100) comprises at least - at least a two-part boom (12), preferably comprising a main boom (12.1) and an articulated boom (12.2), for felling trees (16), - first actuators (18) located in the woodworking device (14) for performing the functions of the woodworking device (14), - second actuators (20) located in connection with the boom (12) for performing the functions of the boom (12), - first control means (22) ) for controlling the first actuators (18) and second control means (24) for controlling the second actuators (20) for operating the wood treatment device (14) and the boom (12), or for adjusting to produce a first test result, - second test means (28) for determining the position of the boom (12), and / or for estimating at least one degree of freedom adapted to produce a second determination result, the O 25 control system (30) for using the control signals generated by the first control means s (22) and the second control means (24) by the first actuators = (18) and the second actuators (20) for control, 3 the arrangement comprising an S 30 memory (32) connected to the control system (30) and software means N (34) arranged in the memory (32) for controlling the first actuators (18) and the second actuators (20), characterized in that that one of the booms (12) and the woodworking device (14)
    is a functional unit and the other is a control unit, respectively, and the software means (34) are adapted to: - determine in the memory (32) the function of at least one pre-stored functional unit associated with the first input (36) for the functional unit the pre-stored function of the operating unit automatically from the memory (32) based on the first input received by the user, and b) generating a second input (38) based on the current operating state of the control unit containing a conditional criterion for initiating the selected pre-stored function of the operating unit; automatically when the criterion of the second input (38) is met; and d) performing the selected pre-stored function of the operating unit triggered by the second input (38) automatically.
    [2]
    An arrangement according to claim 1, characterized in that said software means (34) in the arrangement are adapted to perform said functions a) to d) in connection with a tree felling event and to automatically perform the selected O 25 pre-stored operating unit functions. 3 -
    [3]
    Arrangement according to protection claim 1 or 2, characterized in that said criterion is a change in the operating state S 30 of the wood processing device (14)
    J N
    [4]
    Arrangement according to one of Claims 1 to 3, characterized in that the wood processing device (14) is a harvester head (147) which comprises an inertia measuring unit for determining the movement space of the wood (16) to be felled.
    [5]
    Arrangement according to one of Claims 1 to 4, characterized in that the software means (34) are adapted to perform the selected pre-stored function of the operating unit triggered by the second input (38) automatically on the basis of the determined and / or estimated degree of freedom of the operating unit.
    [6]
    Forest machine, characterized in that the forest machine (100) comprises an arrangement (10) according to one of the protective claims 1 to 5.
    OF
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    同族专利:
    公开号 | 公开日
    RU2019108059A|2020-10-01|
    FI20165646A|2017-11-30|
    EP3506735B1|2021-09-22|
    CA3033715A1|2018-03-08|
    EP3506735A1|2019-07-10|
    WO2018042080A8|2018-04-12|
    WO2018042080A1|2018-03-08|
    RU2741117C2|2021-01-22|
    FI127122B|2017-11-30|
    RU2019108059A3|2020-11-27|
    EP3506735A4|2020-04-15|
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    法律状态:
    2021-10-12| FGU| Utility model registered|Ref document number: 13033 Country of ref document: FI Kind code of ref document: U1 |
    优先权:
    申请号 | 申请日 | 专利标题
    FI20165646A|FI127122B|2016-08-30|2016-08-30|METHOD AND SYSTEM FOR CONTROLLING THE FUNCTIONING OF A WOODWORKING DEVICE IN THE CONTEXT OF A WOODWORKING DEVICE AND A CORRESPONDING FOREST MACHINE|
    EP17845592.9A|EP3506735B1|2016-08-30|2017-08-30|Method and system for controlling the functions of set of booms, or of a tree-processing device attached to it in connection with the felling of a tree, as well as a corresponding arrangement and a forestry machine|
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