• 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:
    28Abstract The invention relates to a forest machinery or workmachinery, especially to a forest machine simulator. Thesimulator of a forest machine aims to help the user ofthe simulator by adding visual cues to the simulatedenvironment. The simulator may, for example, add a gridindicating a working area of the simulated forestmachine so that the user can see the proper workingarea on the landscape. Fig. 1 Fel! Okänt namn på dokumentegenskap.
    公开号:SE1250574A1
    申请号:SE1250574
    申请日:2009-12-03
    公开日:2012-07-03
    发明作者:Osmo Luoto
    申请人:John Deere Forestry Oy；
    IPC主号:
    专利说明:

    1A method and a system for a work machine with a boomField of the lnventionThe present invention relates to a work machine or a forest machine,especially to a computer-simulated machine in an artificial environ-ment.
    Background of the lnventionThe development of forest machines has enabled significant improve-ments in productivity in forest care and harvesting. Modern forestmachines are able to work accurately and with high speed, and theoutput of such machines is known by measurements already at thetime the work is being done. The machinery in these sophisticateddevices has many innovative solutions that increase safety andproductivity of such machines.
    Operating a modern forest machine is a demanding task that requireshigh professional skills. Learning to operate the machine involves boththeoretical and practical training. The theoretical training includes e.g.learning to use the right principles at work and understanding thepurpose of each phase in the work. Practical training involves learningto operate the physical controls of a forest machine, typically byoperating the machine in real nature.ln recent times, it has become possible to practice operating a forestmachine by using a simulator. ln a very developed simulator, such asthe ones available for John Deere® forest machines, the physicalcontrols are the same or at least very much like those in a real forestmachine. The operations of the machine are simulated by a computer,and may resemble the operation of a real machine to a good degree.Unfortunately, however good the simulation of the machine itself, thecomputer-created environment cannot completely correspond to thereal world environment in a forest. For example, the perspective of theenvironment on the computer screen may be more difficult to grasp,2and imagination and spatial abstraction skills may be needed to seethe position and operation of the machine in relation to the simulatedenvironment. This challenge is partly created by the limited displaymeans compared to real world sight, but also by other factors.
    There is, therefore, a need for a solution that makes it easier for aperson to learn how to operate a forest machine in a simulated environ-ment.
    Summary of the lnventionNow there has been invented an improved method and technicalequipment implementing the method, by which the above problems arealleviated. Various aspects of the invention include a method, an appa-ratus, a server, a client and a computer readable medium comprising acomputer program stored therein, which are characterized by what isstated in the independent claims. Various embodiments of the inven-tion are disclosed in the dependent claims.
    The simulator of a forest machine according to various embodiments ofthe invention aims to help the user of the simulator by adding visualcues to the simulated environment. The simulator may, for example,add a grid indicating a working area of the simulated forest machine sothat the user can see the proper working area on the landscape. Thegrid or other indicator may have a shape that is descriptive of the reachof the forest machine, for example a cone or a rectangle, and it may beattached to the forest machine so that it is able to move with themachine in the simulated environment. The grid may be arranged to beshown on top of the terrain or ground objects of the environmentthrough arrangements in computer graphics. The arrangementaccording to the invention may help the user to learn proper workingmethods, e.g. to operate the forest machine so that the working area ison the side of the machine if such operation provides for a better reachand stability.
    According to a first aspect, there is provided a method for displaying aworking area of a boom pivotally mounted on a work machine at an3apparatus for controlling the boom and/or the work machine, the met-hod comprising electronically determining a dimension of at least partof the working area of the work machine, and electronically indicatingthe working area of the work machine so that the indication of theworking area is at least partly visible on top of a terrain adjacent to thework machine.
    According to an embodiment, the apparatus for controlling a forestmachine is a work machine or a forest machine simulator, and themethod further comprises modeling the work machine or forestmachine by a computer so that at least one part of the forest machineis a computer-modeled part, and displaying movement of the com-puter-modeled part of the work machine or forest machine to a user ofthe apparatus. According to an embodiment, the method further com-prises electronically modeling the terrain around the machine with aterrain form, and electronically indicating the working area of the forestmachine on top of the terrain form, and electronically indicating theworking area with the help of a texture. According to an embodiment,the method further comprises aligning the orientation of the indicationof the working area to one of the orientation of the whole machine, theorientation of a part of the machine, the orientation of the cabin or tothe orientation of the working means of the machine such as the boompivot. According to an embodiment, the method further comprisesdetermining information on the forestry task being performed by theuser, and electronically indicating the working area of the forestmachine based on said information on the forestry task. According toan embodiment, the indication of the working area comprises at leastone of the group of indicator for movement track of the machine, indi-cator for closest reach of working means or the boom, indicator forfurthest reach of working means or the boom, positive working areaindicator, negative working area indicator, a working cone indicator anda working square indicator, and an asymmetric working area indicatorbased on attitude and position of the work machine. According to anembodiment, the control means are configured to be used with asimulated machine or a real-world machine. According to an embodi-ment, the work machine is a real-world work machine such as aforestry machine or a loader having a mechanical boom. According to4an embodiment, the method further comprises indicating the workingarea using a head-up display.
    According to a second aspect, there is provided an apparatus com-prising a processor, memory including computer program code, thememory and the computer program code configured to, with theprocessor, cause the apparatus to electronically determine a dimensionof at least part of the working area of a boom pivotally mounted on awork machine or a forest machine, and electronically indicate theworking area of the machine so that the indication of the working areais at least partly visible on top of a terrain adjacent to the machine.
    According to an embodiment, the apparatus further comprises com-puter program code configured to, with the processor, cause the appa-ratus to model the forest machine by a computer so that at least onepart of the forest machine is a computer-modeled part, and to displaymovement of the computer-modeled part of the forest machine to auser of the apparatus. According to an embodiment, the apparatusfurther comprises computer program code configured to, with the pro-cessor, cause the apparatus to electronically model the terrain aroundthe machine with a terrain form, and electronically indicate the workingarea of the forest or work machine on top of the terrain form, andelectronically indicate the working area with the help of a texture.According to an embodiment, the apparatus further comprises com-puter program code configured to, with the processor, cause the appa-ratus to align the orientation of the indication of the working area to oneof the orientation of the whole machine, the orientation of a part of themachine, the orientation of the cabin or to the orientation of the workingmeans such as the boom pivot. According to an embodiment, theapparatus further comprises computer program code configured to,with the processor, cause the apparatus to determine information onthe forestry task being performed by the user, and electronically indi-cate the working area of the forest machine based on said informationon the forestry task. According to an embodiment, the indication of theworking area comprises at least one of the group of indicator formovement track of the machine, indicator for closest reach of workingmeans, indicator for furthest reach of working means, positive working5area indicator, negative working area indicator, a working cone indica-tor and a working square indicator, and an asymmetric working areaindicator based on attitude and position of the work machine. Accord-ing to an embodiment, the control means are configured to be usedwith a simulated machine or a real-world machine. According to anembodiment, the work machine is a real-world work machine such as aforestry machine or a loader having a mechanical boom. According toan embodiment, the apparatus further comprises a head-up display forindicating the working area.
    According to a third aspect, there is provided an apparatus comprisinga processor, memory including computer program code, the memoryand the computer program code configured to, with the processor,cause the apparatus to perform the method as described in the firstaspect. According to an embodiment, the work machine is a real-worldwork machine such as a forestry machine or a loader having amechanical boom. According to an embodiment, the apparatus furthercomprises a head-up display for indicating the working area.
    According to a fourth aspect, there is provided a computer programproduct stored on a computer readable medium and executable in adata processing device, wherein the computer program product com-prises a computer program code section for determining a dimension ofat least part of the working area of a boom pivotally mounted on a workor a forest machine, and a computer program code section for indicat-ing the working area of the machine so that the indication of theworking area is at least partly visible on top of a terrain adjacent to themachine.
    According to a fifth aspect, there is provided a computer programproduct stored on a computer readable medium and executable in adata processing device, wherein the computer program productcomprises computer program code sections for carrying out themethod as described in the first aspect.
    According to a fifth aspect, there is provided an apparatus comprisingcontrol means of a forest machine or a boom pivotally mounted on a6work machine or a forest machine for receiving control input from auser and producing control signals for controlling the apparatus,means for processing said control signals from the control unit, meansfor determining a dimension of at least part of the working area of theforest or work machine, and means for indicating the working area ofthe machine so that the indication of the working area is at least partlyvisible on top of a terrain adjacent to the forest machine. According toan embodiment, the apparatus further comprises means for modelingthe machine by a computer so that at least one part of the machine is acomputer-modeled part, and means for displaying movement of thecomputer-modeled part of the forest machine to a user of the appara-tus.
    According to a sixth aspect, there is provided a system comprising atleast a first apparatus and a second apparatus according to the first,second and/or fifth aspect, wherein the first apparatus and the secondapparatus are connected with a data connection, and the first appara-tus and the second apparatus are configured to show information indi-cative of the operation of the second apparatus at the first apparatus.According to an embodiment, the first apparatus is configured to dis-play the graphical form of the second apparatus in the virtual sceneryof the first apparatus.
    According to a seventh aspect, there is provided a system comprisingat least a first apparatus and a second apparatus according to thesecond aspect, wherein the first apparatus and the second apparatusare connected with a data connection, and the first apparatus and thesecond apparatus are configured to show information indicative of theoperation of the second apparatus at the first apparatus.
    According to an embodiment, the work machine is configured to indi-cate the working area in response to operating the boom, and toremove the working area indicator when the boom is not beingoperated. According to an embodiment, the work machine furthercomprises a head-up display for indicating the working area.7According to an eighth aspect, there is provided a work machine suchas a forestry machine comprising a movable boom, a display, aprocessor, memory including computer program code, the memory andthe computer program code configured to, with the processor, causethe work machine to electronically indicate a working area of the boomon the display. According to an embodiment, the work machine isconfigured to indicate the working area in response to operating theboom, and to remove the working area indicator when the boom is notbeing operated. According to an embodiment, the work machinecomprises a head-up display for indicating the working area.
    Description of the Drawinqsln the following, various embodiments of the invention will be describedin more detail with reference to the appended drawings, in whichFig. 1 shows a flow chart of the operation of a forest machineaccording to an embodiment of the invention;Fig. 2 shows a flow chart of the operation of a forest machineaccording to an embodiment of the invention;Figs. 3a and 3bshow a forest machine simulatorembodiment of the invention;according to anFig.4 shows a block diagram of a forest machine simulatoraccording to an embodiment of the invention;Fig. 5 shows a simulated view of the forest machine simulatoraccording to an embodiment of the invention;Figs. 6a and 6bshow schematic representations of different working areaindicators for the forest machine according to anembodiment of the invention;Fig.7 shows a view of the forest machine in training modeaccording to an embodiment of the invention;Fig. 8 shows a view of editing a simulated terrain in the forestmachine for the training mode according to an embodimentof the invention; andFigs 9a and 9bshow two types of forest machines whose operation can bemodeled in the simulator according to an embodiment of theinvenüon.
    Fig. 10 shows an example of displaying a working area of a workmachine on a display inside the working machine.
    Fig. 11 shows an example of using a head-up display for indicatingthe working area of a work machine in the real world.
    Detailed Description of the Embodimentsln the following, several embodiments of the invention will be describedin the context of a forest machine or generally work machine. lt is to benoted, however, that the invention is not limited to forest machinesalone. ln fact, the different embodiments have applications widely inany environment where indicating the working area of a machine isrequired. For example, different kind of machines like cranes, loaders,agriculture machines and such may benefit from indication of theworking area according to the invention. The working area especiallyneeds to be indicated when the work machine or forest machine has aboom that may change in length or may otherwise be arranged to beable to reach at different distances from the work machine. The boommay be arranged so that there is a boom pivot around which the boomcan rotate.9Fig. 1 shows a flow chart of the operation of a forest machineaccording to an embodiment of the invention. A forest machine typicallyhas a boom or another kind of an arrangement to bring the saw head ofthe machine to a tree. The boom may be arranged to change length asneeded, for example by comprising two or more parts connected by ajoint. This allows the saw head to be brought close to the machine byclosing the angle in the joint, and far away from the machine byopening the angle. The boom therefore has a certain range ofoperation.
    Different methods of working may also define different optimal ways ofworking with the boom and the saw head. For example, it may beadvantageous and efficient to cut trees from the side of the machine,and not cutting trees from the front. The trees in the front will come tothe optimal range of operation and the optimal direction of working (tothe side of the machine) when the machine moves forward. Therefore,a working method may also define an optimal area of working. Theworking area indicators may help to learn how to position the machinecorrectly in relation to the trees or cut trunks, as explained later in moredetail. For example, a loading machine may be positionedappropriately to the side of a pile of cut trunks.ln Fig. 1, the dimensions (or at least one dimension) of the workingarea are first determined in step 110. This may happen so that acomputer has predefined information about the working area innumeric format, or has a predefined working area pattern stored in itsmemory. When the dimensions of the working area are known, theworking area can be indicated on top of the terrain surrounding theforest machine in step 120. This may happen e.g. by projecting agraphical pattern comprising lines and shapes onto the terrain by usinggraphical abilities of the computer. The projection may happen insidethe virtual world of the computer, or projection means such as a head-up display may be used in a real world.
    Fig. 2 shows a flow chart of the operation of a forest machineaccording to an embodiment of the invention. ln step 210, the forestmachine is modeled with a computer. The model may comprisemechanical modeling, operational modeling of the engine, controls,boom and saw head and graphical modeling. This modeling of theforest machine acts as a basis for displaying the movement of themachine in step 220. For example, the movement of the boom mayaffect stability of the machine, and hitting objects may cause sounds tobe produced.ln step 230, the task given to the user of the simulator is determined.More specifically, the parameters for success and the teaching goals ofthe task may be determined. This determination may happen e.g. byuser input, or these data may be loaded from the computer memory.As explained earlier, the work area may be determined based on thetask at hand in step 240, for example, the specific task parameters.The work area may also be determined without using information of thespecific task, e.g. purely depending on the forest machine being used.When the working area is known, the dimensions of the working areamay be determined in step 250. This may comprise e.g. computing thesize of the working area or the zoom size of the working area template.ln step 260, the working area is aligned with the forest machine so thatthe working area corresponds to the situation in the real world. Theworking area may also depend on the position, attitude and/or tilt of thework machine so that work areas on different sides of the machine areof different size and/or shape. For example, the working area below themachine on a side of a hill may be smaller than the working area abovethe machine. This may be done e.g. to increase the stability of themachine.
    Modeling the terrain with a terrain form in step 270 is one example ofhow the working area can be displayed on the terrain. The terrain formmay e.g. be a triangle mesh or another shape that is able to lay on topof the terrain in the model. The terrain form may be adjusted to beslightly on top of the terrain so that an opaque terrain form would maskthe underlying terrain. ln step 280, a texture or other graphical elementmay be determined, e.g. loaded from a file or generated by analgorithm. The texture or graphical element indicates the working areaand may contain e.g. a shape of a cone or a rectangle, as well as coloror hash fill. The texture may then be mapped to the terrain form for11showing the working area. This mapping may happen so that points ofthe texture are assigned to points of the terrain form, and the texture isstretched onto the terrain form. When the texture is displayed in step290, the resulting view is that the texture indicating the working areaseems to be floating or drawn on top of the terrain and the workingarea is aligned to the position and attitude of the forest machine.
    Figs. 3a and 3b show a forest or work machine simulator according toan embodiment of the invention. The simulator is used to teach aperson the operation and work methods of a real forest machine. Realforest machines are expensive, and operating them needs to be donein a proper environment, i.e. forest. The teaching use of theseexpensive machines takes them away from productive work of forestharvesting. Furthermore, the conditions in a forest may often be harshand impede learning. Due to safety requirements, only one learner canbe instructed at a time in real world forest machine. For these andother reasons, simulators like the one in Fig. 3 have been built forteaching purposes.
    A forest machine simulator comprises controls 310 and 312 that can beoperated by the user. These controls resemble the real controls of aforest machine, or they can be identical to them. Likewise, the seat 320of the simulator may be a real seat used in a forest machine. Thesimulator logic 330 is built to be moved with the simulator e.g. underthe seat. The display 340 may be a regular computer display in thefront of the user. The simulator has been built to be movable, and itmay contain handles 350 and wheels 352 for moving it around.
    A forest machine like the one in Figs. 3a and 3b may be used to teachwork methods of forestry to the user. ln forestry, there are manyconcepts like work location and work direction that may be difficult tounderstand and visualize in real terrain. Furthermore, the task at hand,when teaching happens on a real machine, can be easily forgotten. Ona simulator, the teaching situation and instructions for the task can beshown as a reminder to the student. This is a marked improvement toteaching in real world, where the task is often given by oral and writteninstructions. Yet, as shown in Figs. 3a and 3b, a simulator may give a12very real learning experience to a user. For example, the simulator maycomprise an ignition system 360 like an ignition system in a real forestmachine, and it may comprise hand controls 310 and 312 as well asfoot controls 370 (brake) that are very much like or exactly the same asin a real forest machine.
    Fig. 4 shows a block diagram of a forest machine simulator accordingto an embodiment of the invention. The controller 410 of the simulatormay comprise e.g. the controls 415 and some control logic 418 forcreating control signals to the machine. The controls 415 may besimilar to the controls of a real forest machine, they may be a simplifiedversion of the real controls, or e.g. regular computer controls may beused. The control logic may include circuitry and/or software on aprocessor like a microcontroller for generating signals according to thecontrols operated by the user. The interface to the simulator 440 fromthe controller 410 may be the same or highly similar to the interfacebetween a real forest machine and its controller.
    The simulator 440 is connected to the controller 410 via signal lines.For handling the signals to/from the signal lines, the simulatorcomprises I/O circuitry 441. The simulator may also comprise an inputblock 442 for accepting input from the user e.g. through a keyboardand a mouse. The simulator comprises a processor 445 and memory446 for running and storing computer program code for the simulatoroperations. There may be multiple processors e.g. a general purposeprocessor and a graphics processor and/or multiple different memoriese.g. volatile memory for storing data and programs at run-time andnonvolatile memory like a hard disk for permanently storing data andprograms. The simulator may also include a video controller 448 andan audio controller 449 for generating signals that can be produced tothe user with computer accessories.
    There may also be multiple simulators connected to each other over awireless or wired network (not shown). ln such a system a firstsimulator and a second simulator may be connected with a dataconnection so that the second apparatus can send information to thefirst apparatus, and the first apparatus may show this information to the13user or use it in the modeling of the scenery. For example,performance data of the second apparatus may be shown at the firstapparatus. Also, the second apparatus may appear as a graphical formin the virtual scenery of the first apparatus. This may give a view to theuser that there is another machine working in the same area, and theuser may see this other machine moving and working. Such a systemmay also be used in a teaching purpose where a teacher or asupervisor is able to observe any single machine or multiple machinesworking in the environment. Practically, the first machine may be aharvester machine and the second machine may be a loader machine.
    The simulator produces output to the user through output means 470.The video controller 448 may be connected to a display 475. Thedisplay may be e.g. a flat panel display or a projector for producing alarger image. The display may also be adapted to wearable videogoggles. The audio controller 449 may be connected to a sound source478 such as loudspeakers or earphones.
    Fig. 5 shows a simulated view of the forest machine simulatoraccording to an embodiment of the invention. ln the simulated view,there are various modeled objects placed onto the terrain 510, forexample trees 512 that are the target of the forest machine, and otherobjects like rocks 514 and roads 516. The terrain may have shapese.g. ditches like those next to the road 516 and elevation variations likehills. The forest machine itself may comprise two main parts 520 (rearbody) and 522 (front body), with the boom 524 attached e.g. to thefront part and having a saw head 526. The forest machine may run onwheels 528.
    The working area indicators 530, 532 and 536 are projected around theforest machine. The working area indicators 530 and 532 show optimalworking areas on the side of the machine, and the working areaindicator 536 shows a sub-optimal working area in the front. Theworking area indicators may comprise elements 540 and 542 toindicate the furthest and closest reach of the boom, respectively. Themovement track of the forest machine may also be indicated with the14working area indicators with track signs 544 for showing the width ofthe needed track when the forest machine moves forward.
    The working area indicators are assigned or otherwise moving with themachine, i.e. at least somewhat attached to the machine coordinatesystem. For example, the working area indicator center point may beattached to the boom pole center point i.e. the axis of the pole bearingof the boom 524. Further, the orientation of the working area indicatorsmay be aligned with the front body 522 of the harvester machine i.e.the same body where the boom 524 is attached or to the boom pivotpoint (the bearing housing). ln a loader machine, the working areaindicators may be aligned with the back body of the machine, since thepole is mounted to the back body in a loader machine. The center pointof the working area indicators may be arranged to shift e.g. when themachine is tilted or some other conditions are present. The alignmentof the working area indicators may also be done in a flexible mannerwith reference to multiple elements, like the front body 522 and the rearbody 520 together or the alignment may change with the tilting of themachine, ground shapes and so on. The working area indicators maycomprise different radiuses, different shapes, circular cones, ellipticcones, squares, and zones of any kind. Colors can be used to indicatea positive or optimal working area and a negative or sub-optimalworking area. The working area indicators or parts of the indicatorsmay be labeled with letters, numbers, words, icons or other labels. Forexample, squares of the working area indicator may receive labels like“A1”, “A2”, “A12”, “B1”, "BZ" “L1 1” and “L12”. The tasks at handmay then refer to these labels to guide the student. Typically, the boomhas a better reach from the side of the machine, and with the help ofthe working area indicators, this can be now taught at the simulator.The right working methods and work order can be taught with the helpof the working area indicators, as well. For a loader machine, theworking area indicator may helping to operate the loader in a stableway so that the danger of tipping the machine is smaller.
    The working areas may be different for different tasks, e.g. for loadingand unloading. There may be a warning displayed if the user tries toreach too far or outside the good working area. The working areaindicators may depend on the teaching level, e.g. narrower workingareas may be used for advanced students. lt is also possible to givepoints for working on the optimal working area. There may also bedifferent working area indicators, different sizes and shapes to choosefrom depending on the task. The working area indicator may comprisereminders of the task at hand like text, numbers or icons, e.g. “Pilehere” or “Cutting area” or “Loading zone”. Such reminders or guidesmay help e.g. to place the cut trees to the right place by the harvester(to the side or to the front), or they may guide to place the left-overbranches to a certain area. The guide may also help to position theharvester or the loading machine correctly, or the guide may indicatean area for loading. For example, the working area indicator may turnto green or may blink when the machine has been positioned correctlyaccording to a given task.
    As described earlier, textures may be used in showing the workingarea. The texture may be attached on a terrain form, or it may beattached to the ground object directly. The terrain form is a floatingintermediary object following the ground on top of which the texture isattached. The terrain form is placed upwards in z-direction from theground or towards the viewer in line of sight. The terrain form may“dive” inside objects on terrain, or it may be shown on top of theobjects. The terrain object may follow the ground carefully, as seen incontext of the ditch next to the road in Fig. 5.
    The working area indicator may help learning in several ways. Theworking area indicator and instructions regarding the given task maystay on screen for the whole learning session. The working areaindicator guides the learning so that the student learns to operate themachine right. The indicator can be switched on and off easily, and itmay be applied to many different machines. The indicator helps tovisualize the scene where 3-dimensional cues are missing due to thelimited display arrangement (2-dimensional display). The indicatorimproves perspective and gives a better estimation what will be at thereach of the machine. ln the simulator, learning to reach to the side isnormally slightly difficult since the screen is in the front. The working16area indicator helps to guide the student to operate on the side of themachine.
    Figs. 6a and 6b show schematic representations of different workingarea indicators for the forest machines according to an embodiment ofthe invention. ln Fig. 6a, the working areas for the harvester with twomain parts 601 and 602 are shown. The reach of the boom 603 may beshown with a cone-shaped indicator 610, 612 (side working areas) and630 (front working area). The furthest reach of the boom 603 may beshown with arcs 614 and 626, as well as the closest reach with 616and 622. There may be other indicators for showing an optimal rangeof the boom such as the area between arcs 618 and the arc 624. Thetrack of the machine for moving forward may be shown with the frontworking area. There may also be a negative working area shown suchas the back working area 640 where the boom cannot or should notreach.
    The different working area indicators may have sub-areas, and thesesub areas may be labeled. For example, as shown in Fig 6a, the leftworking area may be divided to sections L1, L2, L3, L4 and L5, theright working area may be divided to sections R1, R2, R3, R4 and R5,the front working area may be divided to sections F1, F2 and F3 andthe back working area may be divided to sections B1, B2 and B3.These labels may then be used in e.g. guiding the task at hand byreferring in the instructions or scoring to these labels. An asymmetricworking area indicator based on attitude and position of the workmachine may also be used.ln Fig. 6b, working areas for a loader comprising two main parts 651and 652 are shown. These working areas may be cone-shaped asabove or rectangular areas 660 and 662 as shown in the figure. Theworking area indicators may have labeled squares or other taggedlocations for guiding the work even more accurately. Tagging can beachieved with numbers, letters, text or color. Sound indicators can alsobe used. The working area indicators may comprise multiple smallerparts that are then selected to form the whole indicator for a given task.The indicators may also be shaped by hand, e.g. by stretching from an17original form or drawing. As described earlier, the different workingareas may be subdivided to sections and these sections may be|abe|ed e.g. with labels like “A1” to “L12”. These labels may then beused in e.g. guiding the task at hand by referring in the instructions orscoring to these labels.
    Fig. 7 shows a view of the forest machine in training mode according toan embodiment of the invention. ln addition to the visible results of thework like cut trees 710, the training mode provides a clear scoringsystem that can be defined to follow the student's progress. There maybe different criteria 720 according to which the performance is judged.These criteria are measured with values 730, and from the values,scores 740 for the criteria are computed. The total score is an indicatorof the student's performance. Different performance criteria have beenlisted in Table 1.
    Table 1. Performance criteriaTotal time Drive over logs Cabin damage Pine stem countLog volume Machine damage Boom to trees Spruce stem countMean stack size Damaged trees Boom other damage Birch stem countMean stack quality Saw damage Rotten log count Aspen stem countThe use of working area indicators may provide advantages forlearning. For example, a good working method can be trained by thesimulator. The trees are removed from the side, not from the front. Thetrees in the front will come to optimal working area (side) when themachine moves forward. As another example, the needed driving track(width) can be shown, and minimum and maximum reach of the boom,as well as an optimal operating range are shown. The use of workingarea indicator makes it possible to continue the learning in a simulatorfor a longer time without the need to move to a real machine, since less“false learning” happens. This may provide cost savings and acceleratelearning.
    The working area indicator may also help to learn the reach of theboom so that this knowledge is then usable in real world. The working18area indicator helps to understand the effect of the boom to machinestability - in a simulator, this is otherwise challenging to understand fora student. Visible information on widths and radiuses helps to learnproper positioning of the harvester machine and proper use of boom ina loader machine.
    Fig. 8 shows a view of editing a simulated terrain in the forest machinefor the training mode according to an embodiment of the invention. Thesimulator software may comprise, for example, the following threemodes that can be implemented as separate, interconnected programsor different views in a single program, or any combination of the same.The first mode may include editors for the surrounding terrain, trees,roads and other objects in the scenery - it may be called a sceneryeditor. The scenery editor allows to shape the terrain in terms ofsurface elevation, and it allows to position different objects onto theterrain (or possibly into the terrain). The different objects may bepositioned either automatically or manually, or semi-automatically as agroup. The scenery editor may allow loading a pre-created sceneryfrom a file, and it may allow storing a part of the scenery or the wholescenery to a file for later use. The second mode may be a scoringeditor, where points for different operations can be defined. The thirdmode may be the simulation mode, as shown e.g. in Fig. 5.ln Fig. 8, the editor has a terrain 810 where different objects can beplaced. There may be trees, rocks and other objects 840 on the map.Roads 820 and terrain forms 830 can be created onto the map. Thereare buttons for adding different objects like groups of trees 842, electriclines 844, surface forms 846 and roads 848. The scenery can becreated manually e.g. tree-by-tree or semi-automatically e.g. as groupsof trees filling a certain area and having a certain densitycharacteristics. The benefit of such a terrain editor is that teachingscenes can be created beforehand and stored for later use. Since theforest exists in the computer, it can be grown back in a few secondsafter being cut. The computerized teaching material therefore stays upto date and can be easily reused.19Figs 9a and 9b show two types of forest machines whose operationcan be modeled in the simulator according to an embodiment of theinvention. ln Fig. 9a, a harvester is shown, comprising two main parts,the engine part 910 and the cabin part, connected with a swive| 925.The harvester may have wheels 930 to run on the terrain, or othermeans of supporting it on the ground. The harvester has a boom with asaw head for cutting the trees and delimbing them. ln Fig. 9b, a |oadermachine for transporting the trunks from the forest is shown. The|oader machine has two parts, the cabin part 950 and the cage part960. The |oader machine has a boom and a grabber head attached tothe boom for co|ecting the trunks to the cage 980. The |oader machinemay also run on wheels 990. Other types of machines are alsopossible in the simulator.
    Fig. 10 shows an example of displaying a working area of a workmachine on a display inside the working machine. The display isarranged to show to the operator of the work machine information onthe work machine status 1030 as well as information on the task athand 1040, 1050 and 1055. For example, the display may show theengine and battery status of a forest machine or a harvester, and itmay indicate to the operator the dimensions of the tree being cut andthe kind of tree being cut (e.g. here “KUUSI” or “SPRUCE”). ln order tohelp operating the machine, the display may be adapted to show theworking area indicators on the screen. There may also be informationlike the operator's name (here “Pekka”), and the machine may recordthe produced output related to the person operating the machine,allowing multiple persons to successively operate the machine.
    The display may show the position and attitude of the machine 1010,as well as the direction, length and movement of the boom 1095. Theleft working area 1025, the right working area 1020 as well as the frontworking area 1022 may be indicated, with the respective sub-areas andthe sub-area labels. Showing the working area indicators on the screenmay help the operator to operate the machine optimally. The terrainmay be shown in the work area indicator on the screen with the help ofcamera or scanner means, e.g. attached to the boom. The workingarea indicator may also be shown on the real controller screen in asimulator, in addition to showing the working area indicators in thesimulated world.
    The working area indicator may also be brought to the screen at timeswhen the boom is being moved by the operator, and removed fromscreen at other times. This helps to use the display space optimallyand allows the operator to observe only the most important matters onthe screen. For example, when the tree is being cut, and the boom isnot moving, the operator may appreciate to see the data related to thecutting. Therefore, at times when the tree is being cut, indicators likethe length of the trunk and volume of prepared logs may be shown. Attimes of other operations, other data may be shown, and the workingarea indicator may be removed from the screen or minimized to occupyless screen area. When the operator is moving the boom, the workingarea indicator may be brought onto the screen, or it may be enlargedfrom a small indicator to a larger indicator to be better visible, or theworking area indicators may fill essentially the entire screen. Showingthe boom movement and position may require sensors on the boom forsensing the direction, length (extension) and movement of the boom.
    Fig. 11 shows an example of using a head-up display for indicating theworking area of a work machine in the real world. The operator of thework machine may have been trained in a simulator by showing theworking area indicators in the simulated world, and possibly at thesame time on the real controller screen as explained with reference toFig. 10. The real work machine, like a forest machine or a harvester ora loader machine, may be fitted with a head-up display for showing theworking area indicators familiar from the training indicator.
    The real work machine has a cabin with windows 1110 (right window),1120 (left window) and 1130 (front window). The work machine mayhave the same controls 1140, 1145, and 1150 as in the simulator, andthe control screen 1145 may show the same working area indicators asin the simulator. To even further improve the usefulness of the workingarea indicators, they may be shown projected onto the windows withthe help of head-up displays. There may be multiple head-up displays,for example three or four or more, or just one.21ln an exemplary setup, the right working area indicator 1118 isprojected onto the right window 1110 with the help of a head-up display1115. The left working area indicator 1128 is projected onto the leftwindow 1120 with the help of a head-up display 1125. The frontworking area indicator 1138 is projected onto the front window 1130with the help of a head-up display 1135. This way, the working areaindicators may be seen by the operator as if they were on top of theterrain. The head-up displays may be adapted to take into account theheight of the operator so that the working area indicators are seen atthe right place on top of the terrain. The head-up displays may also beable to adapt to the movement of the operator's head, and they mayadapt to the tilt of the machine by changing the projection onto thewindow.
    Other arrangements for projecting the working area indicators onto theterrain in the visual field of the operator may be used. Basically, anymeans that are able to form an image of the working area indicators sothat it appears to be on top of the terrain may be used. Sucharrangements may be a special helmet that follows head movements,transparent video goggles that detect how the operator is oriented, oreven ray projection arrangements may be used. The image may beformed on any surface, even directly on the surface of the eye's retina.
    The various embodiments of the invention can be implemented with thehelp of computer program code that resides in a memory and causesthe relevant apparatuses to carry out the invention. For example, aterminal device may comprise circuitry and electronics for handling,receiving and transmitting data, computer program code in a memory,and a processor that, when running the computer program code,causes the terminal device to carry out the features of an embodiment.Yet further, a network device may comprise circuitry and electronics forhandling, receiving and transmitting data, computer program code in amemory, and a processor that, when running the computer programcode, causes the network device to carry out the features of anembodiment.22lt is obvious that the present invention is not limited solely to the above-presented embodiments, but it can be modified within the scope of theappended claims.
    权利要求:
    Claims (19)
    [1] 1. A method for displaying a working area of a boom of a simulated forestmachine at a forest machine simulator, the method comprising: - electronically determining a dimension of at least part of the working area ofthe simulated forest machine, - electronically indicating the working area of the simulated forest machine,wherein the indication of the working area is attached to the simu|ated_forestmachine so that the indication of the working area moves with the simulatedforest machine and wherein the indication of the working area is at leastpartly visible on top of a simulated terrain adjacent to the simulated forestmachine; and -aligning the indication of the working area with respect to the simulatedterrain with the orientation of a part of the simulated forest machine.
    [2] 2. A method according to claim 1, further comprising: - electronically modeling the terrain around the simulated forest machinewith a terrain form, and - electronically indicating the working area of the simulated forestmachine on top of the terrain form, and - electronically indicating the working area with the help of a texture.
    [3] 3. A method according to claim 1, or 2, further comprising:- aligning the indication of the working area with the orientation of thecabin or with the orientation of the boom pivot.
    [4] 4. A method according to any of the claims 1 to 3, further comprising: - determining information on the forestry task being performed by theuser, and - electronically indicating the working area of the simulated forestmachine based on said information on the forestry task.
    [5] 5. A method according to any of the claims 1 to 4, wherein saidindication of the working area comprises at least one of the group ofindicator for movement track of the simulated forest machine indicatingthe width of the needed track when the simulated forest machine 24moves forward, indicator for closest reach of the boom, indicator forfurthest reach of the boom, positive working area indicator, negativeworking area indicator, a working cone indicator, a working squareindicator, and an asymmetric working area indicator based on attitudeand position of the simulated forest machine.
    [6] 6. A method according to any of the claims 1 to 5, wherein the controlmeans are configured to be used with the simulated forest machine.
    [7] 7. An apparatus comprising a processor, memory including computerprogram code, the memory and the computer program code configuredto, with the processor, cause the apparatus to perform at least thefollowing: - electronically determining a dimension of at least part of the workingarea of a boom of a simulated forest machine, - electronically indicating the working area of the simulated forestmachine, wherein the indication of the working area is attached to thesimulated forest machine so that the indication of the working area moveswith the simulated forest machine and wherein the indication of theworking area is at least partly visible on top of a terrain adjacent to thesimulated forest machine; and -aligning the indication of the working area with the orientation of a partof the simulated forest machine.
    [8] 8. An apparatus according to claim 7, further comprising computerprogram code configured to, with the processor, cause the apparatusto perform at least the following: - electronically modeling the terrain around the simulated forestmachine with a terrain form, and - electronically indicating the working area of the simulated forestmachine on top of the terrain form, and - electronically indicating the working area with the help of a texture.
    [9] 9. An apparatus according to claim 7 or 8, further comprising computerprogram code configured to, with the processor, cause the apparatusto perform at least the following: - aligning the indication of the working area with the orientation of thecabin or with the orientation of the boom pivot.
    [10] 10. An apparatus according to any of the claims 7 to 9, furthercomprising computer program code configured to, with the processor,cause the apparatus to perform at least the following: - determining information on the forestry task being performed by theuser, and - electronically indicating the working area of the simulated forestmachine based on said information on the forestry task.
    [11] 11. An apparatus according to c|aim 8, wherein said indication of theworking area comprises at least one of the group of indicator formovement track of the simulated forest machine indicating the width ofthe needed track when the simulated forest machine moves forward,indicator for closest reach of working means, indicator for furthestreach of working means, positive working area indicator, negativeworking area indicator, a working cone indicator and a working squareindicator, and an asymmetric working area indicator based on attitudeand position of the simulated forest machine.
    [12] 12. An apparatus according to any of the claims 7 to 11, wherein thecontrol means are configured to be used with the simulated forestmachine.
    [13] 13. An apparatus comprising a processor, memory including computerprogram code, the memory and the computer program code configuredto, with the processor, cause the apparatus to perform the methodaccording to any of the claims 1 to 6.
    [14] 14. A computer program product stored on a computer readablemedium and executable in a data processing device, wherein thecomputer program product comprises - a computer program code section for determining a dimension of atleast part of the working area of a boom of a simulated forest machine, - a computer program code section for indicating the working area ofthe simulated forest machine, wherein the indication of the working area 26 is attached to the simulated forest machine so that the indication of theworking area moves with the simulated forest machine and Wherein theindication of the working area is at least partly visible on top of a terrainadjacent to the simulated forest machine; and - a computer program code section for aligning the indication of theworking area with the orientation of a part of the simulated forestmachine.
    [15] 15. A computer program product stored on a computer readablemedium and executable in a data processing device, Wherein thecomputer program product comprises computer program code sectionsfor carrying out the method according to any of the claims 1 to 6.
    [16] 16. An apparatus comprising: - control means of a boom of a simulated forest machine for receivingcontrol input from a user and producing control signals for controllingthe apparatus, - means for processing said control signals from the control unit, - means for determining a dimension of at least part of the workingarea of the simulated forest machine, - means for indicating the working area of the simulated forest machine,Wherein the indication of the working area is attached to the simulatedforest machine so that the indication of the working area moves with thesimulated forest machine and Wherein the indication of the working areais at least partly visible on top of a terrain adjacent to the simulatedforest machine; and - means for aligning the indication of the working area with theorientation of a part of the simulated forest machine.
    [17] 17. An apparatus according to claim 16, further comprising: - means for modeling the simulated forest machine by a computer sothat at least one part of the simulated forest machine is a computer-modeled part, and - means for displaying movement of the computer-modeled part of thesimulated forest machine to a user of the apparatus. 27
    [18] 18. A system comprising at least a first simulated apparatus and asecond simulated apparatus according to any of the claims 7 to 13,wherein the first simulated apparatus and the second simulatedapparatus are connected with a data connection, and the firstsimulated apparatus and the second simulated apparatus areconfigured to show information indicative of the operation of the secondsimulated apparatus at the first simulated apparatus.
    [19] 19. A system according to c|aim 18, wherein the first simulatedapparatus is configured to display the graphical form of the secondsimulated apparatus in the virtual scenery of the first simulatedapparatus.
    类似技术:
    公开号 | 公开日 | 专利标题
    CN108701429B|2021-12-21|Method, system, and storage medium for training a user of a robotic surgical system
    CN107636585A|2018-01-26|By being drawn inside reality environment and the generation of three-dimensional fashion object carried out
    ES2368948T3|2011-11-23|PLANER FOR THE USE OF CRANES.
    SE1250574A1|2012-07-03|Procedure and system for a working machine with a boom
    Gahan2012|3ds Max Modeling for Games: Volume II: Insider's Guide to Stylized Game Character, Vehicle and Environment Modeling
    US20130135304A1|2013-05-30|Generating three-dimensional virtual scene
    Dunston et al.2014|Challenges in evaluating skill transfer from construction equipment simulators
    CN105096670A|2015-11-25|Intelligent immersed teaching system and device used for nasogastric tube operating training
    BR102019008576A2|2020-03-17|MOBILE WORKING MACHINE, DISPLAY AND ALERT SYSTEM, AND METHOD FOR DISPLAYING INFORMATION IN AN INCREASED DISPLAY DEVICE OF A MOBILE WORKING MACHINE
    Chiang et al.2018|PotteryGo: A virtual pottery making training system
    Wang et al.2011|Reflections on using a game engine to develop a virtual training system for construction excavator operators
    US20200051448A1|2020-02-13|Multisensory Wound Simulation
    FR3034242A1|2016-09-30|PROGRESSIVE EVALUATION METHOD FOR CAPACITY TO EXECUTE A TASK, AND PLATFORM FOR IMPLEMENTING THE SAME
    JP2020519951A|2020-07-02|Camera navigation training system
    Poyade2013|Motor skill training using virtual reality and haptic interaction–A case study in industrial maintenance
    BR102013020748A2|2016-03-15|method for presenting hazardous situations that occur in training with a forest machine simulator, forest machine simulator, and computer program product
    US20210375025A1|2021-12-02|Systems and methods performing object occlusion in augmented reality-based assembly instructions
    US20200111376A1|2020-04-09|Augmented reality training devices and methods
    Zheng et al.2018|Research on Virtual Driving System of a Forestry Logging Harvester
    JP7014698B2|2022-02-01|Training material presentation system and training material presentation method
    CN202650313U|2013-01-02|Bulldozer simulation operating system
    JP6982207B1|2021-12-17|Magnetic field visualization system
    KR102327521B1|2021-11-16|Simulation system for learning tooth distinction based on virtual reality and method for processing thereof
    US20190156562A1|2019-05-23|Gradient modulated shadow mapping
    JP2019206094A|2019-12-05|Engraving lesson system, program for engraving lesson
    同族专利:
    公开号 | 公开日
    RU2524737C2|2014-08-10|
    RU2012127569A|2014-01-10|
    WO2011067456A1|2011-06-09|
    BR112012013204A2|2016-03-01|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    JPH01312129A|1988-06-13|1989-12-15|Komatsu Ltd|Monitoring device for arm-type work machine|
    ZA952853B|1994-04-18|1995-12-21|Caterpillar Inc|Method and apparatus for real time monitoring and co-ordination of multiple geography altering machines on a work site|
    US5404661A|1994-05-10|1995-04-11|Caterpillar Inc.|Method and apparatus for determining the location of a work implement|
    US5751576A|1995-12-18|1998-05-12|Ag-Chem Equipment Co., Inc.|Animated map display method for computer-controlled agricultural product application equipment|
    US7532967B2|2002-09-17|2009-05-12|Hitachi Construction Machinery Co., Ltd.|Excavation teaching apparatus for construction machine|
    GB0410415D0|2004-05-11|2004-06-16|Bamford Excavators Ltd|Operator display system|
    US8139108B2|2007-01-31|2012-03-20|Caterpillar Inc.|Simulation system implementing real-time machine data|
    US20090219199A1|2008-02-29|2009-09-03|Caterpillar Inc.|Positioning system for projecting a site model|KR102102133B1|2011-12-26|2020-04-20|스미도모쥬기가이고교 가부시키가이샤|Image display device for backhoe|
    GB2518236B|2013-09-17|2017-03-29|Caterpillar Inc|Training apparatus|
    DE102016000353A1|2016-01-14|2017-07-20|Liebherr-Components Biberach Gmbh|Crane, construction machine or industrial truck simulator|
    CA3109544A1|2018-08-30|2020-03-05|Ponsse Oyj|Method and arrangement for assisting control of forest work machine|
    法律状态:
    2017-04-18| NAV| Patent application has lapsed|
    优先权:
    申请号 | 申请日 | 专利标题
    PCT/FI2009/050975|WO2011067456A1|2009-12-03|2009-12-03|A method and a system for a work machine with a boom|
    [返回顶部]