• 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:
    The invention relates to a method for evaluating how the driver of a forest machine simulator handles the forest machine boom. In the method, the path of the tip of the boom carried by the driver of the forestry machine simulator is stored in the memory of the simulator to perform a simulator exercise. the driver with the alternate path to determine a boom handling index, and the index is presented. The invention also relates to a forest machine simulator and a computer program product used in the method. Fig. 1
    公开号:SE1251188A1
    申请号:SE1251188
    申请日:2012-10-19
    公开日:2013-04-29
    发明作者:Mikko Palmroth；Joonas Maekiraatikka；Markku Heikkinen；Osmo Luoto
    申请人:John Deere Forestry Oy；
    IPC主号:
    专利说明:

    Brief Summary of the Invention The object of the present invention is to provide a solution by which one can determine the level at which the driver of a forestry machine simulator masters the boom of the forestry machine and which level can be measured with non-absolute values.
    The invention is characterized by what is presented in the independent claims, and the dependent claims relate to the advantageous embodiments of the invention.
    The invention is based on the idea that in the method the path of the tip of the boom, which is controlled by a driver of a forest machine simulator, is stored in the memory of the simulator to perform a simulator exercise; an alternative path is determined for the path by the tip of the boom controlled by the driver of the forestry machine simulator to perform a simulator exercise; the path of the tip of the boom controlled by the driver is compared with the alternative path to determine a boom handling index; and the boom management index are presented.
    According to an advantageous embodiment, the alternative path is determined by filtering the path of the tip of the boom which is controlled by the driver of the forestry machine simulator. Further, according to an advantageous embodiment, the boom handling index is formed by comparing the length of the path on the tip of the boom controlled by the driver with the length of the alternate path for the tip of the boom, or the boom handling index is formed by comparing the speed of the path on the tip of the boom. controlled by the driver at the speed of the alternate path for the tip of the boom. Further according to an advantageous embodiment, the alternative path and the simulated path are presented on the virtual environment on the simulator screen. Further according to an advantageous embodiment, the tip of the boom is movable in longitudinal, height and depth directions.
    In addition, the boom speed can be adjusted based on the boom handling index. Based on the boom handling index, you can also choose another simulator exercise for the driver of the simulator. Furthermore, the boom management index can be presented either on the screen of the simulator or, for example, in a report that can be printed out about the simulator exercise. Likewise, both the simulated course and the alternative course can be presented visually in the report.
    The invention also relates to a forest machine simulator which comprises a processor and a memory, and which memory comprises a computer program code, and in which the computer program code and the memory together with the processor cause the simulator to perform the steps of the procedure presented above.
    The invention also relates to a computer program product comprising a computer program code for controlling a computer, which computer program code allows the computer - when the program code is run with at least one processor - to perform the steps of the method presented above according to any one of the claims.
    DESCRIPTION OF THE DRAWINGS In the following, the present invention will be described in more detail with reference to the accompanying drawings, in which fi gur1 shows a forest machine simulator view according to an embodiment of the invention; Figure 2 shows a block diagram of a forest machine simulator according to an embodiment of the invention; and Figure 3 shows a block diagram of a method for determining control over the boom of the forestry machine according to an embodiment of the invention.
    Description of the invention in detail In forest machine operator training carried out with a simulator, such as in training for drivers of harvester heads and forwarders, there is a need to monitor the student's development also in handling the forest machine boom.
    However, the handling of the forest machine boom cannot be measured with an absolute value that would determine the driver's knowledge of the handling of the boom.
    However, the handling of the forest machine boom is one of the most important skills of a forest machine operator with regard to b | .a. the power use of the forestry machine and further fuel consumption and the durability of the machine, but also to avoid damage to equipment and persons; i.e. that the handling of the barrier is the driver's knowledge, with which the driver performs the requested tasks as efficiently, safely and productively as possible.
    Deficiencies in the handling of the boom are manifested in practice in the form of b | .a. an uneven movement of the tip or end of the boom. In the path of the tip of the boom you see b | .a. the adjusting movements made by the driver for the boom and / or reciprocating adjusting movements made when fl moved to the correct target.
    The determination of control over the boom can be performed by determining an alternative path for the boom tip to perform the tasks of the simulator exercise and by comparing the alternative path for the boom tip with the path of the boom tip in the simulator exercise, ie. the simulated track when the driver of the simulator performs tasks of the same simulator exercise. The result is an index that shows the handling of the boom in percentage, ie. a boom management index. A larger index shows the so-called better handling of the boom, since the simulated path has then been closer to the alternative path.
    When determining the alternative course for the simulator exercise, account is taken of trees and other obstacles in the terrain of the virtual environment, the machine itself to be simulated and its cargo space, any other machines operating in the virtual terrain, and the tasks to be performed. , e.g. with a harvester head cutting a tree and sawing logs, with a forwarder picking logs from the ground and felling them to the cargo area. It must be borne in mind, however, that the alternative path is not necessarily the shortest possible path with which the task can be performed.
    The alternative course can also be in accordance with good working methods that take into account safe and efficient working phases, courses of action and course choices that have been well used. Since the simulator exercises and the tasks performed in them are very varied and can be performed in a requested order, for the driver's exercises no alternative course is usually determined in advance, but the simulator follows the course of the boom tip guided by the driver, and the tasks the driver performs along the track, e.g. moving trees and logs, cutting saws, sawing logs, etc., and determining an alternative path for the tip of the boom by filtering from the driver's performance, e.g. by removing from the alternative track unnecessary reciprocating movements, small movements due to shaking of the driver's hand, and other uneven movements of the boom tip, and by straightening unnecessary curves or the like in the track of the boom tip. With the help of this alternative path, the same tasks can be performed, for example, with a shorter path of the tip of the boom, in a more energy-efficient way, with a smaller load on the boom, faster, or with another criterion that can be determined for the simulator.
    However, the determination of the alternative path can also be performed e.g. by a teacher in advance or afterwards, and stored in a memory. In this case, the driver performs a task specified by the teacher. The simulator can also determine and store in its memory an alternative path for the tip of the boom in a specific task in advance or afterwards with mathematical methods, e.g. using a virtual positioning method by calculating the distances between e.g. the tip of the boom and the target points in the simulator exercise based on positioning data.
    The relationship between the simulated course realized in the simulator exercise and the alternative course can be determined by fl your things, e.g. if the driver guides the tip of the boom along a path which is advantageous for the tip of the boom, if the realized path is "smooth", ie. if there is excessive vibration or oscillation or the like when handling the boom, and / or if the realized path runs through the same operating points as the alternative path.
    The tip of the boom is movable in x-, y- and z-directions, ie. that it is movable in longitudinal, height and depth directions. This three-dimensional (3D) path of motion is included in the determination of the alternative path and e.g. when measuring the realized path of the boom tip in the simulator.
    The control over the boom percentage index makes it possible to follow the handling of the boom in each simulator exercise in a machine-specific way, in real time and without the supervision of a teacher or another person. The method that measures control over the boom in the simulator applies to olika your various forest machine simulators, such as e.g. harvester and forwarder simulators, but also 10 15 20 25 30 35 excavator and mobile crane simulators. The procedure provides a clear response to the driver student's performance and also progress. The method is also suitable for holistic monitoring of the handling of the boom, when the driver performs tasks with different forest machine simulators and / or different simulator exercises with the same forest machine simulator. In this case, one can also determine either an average boom handling index for a specific type of machine, e.g. a harvester, or a common average boom handling index for maskiner your machines, e.g. a harvester and a forwarder. In its simplest form, this procedure is straightforward in terms of calculations.
    Figure 1 shows a view according to an embodiment of the invention on the screen 1 of a forest machine simulator. After a simulator exercise performed with the simulator, you can show in addition to a boom handling index (Boom hand / ing index) which shows the handling of the harvester boom as a percentage also an alternative track 4 defined for the boom tip 3 and the track realized by the simulator driver with the simulator of the tip of the boom 3, i.e. the simulated path 5.
    Of the tracks 4 and 5 shown on the terrain in the virtual environment on the simulator's screen 1, the simulator's driver can see his possible faults in a more detailed way. In other words, the display of the two paths 4 and 5 simultaneously on the simulator screen visually illustrates to the person who performed the task, if the simulated path 5 runs e.g. through the same operating points as the alternative path 4, and further illustrates the places in which the paths 4 and 5 have a particularly clear deviation from each other.
    On the screen 1 of the simulator, it is thus possible to display only the boom handling index 2 or both paths 4 and 5 of the boom tip 3, but also both the index 2 and the paths 4 and 5 at the same time. Furthermore, it is possible to determine by calculation - based on differences between the alternative path 4 and the simulated path 5 - whether the decrease in the value of the index 2 was mainly caused by e.g. the adjusting movements of the boom made by the driver, or of reciprocating adjusting movements when moving to the right target, or of unfavorable choices of lanes. This Main fault which caused a lowering of the boom handling index 2 can also be displayed on the simulator screen 1 e.g. in connection with the index 2, e.g. below the index 2 on the screen 1. 10 15 20 25 30 35 In addition, it is possible to set the simulator to change its settings based on the boom management index. A threshold value can be set for the simulator, ie. a so-called approved value, below which the boom handling index must not be without the simulator changing its settings. This value can be e.g. 50%. When the driver gets an index value below said 50%, the simulator changes e.g. boom speed e.g. 10% down, from 100% to 90%. Thus, the driver cannot introduce the 100% speed of the boom until he / she has succeeded in performing the tasks in an approved manner with this calculated 90% speed. By lowering the speed, you can reduce sudden movements of the tip of the boom. The amounts for the speed reduction and the threshold value for the boom handling index are freely adjustable and adjustable for the simulator.
    Instead of the speed of the boom, it is also possible to use the boom handling index as a kind of milestone, whereby the user must get the boom handling index at a certain level, e.g. at least 85%, before he / she can move on to the following simulator exercise or the following simulator exercises that are determined at a higher level in difficulty. The driver may perform e.g. simulator exercises with difficulty level 1 until the boom handling index exceeds 85%; then the simulator exercises with degree of difficulty 2 open up for the driver to perform. The tasks may have been classified in degrees of difficulty, e.g. in connection with their preparation, or the simulator can be arranged to classify the simulator exercises on the basis of boom management index results accumulated in its memory. Thus, the simulator classifies a simulator exercise e.g. in difficulty level 1, if e.g. On the first attempt, 10 drivers received a boom handling index of at least 80%. The number of drivers used for the classification can be varied and can be chosen freely, as can the value of the boom handling index.
    Furthermore, the simulator can store in its memory the position information of the machine in the virtual environment relative to the time, the movements of the cubes relative to the time and information about the position of the boom tip (eg lifting, turning, distance of the boom tip from the machine) relative to the operator. - lator exercise. From the stored material, one can calculate parameters that relate to the working model used by the driver, and examine the working models, e.g. determine the driver's working time, when the tip of the boom was in the end position. Figure 2 shows a block diagram of a forest machine simulator according to an embodiment of the invention. The control unit 210 of the simulator may comprise e.g. controller 215 and a controller 218 to create control signals for the machine. The controls 215 can be the same as the controls of a real Forestry Machine, it can be a simplified version of the real controls, or you can also use e.g. standard computer controllers, such as a keyboard. The control logic 218 may include control circuits and / or a processor with software, such as a microcontroller, to generate signals according to the controls used by the user. The user interface of the simulator 240 for the controller 210 may be the same or very similar to an actual user interface between a forestry machine and its controller. Alternatively, the simulator may comprise only basic controllers, the position of which is read by a CAN bus or an I / O card on the simulator's computer (PC). The control logic block 218 of the simulator may further comprise e.g. a control system for a complete forest machine, where e.g. the hydraulic valves are replaced with virtual valves.
    The simulator 240 is connected by signal lines to the controller 210. For processing signals to and from these signal lines, the simulator comprises an I / O circuit 241. The simulator may also comprise an input block 242 for receiving an input from the user e.g. via a keyboard or mouse. The simulator comprises a processor 245 and a memory 246 for using and storing a computer program code for simulator functions. There can be several processors, e.g. a universal processor and a graphics processor, and / or several different memories, e.g. a volatile memory for storing data and programs while driving and a permanent memory, such as a hard disk, for permanently storing data and programs. The simulator may also include a video controller 248 and an audio controller 249 for generating such signals that can be generated for the user with the computer's additional devices.
    The simulator can produce an output for the user through an output device 270. The video controller 248 may be connected to a screen 275. The screen 275 may be e.g. a flat panel display or a projector to generate larger images. The screen 275 can also be adapted to wearable video goggles. The audio controller 249 may be connected to an audio source 278, such as a speaker or a headphone. Figure 3 shows a block diagram of a method for determining control over the boom of the forestry machine according to an embodiment of the invention. In step 31 of the procedure for evaluating how the driver of the forestry machine simulator handles the forestry machine boom, the path of the tip is stored in the boom of the forestry machine, which is driven by the forestry machine simulator driver, ie. the simulated path in the simulator's memory. The storage can be performed simultaneously with the execution of the task. In step 32, ie. an alternative path is determined for the simulated path. In step 33, the simulated path of the boom tip is compared with the alternate path to determine a boom handling index, and in step 34, the boom handling index is displayed.
    It is also possible that the procedure for determining the boom handling index is performed with a computer separate from the simulator. In this case, the computer controlling the computer program code - when the program code is run with at least one processor in the computer - causes the computer to perform the procedure for determining the boom management index. The invention in question is not limited only to the embodiments presented above, but can be varied within the scope. for the appended claims.
    权利要求:
    Claims (18)
    [1]
    A method for determining how the driver of a forestry machine simulator handles the boom of a forestry machine, the method comprising the following steps: storing in the simulator's memory the path of the tip of the boom controlled by the driver of the forestry machine simulator to perform a simulator exercise; determining with the simulator an alternative path for the path of the tip of the boom controlled by the driver of the forestry machine simulator to perform a simulator exercise; comparing the path of the tip of the boom controlled by the driver with the alternative path of the tip of the boom to determine a boom handling index; and you show the boom management index.
    [2]
    A method according to claim 1, wherein the alternative path is determined by filtering the path of the tip of the boom carried by the driver of the forestry machine simulator.
    [3]
    A method according to claim 1 or 2, wherein the boom handling index is determined by comparing the length of the path at the tip of the boom controlled by the driver, with the length of the alternate path of the boom tip.
    [4]
    A method according to claim 1 or 2, wherein the boom handling index is determined by comparing the speed of the path on the tip of the boom controlled by the driver, with the speed of an alternative path for the tip of the boom.
    [5]
    A method according to any one of claims 1-4, further showing the simulated path and the alternative path on a virtual environment on the simulator screen. 10 15 20 25 30 35 11
    [6]
    A method according to any one of claims 1-5, wherein the tip of the boom is movable in longitudinal, height and grape directions.
    [7]
    A method according to any one of claims 1-6, wherein the speed of the boom is further adjusted based on the boom handling index.
    [8]
    A method according to any one of claims 1-7, further selecting another simulator exercise for the simulator driver based on the boom handling index.
    [9]
    A method according to any one of claims 1-8, wherein the boom handling index is displayed on the simulator screen.
    [10]
    A forest machine simulator comprising a processor and a memory, the memory comprising a computer program code, the computer program code and the memory together with the processor causing the simulator to perform at least the following steps: storing in the simulator memory the path of the tip of the boom controlled by the forest machine simulator driver to perform a simulator exercise; determining with the simulator an alternative path for the path of the tip of the boom controlled by the driver of the forestry machine simulator to perform a simulator exercise; comparing the path of the tip of the boom controlled by the driver with the alternative path of the boom tip to determine a boom handling index; and displaying the boom management index on the simulator screen.
    [11]
    The forest machine simulator according to claim 10, wherein the alternative path is determined by filtering the path of the tip of the boom carried by the driver of the forest machine simulator. 10 15 20 25 30 12
    [12]
    A forest machine simulator according to claim 10 or 11, wherein the boom handling index is formed by comparing the length of the path at the tip of the boom controlled by the driver, with the length of the alternate path of the boom tip.
    [13]
    A forest machine simulator according to claim 10 or 11, wherein the boom handling index is formed by comparing the speed of the path at the tip of the boom controlled by the driver, with the speed of the alternative path of the boom tip.
    [14]
    A forest machine simulator according to any one of claims 10-13, wherein the simulator further displays the path controlled by the driver and the alternate path of a virtual environment on its screen.
    [15]
    A forest machine simulator according to any one of claims 1-14, wherein the tip of the boom is movable in longitudinal, height and depth directions.
    [16]
    A forest machine simulator according to any one of claims 1-15, wherein the simulator further adjusts the boom speed based on the boom handling index
    [17]
    A forest machine simulator according to any one of claims 1-16, wherein the simulator further selects another simulator exercise for the simulator driver based on the boom handling index.
    [18]
    A computer program product comprising a computer program code for controlling a computer, which computer program code causes the computer - when the program code is run with at least one processor - to perform the method according to any one of claims 1-9.
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    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    FI20116057A|FI126511B|2011-10-28|2011-10-28|Method for evaluating driver boom control|
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