• 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:
    Method, forest machine simulator and software product to detect and warn of situations in a simulator exercise, which would be dangerous situations with regard to safety at work if forest machines were used in a real environment. In the method, user input from the driver of the forestry machine simulator is detected, the value of user input is compared with at least one range of values of dangerous situations, corresponding to user input stored in the memory of the forestry machine simulator, and a warning of a dangerous situation is stored in the simulator memory. falls into this range for the values of dangerous situations.Fig.3
    公开号:SE1350678A1
    申请号:SE1350678
    申请日:2013-06-03
    公开日:2014-02-23
    发明作者:Jouni Havu；Osmo Luoto
    申请人:John Deere Forestry Oy；
    IPC主号:
    专利说明:

    According to a first characteristic feature of the invention, a method is presented for presenting dangerous situations which arise in an exercise with a forest machine simulator, in which method user input from the driver of the forest machine simulator is detected, the value of user input is compared with at least one range of user input values. area corresponds to a value of user input stored in a memory, and a warning associated with the area of values of a dangerous situation, in the memory of the simulator if a dangerous situation is presented, if the value of user input falls in this area for values of dangerous situations.
    According to one embodiment, the warning of a dangerous situation is displayed on the simulator screen. According to one embodiment, the warning of a dangerous situation is displayed in text format on the screen. According to one embodiment, the warning of a dangerous situation is displayed in the form of an icon on the screen. According to one embodiment, the warning of a dangerous situation is presented in a work report generated by the simulator. In addition, in one embodiment, the simulator exercise is interrupted at least temporarily.
    According to a second characteristic feature of the invention, a forest machine simulator comprising a processor and a memory is presented, 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: detecting user input from the forest machine simulator driver , to compare the value of user input with at least one range of values of dangerous situations, which corresponds to the value of user input stored in the memory of the forestry machine simulator, and to present a warning of a dangerous situation stored in the simulator memory, if the value of user input falls into this area for the values of dangerous situations.
    According to one embodiment, the warning of a dangerous situation is displayed on the simulator screen. According to one embodiment, the warning of a dangerous situation is displayed in text format on the screen. According to one embodiment, the warning of a dangerous situation is displayed in the form of an icon on the screen. According to one embodiment, the warning of a dangerous situation is presented in a work report generated by the simulator. In addition, in one embodiment, the simulator exercise is interrupted at least temporarily. According to a third characteristic feature of the invention, a computer program product is presented which comprises 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- 6.
    Description of the Drawings In the following, the present invention will be described in more detail with reference to the accompanying drawings, in which Figures 1a and 1b show forest machine simulators according to some embodiments of the invention; Figure 2 shows a block diagram of a forest machine simulator according to an embodiment of the invention; Figure 3 shows a view of a dangerous situation in a simulation environment and a corresponding warning of danger according to an embodiment of the invention; Figure 4 shows a view of a danger warning according to an embodiment of the invention in a simulation environment; and Figure 5 shows a block diagram of a method according to an embodiment of the invention for presenting a dangerous situation for a forest machine in a method illustrating safety in work with a forest machine simulator.
    Description of the invention in detail Monitoring and notification and / or reporting of dangerous situations related to safety at work with a forestry machine simulator illustrates dangerous situations for the user of the forestry machine simulator in connection with safety at work, in order for the user to observe dangerous situations when he / she works in a forest environment in the real world. Since places and positions of the machine parts as well as pieces found in the simulator world are known in the simulator without different sensors, many things relating to safety at work in the real world can be interpreted on the basis of these tasks during simulator work. In the simulator, the execution of the task, ie. the machine, the parts of the machine, the position of the machine, the speed of the machine and the parts of the machine as well as many things that happen in the simulator environment are monitored in real time. The simulator can inform the user about dangerous situations created by the user in a simulator exercise. Thus, the observance of safety at work becomes a fixed part of the simulator driver's functions and in turn increases the simulator's credibility and the professionalism acquired by the driver. When you can no longer work with the simulator without observing dangerous situations, the driver can not avoid observing and observing them. A warning of a dangerous situation can in each case be displayed on the simulator screen for the driver and / or generated with the simulator's sound systems and / or written down on a report on the work. It is thus possible that a dangerous situation is displayed only on the screen or in a report on the work, or that it is generated with sound systems; however, it is also possible to choose any combination of the above-mentioned methods or all the above-mentioned methods as the method of warning of a dangerous situation.
    When determining dangerous situations with regard to occupational safety in a simulator exercise, one can take into account trees and other obstacles in the terrain of the virtual environment, the machine itself to be simulated and its load space, any other machines working in the virtual terrain, and the data to be performed, e.g. cutting a tree and sawing logs with a harvester head, or picking logs from the ground and felling them to the load compartment with a forwarder. Since the simulator exercises and the tasks performed in them are very varied, the simulator can monitor the machine controlled by the driver, its parts and the tasks performed by the driver along the route, e.g. moving trees and logs, sawing, sawing logs, etc., and determining and presenting the dangerous situations to the driver before responding to a control signal from the driver, ie. before response to user input. Thus, the simulator can interrupt the simulator exercise at least temporarily. Or alternatively, the simulator can determine the dangerous situation and present a warning of the danger even if it continues the simulator exercise. The dangerous situations, about which the simulator either gives a warning or gives a warning and interrupts the task, may have been determined for the simulator in advance. 10 15 20 25 30 35 Dangerous situations that can be detected and warned by the simulator include b | .a. the following: sawing direction towards the cab (danger of chain shots hitting the cab when the chain breaks), feed too close to the machine (risk of the tree trunk hitting the cab / machine), felling direction of the tree (danger of the tree falling on the machine, danger of the tree falling along the crane, danger of the tree falling on a country road, danger of the tree falling on outsiders), poor grip when felling at the beginning of sawing, uncertain felling direction, danger of sawing damage (danger of chain shot in case of sawing damage), danger of the machine falling over depending on the terrain slope (harvester , driving machine), other danger of the machine falling over, center of gravity at work (harvester, driving machine), danger of damage to the cab (danger of a load in the harvester head or of a grappler hitting the cab), and danger of injury to another, adjacent work machine The how and in what way the simulator reacts to a dangerous situation created by the driver can be determined for each simulator exercise and dangerous si tuation in advance, for example in a scoring editor when scoring a simulator exercise, for example with the ScoreEditor program. A dangerous situation that is critical for safety at work can be scored high in the scoring editor. A less critically dangerous situation can be scored more easily in the scoring editor. In other words: when there are dangerous situations related to safety at work, the simulator can intervene in them immediately, for example in the case of a less critical dangerous situation by notifying ie. inform the user of the machine about the dangerous situation and in a critical dangerous situation by both notifying the dangerous situation and interrupting the performance of the task to correct the dangerous situation. In addition, dangerous situations can be observed negatively in the total score of the exercise, ie. that dangerous situations can reduce the total score on the performance of the exercise depending on the weight set for it; a high weighting of critical hazardous situations should result in a greater reduction in the total score than a less critically hazardous situation with a lower weighting. However, it is also possible to leave dangerous situations unweighted, whereby all dangerous situations are equally significant for both the exercise and the scoring, and their indication can be determined e.g. separately for each exercise. 10 15 20 25 30 35 Dangerous situations can thus constitute a scoring parameter that affects the total score of an exercise. The total score may also include other parameters when scoring to estimate the driver's performance.
    These can be e.g. the speed of the execution of the exercise, the number of treated tree trunks, the quality of the timber produced and / or the result after the work. A machine-specific work report generated by the simulator shows e.g. the total score on the execution of the exercise, consisting of selected scoring parameters. In addition, the work report can also write down the dangerous situations and other things that relate to the driver's performance.
    The simulator can indicate dangerous situations with e.g. text notes, warning icons, sound signals or combinations thereof, which are presented on the simulator screen or with the simulator's sound systems before realizing a situation that is incorrect with regard to safety at work, ie. a dangerous situation. These remarks, icons and / or sound signals draw the driver's attention to the imminent danger before an injury or a possible accident has occurred and thus teach the driver to anticipate dangerous situations for the safe use of the real machine.
    Figures 1a and 1b show some embodiments of a forest or work machine simulator according to the invention. With a simulator, it is possible to learn the skills needed to operate and maneuver a real forest machine.
    Real forest machines are expensive, and the learning of their use must be done in a real forest. When a forestry machine is in practice use, it can not be used for productive work, nor does the machine amortize its acquisition costs. Forest conditions can also be challenging for learning, and errors in a teaching situation are often uncorrectable. For safety reasons and due to limitations set by the size of the forestry machine's cab, operation of a real forestry machine can also be taught to only one student at a time. For these reasons, among others, simulators have been constructed for teaching purposes as shown in Figures 1a and 1b.
    A forestry machine simulator according to one embodiment comprises simulator controllers 110 and 112. These controllers are similar to controllers of a real forestry machine, or they may also be control components of a real Forestry Machine. Likewise, the seat 120 of the simulator may be a seat used in a real Forestry Machine. Simulator logic 130 is mounted in connection with the device, for example under the seat. The simulator screen 140 may be a standard computer screen. In addition to the computer screen, a screen of a real forest machine can also be connected to the simulator in such a way that data produced by the simulator logic about the function of the simulated forest machine is displayed on the forest machine screen. Said controllers, screen components and control circuits relating thereto constitute the hardware of the user interface for the simulator environment. The simulator can function in such a way that the control devices and the control circuits are connected to the simulator logic so that they receive from the simulator logic 130 the same signals as they would receive from a real forest machine. The simulator logic 130 thus models the function of a real forest machine and generates the respective signals to the control devices. In this way, the user's experience in the forest machine simulator, with regard to the control, corresponds to the use of a real forest machine. The user interface components programmed in the simulator program complement the simulator user interface as a functioning whole. The user sees a simulated forest landscape on the screen 140. The simulator can be easily moved by means of handles 150 and wheels 152.
    A forest machine simulator as shown in Figures 1a and 1b can be used in teaching working methods in forestry. Forestry and forest management include many concepts and procedures, for which there are no means to improve their comprehensibility and visualization in a real terrain. In such cases, the simulation environment provides the framework for a virtual reality to display such expanded information. In addition, information relating to an exercise in the simulation environment, such as the purpose of the exercise and the instructions relating to its execution, can be displayed on the screen during the exercise for the person to learn, if he / she has forgotten the assignment for any reason.
    With the simulator, a very realistic learning environment can be achieved, as can be judged by the devices in Figures 1a and 1b. The simulator device can t.o.m. have a starting system 160 such as a real forest machine, with an ignition key, pedals 170 and manual controls 112. Figure 2 shows a forest machine simulator according to an embodiment of the invention in a block diagram. The control device 210 may comprise, for example, control devices 215 and control logic 218, with which the control signals of the machine are produced.
    The controllers 215 may be similar to controllers used in a real Forestry Machine and transformed to be simpler than real forest machine controllers, or for example controllers intended to control a standard computer. The controls are used both to drive the forestry machine to a requested terrain point in the simulation environment and to operate a work crane connected to the forestry machine in a workplace. The harvesting crane can be connected, for example, to a harvester head, a timber gripper, a planting device, a baling device or some other work tool. The control logic 218 may comprise microcircuits and / or a programmable processor, such as a microprocessor, which uses timers and relays and generates signals from the movement of controls operated by the user. The interface between the controller 210 and the simulator 240 may be the same or substantially similar to the interface that exists between the controller of an actual forestry machine and the actual performing components of the forestry machine. The simulator 240 is connected to the controller 210 with signal lines. For processing signals in the line, the simulator is provided with an I / O circuit 241. The simulator can also be provided with an input block 242 for receiving inputs from the user with e.g. a mouse or keys. The simulator comprises a processor 245 and a memory 246, which are used for executing and storing a program code which executes the simulator. The simulator may also comprise several processors, such as e.g. a processor for tasks relating to the function of the simulator in general and a processor for tasks relating to the display of graphics. Using the processor 245 or the processors can be determined by mathematical methods, e.g. dangerous situations created by the driver in the simulator environment, and inform the driver about them. The machine itself to be simulated, other machines working in the virtual environment and the tasks to be performed, e.g. felling of a tree, has movement in x, y and z directions, ie. length, height and depth directions. This three-dimensional (3D) trajectory is taken into account when determining dangerous situations. The simulator can also have several different types of memories used, such as an unstable memory type to be used for storing data and software while running, and persistent memories, such as flash and hard disk memories, for long-term storage of program codes. Furthermore, the simulator may comprise a video controller 248 and an audio controller 249, which can be used to generate video and audio signals through the user interface socket 270 to be perceived by the simulator users.
    In an embodiment according to the invention, several simulators can be connected to each other over a wireless or wired network connection. In such an arrangement, the first and second simulators may be interconnected by a data connection so that the second simulator device may send information to the first simulator device, and the first simulator device may display this information to the user or use said information in modeling its own simulation view. For example, the forestry machine simulated by the second simulation device can be displayed as an actor in real time in the simulated environment of the first simulation device.
    The video controller 248 can be connected to a screen 275. The screen can be, for example, a panel screen, a video projector or a 3D screen. The screen can also be adapted to a dressable video screen, such as e.g. a helmet or a glass eye shield. The audio controller 249 of the simulator may be connected to an audio source 278, such as a speaker or a headphone. Using the screen 275 and the sound source 278, the driver can be informed of dangerous situations.
    Figure 3 shows a warning of danger according to an embodiment of the invention on a simulation environment on the screen 30 of a forest machine simulator. The hazard warning 32 is displayed on the simulator environment on the screen 30 so that the hazard warning 32 is easily observable. In addition, the dangerous situation that should be observed in text form is displayed on the screen so that the driver does not become unsure about what the dangerous situation was and what it would have caused. Furthermore, it is possible to display on the screen 32 with a warning icon 34, e.g. a constellation or an exclamation mark, the object of the dangerous situation, i.e. for example the point where the tree would hit the machine, if the function was continued.
    Figure 4 shows a warning of danger according to an embodiment of the invention on a simulation environment on the screen 40 of a forest machine simulator. In this embodiment, a dangerous situation is indicated by icons; for example by using a yellow danger icon 42 (here lighter icon) a minor danger can be indicated with regard to safety at work, and with a red danger icon 44 (here darker icon) a critical danger with regard to safety In work. However, it is also possible to use colors to indicate a hazard. In other words, if there is a small risk of realizing a danger in a situation, this is indicated by a yellow danger icon 42, and if the risk of realizing the danger is great, a red danger icon 44 is used. However, the colors used are not limited to red and / or yellow.
    Figure 5 shows a block diagram of a method according to an embodiment of the invention for detecting and presenting dangerous situations that arise in an exercise with a forest machine simulator.
    In step 50, user input from the driver of the forestry machine simulator is detected.
    User input can be any input that controls the function of the simulator, ie. a control signal, e.g. moving the forestry machine to a requested terrain point in the simulation environment, or operating a work crane connected to the forestry machine in a workplace.
    At least one area for values of dangerous situations for at least a part of user input has been stored in the memory of the forestry machine simulator. Areas for values of hazardous situations may have been determined for at least such user inputs that may cause the following hazardous situations for the machine or its function: sawing direction towards the cab, feeding a tree trunk too close to the machine, felling direction of the tree on the machine, felling the tree of the tree on a country road, felling of the tree on outside or on another machine, poor grip when felling at the beginning of sawing, uncertain felling direction, danger of sawing damage, danger of the machine falling over due to the slope of the terrain, other danger of the machine falling down, center of gravity, danger of a load in the harvester head or in a grapple hitting the cab, and danger of injury to another, adjacent work machine. For each area for the values of dangerous situations, a warning associated with said area for the values of dangerous situations may have been determined in the memory of the simulator. For example, to an area for the values of dangerous situations of the sawing direction may have been connected the following warning about a dangerous situation: "Trees hit the cab" However, there may be more than one area for the values of dangerous situations for a user input. the driving speed of the machine 10 15 20 25 30 11 can be determined that driving too slowly or too fast causes dangerous situations, in which case the beginning and end of a set of values corresponding to user input can be determined as ranges for values of dangerous situations, and for both ranges for values of dangerous situations a separate warning can be determined of a dangerous situation, eg for the beginning: "Too high driving speed" and for the end of the range for values of dangerous situations: "Too low driving speed".
    In step 52, the value of user input is compared with at least one range of hazardous situation values corresponding to user input stored in the memory of the forestry machine simulator. In step 54, the simulator screen displays a warning stored in the memory of the simulator of a dangerous situation relating to the range of values of dangerous situations, if the value of user input falls in this range of values of dangerous situations.
    If e.g. user input for poor grip at felling at the beginning of sawing can have values between 10 and 250, the simulator may have determined in memory a range between 10 and 100 for values of dangerous situations for said user input.
    And if the value of user input detected in step 50 is 70, it falls within said range of values of dangerous situations for user input. As a result, the on-screen simulator displays a warning that relates to the range of values of dangerous situations, e.g. "Trees hit the cab".
    The procedure for detecting and presenting a dangerous situation that threatens safety at work is performed with the simulator at the same time as the driver performs a simulator exercise. In this case, the simulator controlling the computer program code - when the program code is run with at least one of the simulator's processors - causes the simulator to perform determination of a dangerous situation that threatens safety at work and to indicate it to the driver, in a predetermined manner.
    The invention in question is not limited only to the embodiments presented above, but it can be varied within the scope of the appended claims.
    权利要求:
    Claims (13)
    [1]
    A method for presenting dangerous situations that arise in a forest machine simulator exercise, in which method: user input from the driver is detected by a forest machine simulator; the value of user input is compared with at least one area stored in the memory of the forestry machine simulator for values of dangerous situations corresponding to the value of user input; and a warning stored in the memory of the simulator of a dangerous situation relating to the range of values of dangerous situations is presented, if the value of user input falls in this range of values of dangerous situations.
    [2]
    A method according to claim 1, wherein the warning of a dangerous situation is displayed on the screen of the simulator.
    [3]
    A method according to claim 2, wherein the warning of a dangerous situation is displayed in text form on the screen.
    [4]
    A method according to claim 2 or 3, wherein the warning of a dangerous situation is displayed in the form of an icon on the screen.
    [5]
    A method according to any one of claims 1-4, wherein the warning of a dangerous situation is presented in a work report generated by the stimulator.
    [6]
    A method according to any one of claims 1-5, wherein the simulator exercise is also interrupted at least temporarily.
    [7]
    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: detecting user input from the driver of the forest machine simulator; Comparing the value of user input with at least one area stored in the memory of the forestry machine simulator for values of dangerous situations corresponding to the value of user input; and to present a warning stored in the simulator's of a dangerous situation relating to the range of values of dangerous situations, if the value of user input falls within this range of values of dangerous situations.
    [8]
    Forest machine simulator according to claim 7, in which the warning of a dangerous situation is displayed on the screen of the simulator.
    [9]
    Forest machine simulator according to claim 8, in which the warning of a dangerous situation is displayed in text form on the screen.
    [10]
    Forest machine simulator according to claim 8 or 9, in which the warning of a dangerous situation is displayed in the form of an icon on the screen.
    [11]
    A forest machine simulator according to any one of claims 7-10, in which the warning of a dangerous situation is presented in a work report generated by the stimulator.
    [12]
    A forest machine simulator according to any one of claims 7-11, in which the simulator exercise is also interrupted at least temporarily.
    [13]
    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 1-6.
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    同族专利:
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    引用文献:
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    法律状态:
    2019-07-23| NAV| Patent application has lapsed|
    2019-08-13| NAV| Patent application has lapsed|
    优先权:
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    FI20125872A|FI20125872A|2012-08-22|2012-08-22|Working methods, monitoring, monitoring and reporting during simulator training|
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