瑞典专利SE534958C2 Procedure and system for assessing the productivity of a work machine and its users

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专利摘要:
A system and method for evaluating the productivity of a working machine and its driver in a real or virtual operating environment is controlled by a control system to perform work, and in which the work cycles relating to the work performed by the working machine are determined by continuous measurements directed to the working machine when it is controlled by the driver. Characteristic values relating to the performance of the determined work cycles are collected on the basis of the continuous measurements for the purpose of evaluating the performance of the work or for comparison.
公开号:SE534958C2
申请号:SE0900666
申请日:2009-05-18
公开日:2012-02-28
发明作者:Aki Putkonen
申请人:John Deere Forestry Oy；
IPC主号:

专利说明:

25 30 534 958 2 Regarding the control bus, the control and measurement automation of the control system is based on a CAN bus solution according to the prior art, where information is transmitted in digital form. Measurements and messages move in the control bus in a manner known per se. Based on the information, the measurements associated with lengths and operating speeds of the various steps of the treatment can be followed up. From the messages and measurements, information is obtained about operating times and time distribution of components that are responsible for different functions. The components can e.g. be intended for the functions of the boom system or for functions of the harvester unit connected to the boom system, which functions are e.g. feeding, diameter measurement, length measurement, sawing and pruning. A large number of measured values are associated with the processing of a single tree trunk, which measured values can be stored in a database which further comprises a division e.g. according to the size classes of the tribes and stocks. The size class of the strain is known from the measured values.
Reduced technical performance of the loader, harvester or harvester head in both the entire system and in its subsystems and sub-functions impairs the profitability of the drive work. It has been difficult to detect a long-term decrease in performance, as the detection has been based on e.g. the user's or the service and repair staff's subjective estimates and experiences, which can be both limited in time and only apply to a few forestry machines. It has also not been possible to reliably estimate the impact of repair or alteration work or on changes in procedures. The document WO 2006/128786 A1 presents a method and a system for monitoring the function of the forest muscle's subsystem or for monitoring the performance of any, one or more.
This involves measuring the condition or performance characteristics of one or more of the forest muscle's subsystems and showing the result to the user. Each measurement task contains, case by case, filtering of disturbance data and processing of data into a reliable parameter that can be used for maintenance and optimization of the machine's performance.
The assessment of the technical performance of the forest machine is not unambiguous when the user participates in the control of the work machine, especially the forest machine, and the realization of the work steps. The function of the system depends on both the technical performance of the forestry machine's subsystem and the user's, ie. the forest machine operator, knowledge of the use of the work machine in varying conditions. Control orders from the driver and the driver's mode of action determine the function of the entire system.
For the working machine's monitoring system for condition and productivity, it is important to monitor and store the duration of each work step by using ﬂ your samples for a long time and then, according to the monitoring, state changes that occur over a long period of time. Typically, the analysis of the work machine's function and condition is based on statistical data collected over a long period of time.
It is therefore necessary to monitor the working steps of the work machine in real time by using control orders from the driver, which control orders can be registered via the user interface as control signals or messages, and by using messages from the machine. The words, messages and signals are transmitted in a control bus, the traffic of which can be monitored in real time. identification of the working steps of the work machine from e.g. the control of the steering bus is still a complicated task. For the identification of work steps, mathematical methods (HMM method) are used, one of which is presented in the publication “Work cycle recognition in human operated machine using Hidden Markov Models”; Palmroth L. Putkonen A .; The 8th International Conference on Motion and Vibration Control (MOVlC2006); KAlST, Daejeon, Korea; August 27-30, 2006; pp. 459-464.
The automatic and continuous identification of work steps has many advantages that are related to the monitoring of the condition and productivity of the work machine. In the process, the length of each work step and the mutual temporal distribution of the work steps are monitored as part of a larger work step unit, or the condition of the work machine, e.g. unloading or loading of the forwarder's load, and * statistics are kept on these. When the duration of the working steps and their mutual time distribution are displayed to the operator via the user interface of the working machine, the operator receives immediate feedback on the condition of the machine and his own action. The feedback is particularly useful when data associated with the history of one or more of your work steps is presented, e.g. trend information, or the user's performance is compared e.g. with a reference value or with the performance of an experienced driver. For example. the reference value is obtained by examining other users and by collecting history information about the work steps.
SUMMARY OF THE INVENTION The inventive method is presented in claim 1. The inventive system is presented in claim 18. The inventive computer program is presented in claim 14. The inventive computer software is presented in claim 16.
With the help of the system, it is possible to monitor the working machines, e.g. the technical performance of forestry machines and to carry out a long-term trend follow-up, ie. monitor the variation over time. The follow-up is done by storing enough history information, or by presenting the variation graphically or as numerical information, or by taking the history information for the analysis. With the help of the invention, it is possible to comparatively compare data associated with the performance of the function and measured in the different operating conditions of the work machine, and performance data, since information to be determined is obtained, if necessary, independent of varying factors.
The information is used in the monitoring system for the condition of the work machine and the information's adequacy, coverage and extensibility offer an excellent basis also for expert-based estimates on the question of e.g. the performance of the forest machine and e.g. the productivity of the work machine and its users, where possible problems could be and what should be done to improve performance.
The special advantage is that the realization of the various embodiments of the invention does not require new sensors or calculation modules in the machine, if this is not desired. When the number of sensors is increased, such objects can also be monitored which do not normally belong to the monitoring of the work machine's own control system, but which may be important from the point of view of condition control or productivity.
An important feature of the graphical representation according to the various embodiments of the invention is the clarity for the user. The graphic presentation of the information can be realized in different ways.
For example. the forest machine operator controls the work machine by using two joysticks. Each user has their own style for performing different work steps, which also refers to different working methods. Each mode of operation has its disadvantages and advantages, whereby the advantage of a mode of operation may, for example, be an increased productivity and the disadvantage e.g. increased fuel consumption. In addition, the operating conditions affect the execution of the work steps. However, it is possible to find a relationship between parameters measured during the work, e.g. control signals and orders, and productivity in different conditions. In a forestry machine, the affecting conditions are e.g. types of wood to be treated, type of work case which is e.g. thinning or finishing effect. With the help of a method and a system, which take advantage of the relationship, it is possible to give feedback and instructions to the user to achieve better productivity. For example. in forestry machines, wooden cubic meters (ma / h) produced for a certain period of time can be used as productivity meters. Other parameters, especially parameters related to time use, can also be used as productivity parameters, but also the number of processed or treated trees or parameters based on weight.
The changes in productivity caused by different working conditions can be modeled by using variables that describe the conditions of use and the user's action in varying work tasks. Productivity can also be modeled using mathematical methods and by using fuzzy systems, in particular by using the ANFlS (Adaptive-Network-Based Fuzzy Interference System) method. per se, the model and its application are known, but - its application especially in assessing the productivity of forest machines using data obtained from the forest machine is new. The model applies in particular the length of time associated with different work steps and the information on the progress of the work steps. The model 10 15 20 25 30 35 534 958 6 is taught and validated by using data associated with the work steps and tasks obtained from your users.
Data is collected under normal conditions for a long time. Using the procedure, productivity can be estimated. From a mathematical point of view, productivity is a function that depends on a number of variables that describe the user's action when performing various tasks. Said function also depends on parameters that describe the conditions of use. Conversely, said model can be used to mathematically determine a necessary operation to maximize productivity.
A comparison point can also be included in the model, which comparison point is e.g. the user's level of knowledge and productivity in the performance of corresponding tasks. The comparison can thus be performed between the user and the other users of the machine. At the same time, with a closer analysis with the help of mathematical methods, it can also be investigated that at which work steps or working methods there are the best opportunities to develop the user's skills to improve productivity. A gradient calculation related to the model can investigate which parameters associated with the measurements offer the best opportunity to improve productivity. The gradient calculation refers to the variables 'estimates that describe the user's action and to the estimates' differential calculation. Then it is assumed that the conditions of use remain constant. Based on the calculation, the user is instructed that in which task components or at which work steps an improvement and an increase in productivity can be achieved quickly. As a basis for the calculation, a model is described that describes productivity, in which model the length of time associated with the execution of different work steps and further the user's working method or more detailed work technique, which the user chooses to perform one or ﬂ your work steps, has been observed. An investigation of the working technique or working method is a prerequisite for the comparison to be made, the impact of any working method on productivity can be determined and also the user can be instructed in the use of the working method. In the following, the forestry machine and its users must be considered in particular. With the help of the method, it is possible to optimize the function between the user and the forestry machine so that with the help of the feed from the system, the forestry machine operators can develop and learn to use efficient and high-class working methods in their work. and the most appropriate working technique in different working conditions. The system can assist the driver when planning felling work or when loading timber, when planning forest transport and when choosing the most efficient and productive way of working in different work steps according to an optimal solution model. Already the feedback on the duration of the work steps immediately in the work goal gives the driver an opportunity to follow his own work and to make the comparison. For good productivity, the solution model, which the system uses, includes the most optimal model for work technology with each workstation in mind. The system can set goals for each driver, which goals are related to the execution of different work steps during the clearing work or when loading the timber, and said target level is determined according to the individual skill level of each driver.
With the help of the system, it is also possible to optimize the technical performance of the machine by monitoring the performance of the machine's various sub-function lines and by detecting level changes in these, by locating possible fault situations, malfunctions or causes of a degraded performance. With the help of the system, it is possible to make analysis and give instructions or to instruct with the right methods in the execution of the work steps or in the choice of the working method. This information can be given to the driver e.g. as a comparison with statistical limits, e.g. in the case of a work step or a work step unit. In a developed example of the system, the system calculates the most optimal setpoints or parameter values of a particular function for the particular use situation of the machine, which values the system can also change automatically. Alternatively, the operator can adjust machine settings by using optimal setpoints suggested by the machine.
The system achieves ﬂ your significant benefits. With the system, the improvement potential of the machine and the driver can be determined, taking into account the driver's skill level, which level is affected by individual motor and cognitive skills, training and experience, and the machine's performance, including the performance level characteristic of a determined mesh model, which level of performance is affected by the technical condition of the machine's various subsystems and machine settings, as well as a gradual increase in the base and departure levels, by means of which it 'reacts to changes in the driver's or machine's operating condition.
The system is also used for measuring various productivity components and for assessing their importance, whereby the technical condition of the machine and associated fault situations and machine parameter settings and the driver's skills to drive and operate the machine are observed: speed and agility of different steering movements. the suitability of the machine settings for each driver and at the workstation level the work technology used by the driver is taken into account. The measurements of the various productivity components of the machine are always connected with a specific operating point of the machine, so the system must be able to determine and unambiguously identify the temporary operating point or operating condition of the machine. The mathematical methods presented above help with this. especially the HMM and ANFlS methods.
BRIEF DESCRIPTION OF THE DRAWINGS The invention will be described in more detail below with reference to the accompanying drawings, in which: ur gur3 shows the harvester's cab and the control system's equipment located in the cab, 10 15 20 25 30 35 534 953 9 ﬁ gur 4 shows in more detail the equipment according to ﬁ gur 3, ﬁ gur 5 shows in a basic view according to an embodiment of the harvester the structure of a digital control and measuring system, in which the invention is applied, - ﬁ Figure 6 shows the detailed structure of the control and measurement system according to ﬁ Figure 5, Figure 7 shows the production of historical information on productivity. ur gur shows the production of historical information on fuel consumption, and ﬁ gur 9 shows the harvester's different working methods.
DETAILED DESCRIPTION OF THE INVENTION Flgur1 shows a Forestry Machine according to the prior art, the type of which is a per se known John Deere 1070D harvester and in which the inventive system can be applied. The harvester has articulated frame control and comprises a boom system, to the end of which a harvester unit is attached for processing tree trunks. In this case, the harvester's control system is Timbennatic 300, which is a PC-based measurement and control system in which the thinning-compliant applications for performance measurement are constructed. Figure 2 shows in more detail a harvester unit according to the prior art, on the control of which many embodiments of the invention are focused.
The harvester assembly comprises per se known upper pruning blades 21, lower pruning blades 210, feed rollers 23, a saw motor 26, means for feeding a saw 29 and for controlling its position, and a tilt function 211. In the harvester assembly the diameter of the tree trunk is measured. typically using the upper pruning blades, and measuring its length using a measuring roller. 10 15 20 25 30 35 534 558 10 l Figures 3 and 4 use the corresponding numbering for the corresponding parts. Figure 3 shows more closely the harvester's cab so that the location of the control system's equipment is shown more closely. Figure 4 again shows in more detail what the said equipment comprises. The equipment of the control system comprises scanner panels 1, a display module 2, a PC keyboard 3, a touchpad mouse 4, a central unit (HPC-CPU) with processor and memory 5, a printer 6, a hub module 7 and a seat module 8 (Ch ). The information and parameters obtained from the inventive system are displayed graphically to the driver through the skimming module. The structure of the Greek presentation can vary, so it can be a question of very different representations, e.g. diagrams or distances in a two-dimensional coordinate and bar graphs "or" other harmful representations, t.o.m. a numerical representation in tabular form or a listing that applies specifically to output data.
The application required for carrying out the various embodiments of the invention and the software contained therein are installed in the central unit of the control system, which comprises the necessary RAM and mass memories. The installation of the applications is performed either in a new forest machine or as retrofitting in an older forest machine, the transmission medium for the applications being, for example, a CD-ROM.
For example, the display module includes the required CD drive.
The control system utilizes an operating system known per se, during which the application is run.
The Execution Environment can be different computers with operating systems, especially processor-based control systems for forest machines, ie. harvesters, which are intended for running applications and software that serve the control system, in particular a personal computer (PC, Personal Computer) mounted in the forestry machine or a workstation functioning as such which has an appropriate operating system. The device and the operating system comprise the necessary applications and protocol means for data transmission with other devices. The operating system is preferably a complete system according to the prior art, which system even offers a ready-made service for transmitting the data flow of the data transmission, e.g. in a CAN bus. The measuring and control system of the forestry machine comprises a necessary control computer, which executes computer program included in the inventive method.
The collected data can also be collected and utilized elsewhere separately from the forestry machine, whereby special computer systems associated with training come into question, which systems have the necessary analysis programs for data processing. It can also be a question of machine tools simulators, in which the driver's controls are monitored and corresponding measures are performed for data processing and the production of information as in the real work machine. With the help of the simulator, it is possible to practice virtually e.g. the use and drive of the harvester and forwarder. Experienced drivers can also practice using new machines and new driving methods. With the help of the simulator it is possible to perform continuous training e.g. to practice the right working methods and to improve productivity. Control devices of the John Deere simulator according to the prior art are the same as in a real harvester or forwarder and there is a monitor instead of a windscreen. The simulator includes a Timbermatic control system, which provides reports on the exercise. The progress of each user can be monitored and trained people can be compared with each other. A feedback report is obtained in real time on the simulator work with parameters about the driver's time use, the efficiency of the loader's use and the number of trees treated. The simulator offers a virtual application environment over the real world, in which application environment the invention can be applied. In the case of a forestry machine or a simulator, the user receives information via the user interface immediately about e.g. lengths of the work steps associated with e.g. unloading or loading of the forwarder's load either individually or together, whereby the driver receives immediate 'feedback on his action. The system can also provide a comparison or reference value. which describes the statistical value of the driver in question or a common value of ﬂ your drivers or a value for an optimal performance determined with the help of an experienced driver. With the help of a separate computer program, a more detailed analysis can be performed together with experts and feedback on whether the driver's action can be given to the driver. Then it is a question of a continuous training process, in which the system is used.
Figure 5 shows the structure of the digital control and measurement system for a forest machine and especially for a harvester, which structure is based on CAN bus technology (Controller Area Network) and on decentralized control. The system consists of independent intelligent modules that communicate via a CAN bus. The CAN bus technology enables a modular structure. The system is e.g. Timbermatic 300, which has a Greek user interface. The system controls the diesel engine, the hydrostatic drive transmission, the boom system and the harvester head, as well as these related auxiliary functions.
The system typically consists of six or seven modules that are located in the CAN bus and which are shown in more detail in Figure 6. The system's modules include e.g. a core module HPC-D, the computer central unit HPC-CPU (Harvester PC -Computer Processor Unit), a hub module (Hub module), to which the other modules are. directly connected, with the exception of the screen and the harvester unit module. The harvester unit module HHM (Han / ester Head Module) processes and transmits all control signals that go to the harvester unit and measurement information that comes from there. The harvester unit module HHM is connected directly to the central unit HPC-CPU. An actuator needed to control the system has been connected to a lock module Ch (Chair module). A boom system module Cr (Crain module) takes care of controlling the boom system's valves. A power transmission module Tr (Transmission module) provides control of the base engine's diesel engine, drive power transmission and the auxiliary functions associated with it. and communication. An additional module Mf (Multifunction module) is optional and an ECU (Engine Control Unit) is the motor control unit that controls and controls motor functions. With a loader, the system is more limited in terms of modules, but e.g. the design of the boom system is similar when the design is also applied in loaders.
Basic information measured for the various embodiments of the invention is obtained from a digital data transmission bus which connects the control system modules of the forest machine, which data transmission bus is in the forest machine usually a CAN bus. During the normal work, a measurement program selects the necessary messages from the bus route, timestamps and buffers them for further processing.
The measurements and messages in the control bus of the forest machine control system can be collected and stored in a database and measurement data can be sorted according to each trunk and log by using volume size classes of the treated trees. The measured values can be collected according to specific conditions that measure the operating condition of the forestry machine, and the measured values can be processed and managed from the measured data before storage in the database.
For example. the harvester's gripper's performance and efficiency measurements are based on the measurement of lengths of time and operating speeds of the various steps of the treatment. A large number of measurement values are associated with the treatment of an individual tree trunk and many measurements are strongly dependent on each other. Especially when measuring the performance of the forestry machine, associated with both the technical performance and the driver's level of knowledge regarding the execution of each work step or the choice of working methods, the measurement values' dependence on working conditions and the driver's driving style must be taken into account.
The mathematical models constructed in the system investigate the work steps based on the measurements. For example. in the case of a forwarder, the forwarder's driver controls the loader in different ways in different situations. For example. The HMM method's indirect measurements of stochastic processes are based on the use of the loader's controls. Trunks of the forwarder's various joints are viewed in a selected time window and the indirect measurements of the work are calculated from the information moving in the CAN bus, whereby e.g. the control speed of the loader and the direction of the steering, the open or closed condition of the loader, the information obtained from the load scale and the driving speed are taken into account. The observations are calculated at certain intervals and from the observations the different conditions of the loader work can be calculated e.g. using the HMM method, the states of which are depicted by different work steps.
The system performs measurements for each work step. In the case of a harvester, tree retrieval, cultivation and treatment are followed up.
In the case of a forwarder, loading and unloading are followed up. 10 15 20 25 30 35 534 958 14 .As for the driver's action, the working steps and working method used by the driver are followed up, which working method can be determined for each trunk or log by taking into account measured quantities obtained from the system. The harvester's working method when treating trees is illustrated in Figure 9. When talking about the working methods, it means e.g. for the harvester that the tree is treated and folded in a pile, the trees being under moved under a boom, the felling direction of the tree being on the side at an angle and the tree not being ﬂ moved over the machine's driveway, or the tree being felled forward, the tree not being ﬂ being flattened and the pile forming next to the harvest. clean, or the tree is felled and moved over the carriageway and placed in a pile in a place next to the machine, and the pile is directed obliquely relative to the machine.
The information on the operation and condition of each machine, especially in the case of a loader, is investigated using the HMM method and a model produced by it. The model produces a state information by measuring and following up e.g. the control signals of the control levers. In connection with the work steps, work step lengths and state transitions between the work steps are networked, on the basis of which the driver's skill level, control of the machine, work efficiency and agility are assessed. Based on the collected ﬂ dimensional measurement data, comparable parameters, which measure the driver's skill level, are led using the fuzzy assessment method (ANFIS method). In different work steps, the direction of movement of loading movements performed by the driver, travel path and joint speeds from control signals transmitted in the control lever are also estimated, by means of which the driver's work technique is determined separately for tree retrieval steps, felling steps and treatment steps. The driver's working technique at the tree's retrieval steps, felling steps and processing steps is identified by means of a fuzzy inference system (cf. the ANFIS method). Rather, the fuzzy logic assessment method for the work technique is based on measurements of the felling direction and for the väg traversing path at the retrieval step or the felling step, as well as on measurements of the stacking direction and stacking path at the treatment step.
With the help of the system, measurement information associated with each work step and working method or work technique is stored in the system database in real time and context-bound as well as workstation-bound and trunk-bound for a certain time interval and even during the entire use history of the machine. Such follow-up and information storage enables a development follow-up of the driver's level of knowledge, real-time feedback on the various sub-factors of productivity and the driver's guidance in the work goal.
When assessing the driver's potential for improvement, statistically determined comparative values are used for productivity and for the length of time of different work steps. The deviation of performance and / or productivity from a comparative value corresponding to the expected value can be distinguished into reasons that depend on various sub-factors that are related to the technical functional condition of the machine or the driver's working technique. In terms of productivity, the system produces, on the basis of the most relevant performance deviations, a measure of action and improvement for the driver.
The system comprises or produces a solution model of the most suitable working technique in a specific working step and in specific working conditions. The feedback from the system is related to the driver's specific work technique or the area of expertise.
More specifically about measurements in the embodiment of the invention, in which it is a question of a boom system, the basic measurements used for the harvester are control signals of the loader's joints and times of use in logs, as well as the diameter profiles and lengths of the logs. The pressure measurements can also be registered if the forestry machine is equipped with a pressure measurement for the forestry machine's boom system's hydraulic system. In loader use, operating times of the boom system joints are measured in each work step for loading and unloading the tree trunk. In addition, the weight of the load to be lifted from the load scale and, if necessary, the pressure of the hydraulic system are recorded if the forestry machine is equipped with these sensors. The load scale is connected between the boom system and the harvester head or in the loader between the boom system and the load handler.
Values associated with productivity and fuel consumption can be presented to the driver as trends or history information, whereby the action of one's own driver and the machine's performance can be assessed.
By way of example, Figures 7 and 8 are an indexed value associated with total productivity and fuel consumption. In mathematical processing of information and data, methods presented in the publication WO 2006/128786 A1 can be applied, which methods are associated in particular with the assessment of the technical performance of the work machine. A general index tells a general level of activity but e.g. a total index includes ﬂ your indexes of the subsystems. By following up on the history information, it is possible to draw conclusions about the impact of the machine's function or the driver's action on total productivity. If history information shows major changes, especially a reduction in the level, it can e.g. be a problem that has to do with the technical performance of the machine, if the driver's own action is otherwise unchanged and there have been no decisive changes in the conditions in different workstations. In each machine it is possible to follow the development of each driver when improving productivity so that the total index also grows and moves e.g. towards the desired reference level. Due to the versatility and scope of the data, the execution of an individual work step and an individual work step unit can be followed up, and from this it can be discovered where there is something to improve or where the greatest development has taken place. also in terms of working methods.
The invention can be applied in a very versatile way to control the various functions of the forestry machine, whereby information is obtained for a sufficiently long time. The system presented and the procedure are not only limited to the harvester but can also be introduced into loaders. In loaders it is possible that also, e.g. When it comes to the boom system, follow the sent and the function of various components as well as the fuel economy. Data can be presented to the driver in a visual way and used to support decision-making.
The basis for the harvester's productivity measurements and for assessing the driver's work can on the one hand be the retrieval of the trunk and on the other hand the treatment of the trunk.
When retrieving and marking the trunk, the following working steps are investigated: »- clearing time, 10 15 20 25 30 35 534 953 17 - retrieval of the trunk by using the loader and / or by carrying, - distance and time associated with marking and moving, - The direction of movement of the loader, for the str distance and joint speeds in different working and for ﬂ steps, - the use of simultaneous load joints in working steps, and - ~ inactivity time.
Based on the measurements performed, the time use is determined in different work steps, and this is used for productivity assessment, the work series' time series measurement is performed and state transitions are investigated, and these are used to assess work flexibility and, if necessary, as aids in work planning and decision making. Based on the measurements, it is also possible to identify the working technique used, as has been presented previously.
During the treatment of the strain, the following working steps are investigated: - the stack for ﬂ feeding time and for ﬂ stretching distance in the different treatment steps of the trunk, i - _ - time required to make the cutting decision, - time and / or forward travel of the machine, - use of simultaneous loading routes in working hours, and - inactivity time.
Based on the measurements performed, a time series measurement of the work steps is performed and state transitions are investigated, and these are used to assess the flexibility of the work and, if necessary, as an aid in the work planning and decision-making. Based on the measurements, it is also possible to identify the number of treated trunks or logs in each workstation. 1D 15 2o_ 25 30 35 534 958 18 The basis for the forwarder's productivity measurements and for assessing the driver's work is used loading on the one hand and unloading on the other.
When loading, the following working steps are investigated: - for ﬂ moving the empty loader to the stack, - 'stockamas for ﬂ moving on the ground, - picking the load, - moving the load to the cargo space, - placing the cargo, - ordering the stookama in the cargo space, - pause, and - other work.
Based on the measurements performed, an average loading cycle time, working step times, the number of repetitions of different working steps and the fuel consumption are determined step by step, from which conclusions can be drawn about the loader's condition and / or information can be transferred to the loader's condition control system. All or part of the previously presented information is displayed to the driver via the user interface screen so that the driver can assess his own action in real time and immediately.
During unloading, the following work steps are investigated: - picking the load from the load compartment, - loading the load to the stack, - placing the load, - order of the stack, - gripping the load in the load compartment, - pause, and - other work.
Based on the measurements performed, an average loading cycle time, work step times, the number of repetitions of different work steps and fuel consumption are determined work by step, from which conclusions can be drawn about the loader's condition or information can be transferred to the loader's condition control system. All or part of the previously presented information is presented to the driver via the user interface screen so that the driver can assess his own actions.
Based on the measurements performed can also. for example the technical performance of the forwarder is determined. During the review, the efficiency and fuel consumption in particular are in-different work steps. Fuel consumption at any time can be obtained as measurement information from the machine's engine control system and it is also otherwise monitored in the work machine's control system. .
The scooter's fuel consumption in each work step is monitored separately in the following way: '- total consumption, - during loading when the loader is used, - during unloading when the loader is used, - during driving during loading and when the loader is used, - when driving empty, - when driving during the loading, - when driving with the load. and - at idle.
Based on the follow-up, e.g. a fuel economy index for the use of the loader and the fuel economy index of the propulsion transmission are calculated using principles that have already been addressed. The results can be presented as history information in an appropriate way.
The function of the system is presented even more briefly in the following.
In the system, measurements are performed that are work step measurements, parameters associated with different work steps and performance measurements for the machine's various sub-functions.
The system processes the measurements, whereby a parameter, which describes the performance, is determined, which parameter describes the machine and the driver and determines the working method and the working technique associated with the work. 10 15 '_20 25 30 35 534 958 20 In the next step, productivity is assessed, whereby the impact of various factors is estimated by using reference values, which are the machine's technical speed and machine settings associated with performance,' driver's work technique, driver's skill level and machine handling expertise, especially associated with the use of the loader and the treatment of the tree, whereby the machine's parameter settings are taken into account and their impact is compensated.
The system includes information on an optimal solution model, which includes e.g. an optimal working model, which takes into account the conditions.
The results of the productivity assessment can be compared with the optimized solution model, according to which a measure proposal for the workstation level is obtained and history information is followed up.
In the case of a forwarder, its driver can get a visual summary of the work via the user interface. On the screen, the work is delattex. in loading and unloading, for which there is in the image scans a percentage or a length of time of each aforementioned work step. Percentages of relief or relief can also be shown on the screens as a comparison. Information of one or more of your workflows can be included in the results and it is also possible to present trend information about the different stages of the work.
The invention is not limited only to the examples presented above, but it may vary according to the appended claims. With the help of the invention it is possible to form a PC-based system for online and offline use which divides e.g. in a work machine application and a bureaucracy application or in a combination in which »they operate together. The system can be used in efficiency measurement of the work machine's work and in assessment of work technique, or in efficiency measurement of work machine user work and in assessment of work technique relative to work machine productivity and fuel economy, or as evaluation method for user skill level, or as interactive user advisory system and the working machine, or as a measuring system for the productivity of the working machine, or for optimizing the productivity of the working machine, or as a controlling and advisory system for optimizing the performance of the working machine. In general, the function between the work machine and the user is optimized by means of the invention.

权利要求:
Claims (20)
[1] 1. A method for evaluating the productivity of a working machine andits driver in a real or virtual operating environment, said workingmachine being controlled by means of a control system to performwork, characterized by determining the work cycles relating to thework performed by the working machine by means of continuousmeasurements directed to the working machine when it is controlled bythe driver, and collecting characteristic values relating to theperformance of the determined work cycles on the basis of saidcontinuous measurements for the purpose of evaluating theperformance of the work or for comparison.
[2] 2. The method according to claim 1, characterized by presenting, as acharacteristic value, the common or detailed variation or duration intime of one or more work cycles in the form of an illustrative graphicpresentation to the driver.
[3] 3. The method according to claim 2, characterized in that the workingmachine comprises a display module connected to the control system,and the method comprises the displaying of said representation bymeans of said display module.
[4] 4. The method according to any of the claims 1 to 3, characterized inthat the working machine comprises a control bus connected to thecontrol system, and said measurement relates to signals transmitted insaid control bus.
[5] 5. The method according to any of the claims 1 to 4, characterized inthat the working machine is a harvester, or a fonrvarder.
[6] 6. The method according to any of the claims 1 to 5, characterized inthat the virtual operating environment is a working machine simulator,whose operation corresponds to the driving of the working machine in areal operating environment. 24
[7] 7. The method according to any of the claims 1 to 6, by concluding saidwork cycles by mathematical methods from measurements obtainedfrom the working machine.
[8] 8. The method according to any of the claims 1 to 7, characterized byconcluding the working method of the driver of the working machine bymathematical methods from measurements obtained from the workingmachine.
[9] 9. The method according to any of the claims 1 to 8, characterized bycomparing the performing of the work cycles with a reference, givenlimits, or the actions of an experienced driver, and giving feedback fromthe comparisons to the driver of the working machine.
[10] 10. The method according to any of the claims 1 to 9, characterizedby continuously monitoring the performing of the work cycles, classiﬁedaccording to the size class of the tree trunk to be processed.
[11] 11. The method according to any of the claims 1 to 10, characterizedby monitoring the fuel consumption of the working machine bycontinuously monitoring at least the quantity of fuel consumed forprocessing a tree trunk in different work cycles.
[12] 12. The method according to any of the claims 1 to 11, characterizedby monitoring the operation of the boom system of the workingmachine.
[13] 13. The method according to any of the claims 1 to 12, characterizedby analyzing the work cycles by mathematical methods anddetermining, for performing the work, those work cycles, in which aquick improvement in the productivity can be achieved, and performingsaid analysis individually for the driver of the working machine.
[14] 14. A computer program comprising program code means,characterized in that it is conﬁgured to execute the steps of themethod according to any of the claims 1 to 13, when said computerprogram is run in a control computer.
[15] 15. The computer program according to claim 14, characterized in thatsaid control computer is the central processing unit of the controlsystem of a forest machine.
[16] 16. A computer software product comprising program code meansstored in computer-readable media, characterized in that it isconﬁgured to execute the steps of the method according to any of theclaims 1 to 13, when said computer program is run in a controlcomputer.
[17] 17. The computer software product according to claim 18,characterized in that said control computer is the central processingunit of the control system of a forest machine.
[18] 18. A system for evaluating the productivity of a working machine andits driver in a real or virtual operating environment, comprising a controlsystem arranged to control said working machine and its differentfunctions, characterized in that the control system is configured todetermine the work cycles relating to the work performed by theworking machine by means of continuous measurements directed tothe working machine when it is controlled by the driver, and to collectcharacteristic values relating to the performance of the determinedwork cycles on the basis of said continuous measurements for thepurpose of evaluating the performance of the work or for comparison.
[19] 19. The system according to claim 18, characterized in that thesystem also comprises a control bus connected to the control systemand conﬁgured to operate under the control of the control system, saidmeasurement being directed to signal transmitted in said control bus.
[20] 20. The system according to claim 18 or 19, characterized in that thecontrol system is conﬁgured to present, as a characteristic value, thecommon or detailed variation or duration in time of one or more workcycles in the form of an illustrative graphic presentation to the driver.

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同族专利:

公开号 | 公开日

US8364440B2|2013-01-29|

BRPI0901749A2|2010-05-11|

CA2665999A1|2009-11-27|

FI20085501A0|2008-05-27|

RU2009120025A|2010-12-10|

FI20085501A|2009-11-28|

BRPI0901749B1|2019-09-03|

SE0900666L|2009-11-28|

SE0900666A|2009-11-28|

RU2458403C2|2012-08-10|

US20090299707A1|2009-12-03|

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法律状态:

优先权:

申请号 | 申请日 | 专利标题

FI20085501A|FI20085501A|2008-05-27|2008-05-27|Systems for assessing the productivity of a work machine and its users|

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