• 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 controlling functions of a forest machine (1), in which method the control device (20, 21, 30) of the forest machine is used to provide control functions (Z +, Z-) for controlling the functions of the forest machine. In the method according to the invention a control function (Z +, Z-) is used which provides a function, which function is the controllable primary function with said control function (Z +, Z-), in order to effect control of at least one other function in such a way that this control function (Z +, Z- ) for the primary function a time is maintained which is shorter than the control delay between start of said control function (Z +, Z-) and control of the primary function. The invention also relates to a forest machine (1) according to the method according to the invention. Fig. 3
    公开号:SE538592C2
    申请号:SE1251189
    申请日:2012-10-19
    公开日:2016-09-27
    发明作者:Tainio Mikko；Virtanen Ilari；Lehtinen Ahti；Tynkkynen Jukka-Pekka；Talola Mika
    申请人:John Deere Forestry Oy；
    IPC主号:
    专利说明:

    FIELD OF THE INVENTION The invention relates to a method for controlling functions in a forest machine, in which method the forest machine controller is used to provide control functions for controlling functions in the forest machine. The invention also relates to a forestry machine with control devices for creating control functions which are to provide control of functions in the forestry machine.
    Background of the Invention Usually, the cab of a forestry machine nowadays is equipped with two control levers, one for each driver's hand. With these control levers, the operator of the machine controls the movements of the forestry machine boom set, the harvester head rotary, and closes and opens the control levers of the harvester head gripper by turning them forwards, backwards, to the left or to the right and by using rocker switches or buttons. In addition, the cab of a modern forestry machine is usually equipped with one or more control keyboards (often one near each control lever) with button-type controls to control or adjust various functions of the harvester head, such as feeding and pressing feed rollers against a tree trunk, the cutting movement of the saw the icing device, the function of the pruning blades, the function of any collective treatment devices in the harvester, color marking of tree trunks, turning of the cab, and the engine speed. With the help of the keyboard, other functions are also controlled, such as data presented on the cab monitor, a video camera possibly placed in the machine, etc.
    With a control function of a control device (eg turning a control lever in one direction or pressing a button on the keyboard) one can achieve the function of the forestry machine or just a movement of an actuator in one direction (eg rotation of a boom in the boom set or the like). Although the most important functions related to the handling of tree-mounted forestry machines can be controlled conveniently only with control levers and 2 toggle switches or buttons on them, each time the operator needs a function that is not controlled with either control lever, he must shift his attention to this different controller for the time being. of the resp. the action carried out under its control. For example, in a situation where a tree has just been cut in its cutting stage and trunk entry is to begin, the operator must interrupt control of the boom set with the control levers and minst move at least one finger on the keyboard to press the trunk start button. This naturally causes a small interruption in the control of the boom set, after which the driver must concentrate again on maneuvering the movements of the boom set, which in turn limits the working speed that can be reached - depending on e.g. the driver's knowledge and experience - and increases demands on motor skills as well as stress related to the maneuvering of the forestry machine.
    Brief Summary of the Invention The object of the invention is to provide a new method for controlling actuators in a forestry machine, in order to further facilitate and improve the maneuverability of the forestry machine. In particular, the object of the invention is to present a method for controlling actuators in a forestry machine, with which method the number of control devices and / or control functions needed for controlling different functions is reduced and thus the operation of the forestry machine is easier and faster. A further object of the invention is to present a single forest machine which is controlled according to the method according to the invention.
    The inventive idea is based on the utilization of a control delay which is or is intentionally arranged between the control function provided by the co-controller and the primary function provided by the control function by controlling the various functions of the forestry machine so that when the control function provides the primary function is maintained for a short time. rather than the control delay between starting this control function and controlling the primary function, this should cause control of some other function or functions. More precisely, the method of controlling an actuator of a forestry machine characterized by what is presented in the characterizing part of claim 1, and the forestry machine characterized by what is presented in the characterizing part of claim 12.
    The advantage of the inventive method is that thanks to such a method one can with a control function of a controller control two or more different functions and thus reduce the operator's need to use shield controllers to control these functions and thus the need to shift attention from a controls to another. This makes the control of the deforestation machine's various functions easier and faster. Further reduces the demands on the maneuver and thus the stress caused by them which relates to the work.
    It should be noted that the term used in the application text to describe the control of the forest machine's functions means the following: - a function is an event caused by one or fl your actuators or another electrical, mechanical or hydraulic device in the forest machine, or a combination of these. Functions thus include exemplary functions provided by the various actuators of the forestry machine, such as movements of a boom or several bars in the boom set, rotation of the pruning blades against a tree trunk, sawing movement, feed roller feed movement, or a series of multi-individual work motions. However, the functions also include all other events controlled by controllers in the forestry machine, such as updating the screen in the driver's cab, a change in engine speed or ignition and the headlights going out. - an actuator is a device with which a function is controlled, ie. for example one-lever lever, a button on the keyboard, a rocker arm, a power switch, entry key button switch or a button displayed graphically on a touch screen, etc. a control function denotes a change in the position of an actuator to one control position or to another position which causes control of a function, i.e. eg turning a control lever forwards, backwards, to the left or to the right, pressing a button on a keyboard, turning a rocker arm in either direction or pointing at an icon on a touch screen. Thus, with one actuator, one or more control functions can be achieved. 4 control means starting, stopping or adjusting a function, or any other change in the operating mode. - control / delay denotes the time that elapses from the beginning time of the control function to the beginning time of the control of the function. - a primary function denotes a function that is controlled after the control delay from the start time of the control function has expired.
    Description of the drawings In the following the invention will be described in more detail with reference to the accompanying drawings, where figure 1 shows from the side a forest machine, some functions of which are controlled in accordance with the method according to the invention, figure 2 shows a basic sketch of a control lever for the left hand and a keyboard on its side, located in the cab of the forestry machine of Figure 1, Figure 3 shows a block diagram of the principle of controlling the feed rollers of the harvester assembly of the forestry machine of Figure 1 according to the method of the invention, and Figure 4 shows a block diagram of the principle of guiding gripper collective treatment device of a forestry machine equipped with a collective treatment device according to the inventive procedure.
    Description of the invention in detail A forestry machine 1 shown in Figure 1 comprises a basic machine 2, a single boom set 3 and a harvester unit 4. The basic machine 2 comprises a chassis 5, a swivel table 6 rotatably attached to the chassis, and a driver cab 7 attached to the swivel table. the forest machine 1 shown in figure 1 has a drive and coupling device, in connection with the machine 2, a control device and a hydraulic system. The boom set 3 in this case consists of a lifting boom 8 and a folding boom 9 and a splice boom 10 which is movable out of the end of the folding boom 9 and back into the folding boom. The harvester assembly 4 is attached to the end of the splice boom 10 in a per se manner by means of a rotary device 11 and a hanging joint 12. The lifting boom 8 in the boom set 3 is pivoted at its end on the side of the machine 2 on the turntable 6 relative to a shaft which is transverse (horizontal) relative to its axis of rotation, the lifting boom 8 pivoting relative to the frame 5 of the machine 2 in both the horizontal and vertical directions. The harvester assembly 4 is in this case a harvester assembly known per se which comprises the harvester assembly body which is attached to the hanging joint 12 and fixed pruning blades, rotatable pruning blades, feed rollers and a cutting device for treating tree trunks mounted on the frame. All actuators shown in Figure 1 of the forestry machine 1's boom set 3 and harvester head 4, with which the actuators' movements of work tools needed for the treatment of tree trunks are effected, are in this application hydraulically driven and receive traction from the machine 2's hydraulic system. The hydraulic system and the drive and coupling device are introduced in a manner known per se, and there is therefore no reason to present their construction and functional approach in this context. The forestry machine shown in Figure 1 also comprises other devices known per se, common to forestry machinery, with which different functions can be achieved either electrically, mechanically or hydraulically or by combining them in different ways.
    The control of most functions is performed with controls located in the cab 7 of the control device. Control devices which in the most essential way relate to the treatment of tree trunks comprise a control lever each for the left and right hand and a keyboard each for the left and the right hand. Figure 2 shows a layout view of a control lever 20 for the left hand and a keyboard 30 on the side of the control lever 20 for the left hand, which are located in the cab 7 of the forestry machine according to Figure 1. In addition to the above, the cab 7 may of course also include other controls, such as the forestry starter starters, drive couplings, lighting fixtures, heaters and similar auxiliary devices which are needed and not shown in Figure 2. 6 Between controls and actuators which provide functions there are of course the known coupling devices and connections which are needed to provide control information and which provide control. the control functions are transmitted to one or more actuators in such a way that the control functions provide control of the respective functions. For example, in the forestry machine shown in Figure 1, a control function is provided which is provided with the control lever 20 for the left hand and causes a movement of the boom set 3 first to a central unit which electrically controls the forestry machine functions (a computer, a programmable logic controller and / or a controller or the like). in order to adjust the solenoid valves of the hydraulic system which in this way control this function so that the actuators which move the boom set 8, folding boom 9 and splice boom 10 of the boom set 3 produce in them the movements which correspond to the respective function. In the forestry machine 1 according to Figure 1, the central unit of the control device can be programmed in such a way that it can divide control functions according to their duration so that a control function whose length is shorter than a predetermined time provides control of a function other than a control function whose length is longer than this time . This length, on the other hand, corresponds to a control delay between the beginning time of the control function and the beginning time of the primary function achieved with said control function. The control delay can be an existing control delay, i.e. a delay caused by the natural inertia which relates to the function of the actuator of the device, e.g. a hydraulic delay associated with hydraulic actuators. The steering delay can also be a randomly generated steering delay. Such a control delay can thus be arranged e.g. in any electric actuator that normally starts immediately or with a very small natural (existing) control delay. In order to achieve a suitable control delay, the central unit or another control device in the forestry machine 1 can be provided with a timer which starts the start time of the control function and measures time from the start time of the control function. Based on this, the central unit can then form a control delay of a requested length, after which the corresponding primary function is to start, if the control function has been maintained for a period of at least said control delay.
    In the following, some examples of control functions according to the inventive procedure will be described.
    Example 1 In this example, the forestry machine, the functions of which are controlled, is a forestry machine 1 according to Figure 1. In it, the functions of the turntable 6, the boom set 3 and the harvester assembly 4, i.e. the functions closest to the treatment of tree trunks, by means of the control lever for that right hand and the keyboard on its side in the cab 7, and by means of the control lever 20 for the left hand and the keyboard 30 on its side shown in Figure 2. The two keyboards located in the cab 7 comprise several control keys, with which one can e.g. start, stop or adjust the 1 different functions of the forestry machine. In the left-hand keyboard 30 shown in Figure 2, the various control keys are designated by the numbers L02-L40.
    Essential to this example application is the rocker switch 21 located on the side of the left-hand control lever 20, which can be tilted in a first direction Z + to move the splice boom 10 out of the folding boom 9 ("splice boom out" function) and in a second direction. Z- to move the splice boom back into the folding boom 9 ("splice boom in" function), and the L03 key on the keyboard 30 on the side of the left hand control lever ("trunk feed" function). With this embodiment, the need to use - under the control of the boom set 3 - the control key L03 on the keyboard 30 for the left hand, with which the function "feed of tree trunk" is started after the cutting of the tree, if the per se known method is used to control it ifr. function-one.
    In a known manner, the feeding of the tree trunk is started immediately after the cutting of the tree by pressing the L03 key on the keyboard of the left hand, whereby the function "feeding the tree trunk" is started. In this case, the user must move his left hand so that a finger extends to the tangent L03. Therefore interrupted in it ifr. the moment the user's concentration on controlling the movement of the boom set 3, since attention must be paid to the keyboard 30 to press the L03 key.
    Figure 3 shows a block diagram of control according to the method according to the invention in this case. It shows a functional description of how with the 8 in fi gur2 the toggle switch 21 shown on the control lever 20 of a forest machine 1 shown in fi gur1 can control both the movement of the splice boom 10 into the folding boom 9, ie. the function "splice boom in", and start of tree trunk feed, ie. As shown in the block diagram of Figure 3, the function of feeding the tree trunk can be started by turning the toggle switch 21 in the Z direction so that the toggle switch 21 is released according to the block diagram of Figure 3 before the control delay of 300 ms needed to start the primary function "splice boom in" has expired. The control function thus obtained, notice length is less than 300 ms, is thus interpreted by the central unit of the forestry machine as a command to start the function "feeding the tree trunk". Second words are achieved with the turning of the toggle switch 21 in the direction Z-, the length of which is shorter than 300 ms, the same function as with the pressing of the key L03 on the keyboard 30, i.e. without moving the finger and attention to the keyboard 30, since the toggle switch 21 communicates with the control lever 20 for the left hand, as in series 2. Therefore, with a control procedure thus operating, the user can start the feed of the tree trunk after cutting the tree with a similar small finger movement, with which the movement of the splice body of the boom set inwards is effected, for which reason the start of the tree trunk feed does not cause the above-mentioned interruption in the control of the boom set. In this case, the steering delay used in the method is the hydraulic delay of the hydraulic actuator moving the splice boom; it has been found that the length of the delay is 300 ms. A control function whose length is shorter than 300 ms should thus not start the "splice boom in" function, as this time is shorter than the above-mentioned hydraulic delay. of the primary function before 300 ms has expired.
    If you want to use the toggle switch 21 of the control lever 20 for the left hand to move the splice boom 10 into the folding boom 9, you maintain the above-mentioned control function for at least 300 ms. In this case, the control delay assumed for controlling the primary function has expired, the central unit of the forestry machine 1 interpreting the control function in such a way that it does not start the function "feeding the tree trunk" but starts the function "splice boom in" immediately after the control delay of 300 ms. expired. The interpretation of the length of the control function in this case is made on the basis of whether the user has reset the toggle switch 21 to the "inverted" position before the control delay of 300 ms has expired. In other words, the central unit of the control device is programmed to function in such a way that the termination of the control function before the control delay of 300 ms has expired (eg when a maximum of 270 ms has elapsed) should start the function of the feed rollers but no longer the post-control delay of 300 ms. ms has expired. After the steering delay, the steering function is maintained for as long as you want the splice boom 10 to move and / or until the splice boom 10 is completely within the folding boom 9.
    Example 2 In this exemplary embodiment, the forestry machine is otherwise the same as the forestry machine 1 shown in Figure 1, but here the harvester unit is provided with a collective self-treatment device (not shown in Figure 1). The controls for the collective handling device are ready on keyboards placed in the cab, and they can be used when a collective handling device is mounted in the forestry machine according to Figure 1. Using the collective handling device you can collect several tree trunks at a time in the harvester unit's 4 grippers before releasing the tree trunks. harvester head gripper. Usually a harvester unit is used with a collective treatment device e.g. when harvesting so-called energived, i.e. such are usually quite young and densely grown trees that are used to form firewood, wood chips, pellets, or other biomass that are applied primarily for energy production.
    When the collective processing device is controlled by the known control method, its gripper is turned upwards by pressing the key L29 shown in Figure 2 on the keyboard 30 on the side of the control lever 20 for the left hand, which key thus controls the function "open grippers" when using the known control method. The grippers are usually controlled simultaneously by movements of different booms in the boom set 3. In this case, the opening of the grippers presupposes that the attention is shifted from the control lever 21 to the key L29 on the keyboard 30, for which reason an interruption of the above type is achieved in controlling the boom set 3.
    Figure 4 shows a block diagram of an application of a method according to this example when using a control method according to the invention. Also in this embodiment, a toggle switch 21 is used in connection with the control lever 20 for the left hand, with which one can form depressive functions, which are the function "splice boom out", which is achieved by turning the toggle switch 21 in the direction Z +, and the above-mentioned function "splice boom in", which is achieved by turning the toggle switch in the direction Z-.
    According to the diagram of fi gur4 4, the grippers of the collective treatment devices are turned up by the control function "splice boom out" of the toggle switch 21 of the control lever 20, which is thus achieved by setting the toggle switch of the control lever to the Z + position. When this control function is maintained for a time which is shorter than the control delay of the respective primary function "splice boom out", the central unit controls the grippers of the collective processing devices to open, i.e. to perform the same function as the known method performs by pressing the L29 key. Also in this case, the control delay is a hydraulic control delay, the length of which is 300 ms. Furthermore, even in this embodiment, the forestry machine central unit interprets the control function on the basis of whether the toggle switch 21 was set before a time of the control delay had elapsed from the start of the control function. the toggle switch 21 is held in position Z + for at least the time of the steering delay, the primary function, ie the movement of the splice boom 10 outwards from inside the folding boom, should start normally and take as long as the steering function is maintained or until the splice boom 10 has moved to its outermost position.
    The forestry machine 1 or similar forestry machines shown in Figure 1 may comprise the functions or functions which are controlled by a control function which is achieved in the manner described above with a control device. Other functions in which the control method according to the invention could be applied would be, for example: control of the inclination of the harvester head or the "tilt function" with the rocker switch 21 in the control lever 20 for the left hand, or with a rotational movement of either control lever in any of the four possible directions, 11 - rotation of the feed rollers backwards with the toggle switch 21 in the control lever 20 for the left hand, or with a rotational movement of either frame upper lever in any of the four possible directions, - starting a series of working movements programmed in the central unit , such as cutting or branching, with the rocker switch 21 in the control lever 20 for the left hand, or with a rotational movement of either control lever in any of the four possible directions, starting color marking or treating a stump with the rocker switch 21 in the control lever 20 for the left hand, or with a rotary motion of either control lever in any of the four possible updating the screen in the cab with the toggle switch 21 in the control lever 20 for the left hand, or with a rotary motion to move the control lever in any of the four possible directions, or with other controls in the cab which primarily control another function.
    In such primary functions, the control of which does not cause a hydraulic delay (ie which is, for example, an electrical device, a drive coupling or a single function provided by one or more of the electric actuators), a control delay of a desired length can be formed intentionally. .ex. by means of a timer relay which is connected to (or is programmably formed in) the central unit. If you also want to control another function, for example with a single-start switch of an electrical device (eg the starting switch for headlights), you can generate a (programmable) control delay of a desired length between the control function and the start of the primary function, whereby a shorter control function provides control of e.g. a function performed by any other electrical device (eg, lighting the cab cab lighting).
    The length of the control function required for the control can, of course, if necessary be determined clearly shorter than the control delay of the primary function. For example, if the control delay of the primary function is in the above-mentioned manner a hydraulic delay of 300 ms, the length of the control function which produces control of a function other than the primary function can be determined so that it may take a maximum of 200 ms. Of course, the length of the control delay also has a different length, e.g. depending on the structure of the ifr. the actuators and the control device. Typically, a suitable length for the control delay is such that the control function controlling the second function during it is not so short that its execution with it ifr. controls would be too cumbersome for the user. Based on examinations and test runs performed, the appropriate length of the control delay varies between 50 and 500 ms, depending on the function to be controlled.
    With the inventive method, in some embodiments it is also possible to control more than two functions with the same control function of an actuator. This means that with control functions of different lengths, which are maintained during the control delay of the primary function, two or more other functions can be controlled. Control of the length of control functions related to these can be arranged, for example, in such a way that the user sees the name or symbol of the function whose control is to be performed, brightly lit / highlighted on the screen in the cab, if the maintenance of the control function is to be terminated at said moment. In this case, the control device could be provided with a complementary control device or an additional control device (eg a pushbutton), with which the selected control of the function can be recalled e.g. if the control function error is maintained for too long so that someone other than the requested function would be started if the maintenance of the control function was interrupted. The revocation should take place e.g. by pressing said button at the same time when maintaining it ifr. the control function ends. In an application, any controller may be such that the user can program in it - in addition to the control of the primary function - also one or fl your controls of other functions (or eg a series of working movements) to function according to the principle of the inventive method .
    Furthermore, the method according to the invention and the respective forestry machine can be realized to a large extent in a manner which does not occur in the example applications presented above. In other words, they are not limited to the exemplary applications presented above, but may vary within the scope of the claims.
    权利要求:
    Claims (12)
    [1]
    A method for controlling the functions of a forestry machine (1), in which the method of controlling the forestry machine (20, 21, 30) is used to provide control functions (Z +, Z-) for controlling the functions of the forestry machine, characterized in that a control function (Z +, Z-) which produces a function, which function is the controllable primary function with said control function (Z +, Z-), is used to effect control of at least one other function in such a way that this control function (Z +, Z-) the primary function is maintained which is shorter than the control delay between the start of said control function (Z +, Z-) and the control of the primary function.
    [2]
    Method according to Claim 1, characterized in that the existing delay between the start of the control function (Z +, Z-) and the control of the corresponding primary function is used as the control delay.
    [3]
    Method according to Claim 2, characterized in that in the method a single-forest machine (1) is controlled, in which at least one function is a function which is effected by one or two hydraulic actuators, and that the hydraulic delay between the start of the control function is used as the control delay (Z +, Z- ) and the control of it with this steerable hydraulically driven function.
    [4]
    Method according to claim 3, characterized in that in the method a single forest machine (1) is controlled, which forest machine (1) comprises a boom set (3) with at least one folding boom (9) and a splice boom (10), which is moved a distance in the longitudinal direction of the folding boom (9) into and out of one end of the folding boom (9), and in which forestry machine (1) the end of the splicing boom (10) is equipped with a harvester assembly (4) with at least feed rollers, with which tree trunks in the harvester assembly (4) gripper are moved forward and backward relative to the harvester head (4).
    [5]
    Method according to claim 4, characterized in that in the method feed of the tree trunk is controlled with the control function (Z-) of the guide device (21) as the movement of the guide joint boom (10) into the folding boom (9).
    [6]
    Method according to claim 5, characterized in that a delay is used as the control delay which is the hydraulic delay between the start of the control function (Z-) which is effected by the control device (21) which controls the movement of the 14-joint boom (10) and the one with this control function (Z -) achieved the function in which the splice boom (10) moves into the folding boom (9).
    [7]
    Method according to claim 3, characterized in that in the method a single forest machine (1) is controlled, which forest machine (1) comprises a boom set (3) with at least one folding boom (9) and a splice boom (10), which is moved a distance in the longitudinal direction of the folding boom (9) into and out of one end of the folding boom (9), and in which the end of the forestry machine (1) the splicing boom (10) is equipped with a harvester assembly (4) with a collective treatment device comprising grippers which can be rotated open and closed by controls in the forestry machine ( 1) -
    [8]
    Method according to claim 7, characterized in that in the method opening of grippers in the collective treatment device is controlled by the control function (Z +) of the control device (21) which controls the movement of the splice boom (10) out of the folding boom (9).
    [9]
    Method according to claim 8, characterized in that a delay is used as the steering delay which is the hydraulic delay between the start of the steering function (Z +) which is effected with the control device (21) as the movement of the steering joint boom (10) and that with this steering function (Z +) -complete function, in which the splice boom (10) moves out of the folding boom (9).
    [10]
    Method according to Claim 1, characterized in that a control delay is used as the control delay, which is intentionally formed between starting the control function and controlling the function.
    [11]
    Method according to claim 10, characterized in that an electric control delay generated in the control device of the forestry machine (1) is used as the control delay in such a way that starting a control function from a control device starts in the control device a time relay measuring time from starting the control function and allows the control of the primary function only after the delay relay determined.
    [12]
    Forestry machine (1) with control devices (20, 21, 30, L02-L40) for forming control functions for providing control of the functions of the forestry machine, characterized in that the forestry machine (1) comprises at least one control device (20, 21 ) which provides at least one control function (Z +, Z-), with which can be controlled - in addition to the controllable primary function with this - also at least one other function in such a way that this control function (Z +, Z-) for the primary function is maintained for a time which is shorter than the control delay between control of the control function (Z +, Z-) and the primary function.
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    同族专利:
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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
    FI20116100A|FI123757B|2011-11-08|2011-11-08|A method for controlling the functions of a forest machine and a forest machine|
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