METHOD FOR CONTROLLING POWER-TRANSMISSION GEAR, SYSTEM, AND FOREST MACHINE

Abstract

A method and system for controlling a power-transmission gear in a forest machine having a harvester head includes measuring a selected property of at least two trees with aid of observation means on a basis of electromagnetic radiation at a distance from the trees being measured to create measurement data. The power-transmission gear is controlled by software on the basis of the measurement data to change a state of the power-transmission gear to optimize energy required to perform an operation of an operating device. The operating device uses the energy transmitted by the power-transmission gear (after the change in state of the power-transmission gear so that operation of the operating device create a change in the attitude, location, or state of the harvester head.

Claims

1-31. (canceled)

32. A method for controlling a power-transmission gear in a forest machine comprising a harvester head, the method comprising: measuring a selected property of at least first and second trees with aid of observation means using electromagnetic radiation at a distance from the at least first and second trees to create measurement data for the at least first and second trees; storing the measurement data of the at least first and second trees in a register of the trees' measurement data belonging to a memory for controlling the power-transmission gear; controlling the power-transmission gear with aid of software means, on a basis of the measurement data of the first tree, to create a change in a state of the power-transmission gear before the harvester head contacts the first tree so that the power-transmission gear transfers to a first operating device belonging to the forest machine an amount of energy optimized on the basis of the measurement data in terms of performing a selected operation; performing the selected operation of the first operating device using the amount of energy transferred by the power-transmission gear after the change in state of the power-transmission gear, in which the operation of the first operating device creates a change in the attitude, location, or state of the harvester head, or a combination of the aforesaid; controlling the power-transmission gear at the second tree in the register on a basis of the measurement data of the second tree in the register; and repeating the foregoing steps on subsequent trees, wherein the second tree becomes a new first tree and a tree subsequent to the second tree becomes a new second tree for performing the foregoing steps.

33. The method according to claim 32, wherein the step of measuring the selected property of the at least first and second trees includes using at least one of optical observation means and radio-wave observation.

34. The method according to claim 32, wherein the step of measuring the selected property includes measuring at least one property of the following group: tree diameter, a tree height, tree species, tree quality, tree volume, distance of the trees from each other, number of tree branches and strength and thickness of the branches.

35. The method according to claim 32, wherein the step of measuring the selected property of each tree includes measuring the selected property 2-10 times before the harvester head contacts the tree, to improve reliability of the measurement.

36. The method according to claim 32, including contactlessly measuring, with aid of the observation means, the selected property of 2-100 trees on a basis of electromagnetic radiation.

37. The method according to claim 32, including basing the change of state of the power-transmission gear on the measurement data of the tree in the following stages: comparing the measurement data with aid of the software means to a database pre-stored in the memory comprising measurement data on the selected property of the tree and a correlation of the measurement data of the selected property of the tree with the amount of energy required to be transmitted from the power-transmission gear for the selected operation of the first operating device, determining the amount of energy required to be transmitted from the power-transmission gear with aid of the correlation on basis of the measurement data, and controlling with aid of the software means the power-transmission gear to achieve the change of state, so that the amount of energy to be transmitted from the power-transmission gear to the first operating device is achieved.

38. The method according to claim 32, wherein the step of measuring the selected property includes measuring electromagnetic radiation in the 1.0 to 40.0 Ghz or 350 THz to 1 Phz frequency range.

39. The method according to claim 32, wherein the power-transmission gear is: A) a combustion engine or electric motor or B) a hydraulic, pneumatic, mechanical, or electric power-transmission component, or both A) and B) of the aforementioned, and the change of state of the power-transmission gear is a change in the revolution speed of a combustion engine or electric motor or a change in the volume flow or pressure of a hydraulic or pneumatic power-transmission component, an attitude change of a mechanical power transmission component, or a voltage or current change in an electric power-transmission component.

40. The method according to claim 32, including selecting a tree to be processed next by the harvester head, identifying the selected tree, selecting the selected tree's measurement data as a base for control, and controlling the power-transmission gear to create a change of state on the basis of the selected tree's measurement data, before the harvester contacts the selected tree.

41. The method according to claim 40, wherein the step of identifying the selected tree to be processed includes automatically identifying with aid of the software means, wherein the selected tree to be processed is the tree in a direction of movement of a path of motion of a crane of the forest machine, relative to which a distance of the harvester head diminishes at a greatest speed on a basis of first position data or second position data or both of the first and second position data.

42. The method according to claim 40, wherein the selected tree to be processed is identified automatically with aid of the software means, the selected tree to be processed being the tree nearest the harvester head on a basis of the first position data or second position data or both of the first and second position data.

43. The method according to claim 40, wherein the selected tree to be processed is identified automatically with aid of the software means, the selected tree to be processed being the tree shown to be next in a working order made on a basis of the measurement data.

44. The method according to claim 32, further including re-measuring a tree already in the register to obtain re-measured measurement data for editing the tree's measurement data already in the register using a selected criterion.

45. The method according to claim 44, wherein the step of using a selected criterion includes using a mean value of the tree's measurement data already in the register and the re-measured measurement data and replacing the measurement data already in register with the mean value of the tree's measurement data.

46. A system for controlling a power-transmission gear in a forest machine, which forest machine includes a chassis, a harvester head for processing trees, a crane pivoted to the chassis for suspending the harvester head, a first operating device for creating a change in the harvester head's attitude, location, or state, and a power-transmission gear for transmitting energy to a first operating device, the system including: observation means for detecting electromagnetic radiation and measuring a selected property of at least first and second trees on a basis of the electromagnetic radiation at a distance from the trees being measured, to create measurement data; and software means arranged to: record the measurement data of the observation means in a memory to create a register, control the power-transmission gear on a basis of the measurement data of at least the first tree to create a change of state in the power-transmission gear before the harvester head contacts the first tree thus permitting sufficient energy to be sent to the first operating device to optimize and perform an operation of the first operating device, control the power-transmission gear at the second tree in the register on basis of the measurement data of the second tree before the harvester head contacts the second tree in the register, and repeat the operations of the observation means and the software means on trees subsequent to the second tree, wherein the second tree becomes a new first tree and a tree subsequent to the second tree becomes a new second tree on which the observation means and software mean operate.

47. The system according to claim 46, wherein the observation means are optical observation means or radio-wave observation means or both.

48. The system according to claim 47, wherein the optical observation means are at least one of a camera and a laser measuring means.

49. The system according to claim 46, wherein the observation means are situated in the forest machine.

50. The system according to claim 46, wherein the observation means are situated in a flying imaging drone.

51. A forest machine comprising: a chassis, a harvester head for processing trees, a crane pivoted to the chassis for suspending the harvester head, a first operating device for creating a change in the harvester head's attitude, location, or state, power-transmission gear for transmitting power to the first operating device, and the system according to claim 46 for controlling the power-transmission gear.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0059] In the following, the invention is described in detail with reference to the accompanying drawings showing some embodiments of the invention, in which

[0060] FIG. 1a shows a side view of a first embodiment of the forest machine according to the invention,

[0061] FIG. 1b shows a side view of a second embodiment of the forest machine according to the invention,

[0062] FIG. 2 shows a schematic block diagram of the system according to the invention,

[0063] FIG. 3 shows a block diagram of the stages of the method according to the invention.

DETAILED DESCRIPTION OF THE INVENTION

[0064] FIGS. 1a and 1b show the forest machine 100 according to the invention. In its basic construction, the forest machine 100 corresponds to forest machines of the prior art, i.e. the forest machine 100 includes a chassis 40 and a base 90 pivoted under the chassis 40, which can be, for example, like FIG. 1 a construction formed of sets of bogie wheels 92 pivoted to the chassis 40 or, for example, a construction using a crawler-track base. In addition, the forest machine 100 includes in the usual manner a cab 94, a power-transmission gear 10, such as, for example a combustion engine, a crane 42 pivoted to the chassis 40, and a harvester head 12 suspended from the crane 42 for processing trees 11. To control the forest machine 100, the forest machine 100 includes a control system, which preferably includes a vehicle PC comprising at least a computation unit 34, a memory 24, and data-transfer means 36. In a modern forest machine 100, for example, the various operations of the harvester head 12 and crane 42 are monitored with the aid of sensors and the operation of the harvester head 12 and crane 42 are controlled and partly automated using the computation unit 34. Measurement data is transferred from the sensors to the computation unit 34 using the data-transfer means 36 and the measurement data is analysed by the computation unit 34 and the results stored in the memory.

[0065] Using the system 1 according to the invention a forest machine of the prior art can be transformed into a forest machine 100 according to the invention, in which the operation of the power-transmission gear 10 is optimized on the basis of the trees 11 being processed.

[0066] FIG. 2 shows the construction of the system 1 according to the invention in greater detail. At a minimum, the system 1 according to the invention includes, as components, observation means 14 and software means 16. These two parts can be joined to form part of a forest machine according to the prior art, the components belonging to which can be the other components shown in FIG. 2. In the system 1 according to the invention, a tree's selected property is measured at a distance with the aid of observation means, using electromagnetic radiation. The observation means 14 can be optical or radio-wave observation means, in the case of FIGS. 1a-2 optical observation means 20 and more precisely a camera 26. The measurement data created using the observation means 14 can be transferred preferably over data-transfer means 36 belonging to the forest machine 100 preferably to the computation unit 34 of the control system belonging to the forest machine 100. Stored in the computation unit's 34 memory 24 are the software means 16 belonging to the system 1, which further, using the aforementioned data-transfer means 36 control the forest machine's 100 selected power-transmission gear 10 to transmit a suitable amount of energy to the selected first operating device of the forest machine. In addition, the memory 24 includes a register 25, in which the measurement data are stored, in order to control the power-transmission gear 10.

[0067] When referring to the power-transmission gear 10, one can mean a power source, which can be, for example, the combustion engine 30, preferably a diesel engine, of the forest machine according to FIG. 2. Instead of a combustion engine, an electric motor, for example, can be used. On the other hand, in this context the term power-transmission gear 10 can also refer to components 32 of the power transmission of the forest machine, such as, for example, the crane's hydraulic pump 62, the hydraulic power transmission's pump 66, the drive motor 68 i.e. the drive power-transmission motor, the gearbox 70, the crane's valve manifold 84, the harvester head's hydraulic pump 60, the cooling circuit's pump 64, or the harvester head's valve manifold 72. The aforementioned are examples of the forest machine's power-transmission gear, the energy transmission of which can be optimized using the system 1 according to the invention. The operating devices, to which energy is transmitted by the power-transmission gear 10, can be, for example, as the crane's operating devices, that is the hydraulic cylinders 82 acting as the third operating devices 44, the crane's rotation motor 86, as the harvester head's operating devices, that is the hydraulic cylinders 80 acting as the second operating devices 38, the harvester head's rotation device 74, the cutting saw's motor 76, or the feed rollers' motors 78. All of the aforementioned operating devices are characterized in that through their operation a change is achieved in the harvester head's attitude, location, or state.

[0068] More specifically, the optical observation means are preferably a camera or laser observation means, such as, for example, Lidar observation means. The operation of the optical obsrvation means is based on the electromagnetic radiation reflected from the tree, i.e. the light reflected from the tree. The camera or laser observation means receive the light with the aid of their cell. When using laser observation means, the light reflected is produced with the aid of a laser observation means' laser light and the light reflected back from the tree is measured. When using a camera only the light from other light sources reflected from the tree is received. The camera used can be, for example, that made by the manufacturer Orlaco and marketed under the product name EMOS, the light sensitivity of which can be 4.0-6.0 V/lux-sec (scotopic-vision property <0.1 lux), vibration resistance 15 GRMS 24-2000 Hz, and impact resistance 50 G.

[0069] If only camera technology is used to measure the tree's property, a separate unit, two cameras or a stereocamera, intended for measuring the distance between the tree and the camera must be used to determine the tree's absolute dimensions. The aforesaid separate unit can be, for example, laser observation means or radar based on radio-waves, with the aid of which the distance can be measured with sufficient reliability. With the aid of two cameras or a stereocamera a three-dimensional image of the tree can be created, when on the basis of the distance between the cameras, software means can be used to decide the distance between the tree and the camera, to determine the tree's absolute dimensions without physically contacting the tree.

[0070] If the optical observation means are laser observation means, it is possible to use in the system, for example, the manufacturer Velodyne LiDAR's laser observation means marketed under the product name VLP-16, which can measure up to 600 000 dots per second.

[0071] Instead of optical observation means, radio-wave observation means can be used, which can be, for example, radar based on the use of radio-waves. With the system it is possible to use, for example, radar manufactured by Robert Bosch GmbH and marketed under the product name mid-range radar sensor (MMR), which uses 4.5-W power and has a 76-77-Ghz frequency range.

[0072] The observation means 14 of the system according to the invention can be located in connection with the forest machine 100 according to FIG. 1a. The observation means 14 are preferably attached to the forest machine's 100 cab 94, when they have good visibility towards the trees for most of the time. The crane 42 and the harvester head 12 can at times obstruct vision, but the measurement of the selected property of the tree 11 is preferably performed several times before the harvester head 12 contacts the tree, so that several reliable observations of the tree 11 can be obtained. The observation means 14 fitted in connection with the cab 94 are also protected from impacts and knocks. Alternatively, the observation means can be placed in connection with the forest machine's harvester head, when they have a better view of the tree being measured. On the other hand, in the harvester head the observation means are more liable to knocks and impacts than when placed in the cab. The observation means are preferably powered from the forest machine's power source.

[0073] According to the embodiment shown in FIG. 1b the observation means 14 can also be located in a separate imaging drone 50. The imaging drone 50 can be, for example, a single quadrocopter, i.e. drone, or a group of several drones, with the aid of which more comprehensive image data can be created. With the aid of an imaging drone 50 a map can be drawn beforehand of the forest area of the trees 11 to be processed, containing the measurement data of individual trees, before the forest machine 100 arrives in the forest. The map created can be sent, for example, using wireless data-transmission means 36 directly to the forest machine 100, or the map can first be downloaded from the imaging drone, for example, over a wired connection to a portable computer and from there wirelessly or wired to the forest machine. With the aid of a predefined map, the working of the forest machine and, for example, laying-off can be optimized more precisely. The term laying-off refers to the definition of the cutting points on the tree trunks, taking into account the timber type and dimensions requirements. Reference number 52 shows the positioning means preferably belonging to the forest machine 100, with the aid of which the forest machine's 100 position in the forest can be determined.

[0074] The stages of the method according to the invention are shown in FIG. 3 through an embodiment. In the method, the forest machine moves in a forest towards the trees to be felled according to stage 200 just as in the prior art. In stage 202, a selected property of at least two trees is measured, with the aid of observation means on the basis of electromagnetic radiation, at a distance from the trees being measured, in order to create measurement data. More specifically, stage 202 can be divided into several sub-stages, in which in stage 204 the observation means are used to observe the surroundings continuously. If the observation means are, for example, a camera, the camera is used to takes images continuously at a selected frequency, for example, 10 images per second. In stage 206, data-transmission means are used to send the images to software means stored in the memory of the computation unit, which in stage 208 preferably combine time data with each image and, for example, using the positioning means of the forest machine, the forest machine's position data p0.1, and record the combined data in a register in the memory. In stage 210, the software means identify the trees from the image, for example on the basis of shape, colour, or similar, for example, in the manner of software exploiting machine vision. In stage 212 the software means determine the selected property, for example the tree's diameter, from the identified trees. The properties to be determined can also be more than one. In stage 214 the software means can preferably also determine the camera's distance from each tree, for example on the basis of the measurement data of laser observation means. In stage 216 the software means use the distance data to calculate each tree's first position data p1 on the basis of the forest machine's position data p0.1 and the distance data. In stage 218, each tree's first position data p1 can be combined with the relevant tree's measurement data d and be recorded in the computation unit's memory in stage 220.

[0075] According to stage 222, the software means are arranged to detect a situation, in which the next tree to be processed has been selected and after identifying the situation to perform a change of state in the power-transmission gear before the harvester head contacts the tree. Stage 222 can be divided in to several sub-stages, in which in stage 224 the selection of the tree to be processed is identified, for example, by a separate activation command given by the operator, which can be, for example, pressing a selection button. Alternatively, the selection can be identified with the aid of software means automatically, for example, from the path of motion of the crane's harvester head moving farther from the base of the crane, which is direction towards the tree, and the crane's rotation being stopped, and from the attitude of the harvester head's debranching jaws, which are open. Further, the selection can be based on the distance of the harvester head from the trees, or on a previously prepared work arrangement, according to which the trees are processed. If all the aforementioned attitudes and paths of motion of the crane and harvester head are met simultaneously, the software means decide that the tree has been selected. Then, according to stage 226, for example, when a camera is acting as the observation means, the camera is again used to take more images, from which, in stage 228, the software means identify the trees in the manner described above.

[0076] In stage 230 the software means can preferably also determine the distance data telling the distance of the camera to each tree, for example, on the basis of laser observation means measurement data. In stage 232 the software means use the distance data to calculate each tree's second position data p2 on the basis of the forest machine's position data p0.2 and the distance data. In stage 234 the tree's second position data p2 can be compared with the tree's first measurement data stored in the memory's register and on its basis the selected tree can be identified as a particular tree, the measurement data of which have been previously determined and stored in connection with the first position data.

[0077] According to stage 236, after identifying the tree to be processed the software means are arranged to use the tree's measurement data to create a change of state in the power-transmission gear. Stage 236 can be divided into sub-stages, in which in stage 238 the said measurement data is compared with the aid of the software means with a database pre-stored in the memory, comprising measurement data on the property of the selected tree and the correlation with the amount of energy to be transmitted from the power-transmission gear or some other correlation with a selected operation of the selected first operating device. In stage 240 the amount of energy needed to be transmitted from the power-transmission gear is determined on the basis of the measurement data with the aid correlation and in stage 242 the forest machine's control system is used with the aid of the software means to create the required change in the state of the power-transmission gear. The change of state can be, for example, a momentary increase in the engine's revolutions. This achieves the transmission of the amount of energy, required in terms of the operation of the first operating device, from the power-transmission gear to the first operating device. In stage 244, a sufficient amount of energy is transmitted from the power-transmission gear to the first operating device, which in stage 246 performs the selected operation of the first operating device using the transmitted energy. After this, a new measurement is preferably made, on the basis of which the trees' measurement data in the register can be edited. In stage 248, the power-transmission gear is again controlled, on the basis of the next tree's measurement data stored in the register, to transmit energy to the first operating device. In stage 250 stages 202-248 are repeated.

[0078] As an alternative to the implementation described above, the method according to the invention can also be implemented in such a way that the selected property of the trees is only determined in the stage in which the selection of the tree to be processed has been identified.

[0079] The power-transmission gear being the power-transmission component, the change of state achieved through the control can be a change, for example, in volume flow, pressure, capacity of the hydraulic pump or of the hydraulic motor by altering, for example, the rotational volume of the pump. The power-transmission gear being the engine, the change of state achieved can be a change in the engine's revolutions, or software parameter changes affecting the engine's behaviour (the so-called injection chart is altered).

[0080] If the forest machine does not include a control system that is compatible with the system according to the invention, the system can, in addition, include a separate computation unit, which comprises memory for software means, as well as data-transmission means between the observation means and the computation unit and between the computation unit and the power-transmission gear.

[0081] Though earlier in the description of the invention the software means have been presented as using a computation unit to control the power-transmission gear, it should be understood that there can be separate local control units between the power-transmission gear and the computation unit, such as, for example, a separate grapple computer in the harvester head. The data-transmission means used in the system according to the invention are preferably as such a forest machine's own known CAN bus, or alternatively an ArcNET bus, but also other wired and wireless data-transmission means can be used. Particularly if the observation means are attached to an imaging drone, the data-transmission means are preferably wireless, such as Wi-Fi.

[0082] According to one embodiment, the observation means consist of a Laser distance meter and an absolute-angle sensor. The following logic is then used in measurement, which is based on the fact that it is not possible to see through a tree trunk. Only measurement progressing mainly over a segment of a circle forms a trunk, which has a front edge and a rear edge. The diameter of the trunk has an upper limit, as has the radius. When an object farther than the rear edge of the trunk is observed, the diameter of the trunk and the position of the centre point are calculated, objects farther than the measured radius being empty. The use of such observation means is described in greater detail in patent publication FI 101016 B, beginning on line 15 of page 2 and ending on line 4 of page 3, and beginning on line 15 of page 3 and ending on line 4 of page 4.

[0083] Though this does not belong to the invention, the observation means and software means of the system according to the invention can also be used to guide the laying-off of a tree.