CA2330979A1 - Method and apparatus for controlling harvesting of trees - Google Patents
Method and apparatus for controlling harvesting of trees Download PDFInfo
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- CA2330979A1 CA2330979A1 CA002330979A CA2330979A CA2330979A1 CA 2330979 A1 CA2330979 A1 CA 2330979A1 CA 002330979 A CA002330979 A CA 002330979A CA 2330979 A CA2330979 A CA 2330979A CA 2330979 A1 CA2330979 A1 CA 2330979A1
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- tree
- trees
- terrain map
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G23/00—Forestry
Abstract
A method and apparatus for controlling harvesting of trees. The method and apparatus includes determining a set of parameters of a plurality of trees and terrain at a forestry site, communicating the set of parameters to an office planner, creating a tree and terrain map as a function of the set of parameters, and determining a desired sequence of steps for harvesting the trees. The method and apparatus also includes communicating the tree and terrain map and the desired sequence of steps to a processor located on a tree harvesting machine, the processor having a tree and terrain map database to store the tree and terrain map, the tree harvesting machine having a position determining system to determine the location of the tree harvesting machine with respect to the tree and terrain map, and harvesting the trees as a function of the tree and terrain map and the desired sequence of steps.
Description
Description Method and Apparatus for Controlling Harvesting of Trees Technical Field This invention relates generally to a method and apparatus for controlling the harvesting of trees in a forestry operation and, more particularly, to a method and apparatus for determining a desired sequence of steps for controllably harvesting trees.
Background Art Forestry applications such as the harvesting of trees form a vital part of economic markets throughout the world. Trees are harvested for lumber, wood pulp, paper, and other products.
Efforts are constantly being made to improve the efficiency of tree harvesting. In particular, it is desired to minimize any disturbances to other trees at a forestry site, minimize damage to the soil at the forestry site, increase productivity, and minimize susceptibility to weather conditions.
The efficiency of operations, however, is limited by the equipment available and the skill of human operators. Furthermore, the addition of larger, more powerful machines does not necessarily increase efficiency, and may even cause greater damage to the forestry site than is acceptable.
In addition, the absence of detailed tree harvesting plans, and an efficient method for using such plans, causes waste and inefficiency in the tree harvesting operations. Therefore, it is desired to be able to incorporate detailed tree harvesting plans using existing or future forestry equipment in the most efficient, economical, and environmentally friendly manner possible. Consequently, it is desired to have the capability to integrate a computerized planning and coordinating system into a forestry environment which is adaptable for use with existing equipment and methods.
The present invention is directed to overcoming one or more of the problems as set forth above.
Disclosure of the Invention In one aspect of the present invention a method for controlling harvesting of trees is disclosed. The method includes the steps of determining a set of parameters of a plurality of trees and terrain at a forestry site, communicating the set of parameters to an office planner, creating a tree and terrain map as a function of the set of parameters, and determining a desired sequence of steps for harvesting the trees. The method also includes the steps of communicating the tree and terrain map and the desired sequence of steps to a processor located on a tree harvesting machine, the processor having a tree and terrain map database to store the tree and terrain map, the tree harvesting machine having a position determining system to determine the location of the tree harvesting machine with respect to the tree and terrain map, and harvesting the trees as a function of the tree and terrain map and the desired sequence of steps.
In another aspect of the present invention an apparatus for controlling harvesting of trees is disclosed. The apparatus includes means for determining a set of parameters of a plurality of trees and terrain at a forestry site, an office planner to create a tree and terrain map as a function of the set of parameters, and to determine a desired sequence of steps for harvesting the trees, means for communicating the set of parameters from the forestry site to the office planner. and a tree harvesting machine located at the forestry site, wherein the tree harvesting machine includes a processor having a tree and terrain map database, and a position determining system to determine the location of the tree harvesting machine with respect to the tree and terrain map. The apparatus also includes means for communicating the tree and terrain map and the desired sequence of steps from the office planner to the tree harvesting machine.
Brief Description of the Drawings Fig. 1 is a high level block diagram illustrating a preferred embodiment of the present invention;
Fig. 2 is a high level block diagram illustrating an alternate preferred embodiment of the present invention;
Fig. 3 is a block diagram illustrating a preferred embodiment of a mobile cruiser machine suitable for use in the present invention;
Fig. 4 is a block diagram illustrating a preferred embodiment of an office planner suitable for use in the present invention;
Background Art Forestry applications such as the harvesting of trees form a vital part of economic markets throughout the world. Trees are harvested for lumber, wood pulp, paper, and other products.
Efforts are constantly being made to improve the efficiency of tree harvesting. In particular, it is desired to minimize any disturbances to other trees at a forestry site, minimize damage to the soil at the forestry site, increase productivity, and minimize susceptibility to weather conditions.
The efficiency of operations, however, is limited by the equipment available and the skill of human operators. Furthermore, the addition of larger, more powerful machines does not necessarily increase efficiency, and may even cause greater damage to the forestry site than is acceptable.
In addition, the absence of detailed tree harvesting plans, and an efficient method for using such plans, causes waste and inefficiency in the tree harvesting operations. Therefore, it is desired to be able to incorporate detailed tree harvesting plans using existing or future forestry equipment in the most efficient, economical, and environmentally friendly manner possible. Consequently, it is desired to have the capability to integrate a computerized planning and coordinating system into a forestry environment which is adaptable for use with existing equipment and methods.
The present invention is directed to overcoming one or more of the problems as set forth above.
Disclosure of the Invention In one aspect of the present invention a method for controlling harvesting of trees is disclosed. The method includes the steps of determining a set of parameters of a plurality of trees and terrain at a forestry site, communicating the set of parameters to an office planner, creating a tree and terrain map as a function of the set of parameters, and determining a desired sequence of steps for harvesting the trees. The method also includes the steps of communicating the tree and terrain map and the desired sequence of steps to a processor located on a tree harvesting machine, the processor having a tree and terrain map database to store the tree and terrain map, the tree harvesting machine having a position determining system to determine the location of the tree harvesting machine with respect to the tree and terrain map, and harvesting the trees as a function of the tree and terrain map and the desired sequence of steps.
In another aspect of the present invention an apparatus for controlling harvesting of trees is disclosed. The apparatus includes means for determining a set of parameters of a plurality of trees and terrain at a forestry site, an office planner to create a tree and terrain map as a function of the set of parameters, and to determine a desired sequence of steps for harvesting the trees, means for communicating the set of parameters from the forestry site to the office planner. and a tree harvesting machine located at the forestry site, wherein the tree harvesting machine includes a processor having a tree and terrain map database, and a position determining system to determine the location of the tree harvesting machine with respect to the tree and terrain map. The apparatus also includes means for communicating the tree and terrain map and the desired sequence of steps from the office planner to the tree harvesting machine.
Brief Description of the Drawings Fig. 1 is a high level block diagram illustrating a preferred embodiment of the present invention;
Fig. 2 is a high level block diagram illustrating an alternate preferred embodiment of the present invention;
Fig. 3 is a block diagram illustrating a preferred embodiment of a mobile cruiser machine suitable for use in the present invention;
Fig. 4 is a block diagram illustrating a preferred embodiment of an office planner suitable for use in the present invention;
Fig. 5 is a block diagram illustrating a preferred embodiment of a tree harvesting machine suitable for use in the present invention;
Fig. 6 is a block diagram illustrating a preferred embodiment of a mobile logging supervisor suitable for use in the present invention;
Fig. 7 is a flow diagram illustrating a preferred method of the present invention; and Fig. 8 is a flow diagram illustrating an alternate preferred method of the present invention.
Best Mode for Carrying Out the Invention Referring to the drawings, the specification, and the appended claims, a method and apparatus 100 for controlling harvesting of trees at a forestry site is disclosed. It is noted that the drawings and specification describe one or more preferred embodiments of the claimed invention.
However, additional embodiments may be employed without deviating from the scope and the spirit of the invention.
Referring to Figs. 1 and 2 in particular, block diagrams illustrating two preferred embodiments of the present invention are shown.
In a first preferred embodiment in Fig. 1, a forestry site 102 is the location for a desired harvesting of trees for products such as lumber, pulp, paper, and the like. Preferably, before any harvesting is performed, a means 104 for determining a set of parameters is used to gather information about the trees and terrain at the forestry site 102. The _5_ information may then be used to plan the harvesting process to some extent.
The means 104 for determining a set of parameters is commonly known in the forestry industry as cruising, and may include one or more persons equipped to walk throughout the forestry site 102 and gather information. The gathering of information by these persons may be done manually, or may be automated to some degree by the use of handheld, or l0 portable equipment.
A preferred means 104 for determining a set of parameters, and one that is included below with respect to discussion of the present invention, is a mobile cruiser machine 106, equipped with information gathering technology, and adapted to traverse the forestry site 102 to gather the desired information.
The mobile cruiser machine 106 is described in more detail below.
A tree harvesting machine 110, located at the forestry site 102, is adapted to harvest the trees. The tree harvesting machine 110 may be of many types that are known in the art. For example, excavating types of machines having tree grapplers and cutting blades may be used. Machines dedicated solely to cutting and felling trees may be used. Persons with chain saws may even be categorized as tree harvesting machines 110. However, a preferred type of tree harvesting machine 110 for use with the present invention is adapted by a boom mechanism to hold the tree with a grapple, cut the tree with a blade, bunch several trees together in the process, and place the bunched trees through a de-limber prior to loading the bunch of cut trees for hauling from the forestry site 102. In addition, the tree harvesting machine 110, in the preferred embodiment, is a tracked excavator machine to provide good traction in rugged terrain, yet minimize environmental damage to the forestry site 102.
An office planner 108, located either at the forestry site 102, or at a remote location, is adapted to receive information, i.e., the set of parameters, from the mobile cruiser machine 106, and to communicate directly with the tree harvesting machine 110. The office planner 108 is discussed in more detail below.
An alternative preferred embodiment of the present invention is illustrated in Fig. 2. A mobile logging supervisor 202 is located at the forestry site 102. Preferably, the mobile logging supervisor 202 includes a mobile machine, e.g., a pickup truck, utility vehicle, and the like, operated by a supervisor, and adapted to monitor the tree harvesting operations. In addition, in the alternative embodiment, the mobile logging supervisor 202 is adapted to receive and relay communications between the office planner 108 and the tree harvesting machine 110, thus assisting the mobile logging supervisor 202 in monitoring activities.
Referring to Fig. 3, but with continued reference to Figs. 1 and 2, the mobile cruiser machine 106 includes some additional equipment to adapt it for use with the present invention.
A position determining system 302, located on the mobile cruiser machine 106, is adapted to _7_ determine the position, in geographical coordinates, of the mobile cruiser machine 106, and also of each tree of interest. In the preferred embodiment, the position determining system 302 is a global position satellite (GPS) system. However, other types of position determining systems, e.g., laser positioning, dead reckoning, or a combination of position determining technologies, may be used as well.
A rangefinding sensor system 304, preferably a laser scanning rangefinding sensor system, as is well known in the art, is located on the mobile cruiser machine 106. The rangefinding sensor system is adapted to determine the size of each tree of interest, preferably by scanning across the trunk of the tree at a desired height from the ground and calculating the diameter of the trunk by well known rangefinding techniques.
A slope detection system 306, located on the mobile cruiser machine 106, is adapted to determine the slope of the terrain at the forestry site. In the preferred embodiment, the slope detection system 306 is a two-axis inclinometer so that the slope may be determined regardless of the heading and orientation of the mobile cruiser machine 106.
In addition, the mobile cruiser machine 106 may be used to obtain further information. For example, the operator of the mobile cruiser machine 106 may gather information regarding the species of trees, the condition of each tree, additional terrain data of interest for tree harvesting, and the like.
It is noted that, as technologies become available and feasible, this additional information may be gathered _8_ by additional equipment rather than by manually obtaining the information.
A processor 308, located on the mobile cruiser machine 106, and data storage means 310, electrically connected to the processor 308, is preferably used to process and store the gathered information. The information is then communicated to the office planner 108 by a means 312 for communicating, located on the mobile cruiser machine 106. In one embodiment, the means 312 for communicating is a wireless communications system, such as a wireless transmitter. In another embodiment, the means 312 for communicating is a data transfer medium, such as a disk, CD, or data link.
The data transfer medium may be of a type that is adapted to operate through a wireless transmitter, or the mobile cruiser machine 106 may connect directly to the office planner 108 for downloading of information.
In addition, the data may be manually delivered by the operator of the mobile cruiser machine 106. Other embodiments for the means 312 for communicating may be used without deviating from the scope of the present invention.
Referring to Fig. 4, and with continued reference to Figs. 1 and 2, the office planner 108 is described in more detail.
A means 402 for communicating, located at the office planner 108, is adapted to receive information from the mobile cruiser machine 106, and to communicate with the tree harvesting machine 110, either directly as depicted in Fig. l, or through the mobile logging supervisor 202, as shown in Fig. 2.
_g_ The means 402 for communicating by the office planner 108 may use any technology or method as described above with respect to the means 312 for communicating by the mobile cruiser machine 106.
An office planner computer 404 is adapted to receive the set of parameters of the trees and terrain at the forestry site 102, and to responsively create a tree and terrain map, preferably in a database format.
The office planner computer 404 is also adapted to determine a desired sequence of steps to harvest the trees. In the preferred embodiment, the desired sequence of steps is determined to accomplish certain objectives, including, but not limited to, maximizing productivity, minimizing damage to the environment, promoting efficient and time saving operations, reducing manpower needs, and the like.
The office planner 108 includes means 406 for determining yield, preferably in the form of software used by the office planner computer 404.
However, alternatively, the means 406 for determining yield may exist at the office planner 108 in other forms, such as a separate processor for performing yield calculations, a manual system performed by persons operating at the office planner 108, and the 1 ike .
Referring to Fig. 5, and with continued reference to Figs. 1 and 2, additional features located on the tree harvesting machine 110, and suitable for use with the present invention are illustrated.
A processor 502, located on the tree harvesting machine 110, includes a database 504 to store the tree and terrain map from the office planner 108. The processor 502 may then be used to control the tree harvesting machine 110 to perform the desired sequence of steps for harvesting trees. The processor 502 is also adapted to update the tree and terrain map, which may then be communicated to the office planner 108 for determination of the yield of harvested trees.
A position determining system 506, located on the tree harvesting machine 110, is adapted to determine the location of the tree harvesting machine 110 in geographical coordinates; in particular with respect to the tree and terrain map. Preferably, the position determining system 506 is GPS based.
However, alternative position determining systems, as described above, may be used as well.
It is noted that it is well known in the art to have the capability to determine the location of a work implement in three dimensional geographical coordinates using a position determining system mounted on a work machine in cooperation with sensors, such as resolvers, located on linkages connecting the work machine with the work implement. Therefore, applying this principle to the present invention, the location of a work implement on the tree harvesting machine 110 may be determined so that the tree harvesting machine 110 may controllably harvest trees as a function of the tree and terrain map and the desired sequence of steps. Alternatively, the tree and terrain map and the desired sequence of steps may be communicated to an operator on the tree harvesting machine 110 to provide guidance to the operator for harvesting the trees as desired by the office planner 108.
A means 508 for communicating, located on the tree harvesting machine 110, is adapted to receive communications from the office planner 108, either directly or through the mobile logging supervisor 202.
The means 508 for communicating is also adapted for transmitting communications to the office planner 108, either directly or through the mobile logging supervisor 202. The means 508 for communicating for the tree harvesting machine 110 may use any of the methods or technologies described above with respect to the means 312 for communicating for the mobile cruiser machine 106.
Referring to Fig. 6, and with continued reference to Fig. 2, the mobile logging supervisor 202 is described in more detail.
The mobile logging supervisor 202 includes a means 602 for communicating with the tree harvesting machine 110 and a means 604 for communicating with the office planner 108. The means 602 for communicating with the tree harvesting machine 110 and the means 604 for communicating with the office planner 108 may use the same methods and technologies. However, in an alternative embodiment, the means 602 for communicating with the tree harvesting machine 110 and the means 604 for communicating with the office planner 108 may use different technologies. For example, the mobile logging supervisor 202 may be configured to operate in close proximity to the tree harvesting machine 110, so the means 602 for communicating with the tree harvesting machine 110 may be a short-range wireless communications system, but the office planner 108 may be located a great distance from the forestry site 102, so the means 604 for communicating with the office planner may be a medium-s range or long-range wireless communications system.
A monitor system 606, located on the mobile logging supervisor, is adapted to monitor the tree harvesting process. The monitor system 606 may be as simple as an operator, located with the mobile logging supervisor 606, visually observing the tree harvesting machine 110 as work is performed, or the monitor system 606 may be more complex. For example, the communications between the tree harvesting machine 110 and the office planner 108 may be monitored by the monitor system 606 to determine if tree harvesting operations are proceeding as desired.
The mobile logging supervisor 202 is preferably provided with a means 608 for overriding the desired sequence of steps. For example, the mobile logging supervisor 202 may determine that the desired sequence of steps will not accomplish tree harvesting in the most desired manner. Thus, the mobile logging supervisor 202 may override operations of the tree harvesting machine 110, and communicate a desired alternate sequence of steps for the tree harvesting machine 110 to perform. As another example, the mobile logging supervisor 202 may observe an undesired condition, such as a service problem with the tree harvesting machine 110, and may responsively override the desired sequence of steps to halt operations.
Referring to Fig. 7, a flow diagram illustrating a preferred method of the present invention is shown. The preferred method is described with reference to Figs. 1 and 3-5.
In a first control block 702, a set of parameters of a plurality of trees and terrain at the forestry site 102 is determined, preferably by the mobile cruiser machine 106. Parameters preferably include, but are not limited to, the number and locations of trees, the species of trees, the size and condition of trees, the slope of the terrain, the condition of the terrain, significant objects such as boulders, fallen logs, bodies of water, and the like.
In a second control.block 704, the set of parameters are communicated to the office planner 108, preferably by one of the means described above. After receiving the set of parameters, the office planner 108 creates a tree and terrain map in a third control block 706. In addition, in a fourth control block 708, the office planner 108 determines a desired sequence of steps for harvesting the trees.
In a fifth control block 710, the tree and terrain map and the desired sequence of steps are communicated from the office planner 108 to the tree harvesting machine 110, either directly or through the mobile logging supervisor 202. In the preferred embodiment, the tree and terrain map and the desired sequence of steps are communicated to a processor 502 located on the tree harvesting machine 110. The processor 502 may then be used either to automate many of the tree harvesting steps or to provide guidance to an operator during harvesting of the trees.
In a sixth control block 712, the trees are harvested as a function of the tree and terrain map and the desired sequence of steps. Control then proceeds to a seventh control block 714 in which, as the trees are harvested, the processor 502 at the tree harvesting machine 110 updates the tree and terrain map. Periodically, as shown in an eighth control block 716, the updated data is delivered to the office planner 108. Preferably, the updated data is delivered either directly or through the mobile logging supervisor 202.
In a ninth control block 718, the office planner 108 determines a yield of harvested trees as a function of the updated tree and terrain map.
Referring to Fig. 8, a flow diagram illustrating an alternate preferred method of the present invention is shown. The alternate preferred method is described with reference to Figs. 2 and 3-6.
In a first control block 802, a set of parameters of the trees and the terrain are determined. In a second control block 804, the parameters are communicated to the office planner 108.
In a third control block 806, the office planner 108 creates a tree and terrain map. In a fourth control block 808, a desired sequence of steps to harvest the trees is determined by the office planner 108.
In a fifth control block 810, the tree and terrain map and the desired sequence of steps are communicated from the office planner 108 to the mobile logging supervisor 202.
In a sixth control block 812, the mobile logging supervisor 202 relays the tree and terrain map and the desired sequence of steps to the tree harvesting machine 110. The tree harvesting machine 110 then, in a seventh control block 814, harvests the trees as a function of the tree and terrain map and the desired sequence of steps.
In an eighth control block 816, the mobile logging supervisor 202 monitors the activities of the tree harvesting machine 110. The mobile logging supervisor 202 may then override the work being performed by the tree harvesting machine 110 for any l0 reason needed. For example, the mobile logging supervisor 202 may halt operations, or may communicate a desired alternate sequence of steps to the tree harvesting machine 110.
In a ninth control block 818, the processor 502 at the tree harvesting machine 110 updates the tree and terrain map as the trees are harvested. In a tenth control block 820, the tree harvesting machine 110 communicates the updated tree and terrain map to the mobile logging supervisor 202. The mobile logging supervisor 202 then, in an eleventh control block 822, relays the updated tree and terrain map to the office planner 108. The office planner 108 then, in a twelfth control block 824, determines a yield of harvested trees as a function of the updated tree and terrain map.
Industrial Applicability The present invention is described above with respect to one cruiser machine 106, one tree harvesting machine 110, one office planner 108, and one mobile logging supervisor 202. However, a distinct advantage of the present invention is that the office planner 108 may be located at any site near or remote from one or more forestry sites 102, and may coordinate the activities of any number of forestry operations. For example, one or more mobile cruiser machines 106 may gather data from one or more forestry sites 102, and communicate the data to the office planner 108. The office planner 108 may then communicate tree and terrain maps and desired sequences of steps to a plurality of tree harvesting machines 110. The office planner 108 functions as a control hub for a complete forestry operation, thus coordinating activities and optimizing efficiency and productivity.
Other aspects, objects, and features of the present invention can be obtained from a study of the drawings, the disclosure, and the appended claims.
Fig. 6 is a block diagram illustrating a preferred embodiment of a mobile logging supervisor suitable for use in the present invention;
Fig. 7 is a flow diagram illustrating a preferred method of the present invention; and Fig. 8 is a flow diagram illustrating an alternate preferred method of the present invention.
Best Mode for Carrying Out the Invention Referring to the drawings, the specification, and the appended claims, a method and apparatus 100 for controlling harvesting of trees at a forestry site is disclosed. It is noted that the drawings and specification describe one or more preferred embodiments of the claimed invention.
However, additional embodiments may be employed without deviating from the scope and the spirit of the invention.
Referring to Figs. 1 and 2 in particular, block diagrams illustrating two preferred embodiments of the present invention are shown.
In a first preferred embodiment in Fig. 1, a forestry site 102 is the location for a desired harvesting of trees for products such as lumber, pulp, paper, and the like. Preferably, before any harvesting is performed, a means 104 for determining a set of parameters is used to gather information about the trees and terrain at the forestry site 102. The _5_ information may then be used to plan the harvesting process to some extent.
The means 104 for determining a set of parameters is commonly known in the forestry industry as cruising, and may include one or more persons equipped to walk throughout the forestry site 102 and gather information. The gathering of information by these persons may be done manually, or may be automated to some degree by the use of handheld, or l0 portable equipment.
A preferred means 104 for determining a set of parameters, and one that is included below with respect to discussion of the present invention, is a mobile cruiser machine 106, equipped with information gathering technology, and adapted to traverse the forestry site 102 to gather the desired information.
The mobile cruiser machine 106 is described in more detail below.
A tree harvesting machine 110, located at the forestry site 102, is adapted to harvest the trees. The tree harvesting machine 110 may be of many types that are known in the art. For example, excavating types of machines having tree grapplers and cutting blades may be used. Machines dedicated solely to cutting and felling trees may be used. Persons with chain saws may even be categorized as tree harvesting machines 110. However, a preferred type of tree harvesting machine 110 for use with the present invention is adapted by a boom mechanism to hold the tree with a grapple, cut the tree with a blade, bunch several trees together in the process, and place the bunched trees through a de-limber prior to loading the bunch of cut trees for hauling from the forestry site 102. In addition, the tree harvesting machine 110, in the preferred embodiment, is a tracked excavator machine to provide good traction in rugged terrain, yet minimize environmental damage to the forestry site 102.
An office planner 108, located either at the forestry site 102, or at a remote location, is adapted to receive information, i.e., the set of parameters, from the mobile cruiser machine 106, and to communicate directly with the tree harvesting machine 110. The office planner 108 is discussed in more detail below.
An alternative preferred embodiment of the present invention is illustrated in Fig. 2. A mobile logging supervisor 202 is located at the forestry site 102. Preferably, the mobile logging supervisor 202 includes a mobile machine, e.g., a pickup truck, utility vehicle, and the like, operated by a supervisor, and adapted to monitor the tree harvesting operations. In addition, in the alternative embodiment, the mobile logging supervisor 202 is adapted to receive and relay communications between the office planner 108 and the tree harvesting machine 110, thus assisting the mobile logging supervisor 202 in monitoring activities.
Referring to Fig. 3, but with continued reference to Figs. 1 and 2, the mobile cruiser machine 106 includes some additional equipment to adapt it for use with the present invention.
A position determining system 302, located on the mobile cruiser machine 106, is adapted to _7_ determine the position, in geographical coordinates, of the mobile cruiser machine 106, and also of each tree of interest. In the preferred embodiment, the position determining system 302 is a global position satellite (GPS) system. However, other types of position determining systems, e.g., laser positioning, dead reckoning, or a combination of position determining technologies, may be used as well.
A rangefinding sensor system 304, preferably a laser scanning rangefinding sensor system, as is well known in the art, is located on the mobile cruiser machine 106. The rangefinding sensor system is adapted to determine the size of each tree of interest, preferably by scanning across the trunk of the tree at a desired height from the ground and calculating the diameter of the trunk by well known rangefinding techniques.
A slope detection system 306, located on the mobile cruiser machine 106, is adapted to determine the slope of the terrain at the forestry site. In the preferred embodiment, the slope detection system 306 is a two-axis inclinometer so that the slope may be determined regardless of the heading and orientation of the mobile cruiser machine 106.
In addition, the mobile cruiser machine 106 may be used to obtain further information. For example, the operator of the mobile cruiser machine 106 may gather information regarding the species of trees, the condition of each tree, additional terrain data of interest for tree harvesting, and the like.
It is noted that, as technologies become available and feasible, this additional information may be gathered _8_ by additional equipment rather than by manually obtaining the information.
A processor 308, located on the mobile cruiser machine 106, and data storage means 310, electrically connected to the processor 308, is preferably used to process and store the gathered information. The information is then communicated to the office planner 108 by a means 312 for communicating, located on the mobile cruiser machine 106. In one embodiment, the means 312 for communicating is a wireless communications system, such as a wireless transmitter. In another embodiment, the means 312 for communicating is a data transfer medium, such as a disk, CD, or data link.
The data transfer medium may be of a type that is adapted to operate through a wireless transmitter, or the mobile cruiser machine 106 may connect directly to the office planner 108 for downloading of information.
In addition, the data may be manually delivered by the operator of the mobile cruiser machine 106. Other embodiments for the means 312 for communicating may be used without deviating from the scope of the present invention.
Referring to Fig. 4, and with continued reference to Figs. 1 and 2, the office planner 108 is described in more detail.
A means 402 for communicating, located at the office planner 108, is adapted to receive information from the mobile cruiser machine 106, and to communicate with the tree harvesting machine 110, either directly as depicted in Fig. l, or through the mobile logging supervisor 202, as shown in Fig. 2.
_g_ The means 402 for communicating by the office planner 108 may use any technology or method as described above with respect to the means 312 for communicating by the mobile cruiser machine 106.
An office planner computer 404 is adapted to receive the set of parameters of the trees and terrain at the forestry site 102, and to responsively create a tree and terrain map, preferably in a database format.
The office planner computer 404 is also adapted to determine a desired sequence of steps to harvest the trees. In the preferred embodiment, the desired sequence of steps is determined to accomplish certain objectives, including, but not limited to, maximizing productivity, minimizing damage to the environment, promoting efficient and time saving operations, reducing manpower needs, and the like.
The office planner 108 includes means 406 for determining yield, preferably in the form of software used by the office planner computer 404.
However, alternatively, the means 406 for determining yield may exist at the office planner 108 in other forms, such as a separate processor for performing yield calculations, a manual system performed by persons operating at the office planner 108, and the 1 ike .
Referring to Fig. 5, and with continued reference to Figs. 1 and 2, additional features located on the tree harvesting machine 110, and suitable for use with the present invention are illustrated.
A processor 502, located on the tree harvesting machine 110, includes a database 504 to store the tree and terrain map from the office planner 108. The processor 502 may then be used to control the tree harvesting machine 110 to perform the desired sequence of steps for harvesting trees. The processor 502 is also adapted to update the tree and terrain map, which may then be communicated to the office planner 108 for determination of the yield of harvested trees.
A position determining system 506, located on the tree harvesting machine 110, is adapted to determine the location of the tree harvesting machine 110 in geographical coordinates; in particular with respect to the tree and terrain map. Preferably, the position determining system 506 is GPS based.
However, alternative position determining systems, as described above, may be used as well.
It is noted that it is well known in the art to have the capability to determine the location of a work implement in three dimensional geographical coordinates using a position determining system mounted on a work machine in cooperation with sensors, such as resolvers, located on linkages connecting the work machine with the work implement. Therefore, applying this principle to the present invention, the location of a work implement on the tree harvesting machine 110 may be determined so that the tree harvesting machine 110 may controllably harvest trees as a function of the tree and terrain map and the desired sequence of steps. Alternatively, the tree and terrain map and the desired sequence of steps may be communicated to an operator on the tree harvesting machine 110 to provide guidance to the operator for harvesting the trees as desired by the office planner 108.
A means 508 for communicating, located on the tree harvesting machine 110, is adapted to receive communications from the office planner 108, either directly or through the mobile logging supervisor 202.
The means 508 for communicating is also adapted for transmitting communications to the office planner 108, either directly or through the mobile logging supervisor 202. The means 508 for communicating for the tree harvesting machine 110 may use any of the methods or technologies described above with respect to the means 312 for communicating for the mobile cruiser machine 106.
Referring to Fig. 6, and with continued reference to Fig. 2, the mobile logging supervisor 202 is described in more detail.
The mobile logging supervisor 202 includes a means 602 for communicating with the tree harvesting machine 110 and a means 604 for communicating with the office planner 108. The means 602 for communicating with the tree harvesting machine 110 and the means 604 for communicating with the office planner 108 may use the same methods and technologies. However, in an alternative embodiment, the means 602 for communicating with the tree harvesting machine 110 and the means 604 for communicating with the office planner 108 may use different technologies. For example, the mobile logging supervisor 202 may be configured to operate in close proximity to the tree harvesting machine 110, so the means 602 for communicating with the tree harvesting machine 110 may be a short-range wireless communications system, but the office planner 108 may be located a great distance from the forestry site 102, so the means 604 for communicating with the office planner may be a medium-s range or long-range wireless communications system.
A monitor system 606, located on the mobile logging supervisor, is adapted to monitor the tree harvesting process. The monitor system 606 may be as simple as an operator, located with the mobile logging supervisor 606, visually observing the tree harvesting machine 110 as work is performed, or the monitor system 606 may be more complex. For example, the communications between the tree harvesting machine 110 and the office planner 108 may be monitored by the monitor system 606 to determine if tree harvesting operations are proceeding as desired.
The mobile logging supervisor 202 is preferably provided with a means 608 for overriding the desired sequence of steps. For example, the mobile logging supervisor 202 may determine that the desired sequence of steps will not accomplish tree harvesting in the most desired manner. Thus, the mobile logging supervisor 202 may override operations of the tree harvesting machine 110, and communicate a desired alternate sequence of steps for the tree harvesting machine 110 to perform. As another example, the mobile logging supervisor 202 may observe an undesired condition, such as a service problem with the tree harvesting machine 110, and may responsively override the desired sequence of steps to halt operations.
Referring to Fig. 7, a flow diagram illustrating a preferred method of the present invention is shown. The preferred method is described with reference to Figs. 1 and 3-5.
In a first control block 702, a set of parameters of a plurality of trees and terrain at the forestry site 102 is determined, preferably by the mobile cruiser machine 106. Parameters preferably include, but are not limited to, the number and locations of trees, the species of trees, the size and condition of trees, the slope of the terrain, the condition of the terrain, significant objects such as boulders, fallen logs, bodies of water, and the like.
In a second control.block 704, the set of parameters are communicated to the office planner 108, preferably by one of the means described above. After receiving the set of parameters, the office planner 108 creates a tree and terrain map in a third control block 706. In addition, in a fourth control block 708, the office planner 108 determines a desired sequence of steps for harvesting the trees.
In a fifth control block 710, the tree and terrain map and the desired sequence of steps are communicated from the office planner 108 to the tree harvesting machine 110, either directly or through the mobile logging supervisor 202. In the preferred embodiment, the tree and terrain map and the desired sequence of steps are communicated to a processor 502 located on the tree harvesting machine 110. The processor 502 may then be used either to automate many of the tree harvesting steps or to provide guidance to an operator during harvesting of the trees.
In a sixth control block 712, the trees are harvested as a function of the tree and terrain map and the desired sequence of steps. Control then proceeds to a seventh control block 714 in which, as the trees are harvested, the processor 502 at the tree harvesting machine 110 updates the tree and terrain map. Periodically, as shown in an eighth control block 716, the updated data is delivered to the office planner 108. Preferably, the updated data is delivered either directly or through the mobile logging supervisor 202.
In a ninth control block 718, the office planner 108 determines a yield of harvested trees as a function of the updated tree and terrain map.
Referring to Fig. 8, a flow diagram illustrating an alternate preferred method of the present invention is shown. The alternate preferred method is described with reference to Figs. 2 and 3-6.
In a first control block 802, a set of parameters of the trees and the terrain are determined. In a second control block 804, the parameters are communicated to the office planner 108.
In a third control block 806, the office planner 108 creates a tree and terrain map. In a fourth control block 808, a desired sequence of steps to harvest the trees is determined by the office planner 108.
In a fifth control block 810, the tree and terrain map and the desired sequence of steps are communicated from the office planner 108 to the mobile logging supervisor 202.
In a sixth control block 812, the mobile logging supervisor 202 relays the tree and terrain map and the desired sequence of steps to the tree harvesting machine 110. The tree harvesting machine 110 then, in a seventh control block 814, harvests the trees as a function of the tree and terrain map and the desired sequence of steps.
In an eighth control block 816, the mobile logging supervisor 202 monitors the activities of the tree harvesting machine 110. The mobile logging supervisor 202 may then override the work being performed by the tree harvesting machine 110 for any l0 reason needed. For example, the mobile logging supervisor 202 may halt operations, or may communicate a desired alternate sequence of steps to the tree harvesting machine 110.
In a ninth control block 818, the processor 502 at the tree harvesting machine 110 updates the tree and terrain map as the trees are harvested. In a tenth control block 820, the tree harvesting machine 110 communicates the updated tree and terrain map to the mobile logging supervisor 202. The mobile logging supervisor 202 then, in an eleventh control block 822, relays the updated tree and terrain map to the office planner 108. The office planner 108 then, in a twelfth control block 824, determines a yield of harvested trees as a function of the updated tree and terrain map.
Industrial Applicability The present invention is described above with respect to one cruiser machine 106, one tree harvesting machine 110, one office planner 108, and one mobile logging supervisor 202. However, a distinct advantage of the present invention is that the office planner 108 may be located at any site near or remote from one or more forestry sites 102, and may coordinate the activities of any number of forestry operations. For example, one or more mobile cruiser machines 106 may gather data from one or more forestry sites 102, and communicate the data to the office planner 108. The office planner 108 may then communicate tree and terrain maps and desired sequences of steps to a plurality of tree harvesting machines 110. The office planner 108 functions as a control hub for a complete forestry operation, thus coordinating activities and optimizing efficiency and productivity.
Other aspects, objects, and features of the present invention can be obtained from a study of the drawings, the disclosure, and the appended claims.
Claims (15)
1. A computer-based method for controlling harvesting of trees, including the steps of:
determining a set of parameters of a plurality of trees and terrain at a forestry site;
communicating the set of parameters to an office planner;
creating a tree and terrain map as a function of the set of parameters;
determining a desired sequence of steps for harvesting the trees;
communicating the tree and terrain map and the desired sequence of steps to a processor located on a tree harvesting machine, the processor having a tree and terrain map database to store the tree and terrain map, the tree harvesting machine having a position determining system to determine the location of the tree harvesting machine with respect to the tree and terrain map; and harvesting the trees as a function of the tree and terrain map and the desired sequence of steps.
determining a set of parameters of a plurality of trees and terrain at a forestry site;
communicating the set of parameters to an office planner;
creating a tree and terrain map as a function of the set of parameters;
determining a desired sequence of steps for harvesting the trees;
communicating the tree and terrain map and the desired sequence of steps to a processor located on a tree harvesting machine, the processor having a tree and terrain map database to store the tree and terrain map, the tree harvesting machine having a position determining system to determine the location of the tree harvesting machine with respect to the tree and terrain map; and harvesting the trees as a function of the tree and terrain map and the desired sequence of steps.
2. A computer-based method, as set forth in claim 1, wherein determining a set of parameters includes the steps of:
determining a location relative to the tree and terrain map of each of the trees;
determining a diameter of a trunk of each of the trees, the diameter of the trunk being indicative of a size of the tree;
determining a species of each of the trees;
and determining the slope of the terrain at the forestry site.
determining a location relative to the tree and terrain map of each of the trees;
determining a diameter of a trunk of each of the trees, the diameter of the trunk being indicative of a size of the tree;
determining a species of each of the trees;
and determining the slope of the terrain at the forestry site.
3. A computer-based method, as set forth in claim 1, wherein communicating the set of parameters to an office planner includes the step of transmitting the set of parameters to the office planner from a wireless transmitter located at the forestry site to a receiver located at the office planner site.
4. A computer-based method, as set forth in claim 1, wherein communicating the set of parameters to an office planner includes the step of delivering data representing the set of parameters to an office planner computer, the office planner computer being adapted to create the tree and terrain map and to determine the desired sequence of steps for harvesting the trees.
5. A computer-based method, as set forth in claim 1, further including the steps of:
updating the tree and terrain map at the processor located on the tree harvesting machine as the trees are harvested;
delivering the updated data to the office planner; and determining a yield of harvested trees by the office planner as a function of the updated data.
updating the tree and terrain map at the processor located on the tree harvesting machine as the trees are harvested;
delivering the updated data to the office planner; and determining a yield of harvested trees by the office planner as a function of the updated data.
6. A computer-based method, as set forth in claim 5, further including:
communicating the tree and terrain map and the desired sequence of steps to a mobile logging supervisor;
relaying the tree and terrain map and the desired sequence of steps from the mobile logging supervisor to the tree harvesting machine;
monitoring the tree harvesting machine by the mobile logging supervisor as the tree harvesting machine harvests the trees;
communicating the updated tree and terrain map data from the tree harvesting machine to the mobile logging supervisor; and relaying the updated data from the mobile logging supervisor to the office planner.
communicating the tree and terrain map and the desired sequence of steps to a mobile logging supervisor;
relaying the tree and terrain map and the desired sequence of steps from the mobile logging supervisor to the tree harvesting machine;
monitoring the tree harvesting machine by the mobile logging supervisor as the tree harvesting machine harvests the trees;
communicating the updated tree and terrain map data from the tree harvesting machine to the mobile logging supervisor; and relaying the updated data from the mobile logging supervisor to the office planner.
7. A computer-based method, as set forth in claim 6, further including the step of overriding the desired sequence of steps by the mobile logging supervisor in response to a desired alternate sequence of steps .
8. An apparatus for controlling harvesting of trees, comprising:
means for determining a set of parameters of a plurality of trees and terrain at a forestry site;
an office planner to create a tree and terrain map as a function of the set of parameters, and to determine a desired sequence of steps for harvesting the trees;
means for communicating the set of parameters from the forestry site to the office planner;
a tree harvesting machine located at the forestry site, wherein the tree harvesting machine includes:
a processor having a tree and terrain map database to store the tree and terrain map; and a position determining system to determine the location of the tree harvesting machine with respect to the tree and terrain map; and means for communicating the tree and terrain map and the desired sequence of steps from the office planner to the tree harvesting machine.
means for determining a set of parameters of a plurality of trees and terrain at a forestry site;
an office planner to create a tree and terrain map as a function of the set of parameters, and to determine a desired sequence of steps for harvesting the trees;
means for communicating the set of parameters from the forestry site to the office planner;
a tree harvesting machine located at the forestry site, wherein the tree harvesting machine includes:
a processor having a tree and terrain map database to store the tree and terrain map; and a position determining system to determine the location of the tree harvesting machine with respect to the tree and terrain map; and means for communicating the tree and terrain map and the desired sequence of steps from the office planner to the tree harvesting machine.
9. An apparatus, as set forth in claim 8, wherein the means for determining a set of parameters of a plurality of trees and terrain is a mobile cruiser machine.
10. An apparatus, as set forth in claim 9, wherein the mobile cruiser machine includes:
a position determining system to determine a location of each of the trees at the forestry site;
a rangefinding sensor system to determine a diameter of a trunk of each of the trees, the diameter of the trunk being indicative of a size of the tree;
a slope detection system to determine the slope of the terrain at the forestry site;
a processor having data storage means for storing the set of parameters; and the means for communicating the set of parameters from the forestry site to the office planner.
a position determining system to determine a location of each of the trees at the forestry site;
a rangefinding sensor system to determine a diameter of a trunk of each of the trees, the diameter of the trunk being indicative of a size of the tree;
a slope detection system to determine the slope of the terrain at the forestry site;
a processor having data storage means for storing the set of parameters; and the means for communicating the set of parameters from the forestry site to the office planner.
11. An apparatus, as set forth in claim 10, wherein the means for communicating the set of parameters from the forestry site to the office planner is a wireless communications link.
12. An apparatus, as set forth in claim 10, wherein the office planner further includes an office planner computer, and wherein the means for communicating the set of parameters from the forestry site to the office planner is a data link from the mobile cruiser machine processor to the office planner computer.
13. An apparatus, as set forth in claim 8, wherein the office planner includes means for determining a yield of harvested trees by the office planner, and wherein the tree harvesting machine further includes:
means for updating the tree and terrain map at the processor located on the tree harvesting machine as the trees are harvested; and means for communicating the updated data to the office planner to determine the yield of harvested trees.
means for updating the tree and terrain map at the processor located on the tree harvesting machine as the trees are harvested; and means for communicating the updated data to the office planner to determine the yield of harvested trees.
14. An apparatus, as set forth in claim 13, further including a mobile logging supervisor at the forestry site.
15. An apparatus, as set forth in claim 14, wherein the mobile logging supervisor includes:
means for receiving the tree and terrain map and the desired sequence of steps from the office planner;
means for relaying the tree and terrain map and the desired sequence of steps to the tree harvesting machine;
a monitor system to monitor the tree harvesting machine as the tree harvesting machine harvests the trees;
means for receiving the updated tree and terrain map data from the tree harvesting machine;
means for relaying the updated data to the office planner; and means for overriding the desired sequence of steps in response to a desired alternate sequence of steps.
means for receiving the tree and terrain map and the desired sequence of steps from the office planner;
means for relaying the tree and terrain map and the desired sequence of steps to the tree harvesting machine;
a monitor system to monitor the tree harvesting machine as the tree harvesting machine harvests the trees;
means for receiving the updated tree and terrain map data from the tree harvesting machine;
means for relaying the updated data to the office planner; and means for overriding the desired sequence of steps in response to a desired alternate sequence of steps.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US50172600A | 2000-02-10 | 2000-02-10 | |
| US09/501,726 | 2000-02-10 |
Publications (1)
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|---|---|
| CA2330979A1 true CA2330979A1 (en) | 2001-08-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA002330979A Abandoned CA2330979A1 (en) | 2000-02-10 | 2001-01-11 | Method and apparatus for controlling harvesting of trees |
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|---|---|
| CA (1) | CA2330979A1 (en) |
| SE (1) | SE523774C2 (en) |
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2001
- 2001-01-11 CA CA002330979A patent/CA2330979A1/en not_active Abandoned
- 2001-02-08 SE SE0100391A patent/SE523774C2/en not_active IP Right Cessation
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Also Published As
| Publication number | Publication date |
|---|---|
| SE523774C2 (en) | 2004-05-18 |
| SE0100391D0 (en) | 2001-02-08 |
| SE0100391L (en) | 2001-08-11 |
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