CA2904174A1 - A timber-working device and method of operation - Google Patents
A timber-working device and method of operation Download PDFInfo
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- CA2904174A1 CA2904174A1 CA2904174A CA2904174A CA2904174A1 CA 2904174 A1 CA2904174 A1 CA 2904174A1 CA 2904174 A CA2904174 A CA 2904174A CA 2904174 A CA2904174 A CA 2904174A CA 2904174 A1 CA2904174 A1 CA 2904174A1
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- Prior art keywords
- stem
- timber
- feed
- working device
- drive system
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Classifications
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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
- A01G23/02—Transplanting, uprooting, felling or delimbing trees
- A01G23/08—Felling trees
- A01G23/083—Feller-delimbers
-
- 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
- A01G23/02—Transplanting, uprooting, felling or delimbing trees
- A01G23/08—Felling trees
- A01G23/093—Combinations of shearing, sawing or milling apparatus specially adapted for felling trees
Abstract
A timber-working device (16) includes a frame (24) having a feed axis (34), a cutting device (38), and a drive system operable to control the position of at least two stems (300,302) along the feed axis (34). The timber-working device (16) includes a controller (102,104) configured to receive an indication of one of the at least two stems (300,302) having a damaged end, and control the drive system to feed only the stem (300,302) with the damaged end relative to the cutting device by a predetermined distance.
Description
A TIMBER-WORKING DEVICE AND METHOD OF OPERATION
STATEMENT OF CORRESPONDING APPLICATIONS
This application is based on the Provisional specification filed in relation to New Zealand Patent Application Number 618511, the entire contents of which are incorporated herein by reference.
FIELD OF THE DISCLOSURE
The present invention relates to a timber-working device and method of operation.
BACKGROUND
It is well-known to mount timber-working devices, commonly referred to as forestry or harvester heads, to a carrier vehicle in order to perform a number of operations in connection with timber processing. These operations may include one, or a combination of, grappling and felling a standing tree, delimbing a felled stem, debarking the stem, and cutting the stem into logs (known as bucking) ¨ commonly using at least one chainsaw.
Where the operator of the head identifies that an end of the stem held by the head has been damaged due to disease (or otherwise), they must feed the stem through the head to be cut off before further processing can be performed. The accuracy of this step influences the value which may be obtained from a stem. Performing this step manually takes time and causes operator stress and fatigue, which may in turn lead to poor decision making with regard to control of the head and lost value to the forest owner.
This is further exaggerated where the head is processing multiple stems simultaneously, but not all of the stems have been damaged.
It is an object of the present invention to address the foregoing problems or at least to provide the public with a useful choice.
All references, including any patents or patent applications cited in this specification are hereby incorporated by reference. No admission is made that any reference constitutes prior art. The discussion of the references states what their authors assert, and the applicants reserve the right to challenge the accuracy and pertinency of the cited documents. It will be clearly understood that, although a number of prior art publications are referred to herein, this reference does not constitute an admission that any of these documents form part of the common general knowledge in the art, in New Zealand or in any other country.
Throughout this specification, the word "comprise" or "include", or variations thereof such as "comprises", "includes", "comprising" or "including" will be understood to imply the inclusion of a stated element, integer or step, or group of elements integers or steps, but not the exclusion of any other element, integer or step, or group of elements, integers or steps.
Further aspects and advantages of the present invention will become apparent from the ensuing description which is given by way of example only.
SUMMARY
According to an aspect of the present invention there is provided a method for operating a timber-working device including a drive system and a cutting device, the method including the steps of:
receiving, at a controller, an indication of one of at least two stems being processed by the timber-working device having a damaged end;
controlling the drive system to feed only the stem with the damaged end relative to the cutting device by a predetermined distance.
According to another aspect of the present invention there is provided a timber-working device, including:
a frame, including a feed axis;
a cutting device;
a drive system operable to control the position of at least two stems along the feed axis;
and a controller configured to:
receive an indication of one of the at least two stems having a damaged end;
and control the drive system to feed only the stem with the damaged end relative to the cutting device by a predetermined distance.
According to another aspect of the present invention there is provided an article of manufacture having computer storage medium storing computer readable program code executable by a computer to implement a method for operating a timber-working device including a drive system and a cutting device, the code including:
computer readable program code receiving an indication of one of at least two stems
STATEMENT OF CORRESPONDING APPLICATIONS
This application is based on the Provisional specification filed in relation to New Zealand Patent Application Number 618511, the entire contents of which are incorporated herein by reference.
FIELD OF THE DISCLOSURE
The present invention relates to a timber-working device and method of operation.
BACKGROUND
It is well-known to mount timber-working devices, commonly referred to as forestry or harvester heads, to a carrier vehicle in order to perform a number of operations in connection with timber processing. These operations may include one, or a combination of, grappling and felling a standing tree, delimbing a felled stem, debarking the stem, and cutting the stem into logs (known as bucking) ¨ commonly using at least one chainsaw.
Where the operator of the head identifies that an end of the stem held by the head has been damaged due to disease (or otherwise), they must feed the stem through the head to be cut off before further processing can be performed. The accuracy of this step influences the value which may be obtained from a stem. Performing this step manually takes time and causes operator stress and fatigue, which may in turn lead to poor decision making with regard to control of the head and lost value to the forest owner.
This is further exaggerated where the head is processing multiple stems simultaneously, but not all of the stems have been damaged.
It is an object of the present invention to address the foregoing problems or at least to provide the public with a useful choice.
All references, including any patents or patent applications cited in this specification are hereby incorporated by reference. No admission is made that any reference constitutes prior art. The discussion of the references states what their authors assert, and the applicants reserve the right to challenge the accuracy and pertinency of the cited documents. It will be clearly understood that, although a number of prior art publications are referred to herein, this reference does not constitute an admission that any of these documents form part of the common general knowledge in the art, in New Zealand or in any other country.
Throughout this specification, the word "comprise" or "include", or variations thereof such as "comprises", "includes", "comprising" or "including" will be understood to imply the inclusion of a stated element, integer or step, or group of elements integers or steps, but not the exclusion of any other element, integer or step, or group of elements, integers or steps.
Further aspects and advantages of the present invention will become apparent from the ensuing description which is given by way of example only.
SUMMARY
According to an aspect of the present invention there is provided a method for operating a timber-working device including a drive system and a cutting device, the method including the steps of:
receiving, at a controller, an indication of one of at least two stems being processed by the timber-working device having a damaged end;
controlling the drive system to feed only the stem with the damaged end relative to the cutting device by a predetermined distance.
According to another aspect of the present invention there is provided a timber-working device, including:
a frame, including a feed axis;
a cutting device;
a drive system operable to control the position of at least two stems along the feed axis;
and a controller configured to:
receive an indication of one of the at least two stems having a damaged end;
and control the drive system to feed only the stem with the damaged end relative to the cutting device by a predetermined distance.
According to another aspect of the present invention there is provided an article of manufacture having computer storage medium storing computer readable program code executable by a computer to implement a method for operating a timber-working device including a drive system and a cutting device, the code including:
computer readable program code receiving an indication of one of at least two stems
2 being processed by the timber-working device having a damaged end; and computer readable program code the drive system to feed only the stem with the damaged end relative to the cutting device by a predetermined distance.
The timber-working device may be a forestry or harvester head, and may be referred to as such throughout the specification. Forestry heads typically have the capacity to grapple and fell a standing tree, delimb and/or debark a felled stem, and cut the stem into logs.
However, a person skilled in the art should appreciate that the present invention may be used with other timber-working devices, and that reference to the timber-working device being a forestry head is not intended to be limiting.
The cutting device may be any suitable means known to a person skilled in the art ¨ for example at least one saw. It is known for forestry heads to include a main chainsaw which is primarily used for the felling and cross cutting of stems. Further, some forestry heads may include a secondary or topping chainsaw. The topping saw is typically of a lower specification than the main saw, and used primarily during processing once a tree is felled.
Reference to the cutting device being a chainsaw is not intended to be limiting, as the saw may take other forms ¨ for example a disc saw. Further, the cutting device may take other forms known in the art, for example a shear.
The cutting device may be controlled to sever the stem once it has been fed by the predetermined distance. This control may be an automated function, or may require user input to confirm a proposed cutting action.
The drive system may include a first drive mechanism located on a first side of a feed axis of the head, and a second drive mechanism located on the other side of the feed axis. The first drive mechanism may be operable independently from the second drive mechanism.
One well known system for forestry heads uses opposing drive arms, one on each side of a feed axis. Each drive arm may include a feed wheel configured to be brought in contact with stem. The arms may be driven, for example by hydraulic cylinders, to pivot relative to the frame of the device in order to grapple the stem with the feed wheels. The feed wheels may each connect to a rotary drive such that they may be used to drive or feed the stems along the feed axis of the head.
The timber-working device may further include one or more frame mounted feed wheels. The drive system may include a frame mounted feed wheel on either side of the feed axis, which may be controlled independently to each other. Where two stems are grasped by the drive arms, these frame mounted wheels may be controlled together with those of the respective drive arms to independently control the relative positions of the two stems along the feed axis.
The timber-working device may be a forestry or harvester head, and may be referred to as such throughout the specification. Forestry heads typically have the capacity to grapple and fell a standing tree, delimb and/or debark a felled stem, and cut the stem into logs.
However, a person skilled in the art should appreciate that the present invention may be used with other timber-working devices, and that reference to the timber-working device being a forestry head is not intended to be limiting.
The cutting device may be any suitable means known to a person skilled in the art ¨ for example at least one saw. It is known for forestry heads to include a main chainsaw which is primarily used for the felling and cross cutting of stems. Further, some forestry heads may include a secondary or topping chainsaw. The topping saw is typically of a lower specification than the main saw, and used primarily during processing once a tree is felled.
Reference to the cutting device being a chainsaw is not intended to be limiting, as the saw may take other forms ¨ for example a disc saw. Further, the cutting device may take other forms known in the art, for example a shear.
The cutting device may be controlled to sever the stem once it has been fed by the predetermined distance. This control may be an automated function, or may require user input to confirm a proposed cutting action.
The drive system may include a first drive mechanism located on a first side of a feed axis of the head, and a second drive mechanism located on the other side of the feed axis. The first drive mechanism may be operable independently from the second drive mechanism.
One well known system for forestry heads uses opposing drive arms, one on each side of a feed axis. Each drive arm may include a feed wheel configured to be brought in contact with stem. The arms may be driven, for example by hydraulic cylinders, to pivot relative to the frame of the device in order to grapple the stem with the feed wheels. The feed wheels may each connect to a rotary drive such that they may be used to drive or feed the stems along the feed axis of the head.
The timber-working device may further include one or more frame mounted feed wheels. The drive system may include a frame mounted feed wheel on either side of the feed axis, which may be controlled independently to each other. Where two stems are grasped by the drive arms, these frame mounted wheels may be controlled together with those of the respective drive arms to independently control the relative positions of the two stems along the feed axis.
3
4 PCT/NZ2014/000240 It should be appreciated that this is not intended to be limiting, and the timber-working device may include only a single frame mounted feed wheel, for example aligned with the feed axis.
Where the timber-working device is processing two stems and it is desirable to feed the stems independently, the frame mounted wheel may be locked or permitted to spin freely, with the arm mounted feed wheels used to control feeding.
The indication of the stem having a damaged end may be initiated by an operator of the timber-working device. For example, the operator may select an input button (whether physical or virtual) of an operator input device used to control operation of the timber-working device. This action may generate a signal indicative of the stem having a damaged end for transmission to a controller responsible for controlling various operations of the device, including those of the present invention.
However, it should be appreciated that reference to an operator initiated indication of a damaged end is not intended to be limiting, and that the present invention may be implemented with automated detection of damage to the end of a stem.
The indication of the stem having a damaged end may include an indication as to which end of the stem is damaged. This may be used to control the direction in which the stem is fed and/or selection of the cutting device for severing the stem ¨ for example the main saw or topping saw.
It is envisaged that embodiments may have particular application to situations in which the end of the stem is damaged due to the presence of a disease ¨ in particular wood-decay diseases known as butt rot. Where such diseases are present, the extent of damage to infected stems within the area is likely to be relatively consistent due to prevailing factors such as species, age, and environmental conditions. This may enable a predetermined distance for removal of the end to be set which has a high likelihood of removing the damage while reducing wastage.
However, while it is envisaged that the predetermined distance may be established with the objective of removing disease damaged wood, it may still be applied to situations in which the stem's end has been subjected to other forms of damage ¨ for example breakage of the stem.
It should be appreciated that the predetermined distance may be influenced by a number of factors, for example: the species of tree, geographical location (and associated environmental conditions), age of the forest, prevalence of a disease, or physical characteristics of the tree such as diameter.
It is envisaged that the predetermined distance may be set by the operator.
Operators of forestry heads are continuously observing the condition of trees and stems they are processing, and thus may set the distance based on observed trends or conditions in their current working area. However, it should be appreciated that this is not intended to be limiting, and that the distance may be otherwise established.
Determination of the distance through which a stem has been fed may be achieved using any suitable means known in the art. For example, rotation of the feed wheels in conjunction with known geometry of the wheels may be used to determine feed distance. In another example, control parameters such as run time and speed of the feed wheels may be used.
In a further example, a separate measuring device such as a measuring wheel may be used.
The starting or reference point for the distance may be established using any suitable means known in the art. For example, the timber-working device may include one of more sensors configured to output a signal indicative of the presence or absence of a stem at a particular point, with a transition between these states enabling the identification of an end of the stem.
Selection of the stem having the damaged end from the at least two stems may reference a side of a feed axis of the timber-working device, where a first stem is substantially positioned on a first side of the feed axis, and a second stem is substantially positioned on a second side of the feed axis.
The selection of the stem having a damaged end may be initiated by an operator, as discussed above. For example, the operator input device may select an input button dedicated to selection of one, or both, of the stems for removal of a damaged end. As the operator is continuously observing the timber-working device and its operation, selection of the appropriate stem by the operator is envisaged as being a straightforward and intuitive step.
Controlling the drive system may include feeding one of the stems by the predetermined distance, and holding the other stem stationary. For example, the drive arm feed wheel and frame mounted feed wheel associated with one side of the feed axis may be locked in position, with the set of feed wheels on the other side driven to achieve the desired position of the stem.
In doing so, only the damaged end of the stem is cut off ¨ preventing the wastage which would have been created by cutting the non-damaged end of the other stem where they fed simultaneously.
The various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. In particular, they may be implemented or performed with a general purpose processor such as a microprocessor, or any other suitable means known in the art designed to perform the functions described.
The steps of a method or algorithm and functions described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. If implemented in software, the functions may be stored as processor readable instructions or code on a tangible,
Where the timber-working device is processing two stems and it is desirable to feed the stems independently, the frame mounted wheel may be locked or permitted to spin freely, with the arm mounted feed wheels used to control feeding.
The indication of the stem having a damaged end may be initiated by an operator of the timber-working device. For example, the operator may select an input button (whether physical or virtual) of an operator input device used to control operation of the timber-working device. This action may generate a signal indicative of the stem having a damaged end for transmission to a controller responsible for controlling various operations of the device, including those of the present invention.
However, it should be appreciated that reference to an operator initiated indication of a damaged end is not intended to be limiting, and that the present invention may be implemented with automated detection of damage to the end of a stem.
The indication of the stem having a damaged end may include an indication as to which end of the stem is damaged. This may be used to control the direction in which the stem is fed and/or selection of the cutting device for severing the stem ¨ for example the main saw or topping saw.
It is envisaged that embodiments may have particular application to situations in which the end of the stem is damaged due to the presence of a disease ¨ in particular wood-decay diseases known as butt rot. Where such diseases are present, the extent of damage to infected stems within the area is likely to be relatively consistent due to prevailing factors such as species, age, and environmental conditions. This may enable a predetermined distance for removal of the end to be set which has a high likelihood of removing the damage while reducing wastage.
However, while it is envisaged that the predetermined distance may be established with the objective of removing disease damaged wood, it may still be applied to situations in which the stem's end has been subjected to other forms of damage ¨ for example breakage of the stem.
It should be appreciated that the predetermined distance may be influenced by a number of factors, for example: the species of tree, geographical location (and associated environmental conditions), age of the forest, prevalence of a disease, or physical characteristics of the tree such as diameter.
It is envisaged that the predetermined distance may be set by the operator.
Operators of forestry heads are continuously observing the condition of trees and stems they are processing, and thus may set the distance based on observed trends or conditions in their current working area. However, it should be appreciated that this is not intended to be limiting, and that the distance may be otherwise established.
Determination of the distance through which a stem has been fed may be achieved using any suitable means known in the art. For example, rotation of the feed wheels in conjunction with known geometry of the wheels may be used to determine feed distance. In another example, control parameters such as run time and speed of the feed wheels may be used.
In a further example, a separate measuring device such as a measuring wheel may be used.
The starting or reference point for the distance may be established using any suitable means known in the art. For example, the timber-working device may include one of more sensors configured to output a signal indicative of the presence or absence of a stem at a particular point, with a transition between these states enabling the identification of an end of the stem.
Selection of the stem having the damaged end from the at least two stems may reference a side of a feed axis of the timber-working device, where a first stem is substantially positioned on a first side of the feed axis, and a second stem is substantially positioned on a second side of the feed axis.
The selection of the stem having a damaged end may be initiated by an operator, as discussed above. For example, the operator input device may select an input button dedicated to selection of one, or both, of the stems for removal of a damaged end. As the operator is continuously observing the timber-working device and its operation, selection of the appropriate stem by the operator is envisaged as being a straightforward and intuitive step.
Controlling the drive system may include feeding one of the stems by the predetermined distance, and holding the other stem stationary. For example, the drive arm feed wheel and frame mounted feed wheel associated with one side of the feed axis may be locked in position, with the set of feed wheels on the other side driven to achieve the desired position of the stem.
In doing so, only the damaged end of the stem is cut off ¨ preventing the wastage which would have been created by cutting the non-damaged end of the other stem where they fed simultaneously.
The various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. In particular, they may be implemented or performed with a general purpose processor such as a microprocessor, or any other suitable means known in the art designed to perform the functions described.
The steps of a method or algorithm and functions described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. If implemented in software, the functions may be stored as processor readable instructions or code on a tangible,
5 non-transitory processor-readable medium ¨ for example Random Access Memory (RAM), flash memory, Read Only Memory (ROM), hard disks, a removable disk such as a CD ROM, or any other suitable storage medium known to a person skilled in the art. A
storage medium may be connected to the processor such that the processor can read information from, and write information to, the storage medium.
BRIEF DESCRIPTION OF DRAWINGS
Further aspects of the present invention will become apparent from the following description which is given by way of example only and with reference to the accompanying drawings in which:
FIG. 1 is a side view of an exemplary timber-working system including, for example, a timber-working device in the form of a forestry head according to one aspect of the present invention;
FIG. 2 is an elevated view of the forestry head;
FIG. 3 is a diagrammatic view of an exemplary control system for the timber-working system;
FIG. 4 is an end view of the forestry head in use, and FIG. 5 is a flowchart illustrating an exemplary method for operating the forestry head according to one aspect of the present invention.
DETAILED DESCRIPTION
FIG. 1 illustrates a timber-working system including a carrier 10 for use in forest harvesting.
The carrier 10 includes an operator cab 12 from which an operator (not shown) controls the carrier 10. The carrier 10 further includes a boom assembly 14, to which a timber-working device in the form of a forestry head 16 is connected.
Connection of the head 16 to the boom 14 includes a rotator 18, configured to rotate the head 16 about the generally vertical axis of rotation marked by dashed line 20. A
tilt bracket 22 further allows rotation of the head 16 between a prone position (as illustrated) and a standing position.
Referring to FIG. 2, the head 16 includes a frame 24 to which the tilt bracket 22 of FIG. 1 is pivotally attached. Right hand (RH) and left hand (LH) delimb arms 26a and 26b are pivotally attached to the frame 24, as are opposing RH and LH feed arms 28a and 28b. RH
and LH
storage medium may be connected to the processor such that the processor can read information from, and write information to, the storage medium.
BRIEF DESCRIPTION OF DRAWINGS
Further aspects of the present invention will become apparent from the following description which is given by way of example only and with reference to the accompanying drawings in which:
FIG. 1 is a side view of an exemplary timber-working system including, for example, a timber-working device in the form of a forestry head according to one aspect of the present invention;
FIG. 2 is an elevated view of the forestry head;
FIG. 3 is a diagrammatic view of an exemplary control system for the timber-working system;
FIG. 4 is an end view of the forestry head in use, and FIG. 5 is a flowchart illustrating an exemplary method for operating the forestry head according to one aspect of the present invention.
DETAILED DESCRIPTION
FIG. 1 illustrates a timber-working system including a carrier 10 for use in forest harvesting.
The carrier 10 includes an operator cab 12 from which an operator (not shown) controls the carrier 10. The carrier 10 further includes a boom assembly 14, to which a timber-working device in the form of a forestry head 16 is connected.
Connection of the head 16 to the boom 14 includes a rotator 18, configured to rotate the head 16 about the generally vertical axis of rotation marked by dashed line 20. A
tilt bracket 22 further allows rotation of the head 16 between a prone position (as illustrated) and a standing position.
Referring to FIG. 2, the head 16 includes a frame 24 to which the tilt bracket 22 of FIG. 1 is pivotally attached. Right hand (RH) and left hand (LH) delimb arms 26a and 26b are pivotally attached to the frame 24, as are opposing RH and LH feed arms 28a and 28b. RH
and LH
6 feed wheels 30a and 30b are attached to RH and LH feed arms 28a and 28b respectively, which together with RH and LH frame-mounted feed wheels 32a and 32b may be controlled to feed one or more stems (not illustrated) along feed axis 34 of the head 16.
Feed wheels 30a, 30b, 32a and 32b are driven by hydraulic motors, and may collectively be referred to as the 'feed mechanism.' A measuring wheel 36 may be used to measure the length of stems processed by the head 16.
The measuring wheel 36 may be selectively raised and lowered into contact with the stems as desired.
A main chainsaw 38, and a topping chainsaw 40, are attached to the frame 24.
The main saw 38 is typically used to fell a tree when the head 16 is in a harvesting position, and to buck stems into logs in the processing position of the head 16 (as seen in FIG. 1).
The topping saw 40 may be used to cut off a small-diameter top portion of the stem(s) to maximize the value recovery of the trees.
The various operations of the head 16 may be controlled by the operator using hand and foot controls as known in the art. Further, certain automated functions of the harvester head 16 may be controlled by an electronic control system 100 as shown by FIG. 3.
The control system 100 includes one or more electronic controllers, each controller including a processor and memory having stored therein instructions which, when executed by the processor, causes the processor to perform the various operations of the controller.
For example, the control system 100 includes a first controller 102 on board the carrier 10 and a second controller 104 on board the head 16. The controllers 102, 104 are connected to one another via a communications bus 106 (e.g., a CAN bus).
A human operator operates an operator input device 108, for example hand and foot controls, located at the operator's cab 12 of the carrier 10 to control the head 16.
Details of operation are output to an output device 110 ¨ for example a monitor. Certain automated functions may be controlled by first controller 102 and/or second controller 104.
The head 16 has a number of valves 112 arranged, for example, in a valve block and coupled electrically to the second controller 104 so as to be under its control. The valves 112 include, for example, drive valves 114 configured to control operation of the motors associated with the RH feed wheel 30a and RH frame-mounted feed wheel 32a. The valves 112 include, for example, drive valves 116 configured to control operation of the motors associated with the LH
feed wheel 30b and LH frame-mounted feed wheel 32b.
The valves 112 further include drive valves 118 for controlling operation of the saws 38 and 40.
Referring to FIG. 5, the control system 100 is configured to implement method 200, which will
Feed wheels 30a, 30b, 32a and 32b are driven by hydraulic motors, and may collectively be referred to as the 'feed mechanism.' A measuring wheel 36 may be used to measure the length of stems processed by the head 16.
The measuring wheel 36 may be selectively raised and lowered into contact with the stems as desired.
A main chainsaw 38, and a topping chainsaw 40, are attached to the frame 24.
The main saw 38 is typically used to fell a tree when the head 16 is in a harvesting position, and to buck stems into logs in the processing position of the head 16 (as seen in FIG. 1).
The topping saw 40 may be used to cut off a small-diameter top portion of the stem(s) to maximize the value recovery of the trees.
The various operations of the head 16 may be controlled by the operator using hand and foot controls as known in the art. Further, certain automated functions of the harvester head 16 may be controlled by an electronic control system 100 as shown by FIG. 3.
The control system 100 includes one or more electronic controllers, each controller including a processor and memory having stored therein instructions which, when executed by the processor, causes the processor to perform the various operations of the controller.
For example, the control system 100 includes a first controller 102 on board the carrier 10 and a second controller 104 on board the head 16. The controllers 102, 104 are connected to one another via a communications bus 106 (e.g., a CAN bus).
A human operator operates an operator input device 108, for example hand and foot controls, located at the operator's cab 12 of the carrier 10 to control the head 16.
Details of operation are output to an output device 110 ¨ for example a monitor. Certain automated functions may be controlled by first controller 102 and/or second controller 104.
The head 16 has a number of valves 112 arranged, for example, in a valve block and coupled electrically to the second controller 104 so as to be under its control. The valves 112 include, for example, drive valves 114 configured to control operation of the motors associated with the RH feed wheel 30a and RH frame-mounted feed wheel 32a. The valves 112 include, for example, drive valves 116 configured to control operation of the motors associated with the LH
feed wheel 30b and LH frame-mounted feed wheel 32b.
The valves 112 further include drive valves 118 for controlling operation of the saws 38 and 40.
Referring to FIG. 5, the control system 100 is configured to implement method 200, which will
7 be described with reference to FIG. 1, FIG. 2, and FIG. 3, together with FIG.
4 showing the head 16 in use.
In step 202, a human operator operates the operator input device 108 to grasp a first stem 300 and a second stem 302 with the delimb arms 26a and 26b, and feed arms 28a and 28b ¨ as illustrated in FIG. 4 ¨ such that the stems are positioned between the arm-mounted feed wheels 30a and 30b, and frame-mounted feed wheels 32a and 32b. The first stem 300 is positioned to the RH side of the feed axis 34 (see FIG. 2, not illustrated in FIG. 4), while the second stem 302 is positioned to the LH side of the feed axis 34.
If the stem is that of a felled stem which has not yet been delimbed the operator may perform that function, before an end of the stem is located to begin processing into logs as known in the art.
In step 204, the first controller 102 receives from operator input device 108 a signal indicative of one or both of the stems 300 and 302 having a damaged end. As an example, the first stem 300 may be identified as having butt rot.
In response to that signal, the first controller 102 broadcasts a request to remove the damaged end of the selected stem 300 on bus 106.
In step 206, the second controller 104 receives the request to remove the damaged end of the stem 300, and outputs control signals to the valves 114 and 116 responsible for control of the RH and LH feed mechanisms respectively.
In the present example, the RH feed wheels 30a and 32a are driven to feed the stem 300 along the feed axis 34 towards saw 38. LH feed wheels 30b and 32b are held in position, preventing movement of the stem 302.
In step 208, as the stem 300 is fed along feed axis 34 the second controller 104 monitors the rotation of the RH feed wheels 30a and 32a, and uses this together with known geometry to determine the distance travelled. On reaching a predetermined distance, the second controller 104 controls the RH feed mechanism to stop feeding of the stem 300.
In step 210, the second controller 104 broadcasts an indication of the stem 300 having travelled the predetermined distance on bus 106. The first controller 102 sends a signal to the operator output device 110 to display an indication of the stem 300 being in position, and request confirmation to remove the damaged end.
In step 212 the first controller 102 receives from operator input device 108 a signal indicative of confirmation to sever the stem 300, and broadcasts a request to activate saw 38 on bus 106.
In response, second controller 102 outputs control signals to the valves 118 responsible for operation of the saw 38, causing it to sever the stem 300 and remove the damaged end.
4 showing the head 16 in use.
In step 202, a human operator operates the operator input device 108 to grasp a first stem 300 and a second stem 302 with the delimb arms 26a and 26b, and feed arms 28a and 28b ¨ as illustrated in FIG. 4 ¨ such that the stems are positioned between the arm-mounted feed wheels 30a and 30b, and frame-mounted feed wheels 32a and 32b. The first stem 300 is positioned to the RH side of the feed axis 34 (see FIG. 2, not illustrated in FIG. 4), while the second stem 302 is positioned to the LH side of the feed axis 34.
If the stem is that of a felled stem which has not yet been delimbed the operator may perform that function, before an end of the stem is located to begin processing into logs as known in the art.
In step 204, the first controller 102 receives from operator input device 108 a signal indicative of one or both of the stems 300 and 302 having a damaged end. As an example, the first stem 300 may be identified as having butt rot.
In response to that signal, the first controller 102 broadcasts a request to remove the damaged end of the selected stem 300 on bus 106.
In step 206, the second controller 104 receives the request to remove the damaged end of the stem 300, and outputs control signals to the valves 114 and 116 responsible for control of the RH and LH feed mechanisms respectively.
In the present example, the RH feed wheels 30a and 32a are driven to feed the stem 300 along the feed axis 34 towards saw 38. LH feed wheels 30b and 32b are held in position, preventing movement of the stem 302.
In step 208, as the stem 300 is fed along feed axis 34 the second controller 104 monitors the rotation of the RH feed wheels 30a and 32a, and uses this together with known geometry to determine the distance travelled. On reaching a predetermined distance, the second controller 104 controls the RH feed mechanism to stop feeding of the stem 300.
In step 210, the second controller 104 broadcasts an indication of the stem 300 having travelled the predetermined distance on bus 106. The first controller 102 sends a signal to the operator output device 110 to display an indication of the stem 300 being in position, and request confirmation to remove the damaged end.
In step 212 the first controller 102 receives from operator input device 108 a signal indicative of confirmation to sever the stem 300, and broadcasts a request to activate saw 38 on bus 106.
In response, second controller 102 outputs control signals to the valves 118 responsible for operation of the saw 38, causing it to sever the stem 300 and remove the damaged end.
8 Normal operation of the head 16 may then resume.
Aspects of the present invention have been described by way of example only and it should be appreciated that modifications and additions may be made thereto without departing from the scope thereof as defined in the appended claims.
Aspects of the present invention have been described by way of example only and it should be appreciated that modifications and additions may be made thereto without departing from the scope thereof as defined in the appended claims.
9
Claims (9)
1. A method for operating a timber-working device including a drive system and a cutting device, the method including the steps of:
receiving, at a controller, an indication of one of at least two stems being processed by the timber-working device having a damaged end;
controlling the drive system to feed only the stem with the damaged end relative to the cutting device by a predetermined distance.
receiving, at a controller, an indication of one of at least two stems being processed by the timber-working device having a damaged end;
controlling the drive system to feed only the stem with the damaged end relative to the cutting device by a predetermined distance.
2. The method of claim 1, wherein controlling the drive system includes feeding the selected stem by the predetermined distance, and holding the other stem stationary.
3. The method of either claim 1 or claim 2, including the step of severing the stem having the damaged end using the cutting device once it has been fed by the predetermined distance.
4. The method of any one of claims 1 to 3, wherein the indication of the at least one stem having a damaged end is initiated by an operator of the timber-working device.
5. A timber-working device, including:
a frame, including a feed axis;
a cutting device;
a drive system operable to control the position of at least two stems along the feed axis;
and a controller configured to:
receive an indication of one of the at least two stems having a damaged end;
and control the drive system to feed only the stem with the damaged end relative to the cutting device by a predetermined distance.
a frame, including a feed axis;
a cutting device;
a drive system operable to control the position of at least two stems along the feed axis;
and a controller configured to:
receive an indication of one of the at least two stems having a damaged end;
and control the drive system to feed only the stem with the damaged end relative to the cutting device by a predetermined distance.
6. The timber-working device of claim 5, wherein the drive system includes a first drive mechanism located on a first side of a feed axis of the timber-working device, and a second drive mechanism located on the other side of the feed axis.
7. The timber-working device of claim 6, wherein the first drive mechanism is operable independently from the second drive mechanism.
8. The timber-working device of any one of claims 5 to 7, wherein the controller is configured to control the cutting device to sever the stem having the damaged end once it has been fed by the predetermined distance.
9. An article of manufacture having computer storage medium storing computer readable program code executable by a computer to implement a method for operating a timber-working device including a drive system and a cutting device, the code including:
computer readable program code receiving an indication of one of at least two stems being processed by the timber-working device having a damaged end; and computer readable program code the drive system to feed only the stem with the damaged end relative to the cutting device by a predetermined distance.
computer readable program code receiving an indication of one of at least two stems being processed by the timber-working device having a damaged end; and computer readable program code the drive system to feed only the stem with the damaged end relative to the cutting device by a predetermined distance.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| NZ618511A NZ618511A (en) | 2013-12-02 | 2013-12-02 | A timber-working device and method of operation |
| NZ618511 | 2013-12-02 | ||
| PCT/NZ2014/000240 WO2015084184A2 (en) | 2013-12-02 | 2014-12-02 | A timber-working device and method of operation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA2904174A1 true CA2904174A1 (en) | 2015-06-11 |
| CA2904174C CA2904174C (en) | 2021-08-03 |
Family
ID=52347378
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2904174A Active CA2904174C (en) | 2013-12-02 | 2014-12-02 | A timber-working device and method of operation |
Country Status (3)
| Country | Link |
|---|---|
| CA (1) | CA2904174C (en) |
| NZ (1) | NZ618511A (en) |
| WO (1) | WO2015084184A2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NZ629666A (en) * | 2014-08-29 | 2016-03-31 | Waratah Nz Ltd | A timber-working device and method of operation |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8499803B2 (en) * | 2009-06-12 | 2013-08-06 | Waratah Nz Limited | Protective routing of delimb cylinder hosing |
| US8002004B2 (en) * | 2009-06-12 | 2011-08-23 | Waratah Nz Limited | Delimb arm cam stop |
| US7938154B2 (en) * | 2009-06-12 | 2011-05-10 | Waratah Nz Limited | Timber-working head with feed wheel adaptor plate |
-
2013
- 2013-12-02 NZ NZ618511A patent/NZ618511A/en unknown
-
2014
- 2014-12-02 WO PCT/NZ2014/000240 patent/WO2015084184A2/en active Application Filing
- 2014-12-02 CA CA2904174A patent/CA2904174C/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| WO2015084184A2 (en) | 2015-06-11 |
| WO2015084184A3 (en) | 2015-07-30 |
| NZ618511A (en) | 2015-06-26 |
| CA2904174C (en) | 2021-08-03 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EEER | Examination request |
Effective date: 20191125 |