CA2904182C - A timber-working device and method of operation - Google Patents
A timber-working device and method of operation Download PDFInfo
- Publication number
- CA2904182C CA2904182C CA2904182A CA2904182A CA2904182C CA 2904182 C CA2904182 C CA 2904182C CA 2904182 A CA2904182 A CA 2904182A CA 2904182 A CA2904182 A CA 2904182A CA 2904182 C CA2904182 C CA 2904182C
- Authority
- CA
- Canada
- Prior art keywords
- stem
- stems
- grasped
- timber
- thickness measurement
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
- A01G23/091—Sawing apparatus specially adapted for felling trees
Abstract
A timber-working device (16) has pivoting arms (26,28) configured to grasp one (300) or more stems (302,304) to be processed, and a cutting device (38). A measurement device is configured to output a signal indicating a stem thickness measurement of the stem(s) (300,302,304) currently grasped by the pivoting arms (26,28), wherein the stem thickness measurement is dependent on the number of stems grasped. A stem count device is configured to output a signal indicating the number of stems currently grasped by the pivoting arms. The timber-working device (16) includes at least one controller (102,104) configured to receive the signal indicating the stem thickness measurement and the signal indicating the number of stems currently grasped by the pivoting arms (26,28), and determine the travel required of the cutting device (38) to sever the at least one stem, based at least in part on the indication of stem thickness measurement, and indication of the number of stems.
Description
A TIMBER-WORKING DEVICE AND METHOD OF OPERATION
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 ¨
commonly using at least one chainsaw.
Feeding the stem along its length relative to the head is typically achieved using arm mounted rotary drives having a drive wheel at the end of opposing drive arms, while delimbing is performed by blades on opposing delimb arms.
It is known to control the extent to which the chainsaw travels when cutting a stem, based on a diameter measurement of the stem made by the head based on the angle of rotation of the feed and/or delimb arms as they close on the stem. Limiting the travel increases machine productivity by avoiding wasteful movement, and avoids damage to the saw caused where the saw passes beyond the stem into other matter such as the ground.
However, to date such saw limiting assumes that the diameter measurement relates to a single stem held by the head. Where the head is used to process multiple stems simultaneously, particularly two stems held side by side, the diameter measurement obtained from the angle of the feed and/or delimb arms indicates the presence of a much deeper cross-section of wood than is actually held by the head. This causes excessive saw travel requirements to be set.
It is an object of the present invention to address the foregoing problems or at least to provide the public with a useful choice.
No admission is made that any reference cited herein 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 Date Recue/Date Received 2021-06-16 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 embodiment of the present invention there is provided a method of operating a timber-working device including a cutting device, the method including the steps of:
receiving an indication of the number of stems currently grasped by pivoting arms of the timber-working device;
receiving an indication of a stem thickness measurement of the at least one stem currently grasped by the pivoting arms, wherein the stem thickness measurement is dependent on the number of stems grasped; and determining the travel required of the cutting device to sever the at least one stem, based at least in part on the number of stems currently being grasped and the stem thickness measurement.
According to another aspect of the present invention there is provided a timber-working device, including:
pivoting arms configured to grasp one or more stems to be processed;
a measurement device configured to output a signal indicating a stem thickness measurement of the at least one stem currently grasped by the pivoting arms, wherein the stem thickness measurement is dependent on the number of stems grasped;
a stem count device configured to output a signal indicating the number of stems currently grasped by the pivoting arms;
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 ¨
commonly using at least one chainsaw.
Feeding the stem along its length relative to the head is typically achieved using arm mounted rotary drives having a drive wheel at the end of opposing drive arms, while delimbing is performed by blades on opposing delimb arms.
It is known to control the extent to which the chainsaw travels when cutting a stem, based on a diameter measurement of the stem made by the head based on the angle of rotation of the feed and/or delimb arms as they close on the stem. Limiting the travel increases machine productivity by avoiding wasteful movement, and avoids damage to the saw caused where the saw passes beyond the stem into other matter such as the ground.
However, to date such saw limiting assumes that the diameter measurement relates to a single stem held by the head. Where the head is used to process multiple stems simultaneously, particularly two stems held side by side, the diameter measurement obtained from the angle of the feed and/or delimb arms indicates the presence of a much deeper cross-section of wood than is actually held by the head. This causes excessive saw travel requirements to be set.
It is an object of the present invention to address the foregoing problems or at least to provide the public with a useful choice.
No admission is made that any reference cited herein 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 Date Recue/Date Received 2021-06-16 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 embodiment of the present invention there is provided a method of operating a timber-working device including a cutting device, the method including the steps of:
receiving an indication of the number of stems currently grasped by pivoting arms of the timber-working device;
receiving an indication of a stem thickness measurement of the at least one stem currently grasped by the pivoting arms, wherein the stem thickness measurement is dependent on the number of stems grasped; and determining the travel required of the cutting device to sever the at least one stem, based at least in part on the number of stems currently being grasped and the stem thickness measurement.
According to another aspect of the present invention there is provided a timber-working device, including:
pivoting arms configured to grasp one or more stems to be processed;
a measurement device configured to output a signal indicating a stem thickness measurement of the at least one stem currently grasped by the pivoting arms, wherein the stem thickness measurement is dependent on the number of stems grasped;
a stem count device configured to output a signal indicating the number of stems currently grasped by the pivoting arms;
2 Date Recue/Date Received 2021-06-16 a cutting device; and at least one controller configured to:
receive the signal indicating the stem thickness measurement and the signal indicating the number of stems currently grasped by the pivoting arms; and determine the travel required of the cutting device to sever the at least one stem, based at least in part on the indication of stem thickness measurement, and indication of the number of stems.
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 of operating a timber-working device including a cutting device, the code including:
computer readable program code receiving an indication of the number of stems currently grasped by pivoting arms of the timber-working device;
computer readable program code receiving an indication of a stem thickness measurement of the at least one stem currently grasped by the pivoting arms, wherein the stem thickness measurement is dependent on the number of stems grasped; and computer readable program code determining the travel required of the cutting device to sever the at least one stem, based on the number of stems currently being grasped and the stem thickness measurement.
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.
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
receive the signal indicating the stem thickness measurement and the signal indicating the number of stems currently grasped by the pivoting arms; and determine the travel required of the cutting device to sever the at least one stem, based at least in part on the indication of stem thickness measurement, and indication of the number of stems.
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 of operating a timber-working device including a cutting device, the code including:
computer readable program code receiving an indication of the number of stems currently grasped by pivoting arms of the timber-working device;
computer readable program code receiving an indication of a stem thickness measurement of the at least one stem currently grasped by the pivoting arms, wherein the stem thickness measurement is dependent on the number of stems grasped; and computer readable program code determining the travel required of the cutting device to sever the at least one stem, based on the number of stems currently being grasped and the stem thickness measurement.
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.
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
3 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.
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.
In another embodiment the pivoting arms include at least one pair of delimb arms, as known in the art. Such delimb arms are configured to be closed about the stem, and include sharpened edges to cut limbs from the stem as it is driven by the feed wheels.
Reference to a stem thickness measurement should be understood to mean an indication of a measurement of a cross-sectional dimension of a stem, or collective stems, held by the timber-working device. In the case of a single stem, this dimension may be diameter of the stem, as often referenced during processing of trees with a forestry head. While the collective thickness of multiple stems is not technically a diameter measurement, for convenience the term diameter may be used interchangeably with stem thickness measurement throughout the application.
This measurement may be obtained using any suitable measurement device known in the art.
In an exemplary embodiment, the indication of stem thickness is an indication of the angular position of at least one of the arms.
The angular position sensor may be any suitable means known to a person skilled in the art for determining rotation of the arm or arms ¨ whether absolute or incremental. For example, the angular position sensor may be a rotary encoder.
It should be appreciated that the angular position sensor may not directly measure rotation of the arm. For example, the angular position sensor may be configured to output a signal indicative of the position of a linear actuator driving the pivoting arm.
Reference to the position of the linear actuator should be understood to mean the position of a point on the actuator which may be used to determine the degree to which the actuator is extended.
For example, the linear actuator may be a hydraulic cylinder including a linear position sensor. Various technologies are known in the art for achieving this ¨ for example operating using magnetostrictive principles, or Hall-Effect. Given known geometries of the head, the position of the actuator may be used to derive the angular position of the arm, or arms.
=
The angular position of at least one of the arms may be used in conjunction with the known geometry of the frame to determine the relative position of various points on the device, and thereby geometry of the stem(s) being grasped by the arms. This will be discussed further below.
It should be appreciated that reference to obtaining the stem thickness measurement using the angular position of the arm is not intended to be limiting. For example, acoustic and optical diameter sensing systems have been proposed.
In an embodiment the cutting device includes at least one saw. In particular the saw may be at least one chainsaw.
It is known for forestry heads to include a main saw which is primarily used for the felling and cross cutting of stems. Further, some forestry heads may include a secondary or topping saw.
lo The topping saw is typically of a lower specification than the main saw, and used primarily during processing once a tree is felled.
Each chainsaw may include a saw chain, a saw bar around which the saw chain moves, and a saw drive gear for driving the saw chain around the saw bar. Each chainsaw may be pivoted about one end in order to travel though a cutting arc. The extent of the travel may be controlled as known in the art.
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.
Reference to travel should be understood to mean the range of motion through which the cutting device moves. In the context of a pivoting chainsaw, travel is the arc through which the saw must pass to reach the break through point at which the stem(s) is severed. However, it should be appreciated that travel need not be arcuate, and that the mode of travel will depend on the type of cutting device.
Where more than one stem is grasped by the arms, determining the travel required of the cutting device to sever the stems may include reference to an effective cutting profile of the stems.
An effective cutting profile should be understood to mean the cross section of the collective stems through which the cutting device must pass to sever the stems.
Together with known geometries of the timber-working device and path of travel of the cutting device, the effective cutting profile may enable determination of the most distant break though point and thus the travel required.
For example, where the device is currently grasping two stems the effective cutting profile of the stems may be generally ovaline in shape. If there were no indication of two stems being grasped, the stem thickness measurement could imply that the required travel is equivalent to that for the case of a large single stem having a circular diameter. This could result in a much deeper cut than actually required, creating inefficiencies.
In another example, where the device is currently grasping three stems the effective cutting profile of the stems may be generally triangular in shape. The smaller diameter of the individual stems may cause them to settle differently within the grasp of the arms compared to a single stem creating the same angular position reading. This may require a travel greater than in the case of a single stem.
Without an indication of three stems being held by the device, the determined travel may not be to sufficient to completely sever one or more of the stems. Failure to completely sever a stem may cause complications with subsequent processing, or damage the stem due to breakage rather than severing.
Determination of the travel required based on the number of stems currently being grasped and the stem thickness measurement may be achieved by any suitable means known in the art.
For example, look up tables may be accessed to return the value, or algorithms applied to calculate the value.
The indication of the number of stems may be initiated by an operator of the timber-working device. For example, the stem count device may be an operator input device enabling input of the number of stems currently grasped by the timber-working device, and generating a signal indicative of the input for transmission to the controller. As the operator is continuously observing the timber-working device and its operation, selection of the number of stems being processed is envisaged as being a straightforward and intuitive step.
However, it should be appreciated that this is not intended to be limiting, and that embodiments may be implemented with automated detection or determination of the number of stems. In some embodiments the stem count device may be a general purpose controller, having other functions within the context of operating the timber-working device.
By way of example, a first angular position sensor may be provided to output a signal indicating an angular position of at least one of the delimb arms, and a second angular position sensor may be provided to output a signal indicating an angular position of at least one of the drive arms. The controller may be configured to receive the signals indicating the respective angular positions of the delimb arm and the drive arm, and correlate the angular position of the delimb arm with the angular position of the drive arm to determine the number of stems currently grasped by the timber-working device.
Where the collective profile of the stems varies from the generally circular shape as in the case of a single stem, the relationship between the angular positions of the drive and delimb arms may also change, This may enable correlation of these angles to determine the number of stems held by the arms.
The angular position sensors may be any suitable means known to a person skilled in the art for determining rotation of the arms ¨ whether absolute or incremental. For example, the angular position sensor may be a rotary encoder.
It should be appreciated that the angular position sensor may not directly measure rotation of the arm. For example, the angular position sensor may be configured to output a signal indicative of the position of a linear actuator driving the pivoting arm.
Reference to the position of the linear actuator should be understood to mean the position of a point on the actuator which may be used to determine the degree to which the actuator is extended.
For example, the linear actuator may be a hydraulic cylinder including a linear position sensor. Various technologies are known in the art for achieving this ¨ for example operating using magnetostrictive principles, or Hall-Effect. Given known geometries of the head, the position of the actuator may be used to derive the angular position of the arm, or arms.
The angular positions of the arms may be used in conjunction with the known geometry of the frame to determine the relative position of various points on the device, and thereby geometry of the stem or stems being grasped by the arms.
In an exemplary embodiment, the stem count device may include pressure plates with associated pressure switches disposed laterally across the feed axis of the frame. Pressure zo applied to the plates due to one or more stems bearing against them when grasped by the drive or delimb arms may trigger the pressure switches. The number of stems held may be inferred by the pattern or lateral spread of the triggered switches.
For example, where three pressure plates are positioned across the frame ¨ one centred on the feed axis and one laterally offset from the feed axis on either side ¨
triggering of the switch associated with the central plate, but not the others, may be indicative of a single stem being processed. In contrast, triggering of the switches associated with the lateral plates, but not the central plate, may be indicative of two stems being processed.
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, 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 forestry head;
FIG. 2 is an elevated view of the forestry head;
FIG. 3 is a perspective view, with portions broken away, showing an exemplary chainsaw of the forestry head;
FIG. 4 is a diagrammatic view of an exemplary control system for the timber-working system;
FIG. 5A is an end view of the forestry head in use;
FIG. 5B is another end view of the forestry head in use;
FIG. 6 is a flowchart illustrating an exemplary method for operating a timber-working device;
FIG. 7 is a flowchart illustrating an exemplary method for determining the number of stems grasped by a forestry head, and FIG. 8 is a line graph showing an exemplary relationship between the angular position of a delimb arm relative to the angular position of a drive arm of a forestry head.
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 assembly 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
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 4.
Feed wheels 30a, 30b, 32a and 32b may collectively be referred to as the 'feed mechanism.' A
measuring wheel 36 may be used to measure the length of the stem as it passes.
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.
Referring to FIG. 3, the saw 38 is mounted to a saw housing 42 of the frame 24. The saw 38 .. includes an endless cutting chain 44, a chain support 46, a chain driver 48 in the form of a hydraulic motor, and an attachment device 50 attaching the chain 44, the chain support 46, and the chain driver 48 to the saw housing 42.
The attachment device 50 includes a swing 52, which includes an arm 54 and an arm support ring 56 to which the arm 54 is fastened with threaded fasteners. The swing 52 enables rotation of the chain support 46 attached to the swing 52.
The chain support 46 includes a guide bar 58 and a bar holder 60 holding the guide bar 58.
The chain 44 is trained about the guide bar 58 and the chain driver 48. The bar holder 60 is attached movably to a mount 62 of the saw apparatus 38 for movement of the bar holder 60 and the guide bar 58 relative to the mount 62.
A hydraulic swing cylinder 64 is attached to the arm 54 and the frame 24 therebetween. The cylinder 64 is operable to pivot the swing 52, the chain support 46, and the chain 44 between a stowage position retracted into the saw housing 42 and a deployed position during a sawing event (e.g., felling, bucking).
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. 4.
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 4. 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 system 100 includes angular position sensors ¨ for example delimb rotation sensor 112a mounted to one of delimb arm 26a or 26b, and feed rotation sensor 112b mounted to feed arms 28a or 28b ¨ each configured to output a signal indicative of the angular position of the associated arm for transmission to first controller 102 via second controller 104 and bus 106.
The head 16 has a number of valves 114 arranged, for example, in a valve block and coupled electrically to the second controller 104 so as to be under its control. The valves 114 include, for example, a motor valve configured to control operation of the motor 48 and a swing valve configured to control pivotal movement of the swing 52 via extension of swing cylinder 64.
Saw rotation sensor 116 is electronically coupled to the second controller 104, and configured to output a signal indicative of the relative position of the chain support 46 and the chain 41 between the stowage position and fully deployed position.
The control system 100 is configured to implement method 200 of FIG. 6, which will be described with reference to FIGS. 1 through 4, together with FIG. 5A and FIG.
5B showing the head 16 in use.
In step 202, a human operator operates the operator input device 108 to grasp one or more stems with the delimb arms 26a and 26b, and feed arms 28a and 28b, such that the stem(s) is positioned between the arm-mounted feed wheels 30a and 30b, and frame-mounted feed wheels 32a and 32b.
In step 204, the operator operates the operator input device 108 to transmit an indication to first controller 102 of the number of stems currently held by the head 16. In the case of FIG. 5A this will be a single stem 300, and two stems 302 and 304 in the case of FIG. 5B.
In step 206, rotation sensor(s) 112a and/or 112b transmits a signal indicating the angular position of the associated arm to the first controller 102 via second controller 104 over bus 106.
In step 208 the first controller 102 refers to a look up table for the appropriate number of stems, using the measured angular position as a reference, in order to determine the travel required for saw 38 to sever the stems while limiting travel.
Referring to FIG. 5A, saw 38 is illustrated at its fully deployed position, i.e. at its greatest travel setting. The projected end position of the saw 38 based on the indication of a single stem at the measured angular position is shown in dashed outline 306 (including allowance for measurement errors). It may be seen that the travel required to reach position 306 is less that to achieve the fully deployed position illustrated.
la Referring to FIG. 5B, the projected end position of the saw 38 in the dual stem case is shown in dotted outline 308. Comparing the single stem projected end position 306 to the dual stem projected end position 308, it may be seen that the travel required to sever stem 300 is greater than that required to sever stems 302 and 304, despite the angular position of the drive arms 28a and 28b being substantially the same.
In step 210 the first controller 102 receives from operator input device 108 a signal indicative of a request to operate the saw 38. In response to that signal, the first controller 102 broadcasts a request to operate the saw 38 on bus 106 together with control information regarding the determined travel limit of the saw 38.
In step 212 the second controller 104 receives the request to operate the saw 38, outputs control signals to the two valves 114 responsible for control of the motor 48 and swing cylinder 64 respectively, and takes a position reading from saw rotation sensor 116.
In step 214 the second controller 104 monitors the position of the saw 38 using the output of saw rotation sensor 116, and controls the valve 114 responsible for control of the swing cylinder 64 to reverse travel once the predetermined travel limit is reached and return the saw to its stowage position.
In an exemplary embodiment, the act of the operator operating the operator input device 108 to transmit an indication to first controller 102 of the number of stems currently held by the head 16 in step 204 may be replaced by an automated method 400 for determining the number of stems ¨ described herein with reference to FIG. 7.
In step 402, rotation sensors 112a and 112b transmits signals indicating the angular positions of the respective associated arms to the first controller 102 via second controller 104.
In step 404 the first controller 102 correlates the angular position of the delimb arm 26a or 26b with the angular position of the drive arm 28a or 28b to determine the number of stems currently grasped by the head 16.
FIG. 8 illustrates an exemplary relationship between the angular position of RH delimb arm 26a and the angular position of RH feed arm 28a. The line designated at 500 represents the relationship in the case of grasping a single stem, and the line designated at 502 represents the relationship in the case of grasping two stems.
It may be seen that there is the relationship between the RH delimb arm 26a and RH drive arm 28a may be distinguished between the two cases (single stem 500 and two stems 502).
It should be appreciated that exact angular position values may vary between head configurations and geometries, but that the general principle applies.
Determination of the number of stems may thus be achieved, for example, by referencing the angular position of the RH drive arm 28a and comparing the angular position of the RH delimb arm 26a with a threshold delineating the two cases (see line designated at 504).
As an example, where the angular position of the RH drive arm 28a is 25 degrees, if the angle of the RH delimb arm 26a is less than 64 degrees the first controller 102 determines that a single stem is currently grasped by the head 16. If the angle of the RH delimb arm 26a is greater than 64 degrees the first controller 102 determines that two stems are currently grasped by the head 16.
Reference to any prior art in this specification is not, and should not be taken as, an acknowledgement or any form of suggestion that that prior art forms part of the common general knowledge in the field of endeavour in any country in the world.
Embodiments described herein may also be said broadly to consist in the parts, elements and features referred to or indicated in the specification of the application, individually or collectively, in any or all combinations of two or more of said parts, elements or features.
Where in the foregoing description reference has been made to integers or components having known equivalents thereof, those integers are herein incorporated as if individually set forth.
It should be noted that various changes and modifications to the presently preferred embodiments described herein will be apparent to those skilled in the art.
Such changes and modifications may be made without departing from the spirit and scope of the disclosure and without diminishing its attendant advantages. It is therefore intended that such changes and modifications be included within the present invention.
Embodiments 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.
Date Recue/Date Received 2021-06-16
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.
In another embodiment the pivoting arms include at least one pair of delimb arms, as known in the art. Such delimb arms are configured to be closed about the stem, and include sharpened edges to cut limbs from the stem as it is driven by the feed wheels.
Reference to a stem thickness measurement should be understood to mean an indication of a measurement of a cross-sectional dimension of a stem, or collective stems, held by the timber-working device. In the case of a single stem, this dimension may be diameter of the stem, as often referenced during processing of trees with a forestry head. While the collective thickness of multiple stems is not technically a diameter measurement, for convenience the term diameter may be used interchangeably with stem thickness measurement throughout the application.
This measurement may be obtained using any suitable measurement device known in the art.
In an exemplary embodiment, the indication of stem thickness is an indication of the angular position of at least one of the arms.
The angular position sensor may be any suitable means known to a person skilled in the art for determining rotation of the arm or arms ¨ whether absolute or incremental. For example, the angular position sensor may be a rotary encoder.
It should be appreciated that the angular position sensor may not directly measure rotation of the arm. For example, the angular position sensor may be configured to output a signal indicative of the position of a linear actuator driving the pivoting arm.
Reference to the position of the linear actuator should be understood to mean the position of a point on the actuator which may be used to determine the degree to which the actuator is extended.
For example, the linear actuator may be a hydraulic cylinder including a linear position sensor. Various technologies are known in the art for achieving this ¨ for example operating using magnetostrictive principles, or Hall-Effect. Given known geometries of the head, the position of the actuator may be used to derive the angular position of the arm, or arms.
=
The angular position of at least one of the arms may be used in conjunction with the known geometry of the frame to determine the relative position of various points on the device, and thereby geometry of the stem(s) being grasped by the arms. This will be discussed further below.
It should be appreciated that reference to obtaining the stem thickness measurement using the angular position of the arm is not intended to be limiting. For example, acoustic and optical diameter sensing systems have been proposed.
In an embodiment the cutting device includes at least one saw. In particular the saw may be at least one chainsaw.
It is known for forestry heads to include a main saw which is primarily used for the felling and cross cutting of stems. Further, some forestry heads may include a secondary or topping saw.
lo The topping saw is typically of a lower specification than the main saw, and used primarily during processing once a tree is felled.
Each chainsaw may include a saw chain, a saw bar around which the saw chain moves, and a saw drive gear for driving the saw chain around the saw bar. Each chainsaw may be pivoted about one end in order to travel though a cutting arc. The extent of the travel may be controlled as known in the art.
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.
Reference to travel should be understood to mean the range of motion through which the cutting device moves. In the context of a pivoting chainsaw, travel is the arc through which the saw must pass to reach the break through point at which the stem(s) is severed. However, it should be appreciated that travel need not be arcuate, and that the mode of travel will depend on the type of cutting device.
Where more than one stem is grasped by the arms, determining the travel required of the cutting device to sever the stems may include reference to an effective cutting profile of the stems.
An effective cutting profile should be understood to mean the cross section of the collective stems through which the cutting device must pass to sever the stems.
Together with known geometries of the timber-working device and path of travel of the cutting device, the effective cutting profile may enable determination of the most distant break though point and thus the travel required.
For example, where the device is currently grasping two stems the effective cutting profile of the stems may be generally ovaline in shape. If there were no indication of two stems being grasped, the stem thickness measurement could imply that the required travel is equivalent to that for the case of a large single stem having a circular diameter. This could result in a much deeper cut than actually required, creating inefficiencies.
In another example, where the device is currently grasping three stems the effective cutting profile of the stems may be generally triangular in shape. The smaller diameter of the individual stems may cause them to settle differently within the grasp of the arms compared to a single stem creating the same angular position reading. This may require a travel greater than in the case of a single stem.
Without an indication of three stems being held by the device, the determined travel may not be to sufficient to completely sever one or more of the stems. Failure to completely sever a stem may cause complications with subsequent processing, or damage the stem due to breakage rather than severing.
Determination of the travel required based on the number of stems currently being grasped and the stem thickness measurement may be achieved by any suitable means known in the art.
For example, look up tables may be accessed to return the value, or algorithms applied to calculate the value.
The indication of the number of stems may be initiated by an operator of the timber-working device. For example, the stem count device may be an operator input device enabling input of the number of stems currently grasped by the timber-working device, and generating a signal indicative of the input for transmission to the controller. As the operator is continuously observing the timber-working device and its operation, selection of the number of stems being processed is envisaged as being a straightforward and intuitive step.
However, it should be appreciated that this is not intended to be limiting, and that embodiments may be implemented with automated detection or determination of the number of stems. In some embodiments the stem count device may be a general purpose controller, having other functions within the context of operating the timber-working device.
By way of example, a first angular position sensor may be provided to output a signal indicating an angular position of at least one of the delimb arms, and a second angular position sensor may be provided to output a signal indicating an angular position of at least one of the drive arms. The controller may be configured to receive the signals indicating the respective angular positions of the delimb arm and the drive arm, and correlate the angular position of the delimb arm with the angular position of the drive arm to determine the number of stems currently grasped by the timber-working device.
Where the collective profile of the stems varies from the generally circular shape as in the case of a single stem, the relationship between the angular positions of the drive and delimb arms may also change, This may enable correlation of these angles to determine the number of stems held by the arms.
The angular position sensors may be any suitable means known to a person skilled in the art for determining rotation of the arms ¨ whether absolute or incremental. For example, the angular position sensor may be a rotary encoder.
It should be appreciated that the angular position sensor may not directly measure rotation of the arm. For example, the angular position sensor may be configured to output a signal indicative of the position of a linear actuator driving the pivoting arm.
Reference to the position of the linear actuator should be understood to mean the position of a point on the actuator which may be used to determine the degree to which the actuator is extended.
For example, the linear actuator may be a hydraulic cylinder including a linear position sensor. Various technologies are known in the art for achieving this ¨ for example operating using magnetostrictive principles, or Hall-Effect. Given known geometries of the head, the position of the actuator may be used to derive the angular position of the arm, or arms.
The angular positions of the arms may be used in conjunction with the known geometry of the frame to determine the relative position of various points on the device, and thereby geometry of the stem or stems being grasped by the arms.
In an exemplary embodiment, the stem count device may include pressure plates with associated pressure switches disposed laterally across the feed axis of the frame. Pressure zo applied to the plates due to one or more stems bearing against them when grasped by the drive or delimb arms may trigger the pressure switches. The number of stems held may be inferred by the pattern or lateral spread of the triggered switches.
For example, where three pressure plates are positioned across the frame ¨ one centred on the feed axis and one laterally offset from the feed axis on either side ¨
triggering of the switch associated with the central plate, but not the others, may be indicative of a single stem being processed. In contrast, triggering of the switches associated with the lateral plates, but not the central plate, may be indicative of two stems being processed.
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, 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 forestry head;
FIG. 2 is an elevated view of the forestry head;
FIG. 3 is a perspective view, with portions broken away, showing an exemplary chainsaw of the forestry head;
FIG. 4 is a diagrammatic view of an exemplary control system for the timber-working system;
FIG. 5A is an end view of the forestry head in use;
FIG. 5B is another end view of the forestry head in use;
FIG. 6 is a flowchart illustrating an exemplary method for operating a timber-working device;
FIG. 7 is a flowchart illustrating an exemplary method for determining the number of stems grasped by a forestry head, and FIG. 8 is a line graph showing an exemplary relationship between the angular position of a delimb arm relative to the angular position of a drive arm of a forestry head.
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 assembly 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
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 4.
Feed wheels 30a, 30b, 32a and 32b may collectively be referred to as the 'feed mechanism.' A
measuring wheel 36 may be used to measure the length of the stem as it passes.
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.
Referring to FIG. 3, the saw 38 is mounted to a saw housing 42 of the frame 24. The saw 38 .. includes an endless cutting chain 44, a chain support 46, a chain driver 48 in the form of a hydraulic motor, and an attachment device 50 attaching the chain 44, the chain support 46, and the chain driver 48 to the saw housing 42.
The attachment device 50 includes a swing 52, which includes an arm 54 and an arm support ring 56 to which the arm 54 is fastened with threaded fasteners. The swing 52 enables rotation of the chain support 46 attached to the swing 52.
The chain support 46 includes a guide bar 58 and a bar holder 60 holding the guide bar 58.
The chain 44 is trained about the guide bar 58 and the chain driver 48. The bar holder 60 is attached movably to a mount 62 of the saw apparatus 38 for movement of the bar holder 60 and the guide bar 58 relative to the mount 62.
A hydraulic swing cylinder 64 is attached to the arm 54 and the frame 24 therebetween. The cylinder 64 is operable to pivot the swing 52, the chain support 46, and the chain 44 between a stowage position retracted into the saw housing 42 and a deployed position during a sawing event (e.g., felling, bucking).
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. 4.
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 4. 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 system 100 includes angular position sensors ¨ for example delimb rotation sensor 112a mounted to one of delimb arm 26a or 26b, and feed rotation sensor 112b mounted to feed arms 28a or 28b ¨ each configured to output a signal indicative of the angular position of the associated arm for transmission to first controller 102 via second controller 104 and bus 106.
The head 16 has a number of valves 114 arranged, for example, in a valve block and coupled electrically to the second controller 104 so as to be under its control. The valves 114 include, for example, a motor valve configured to control operation of the motor 48 and a swing valve configured to control pivotal movement of the swing 52 via extension of swing cylinder 64.
Saw rotation sensor 116 is electronically coupled to the second controller 104, and configured to output a signal indicative of the relative position of the chain support 46 and the chain 41 between the stowage position and fully deployed position.
The control system 100 is configured to implement method 200 of FIG. 6, which will be described with reference to FIGS. 1 through 4, together with FIG. 5A and FIG.
5B showing the head 16 in use.
In step 202, a human operator operates the operator input device 108 to grasp one or more stems with the delimb arms 26a and 26b, and feed arms 28a and 28b, such that the stem(s) is positioned between the arm-mounted feed wheels 30a and 30b, and frame-mounted feed wheels 32a and 32b.
In step 204, the operator operates the operator input device 108 to transmit an indication to first controller 102 of the number of stems currently held by the head 16. In the case of FIG. 5A this will be a single stem 300, and two stems 302 and 304 in the case of FIG. 5B.
In step 206, rotation sensor(s) 112a and/or 112b transmits a signal indicating the angular position of the associated arm to the first controller 102 via second controller 104 over bus 106.
In step 208 the first controller 102 refers to a look up table for the appropriate number of stems, using the measured angular position as a reference, in order to determine the travel required for saw 38 to sever the stems while limiting travel.
Referring to FIG. 5A, saw 38 is illustrated at its fully deployed position, i.e. at its greatest travel setting. The projected end position of the saw 38 based on the indication of a single stem at the measured angular position is shown in dashed outline 306 (including allowance for measurement errors). It may be seen that the travel required to reach position 306 is less that to achieve the fully deployed position illustrated.
la Referring to FIG. 5B, the projected end position of the saw 38 in the dual stem case is shown in dotted outline 308. Comparing the single stem projected end position 306 to the dual stem projected end position 308, it may be seen that the travel required to sever stem 300 is greater than that required to sever stems 302 and 304, despite the angular position of the drive arms 28a and 28b being substantially the same.
In step 210 the first controller 102 receives from operator input device 108 a signal indicative of a request to operate the saw 38. In response to that signal, the first controller 102 broadcasts a request to operate the saw 38 on bus 106 together with control information regarding the determined travel limit of the saw 38.
In step 212 the second controller 104 receives the request to operate the saw 38, outputs control signals to the two valves 114 responsible for control of the motor 48 and swing cylinder 64 respectively, and takes a position reading from saw rotation sensor 116.
In step 214 the second controller 104 monitors the position of the saw 38 using the output of saw rotation sensor 116, and controls the valve 114 responsible for control of the swing cylinder 64 to reverse travel once the predetermined travel limit is reached and return the saw to its stowage position.
In an exemplary embodiment, the act of the operator operating the operator input device 108 to transmit an indication to first controller 102 of the number of stems currently held by the head 16 in step 204 may be replaced by an automated method 400 for determining the number of stems ¨ described herein with reference to FIG. 7.
In step 402, rotation sensors 112a and 112b transmits signals indicating the angular positions of the respective associated arms to the first controller 102 via second controller 104.
In step 404 the first controller 102 correlates the angular position of the delimb arm 26a or 26b with the angular position of the drive arm 28a or 28b to determine the number of stems currently grasped by the head 16.
FIG. 8 illustrates an exemplary relationship between the angular position of RH delimb arm 26a and the angular position of RH feed arm 28a. The line designated at 500 represents the relationship in the case of grasping a single stem, and the line designated at 502 represents the relationship in the case of grasping two stems.
It may be seen that there is the relationship between the RH delimb arm 26a and RH drive arm 28a may be distinguished between the two cases (single stem 500 and two stems 502).
It should be appreciated that exact angular position values may vary between head configurations and geometries, but that the general principle applies.
Determination of the number of stems may thus be achieved, for example, by referencing the angular position of the RH drive arm 28a and comparing the angular position of the RH delimb arm 26a with a threshold delineating the two cases (see line designated at 504).
As an example, where the angular position of the RH drive arm 28a is 25 degrees, if the angle of the RH delimb arm 26a is less than 64 degrees the first controller 102 determines that a single stem is currently grasped by the head 16. If the angle of the RH delimb arm 26a is greater than 64 degrees the first controller 102 determines that two stems are currently grasped by the head 16.
Reference to any prior art in this specification is not, and should not be taken as, an acknowledgement or any form of suggestion that that prior art forms part of the common general knowledge in the field of endeavour in any country in the world.
Embodiments described herein may also be said broadly to consist in the parts, elements and features referred to or indicated in the specification of the application, individually or collectively, in any or all combinations of two or more of said parts, elements or features.
Where in the foregoing description reference has been made to integers or components having known equivalents thereof, those integers are herein incorporated as if individually set forth.
It should be noted that various changes and modifications to the presently preferred embodiments described herein will be apparent to those skilled in the art.
Such changes and modifications may be made without departing from the spirit and scope of the disclosure and without diminishing its attendant advantages. It is therefore intended that such changes and modifications be included within the present invention.
Embodiments 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.
Date Recue/Date Received 2021-06-16
Claims (12)
1. A timber-working device, including:
pivoting arms configured to grasp one or more stems to be processed;
a measurement device configured to output a signal indicating a stem thickness rneasurement of the at least one stem currently grasped by the pivoting arrns, wherein the stem thickness measurement is dependent on the number of stems grasped;
a stem count device configured to output a signal indicating the number of stems currently grasped by the pivoting arms;
a cutting device; and at least one controller configured to:
receive the signal indicating the stem thickness measurement and the signal indicating the number of stems currently grasped by the pivoting arms;
determine the travel required of the cutting device to sever the at least one stem, based at least in part on the indication of stem thickness measurement, and indication of the number of stems; and control the cutting device to achieve the determined travel and sever the at least one stern.
pivoting arms configured to grasp one or more stems to be processed;
a measurement device configured to output a signal indicating a stem thickness rneasurement of the at least one stem currently grasped by the pivoting arrns, wherein the stem thickness measurement is dependent on the number of stems grasped;
a stem count device configured to output a signal indicating the number of stems currently grasped by the pivoting arms;
a cutting device; and at least one controller configured to:
receive the signal indicating the stem thickness measurement and the signal indicating the number of stems currently grasped by the pivoting arms;
determine the travel required of the cutting device to sever the at least one stem, based at least in part on the indication of stem thickness measurement, and indication of the number of stems; and control the cutting device to achieve the determined travel and sever the at least one stern.
2. The timber-working device of claim 1, wherein the pivoting arms include a pair of drive arms.
3. The timber-working device of claim 1 or claim 2, wherein the pivoting arms include at least one pair of delimb arms.
4. The tirnber-working device of any one of claims 1 to 3, wherein the measurement device is an angular position sensor, configured to output a signal indicating the angular position of at least one of the arms.
5. The timber-working device of any one of claims 1 to 4, wherein the cutting device includes at least one saw.
6. The timber-working device of claim 5, wherein the saw is a chainsaw.
7. The timber-working device of any one of claims 1 to 5, wherein the controller is configured to determine the travel required with reference to an effective cutting profile of the stems when the number of stems currently grasped is greater than one.
B. A rnethod of operating a timber-working device including a cutting device, the method including the steps of:
receiving, from a stem count device, an indication of the number of stems currently grasped by pivoting arms of the timber-working device;
receiving an indication of a stem thickness measurement of the at least one stem currently grasped by the pivoting arms, wherein the stem thickness measurement is dependent on the number of sterns grasped;
determining the travel required of the cutting device to sever the at least one stem, based at least in part on the number of stems currently being grasped and the stem thickness measurement; and controlling the cutting device to achieve the determined travel and sever the at least one stem.
receiving, from a stem count device, an indication of the number of stems currently grasped by pivoting arms of the timber-working device;
receiving an indication of a stem thickness measurement of the at least one stem currently grasped by the pivoting arms, wherein the stem thickness measurement is dependent on the number of sterns grasped;
determining the travel required of the cutting device to sever the at least one stem, based at least in part on the number of stems currently being grasped and the stem thickness measurement; and controlling the cutting device to achieve the determined travel and sever the at least one stem.
9. The method of claim 8, wherein the indication of the stem thickness measurement is an angular position of at least one of the pivoting arms of the tirnber-working device used to grasp the at least one stem.
10. The method of claim 8 or claim 9, wherein the indication of the number of stems is initiated by an operator of the timber-working device.
1 1. The method of claim 8 or claim 9, wherein determining the travel required includes reference to an effective cutting profile of the stems when the number of stems currently grasped is greater than one.
12. An article of manufacture having computer storage medium storing computer readable program code executable by a computer to implement a method of operating a timber-working device including a cutting device, the code including:
computer readable program code receiving an indication of the number of stems currently grasped by pivoting arms of the timber-working device;
computer readable program code receiving an indication of a stem thickness measurement of the at least one stem currently grasped by the pivoting arms, wherein the stem thickness measurement is dependent on the number of stems grasped;
computer readable program code determining the travel required of the cutting device to sever the at least one stem, based on the number of stems currently being grasped and the stem thickness measurement; and computer readable program code controlling the cutting device to achieve the determined travel to sever the at least one stem, based on the number of stems currently being grasped and the stem thickness measurement.
computer readable program code receiving an indication of the number of stems currently grasped by pivoting arms of the timber-working device;
computer readable program code receiving an indication of a stem thickness measurement of the at least one stem currently grasped by the pivoting arms, wherein the stem thickness measurement is dependent on the number of stems grasped;
computer readable program code determining the travel required of the cutting device to sever the at least one stem, based on the number of stems currently being grasped and the stem thickness measurement; and computer readable program code controlling the cutting device to achieve the determined travel to sever the at least one stem, based on the number of stems currently being grasped and the stem thickness measurement.
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| NZ618423 | 2013-12-02 | ||
| NZ61842313 | 2013-12-02 | ||
| NZ63148614 | 2014-09-12 | ||
| NZ631486 | 2014-09-12 | ||
| PCT/NZ2014/000242 WO2015084186A2 (en) | 2013-12-02 | 2014-12-02 | A timber-working device and method of operation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA2904182A1 CA2904182A1 (en) | 2015-06-11 |
| CA2904182C true CA2904182C (en) | 2022-06-07 |
Family
ID=52347379
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2904182A Active CA2904182C (en) | 2013-12-02 | 2014-12-02 | A timber-working device and method of operation |
Country Status (2)
| Country | Link |
|---|---|
| CA (1) | CA2904182C (en) |
| WO (1) | WO2015084186A2 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SE542483C2 (en) * | 2018-05-24 | 2020-05-19 | Komatsu Forest Ab | Method for measuring a tree trunk and a harvester. |
| US20210243970A1 (en) | 2020-02-10 | 2021-08-12 | Deere & Company | Tree processing system |
| US11785901B2 (en) * | 2020-02-10 | 2023-10-17 | Deere & Company | Tree processing system |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2006126952A2 (en) * | 2005-05-24 | 2006-11-30 | Soervik Bengt | A tree harvester |
| FI121259B (en) * | 2007-05-30 | 2010-09-15 | Ponsse Oyj | Arrangement and procedure for the realization of pulping |
| SE537186C2 (en) * | 2011-02-17 | 2015-02-24 | Komatsu Forest Ab | Measuring device for diameter measurement of logs at harvester assemblies |
-
2014
- 2014-12-02 WO PCT/NZ2014/000242 patent/WO2015084186A2/en active Application Filing
- 2014-12-02 CA CA2904182A patent/CA2904182C/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CA2904182A1 (en) | 2015-06-11 |
| WO2015084186A3 (en) | 2015-07-30 |
| WO2015084186A2 (en) | 2015-06-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11297781B2 (en) | Method, apparatus, and system for controlling a timber-working device | |
| US7997309B2 (en) | System and method for measuring trees during processing | |
| CA2904182C (en) | A timber-working device and method of operation | |
| CA2900374C (en) | A timber-working device and method of operation | |
| CA2904241C (en) | A timber-working device and method of operation | |
| CA2889184C (en) | A timber-working device and method of operation | |
| CA2844180C (en) | A system, device, and method for processing a length of material | |
| US9999180B2 (en) | Timber-working head and method of operation | |
| CA2921721C (en) | A timber-working device and method of operation | |
| CA2904238C (en) | A timber-working device and method of operation | |
| CA2904174C (en) | A timber-working device and method of operation | |
| CA2904177C (en) | A timber-working device and method of operation | |
| CA2921720C (en) | A timber-working device and method of determining the number of stems held by the device | |
| CA2940857C (en) | Determination of number of tree stems currently being processed by a timber-working device | |
| NZ705265B (en) | A timber-working device and method of locating at least one stem relative to a feed axis of a timber-working device | |
| NZ624648B (en) | A timber-working device and method of operation | |
| NZ616526B2 (en) | Method, apparatus, and system for controlling a timber-working device | |
| NZ616526A (en) | Method, apparatus, and system for controlling a timber-working device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EEER | Examination request |
Effective date: 20191126 |