DE102006016231A1 - Movable work machine for forestry application, has sensor or sensor system provided for detecting further movements e.g. acceleration and velocity, of machine and controlling machine in kinematic operating phases - Google Patents

Abstract

The machine has a receiver (1) provided for satellite-supported position-coordinate signals and connected with an electronic evaluation and control unit (2). A sensor or sensor system (3) detecting further movements e.g. acceleration and velocity, of the machine is provided for controlling the machine in kinematic operating phases and is connected with the evaluation and control unit. The sensor or sensor system is arranged in a housing, and a compass system is provided for detecting a driving direction of the machine. An independent claim is also included for a method for controlling a movable work machine.

Description

The The invention relates to mobile work machines and methods of control the movement of such machines. The machines in question can preferably be operated in forestry use. there can such a working machine without visible lines on given vectors, if necessary without manual influence and independent or be moved with reduced risk potential. The use can be in largely inaccessible Areas without a developed transport infrastructure.

Similar solutions For example, they are in use in agricultural technology and usually become under the term "Precision Farming "summarized. Here are agricultural machines using satellite-based navigation systems while controlled their use.

For industrial Applications It is known to use vehicles without driver, being for absolute position information suitable signaling devices are permanently installed. This can be, for example be in the guideway magnets. Between such signalers then the control of the movement of such leaderless vehicles takes place with Auxiliary systems, such as Gyro navigation systems. But these solutions can be used only in a limited field of application, because without the reception of absolute position information in sufficiently short intervals safe operation not possible is.

Satellite-based navigation systems work with sufficiently high accuracy only if simultaneously the position signals of at least four satellites can be received.

This but it is common not given, since the direct connection for example by shading or Shielding is obstructed or obstructed. This is z. B. in a use in tunnels but also in topographical conditions or by influence of vegetation the case. So is the reception of the outgoing from satellite Position signals behind mountain tops, in valleys but also in the forest often disturbed.

Analogous this fact also applies to the use of terrestrially transmitted Position coordinate signals via Mobile networks too.

So is it when using mobile vehicles or work machines in the Forestry within a forest area by known means not readily possible to achieve a given goal or a predetermined path, like to keep a working lane.

Especially considering the fact that in the Federal Republic of Germany 57% of the total woodland be managed privately and their individual areas in usually less than 20 ha, they can not be economically viable although the largest increase in wood has been recorded on these areas is. Often lying these private forest areas adjacent to other private or state forest land and the border management does not run straight but strong rugged.

Also through such a borderline is a proprietary one Assignment of beaten wood is not given readily with high certainty.

It is therefore an object of the invention, the movement of mobile machines in locally not limited spaces to be able to control specifically without being temporary position coordinate signals transmitted by electromagnetic waves can be received.

According to the invention this Task with a mobile work machine that has the characteristics of the claim 1, solved. A method for controlling such mobile work machines is concerned from claim 11.

advantageous Embodiments and developments of the invention can with in the subordinate claims designated characteristics can be achieved.

At a mobile invention Work machine is at least one receiver for position coordinate signals, which are transmitted by means of electromagnetic waves are available. These are fed to an electronic evaluation and control unit to to precisely determine the respective position of the working machine. It should Accuracies should be sought which maximize possible deviation reach less than 1000 mm.

A Such position determination should, at least in static operating phases, So be carried out at a standstill of the machine. These Static operating phases then require secure reception of position coordinate signals, so that the respective actual position can be determined with high accuracy. It should have a sufficiently large period to disposal stand.

In kinematic operating phases is using at least one sensor or a sensor system of dynamic signals, the change in position of Working machine determined and this for further control with considered the electronic evaluation and control unit.

Position coordinate signals can but also alone or in addition from a terrestrial system, for example a mobile network be received and used via GPRS.

With Sensor (s) or sensor system can be dynamic dependent on the position change of Working machine captured different sizes and considered be, so that a position tracking and position determination Also possible in kinematic operating phases, in which no wirelessly transmitted Position coordinates can be received for a variety of reasons, is possible.

So can with sensor (s) or a sensor system the acceleration, speed, the direction of movement and the orientation of a work machine be captured to the changing Position to determine a moving work machine and for the more Control or help of a user. There are several these sizes too determined and considered simultaneously or in a predetermined timing become.

So can Steering or movement angle of the working machine, turning angle at least one wheel and / or the speed of at least one wheel the work machine are detected dynamically. For the consideration the direction of travel during a movement or the respective orientation of the Working machine can be present a compass system.

So can be used in kinematic operating phases Track and the directions determined and from the corresponding Position coordinates of the working machine are calculated.

In more or less large Time intervals will then in a static phase of operation of the working machine a exact position determination with the externally received position coordinate signals, preferably carried out by DGPS, if a big enough one Number of these position coordinate signals from multiple directions can be received.

So should a kinematic operating phase only be initiated again, if the current position determination during a static phase of operation with an accuracy smaller than 1000 mm has been achieved and this as initial value following a movement of the working machine considered can be.

In addition, you can a working machine also other sensors to be present, with which objects detected in a predetermined radius around the work machine can be. So can single or multiple trees, Stones, railings or hills recognized and for the further influence of the movement are considered. The thus determined Position coordinates of objects can stored in the form of an electronic map and below be used. The data thus obtained can also be used for comparison with others Working machines are used.

The Position coordinates of objects may be, for example be determined with the help of radar and / or ultrasonic sensors. So should objects within a radius of at least 3000 mm can be detected.

So can for a Area local conditions recorded, stored and later again be recognized again, so that they later also for the determination of the momentary Actual position can be used.

The determined respective position coordinates can, if necessary, taking into account a predetermined path traveled by the working machine should be for optical and / or acoustic information for a driver of a work machine be used. It can also be via appropriate control signals Influence on the movement of the working machine. So can a blocking of the movement in a danger-causing direction or also an automated control of the movement of at least the Movement directions performed become. Therefor should be an active steering, such as a vector-controlled steering be provided on the machine.

At a mobile invention Working machine can Additional elements for the processing and handling of lumber in forestry Area be present. With that you can Trees felled, cut up and be moved or also transported away with the working machine.

Advantageous can these processes also in conjunction with an additional transmitting and receiving unit supports be used, with the information signals of identification elements, e.g. so-called "smart labels " and can be evaluated. With the identification elements certain trees can be marked which will then be used for economic purposes can. Furthermore is such an assignment of trees or the respective lumber to an owner possible.

With the invention is a position specification possible, which can function independently of human contextual taxes. A work machine can thus be actively navigated and controlled in any field of application. Defined target coordinates can be found and predefined routes can be maintained very precisely. It can also respond to changes in a field and thus avoiding hazards.

So can in forestry use negative influences on the eco-system be minimized by driving. A workspace of a work machine can be optimally used and parallel paths (working lanes) always at the ideal distance become. So a minimum traffic area is used.

A economic use of even small-scale forest areas is possible. This is also at excess of property boundaries of private forest land and thereby an assignment from harvested wood to the respective owner possible.

The Invention may also be used in combination with electronic forest base maps, stored in a storage unit, e.g. in the electronic evaluation and control unit are deposited.

at of the invention Advantages of a global position, a relative position tracking and exploiting a self-learning local absolute coordinate system become.

following the invention will be explained in more detail by way of example.

there shows:

1 a schematic representation of an example of a mobile working machine according to the invention, which is suitable for forestry use.

With you can Trees like, handled and Lumber be removed.

It is a receiver 1 for receiving satellite-based transmitted position coordinate signals before present, with an electronic evaluation and control unit 2 connected is.

In a housing are sensors or a sensor system 3 added. This relative movement changes of the machine, as explained in the general part of the description, detectable and can be used in the determination of the current actual position and for influencing or controlling the subsequent movement.

at Standstill of the working machine, the position is received by means of Position coordinate signals determined very accurately. Lying then enough exactly position data, which will be the case after a few seconds can, the use of the working machine can begin without a more permanent Reception of the external position coordinate signals is required. This can be indicated by a controller.

In kinematic operating phases, a tracking of the position changes with Help the data collected by sensors or sensor system, without constantly a receipt of externally transmitted Position coordinate signals is required. In such periods will be the actual position with the help of sensors or sensor system Data determined and for considered the further movement of the working machine.

The The actual position determined in this way can be displayed. A machine operator can but also the further route can be displayed or announced. at identified deviations from specifications or the detection of dangers or obstacles may warn a signaling device or a move on the working machine can be prevented by switching off or blocking.

It but is also an automatic operation for controlling the movement and possibly also the work of a work machine with the invention possible.

Claims (15)

Mobile working machine whose movement is controlled by means of positional coordinates transmitted by electromagnetic radiation, in which at least one receiver ( 1 ) for position coordinate signals and an electronic evaluation and control unit ( 2 ) is present at the work machine and for the control of the work machine in kinematic operating phases additionally at least one further movement of the work machine dynamically detecting sensor or such a sensor system ( 3 ) and with the electronic evaluation and control unit ( 2 ) connected is. Work machine according to claim 1, characterized in that that the position determination of the working machine by a satellite-based navigation and / or terrestrially transmitted Position coordinates takes place. Work machine according to claim 1 or 2, characterized in that with the sensor or sensor system ( 3 ) the acceleration, speed and / or movement or orientation of the work machine is detected. Work machine according to one of the preceding claims, characterized characterized in that with contactless detecting sensors objects in a circumference of at least 3000 mm around the work machine detectable are. Work machine according to claim 4, characterized in that that radar and / or ultrasonic sensors are present. Work machine according to one of the preceding claims, characterized in that the direction of travel of the working machine by means of a with the electronic evaluation and control unit ( 2 ) Affected vector-controlled active steering can be influenced. Work machine according to one of the preceding claims, characterized in that a sensor or a sensor system for detecting of steering angles of the working machine, the turning angle at least a wheel and / or the speed of at least one wheel of the working machine present is. Work machine according to one of the preceding claims, characterized in that for determining the direction of travel and / or the orientation of the work machine, a compass system is present and with the electronic evaluation and control unit ( 2 ) connected is. Work machine according to one of the preceding claims, characterized characterized in that the working machine carrier for additional elements for processing and handling of sawn timber in the forestry sector is. Work machine according to one of the preceding claims, characterized in that a transmitting and receiving unit is present on the working machine is, with the information signal transmission of identification elements for the controller can be reached by additional elements of the working machine. Method for controlling a mobile work machine according to one of claims 1 to 10, characterized in that the control of the movement within kinematic operating phases at least temporarily exclusively by means of at least one sensor or sensor system ( 3 ) detected information signals and / or in an electronic evaluation and control unit ( 2 ) stored position coordinates and at least within static operating phases, in which by means of electromagnetic waves transmitted position coordinate signals from a receiver ( 1 ), a position determination or position data correction of the working machine, which is the basis for the further control of the working machine, is performed. Method according to claim 11, characterized in that that the position determination or position data correction at standstill the working machine over a period of time in which the position of the working machine is determined with an accuracy of <1000 mm has been. A method according to claim 11 or 112, characterized in that with sensor (s) or sensor system ( 3 ) is carried out by determining the relative change in position of the work machine, a position tracking within kinematic operating phases. Method according to one of claims 11 to 13, characterized in that with sensor (s) detected position coordinates of objects in the vicinity of the working machine in the form of an electronic map in the electronic evaluation and control unit ( 2 ) and used to control the movement of the work machine. Method according to one of claims 11 to 14, characterized that detected identification signals from objects in the Perimeter of the machine attached identification elements for the Control of additional elements of the working machine can be used.