EP2442634A1 - Method for monitoring a harvester felling head - Google Patents

Method for monitoring a harvester felling head

Info

Publication number
EP2442634A1
EP2442634A1 EP10789059A EP10789059A EP2442634A1 EP 2442634 A1 EP2442634 A1 EP 2442634A1 EP 10789059 A EP10789059 A EP 10789059A EP 10789059 A EP10789059 A EP 10789059A EP 2442634 A1 EP2442634 A1 EP 2442634A1
Authority
EP
European Patent Office
Prior art keywords
felling head
harvester
monitoring
felling
harvesting
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.)
Withdrawn
Application number
EP10789059A
Other languages
German (de)
French (fr)
Other versions
EP2442634A4 (en
Inventor
Jussi-Pekka Usenius
Hannu Usenius
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of EP2442634A1 publication Critical patent/EP2442634A1/en
Publication of EP2442634A4 publication Critical patent/EP2442634A4/en
Withdrawn legal-status Critical Current

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
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles

Definitions

  • the invention relates to a method for monitoring a felling head of a harvester.
  • An object of the invention is to provide a method for monitoring a harvester felling head by means of which above problems are eliminated.
  • a particular object of the invention is to introduce a method, which can decrease tree damages in the mechanic clearing and cleaning of trees.
  • a further object of the invention is to introduce a method, which enables the machine operator to notice trees to be saved possibly hindering the harvesting.
  • the object of the invention is achieved with a method for monitoring a harvester felling head, which is characterised by what is presented in the claims.
  • one or more observation devices located in a harvester and/or a harvester felling head observe the motion direction of the felling head and monitor the harvesting line. Then, it is possible to automatically consider obstacles observed in the harvesting or clearing line and in its vicinity in the motions of the felling head and/or to inform the machine operator of the observed obstacles which he caters for in the operation.
  • the observation devices located in the harvester felling head can, at the start of and during delimbing/clearing/harvesting, easily and reliably monitor the intended fall place and space of the delimbed/cleared/harvested trunk, and the trunk in the felling head does not impact on the remaining trees left to grow when pushing out of the felling head.
  • the method for monitoring the operation of the felling head according to the invention facilitates the work of the machine operator and helps to notice trees to be saved possibly hindering delimbing/clearing/harvesting.
  • the monitoring device does not substantially delay the harvesting and it enables diminishing damages in trees particularly in dense young forests being improved.
  • the motion direction of the felling head is observed stereoscopically with two cameras.
  • Digital cameras offer a relatively cost-effective and technically reliable alternative for monitoring the target.
  • the method utilises 3D measurement by means of a laser line.
  • the method utilises ultrasound technique. Ultrasonic sensors are simple, reliable and affordable of their costs.
  • FIG. Ia and Ib show a method for monitoring a harvester felling head according to the invention and its operating principle
  • Fig. 2 shows the principle of an embodiment of the method, which utilises stereoscopic photography with two cameras
  • Figs. 3a and 3b show the principle of an embodiment of the method which employs 3D measurement by means of a laser line
  • Figs. 4a and 4b show the measuring ranges of an ultrasonic sensor with tubular targets of various sizes.
  • the figures show a harvester felling head 1 and a tree trunk 5 in it. Additionally, the figures schematically show observation devices 2, 3 for observing and monitoring the motion direction of the felling head.
  • FIG. Ia and Ib The operating principle of the method for monitoring a harvester felling head according to the invention is shown in Figs. Ia and Ib.
  • a camera, an ultrasonic or some other equivalent observation device or devices (not shown in Figs. Ia and Ib) fastened in the felling head 1 observes or observe an area of the harvesting line of the delimbed tree trunk 5 coming from the felling head, which area is designated with dashed lines in Figs. Ia and Ib, and inform the machine operator or an automatic delimbing feed machine of possible obstacles in the harvesting line.
  • feeding i.e. moving the felling head is allowed as there are no obstacles in the harvesting line.
  • Fig. Ia feeding i.e. moving the felling head is allowed as there are no obstacles in the harvesting line.
  • the apparatus includes a data unit (not shown in the figures) located in the felling head or the work machine, in which data is transmitted from the observation device (devices) wirelessly or with wire.
  • the data unit includes a required memory unit, which can process the data obtained from the observation devices in a suitable way. From the data unit, the processed data is transmitted to a control unit of the felling head and/or to a device, such as e.g. a display unit, in the vicinity of the machine operator.
  • the display unit is programmed to display the operator the distances of observed obstacles and to indicate in some way, such as e.g. with a green light, an area free of obstacles into which the felling head can be moved or the tree delimbed.
  • Figs. 2— 4b show three different techniques with which the method can be implemented.
  • Fig. 2 shows 3D photography, which is based on a change in depth of field, or stereoscopic photography with two cameras 2, 3.
  • the cameras are located in the structures of the felling head at an angle in relation to each other and they continuously monitor the area in front of the felling head.
  • Computerised image processing in the data unit enables the identification of trunk patterns and the estimation of free space. It should be noticed that, in the forest, brushwood and otherwise gloomy conditions set technical requirements on the camera and lighting.
  • Figs. 3a and 3b show 3D measurement by means of a laser line.
  • a laser light source 3 provided with line optics is set at an angle in relation to the camera 2, whereby a line picture (Fig. 3b) reflecting from different distances is shown in the camera on different heights.
  • Both devices are located at different points in the structures of the felling head. From there, it is possible to identify the position of target trunks in the harvesting line.
  • the system employs a technique with which an adequately powerful laser light can be focused at the distance of 3-5 metres from the felling head and, on the other hand, the lighting technique of the camera can be adjusted.
  • an image processing technology is used with which line patterns created by the trees are identified.
  • the apparatus includes an ultrasonic sensor, which sends an ultrasonic pulse and receives an echo.
  • a pre-study tested a sensor with the audio frequency of 120 kHz with which the sound beam was limited relatively narrow.
  • the test sensor observed a trunk of the diameter of 25-130 mm on a sector with the width of 0.6-1.5 m at the distance of 5 m from the sensor.
  • Fig. 4a shows a measuring result of an ultrasonic sensor on a target of the diameter of 130 mm.
  • Fig. 4b shows a measuring result of the ultrasonic sensor on a target of the diameter of 25 mm.
  • the sensor is able to supply data on the distance of the target, whereby the machine operator can assess if the observed target echo is relevant or not.
  • the display unit is programmed to display the operator the distances of observed echoes and to indicate the free harvesting area e.g. with a green light fastened in the felling head.

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Environmental Sciences (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Ecology (AREA)
  • Forests & Forestry (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Electromagnetism (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

The invention relates to a method for monitoring a felling head of a harvester. In the method according to the invention, one or more observation devices (2, 3) located in the harvester and/or the harvester felling head (1) observe the motion direction of the felling head and monitor the harvesting line, and an obstacle (4) observed in the harvesting line and in its vicinity is automatically considered in the motions of the felling head and/or the machine operator is informed of the observed obstacles.

Description

METHOD FOR MONITORING A HARVESTER FELLING HEAD
The invention relates to a method for monitoring a felling head of a harvester.
In the past few years, the mechanic management of young forests and seeding stands has been a popular research subject. Clearing work has mainly been performed as manual labour with clearing and chain saws, but the work is hard and its cost-effectiveness is relatively low in relation to the cost level. Mechanic clearing and cleaning have proved particularly efficient when managing grown seeding stands and young merchantable wood stands. The moving and operating of machines and particularly of felling and clearing machines in a dense growing forest pertains a great risk of damaging trees which are to be left to grow. Particularly in the mechanic thinning of fuel wood, in which the density of trees left in the forest is great due to their youngness, there have been complaints in even 34% of the targets according to the quality inventory of 2008. The most usual reasons for the complaints were too many damages in the stand and the lower density than recommended of trees left to grow. For example, in the mechanic harvesting of fuel wood, with the density of trees left to grow of about 1,400 trunks per hectare, there is a possibility of harvesting damages in about 9% of trees being grown. Of these damages, about 65% are caused by a boom or a felling head and, of these, about 30% are caused by a trunk being harvested/delimbed in the felling head impacting on the side of a tree being grown as the trunk pushes out of the felling head when delimbing branches. This type of damage in trees is considered the more significant, the younger and denser the forest in which mechanic harvesting is performed.
An object of the invention is to provide a method for monitoring a harvester felling head by means of which above problems are eliminated. A particular object of the invention is to introduce a method, which can decrease tree damages in the mechanic clearing and cleaning of trees. A further object of the invention is to introduce a method, which enables the machine operator to notice trees to be saved possibly hindering the harvesting. The object of the invention is achieved with a method for monitoring a harvester felling head, which is characterised by what is presented in the claims.
In the method according to the invention, one or more observation devices located in a harvester and/or a harvester felling head observe the motion direction of the felling head and monitor the harvesting line. Then, it is possible to automatically consider obstacles observed in the harvesting or clearing line and in its vicinity in the motions of the felling head and/or to inform the machine operator of the observed obstacles which he caters for in the operation.
In the method according to the invention, the observation devices located in the harvester felling head can, at the start of and during delimbing/clearing/harvesting, easily and reliably monitor the intended fall place and space of the delimbed/cleared/harvested trunk, and the trunk in the felling head does not impact on the remaining trees left to grow when pushing out of the felling head. Particularly, the method for monitoring the operation of the felling head according to the invention facilitates the work of the machine operator and helps to notice trees to be saved possibly hindering delimbing/clearing/harvesting. The monitoring device does not substantially delay the harvesting and it enables diminishing damages in trees particularly in dense young forests being improved.
In an advantageous embodiment of the invention, in the method, the motion direction of the felling head is observed stereoscopically with two cameras. Digital cameras offer a relatively cost-effective and technically reliable alternative for monitoring the target.
In a second advantageous embodiment of the invention, the method utilises 3D measurement by means of a laser line. In a third advantageous embodiment of the invention, the method utilises ultrasound technique. Ultrasonic sensors are simple, reliable and affordable of their costs.
The invention will now be described in more detail with reference to the accompanying drawings in which Figs. Ia and Ib show a method for monitoring a harvester felling head according to the invention and its operating principle,
Fig. 2 shows the principle of an embodiment of the method, which utilises stereoscopic photography with two cameras,
Figs. 3a and 3b show the principle of an embodiment of the method which employs 3D measurement by means of a laser line, and
Figs. 4a and 4b show the measuring ranges of an ultrasonic sensor with tubular targets of various sizes. The figures show a harvester felling head 1 and a tree trunk 5 in it. Additionally, the figures schematically show observation devices 2, 3 for observing and monitoring the motion direction of the felling head.
The operating principle of the method for monitoring a harvester felling head according to the invention is shown in Figs. Ia and Ib. A camera, an ultrasonic or some other equivalent observation device or devices (not shown in Figs. Ia and Ib) fastened in the felling head 1 observes or observe an area of the harvesting line of the delimbed tree trunk 5 coming from the felling head, which area is designated with dashed lines in Figs. Ia and Ib, and inform the machine operator or an automatic delimbing feed machine of possible obstacles in the harvesting line. In the case according to Fig. Ia, feeding i.e. moving the felling head is allowed as there are no obstacles in the harvesting line. In the case according to Fig. Ib, feeding is prevented because there is an obstacle 4 in the harvesting line. The apparatus includes a data unit (not shown in the figures) located in the felling head or the work machine, in which data is transmitted from the observation device (devices) wirelessly or with wire. The data unit includes a required memory unit, which can process the data obtained from the observation devices in a suitable way. From the data unit, the processed data is transmitted to a control unit of the felling head and/or to a device, such as e.g. a display unit, in the vicinity of the machine operator. The display unit is programmed to display the operator the distances of observed obstacles and to indicate in some way, such as e.g. with a green light, an area free of obstacles into which the felling head can be moved or the tree delimbed.
Figs. 2— 4b show three different techniques with which the method can be implemented.
Fig. 2 shows 3D photography, which is based on a change in depth of field, or stereoscopic photography with two cameras 2, 3. The cameras are located in the structures of the felling head at an angle in relation to each other and they continuously monitor the area in front of the felling head. Computerised image processing in the data unit enables the identification of trunk patterns and the estimation of free space. It should be noticed that, in the forest, brushwood and otherwise gloomy conditions set technical requirements on the camera and lighting.
Figs. 3a and 3b show 3D measurement by means of a laser line. According to Fig. 3 a, a laser light source 3 provided with line optics is set at an angle in relation to the camera 2, whereby a line picture (Fig. 3b) reflecting from different distances is shown in the camera on different heights. Both devices are located at different points in the structures of the felling head. From there, it is possible to identify the position of target trunks in the harvesting line. The system employs a technique with which an adequately powerful laser light can be focused at the distance of 3-5 metres from the felling head and, on the other hand, the lighting technique of the camera can be adjusted. Furthermore, an image processing technology is used with which line patterns created by the trees are identified.
In the next embodiment, the apparatus includes an ultrasonic sensor, which sends an ultrasonic pulse and receives an echo. A pre-study tested a sensor with the audio frequency of 120 kHz with which the sound beam was limited relatively narrow. The test sensor observed a trunk of the diameter of 25-130 mm on a sector with the width of 0.6-1.5 m at the distance of 5 m from the sensor. Fig. 4a shows a measuring result of an ultrasonic sensor on a target of the diameter of 130 mm. Fig. 4b shows a measuring result of the ultrasonic sensor on a target of the diameter of 25 mm. The sensor is able to supply data on the distance of the target, whereby the machine operator can assess if the observed target echo is relevant or not. This is especially important in forest conditions, whereby irrelevant echoes can be created e.g. by snowy branches. It is possible that inaccurate positive echo observations are related to the ultrasound technique, but a suitably arranged distance display helps the operator to assess the relevance of the echo observation. Information supplied by the sensor is simple but sufficient for this purpose. The display unit is programmed to display the operator the distances of observed echoes and to indicate the free harvesting area e.g. with a green light fastened in the felling head.
Other known techniques can also be utilised in the observation devices. The invention is not limited to the described advantageous embodiments, but it can vary within the scope of the inventive idea presented in the claims.

Claims

1. A method for monitoring a felling head of a harvester, characterised by observing with one or more observation devices (2, 3) located in the harvester and/or the harvester felling head (1) the motion direction of the felling head and monitoring the harvesting line, and automatically considering an obstacle (4) observed in the harvesting line and in its vicinity in the motions of the felling head and/or informing the machine operator of the observed obstacles.
2. A method for monitoring a harvester felling head according to claim 1, characterised by the method utilising 3D photography based on a change in depth of field.
3. A method for monitoring a harvester felling head according to claim 1 or 2, characterised by observing the motion direction of the felling head in the method stereoscopically with two cameras (2, 3).
4. A method for monitoring a harvester felling head according to any one of claims 1-3, characterised by the method employing a laser light source (3) and a camera receiver (2) and 3D measurement by means of a laser line.
5. A method for monitoring a harvester felling head according to any one of claims 1-4, characterised by the method utilising ultrasound technique.
EP10789059A 2009-06-18 2010-06-07 Method for monitoring a harvester felling head Withdrawn EP2442634A4 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FI20095702A FI121726B (en) 2009-06-18 2009-06-18 A method for controlling the harvester head
PCT/FI2010/050464 WO2010146230A1 (en) 2009-06-18 2010-06-07 Method for monitoring a harvester felling head

Publications (2)

Publication Number Publication Date
EP2442634A1 true EP2442634A1 (en) 2012-04-25
EP2442634A4 EP2442634A4 (en) 2012-10-31

Family

ID=40825405

Family Applications (1)

Application Number Title Priority Date Filing Date
EP10789059A Withdrawn EP2442634A4 (en) 2009-06-18 2010-06-07 Method for monitoring a harvester felling head

Country Status (3)

Country Link
EP (1) EP2442634A4 (en)
FI (1) FI121726B (en)
WO (1) WO2010146230A1 (en)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9554524B2 (en) 2012-06-06 2017-01-31 Waratah Nz Limited Delimb knife with integrated side blades
AU2013203666B2 (en) * 2012-10-10 2015-05-28 Waratah Nz Limited Method, apparatus, and system for controlling a timber-working device
EP3424305B1 (en) * 2017-07-04 2021-05-26 Andreas Stihl AG & Co. KG Method of assisting the felling of a tree and system for assisting the felling of a tree
FI128122B (en) * 2018-08-29 2019-10-15 Ponsse Oyj Steering arrangement, and method of steering a forest machine
CN113303194B (en) * 2021-06-21 2022-07-01 中国消防救援学院 Intelligent felling device suitable for opening up forest and grassland fire emergency channels

Citations (2)

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Publication number Priority date Publication date Assignee Title
WO2004020938A1 (en) * 2002-08-27 2004-03-11 Dralle Aps A method and a system for automatic measurement and tracking of logs, industrial wood and boards
WO2008025881A1 (en) * 2006-08-31 2008-03-06 Ponsse Oyj Method and arrangement for measuring timber piece

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Publication number Priority date Publication date Assignee Title
JPH02245121A (en) * 1989-03-17 1990-09-28 Iseki & Co Ltd Apparatus for pruning branch at high place
US7320349B2 (en) * 2003-12-18 2008-01-22 Caterpillar Inc. Tree harvester

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2004020938A1 (en) * 2002-08-27 2004-03-11 Dralle Aps A method and a system for automatic measurement and tracking of logs, industrial wood and boards
WO2008025881A1 (en) * 2006-08-31 2008-03-06 Ponsse Oyj Method and arrangement for measuring timber piece

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO2010146230A1 *

Also Published As

Publication number Publication date
WO2010146230A1 (en) 2010-12-23
FI121726B (en) 2011-03-31
FI20095702A0 (en) 2009-06-18
EP2442634A4 (en) 2012-10-31
FI20095702A (en) 2010-12-19

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