EP4639438A1 - Method in a forest machine and a system - Google Patents

Method in a forest machine and a system

Info

Publication number
EP4639438A1
EP4639438A1 EP23848701.1A EP23848701A EP4639438A1 EP 4639438 A1 EP4639438 A1 EP 4639438A1 EP 23848701 A EP23848701 A EP 23848701A EP 4639438 A1 EP4639438 A1 EP 4639438A1
Authority
EP
European Patent Office
Prior art keywords
logging
trail
trees
logging trail
forest machine
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.)
Pending
Application number
EP23848701.1A
Other languages
German (de)
French (fr)
Inventor
Jukka Laitinen
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.)
Ponsse Oyj
Original Assignee
Ponsse Oyj
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 Ponsse Oyj filed Critical Ponsse Oyj
Publication of EP4639438A1 publication Critical patent/EP4639438A1/en
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
    • G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
    • 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
    • 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

Definitions

  • the invention is related to a method in a forest machine, wherein the method comprises
  • the invention is also related to a system.
  • the sensor or sensors can consist of a laser scanner, a radar or a camera that is used to detect trees in the environment, and the geospatial information of the trees determined based on the geospatial information of the forest machine is attached to these.
  • a logging trail is formed to be presented to the driver, based on which it is easier for the driver to perceive the harvesting area and the travel route of the forest machine.
  • the forest machine moves in the harvesting area along the logging trail avoiding in this way collisions with trees.
  • Such a system is known, for example, from publication WO 2020/043956A1 .
  • the logging trail may remain narrower than desired and a forest machine moving on the logging trail, or a forwarder, often wider than the forest machine, using the same logging trail, or another work machine can easily collide with trees in places where the logging trail has remained too narrow .
  • the object of the invention is to provide a method and a system in a forest machine to facilitate the work of the forest machine operator and avoid damaging of trees or the forest machine or a work machine as a consequence of collisions.
  • the characteristic features of the invention regarding the method and the system appear, respectively, from the appended Claim 1 and the appended Claim 14.
  • the object of the invention can be achieved with a method in a forest machine, wherein the method comprises moving a forest machine in a stand marked for harvesting, observing the environment of the forest machine with one or more forest machine sensors to make observations, the observations comprising at least the location of the trees observed, and collecting the observations in a database of the environment.
  • the method involves determining a logging trail for the forest machine in the environment using database observations, defining the target width of the logging trail based on a preset criterion, determining trees on the logging trail automatically for felling using software tools based on the database and the target width, and felling the trees from the logging trail with said forest machine for widening the logging trail to the target width or wider.
  • the width of the logging trail is sufficient for the forest machine and preferably for a work machine that uses the same logging trail by automatically monitoring the width of the logging trail and presenting to the operator trees that make the logging trail narrower than the target width.
  • the operator does not need to concentrate on monitoring the width of the logging trail as much as before, because the system indicates the trees to be felled to the operator, if the target width has not been achieved.
  • automation monitoring the width there are no trees to be felled on the logging trail that could be hit by the forest machine or a forwarder, causing damage to the tree or the forest machine or a work machine using the logging trail in addition to the forest machine.
  • an absolute or a relative location of trees is meant.
  • An absolute location means, for example, a place based on location data
  • a relative location can be the location of trees relative to a forest machine or a logging trail.
  • the logging trail defined in the method includes a planned logging trail, or a planned logging trail and a realised logging trail, for at least one of which the trees to be felled on the logging trail are determined.
  • the sensor used in both the method and the system can be an optical sensor, which is preferably a laser scanner or a camera, or a radar. These provide reliable observations of the environment quickly.
  • An advantage of a laser scanner relative to a camera is three-dimensional data directly obtainable with a laser scanner based on which distances can be determined particularly accurately.
  • the camera has a much lower investment cost than a laser scanner and can be used to generate more accurate two-dimensional images than a laser scanner, for example, to determine tree species.
  • the preset criterion for the target width includes physical parameters of the forest machine, or physical parameters of a work machine using the logging trail, independent relative to the forest machine, or physical parameters of both the forest machine and the work machine.
  • a work machine using the same logging trail as the forest machine is usually a forwarder, which is larger in width than the forest machine, and therefore the target width should be determined according to the work machine.
  • Physical parameters may include, for example, length, width, height, turning radius, reach of a boom assembly or a crane.
  • an independent work machine means a work machine, which can move in a self-propelled way independently relative to the forest machine, preferably behind the forest machine, collecting trees felled by the forest machine while using the same logging trail.
  • the target width is determined according to the width required by the work machine that uses the logging trail. This takes into account the width required by both the forest machine and the work machine .
  • the target width is stored in a second database.
  • the second database may contain a large number of dimensions of different types of work machines, such as different types of forwarders, which determine the desired target width of the logging trail according to each work machine used.
  • the target width is 1.1 to 1.7 times, preferably 1.3 to 1.5 times the width of the work machine.
  • the driver of the work machine is offered some tolerance when moving on the logging trail so that a collision with trees does not occur either in situations where the work machine is slightly tilted or turned as the logging trail turns in the stand marked for harvesting.
  • the target width is a standard dimension 4 to 6 m, preferably 4.5 to 5.0 m.
  • the target width is the width of the work machine + 1 - 1.5 m.
  • the target width can include an additional measure or a correction coefficient according to the type of the terrain, such as an additional 0.5 m to the target width in a peatland.
  • only trees that are on the logging trail are included in the measurement data. Then the measurement is simple and the amount of data generated relatively small.
  • a driving plan has been formed, according to which the curves of the logging trail are determined and, further, a separate target width is determined for the curves based on the work machine or the forest machine or both.
  • the determination of trees to be felled takes place essentially in real time. Then, the operator does not need to remain waiting for decisions and can continuously use an up- to-date situation of trees to be felled.
  • the target width may be, according to the situation, a variable computational quantity, in the determination of which one or more of the following is considered: curve and inclination characteristics of the work machine or the forest machine; a characteristic of the terrain; lateral inclination or curve radius in such a way that these either a) increase the target width by location according to the situation (curve, inclination, soft terrain) for a certain standard amount, or b) the target width is determined by location according to a preset formula taking into account various parameters affecting the target width.
  • Alternative b) is the most advanced method, with data obtained through sensors to be used for this purpose.
  • said specified standard amount can be 1 m more target width in a curve or 0.5 m more target width, if the lateral inclination exceeds 10 degrees .
  • the target width of the logging trail is determined according to a function having as components the width of the forest machine or the work machine and one or more of the following: space required by the forest machine or the work machine for turning, radius of the curvature of the logging trail, inclination of the logging trail, height of the forest machine or the work machine.
  • the target width of the logging trail is determined according to a function having as components the space required by the work machine for turning and the radius of the curvature of the logging trail and, preferably, the inclination of the logging trail and the height of the work machine. Generally, it is necessary to consider these components when determining the target width of the logging trail.
  • trees to be felled are presented to the operator for felling the trees and for widening the logging trail to the target width or wider.
  • the presentation of the trees to be felled to the operator is not necessary, if the harvester head is automatically guided to the tree when felling the trees to be felled.
  • At least one of the following is additionally taken into account when computing the target width: the height and inclination of the work machine; or in the control direction of the work machine.
  • the target width can be increased by 0.5 m.
  • the frame articulation of the forwarder used as the work machine is 5° in the turned state in a work machine with a total length of 10 m
  • the target width increase can be 1 m on the logging trail section that is required for straightening the forwarder after the curve .
  • the senor used in the method is a laser scanner, a radar or a camera. These can be used to reliably perceive the environment of the forest machine and to identify trees in the environment in order to determine the logging trail and to define its width.
  • the method comprises defining the width of the logging trail by determining the distance of two trees on the opposite sides of the logging trail in the transverse direction relative to the longitudinal direction of the logging trail, comparing the defined width of the logging trail to said target width, and if the width of the logging trail is smaller than the target width, felling at least one tree used for the determination of the logging trail width.
  • a notable number of check measurements for the logging trail are performed for identifying the trees to be felled that have remained on the logging trail.
  • the method comprises automatic identification of the trees on the logging trail for felling based on a database by forming a virtual passage on the logging trail and identification of trees to be felled within the virtual passage based on the database.
  • actual width measurements between the two trees on the opposite sides relative to the logging trail are not performed in a similar way as in the first embodiment, but the trees to be felled are determined to be trees existing in the area of the virtual logging trail, all of which are felled.
  • said virtual logging trail is formed, based on the direction of the logging trail already realised, in a direction opposite to the forest machine or, alternatively, in a selected direction according to a driving plan created in the database.
  • the driving plan can take into account the reach of the forest machine and the location of a previous adjacent logging trail and thus form a virtual logging trail in an optimal direction.
  • the logging trail is determined by storing the location of the forest machine. This is one way of determining the location of a logging trail already formed.
  • the logging trail can also be determined, based on the geospatial information of trees stored in the database, as an area that is without trees.
  • a future logging trail can be extrapolated based on a selected extrapolation criterion.
  • the extrapolated logging trail can be used to indicate to the operator the direction in which the logging trail should be further formed for achieving optimal work efficiency.
  • the extrapolated logging trail is presented to the operator.
  • the operator can perceive the logging trail formed based on a visual detection.
  • the extrapolation criterion can be one or more of the following: location of the recorded logging trail; location, diameter or species of trees stored in the database; boundaries, size or shape of the stand marked for harvesting; surface profiles or obstacles of the environment. Based on the above extrapolation criteria, it is possible to influence the direction of the logging trail extrapolated for increasing the efficiency of work.
  • the method comprises indicating to the operator the trees to be felled on the logging trail that have been automatically determined based on the database.
  • indication means broadly all visual, audible or other haptic control, with which trees to be felled are presented or indicated to the operator.
  • the forest machine is a harvester and the work machine is a forwarder.
  • the harvester preferably comprises a harvester head for cutting trees and is thus an optimal device for forming a logging trail .
  • a harvester means a self-propelled, wheel or track-based and preferably articulated frame steered machine, which includes a harvester head and other equipment for felling and processing trees.
  • a forwarder means a self-propelled, wheel or trackbased and preferably articulated frame steered machine, which includes gripping tools for loading felled and processed trees in a load space included in the forwarder.
  • the object of the system according to the invention can be achieved with a system, which includes a forest machine comprising one or more sensors arranged to observe the environment of the forest machine while the forest machine is in a stand marked for harvesting, and tree felling and processing equipment, and a database for collecting observations of the environment, the observations comprising at least the location of the trees, the database being arranged to be utilised for using the forest machine.
  • the system includes software tools arranged to define a logging trail and the target width of the logging trail according to a preset criterion, to identify trees on the logging trail automatically based on the database and the target width, to present said trees to be felled to the operator for felling trees and widening the logging trail to the target width or wider using said forest machine.
  • said sensor is a laser scanner, a radar or a camera. These can be used to identify trees in the environment and in this way determine the location and width of the logging trail quickly and reliably.
  • the system includes a memory for the database and software tools, and a computing unit for using the software tools to process the data generated by the sensor for implementing the method according to the invention.
  • Figure 1 is an axonometric diagonal front view of a harvester as the forest machine and a system according to the invention connected thereto,
  • Figure 2 illustrates a system of a forest machine separated
  • Figure 3a illustrates raw data detected from the terrain
  • Figure 3b is a view formed from the terrain to be utilised in the invention.
  • Figure 4 illustrates the steps of the method according to the invention in a block diagram
  • Figure 5a is a top view of a basic drawing according to a first embodiment of the method
  • Figure 5b is a top view of a basic drawing according to a second embodiment of the method
  • Figure 6 is a top view of a basic drawing of the method, when the forest machine is followed by a work machine.
  • FIG. 18 laser scanner Figure 1 illustrates a forest machine 10, more specifically a harvester 10.1, which includes a front frame 20 and a rear frame 22.
  • the front frame 20 has a motor and a cabin 24.
  • the rear frame 22 has a crane 26 and a harvester head 28 suspended by means of it serving as tree cutting and processing equipment 27 for felling and processing trees.
  • the front frame 20 and the rear frame 22 are preferably articulated with a centre hinge 30.
  • the forest machine 10 also includes a system 36 according to the invention by means of which it is possible to implement a method according to the invention using the forest machine 10.
  • the forest machine 10 used in the method is a harvester 10.1 according to Figure 1, because it also comprises a crane 26 and a harvester head 28 suspended thereon, so that the trees on the logging trail 13 can also be felled immediately after their determination .
  • the forest machine 10 of the system 36 includes, according to Figure 2, at least one sensor 15, with which the environment of the forest machine is observed.
  • the sensor can be located, for example, near the beam assembly or in the cabin of the forest machine.
  • Objects to be observed include at least trees surrounding the forest machine, but preferably also other obstacles, such as stones, rocks or waterways. From the forest machine, the sensor has a direct line of sight to trees and preferably also to tree trunks.
  • the system 36 includes a database 12, which is generated from the observations of the sensor 15, and software tools 32, which are used to define the logging trail 13 shown in Figures 3b and 5a to 5b from the observations stored in the database 12.
  • the logging trail 13 is a passage formed in a stand marked for harvesting 34, where the forest machine 10 moves.
  • the software tools 32 identify a point cloud from which trees 11 and other obstacles are identified using pattern recognition, for each of which geospatial information is assigned and stored in a memory as a database.
  • the software tools determine the logging trail 13 generated from the database 12 and further determine the trees 11 on the logging trail 13 based on the target width.
  • These trees 11 must be felled from the logging trail 13 in order that the forest machine 10 and preferably also the forwarder using the same logging trail 13 as the forest machine 10 can move unobstructedly on the logging trail 13 without damaging trees 11 remaining in the stand marked for harvesting.
  • the logging trail 13 comprises both the realised logging trail 13T and the planned logging trail 13S, which is preferably determined and indicated to the operator for felling trees 11.
  • the realised logging trail 13T is that part of the logging trail 13, from which trees have already been felled thus forming a usable logging trail 13 for the forest machine 10 in the stand marked for harvesting 34.
  • the realised logging trail 13T is background information for the planned logging trail 13S .
  • a part of the system is a display device 31, which is located in the cabin 24 of the harvester 10.1 according to Figure 1.
  • the display device 31 can be connected to an information system which controls and monitors the forest machine and its actuators.
  • a sensor 15 a sensor for analyzing the forest machine and its actuators.
  • the 12 and software tools 32 are also connected to the information system.
  • a camera 16 connected to the system 36, there is a camera 16, a radar 17 or a laser scanner 18, all of which are shown in Figure 1, although the system 36 preferably uses only one of the aforementioned items at a time.
  • the sensors 15 are positioned so that they have a good view of the environment, such as in the cabin 24. In other forest machines, the sensors may be located, for example, on the front frame 20, from where they have a good view of the direction of advance of the harvester 10.1.
  • the sensor used is a laser scanner, which provides very versatile information on the environment of the forest machine.
  • a laser scanner is an optical radar-like device that operates in the range of visible light, near infrared or ultraviolet.
  • the system can include a separate computing unit, such as an android-based device, which can be connected to the forest machine's vehicle bus, such as a can or arcnet bus, or to the forest machine's control unit via an ethernet cable or wirelessly.
  • a separate computing unit such as an android-based device, which can be connected to the forest machine's vehicle bus, such as a can or arcnet bus, or to the forest machine's control unit via an ethernet cable or wirelessly.
  • Figure 2 shows a basic example of a system according to the invention.
  • the information system contained in the display device 31 includes the necessary software tools 32 for collecting data, storing it in the database 12 and processing it further.
  • a radar 17 acting as a sensor 15 is directly connected to the information system, but observation tools connected to the machine control system, such as a 360 camera, can also be used as a sensor.
  • software tools 32 determine, from the data contained in the database 12, which trees are left on the logging trail and need to be removed.
  • the functionality of the method can be implemented in a forest machine equipped with observation tools by means of software. In this case, the method can be implemented by means of a software update.
  • the environment is observed by one or more sensors 15, the measurement data of which is used to generate a 3D measurement point cloud of the environment.
  • the system can use the 3D measurement point cloud directly, but preferably the 3D measurement point cloud can be processed into a visual view presented to the operator to assist the forest machine driver in his work.
  • the sensor 15 is one or more of the following devices: camera 16, radar 17 or laser scanner 18.
  • the information is sufficient to form an accurate and reliable database.
  • a 3D model can be created from which the logging trail can be observed.
  • radar and laser scanner imaging provide a direct 3D measurement point cloud from which terrain shapes, such as logging trails, can be observed.
  • the observation is preferably linked to the map program of the forest machine's computer system, so that the actual location of the forest machine can be determined from the map program and the real-time observation, even if the GPS signal is inaccessible.
  • Figure 3a shows the raw data collected by a laser scanner.
  • the raw data consists of a large number of measurements and measurement points that form a measurement point cloud.
  • the resulting measurement point cloud is processed according to its intended use, such as visualisation as a view ( Figure 3b) or processing as a tree map ( Figures 5a and 5b) .
  • Figures 5a and 5b processing as a tree map
  • a laser scanner is a laser observation tool marketed by the manufacturer Velodyne with the product name VLP-16, which is capable of measuring as many as 600, 000 points in a second.
  • trees 11 and preferably also the terrain can be identified from the view 19, or from the database 12.
  • the view 19 can be saved and attached to the map program in the forest machine 10.
  • the view can also be used the next time, making use of the previous logging trail.
  • the location is also important in recording. In other words, the actual locations of the saved database, and in particular the logging trail and trees determined from it, must be known.
  • a mobile or GPS connection may be unavailable, causing positioning to fail.
  • a known starting point can be retrieved prior to observation for locating the forest machine.
  • a network connection can usually still be found on a forest road, but further into the forest, connections are inaccessible.
  • the starting point can be determined from a known point included in a stored map whose exact coordinates are known.
  • a known location is defined in the map program, or the location is defined from a known place that is attached to the map program.
  • the positioning, or at least the determination of the location of the starting point of the route and/or the map is always attempted primarily by GPS or other known satellite positioning such as Glonass, Galileo, Beidou, IRNSS, QZSS.
  • the locations of the trees and the logging trail can be plotted in the database 12 and preferably in a map program stored in the forest machine 10 for positioning the forest machine 10 without a continuous positioning link. In this case, even without a positioning link, the location of the forest machine is known. Furthermore, after retrieving said starting point, the view 19 can be updated by keeping a part of the view 19 known for locating the forest machine 10 without a network connection. Thus, the location remains known when the actual view is integrated into the map program. Preferably, the observation also identifies obstacles on or near the logging trail. In this way, problems can be avoided in advance.
  • the system can be further developed by incorporating machine learning into the observation, which is adapted to decide whether to avoid the detected obstacle or what the desired action is after the obstacle is detected.
  • machine learning is adapted to decide whether to avoid the detected obstacle or what the desired action is after the obstacle is detected.
  • previous obstacle avoidance or crossings remain in the memory and stored information can be used for future operations. For example, a previous very deep logging trail is a reason to instruct to be careful or even to go around that point .
  • FIG. 4 shows the steps 50 to 74 of the method according to the invention in a block diagram with reference to an application example.
  • a harvester entering a stand marked for harvesting cuts down trees to form a logging trail in the stand and, as the logging trail is formed, the harvester is driven along the logging trail.
  • one or more sensors are used to observe the harvester's environment and the observations are collected into a database of the environment.
  • software tools are used to determine a logging trail in the environment from the observations in the database.
  • the determination of the logging trail in step 54 can be performed, for example, by identifying a sufficiently large area of the trees stored that is free of trees based on the location according to step 56 or, for example, based on the travel route of the harvester according to step 58.
  • the target width of the logging trail is preferably defined in step 60 in another database.
  • the second database preferably contains the dimensions and turning radii of several forest machines or work machines following these, according to which the target width of the logging trail specific to each work machine has been determined.
  • the target width is the width of the logging trail that does not contain any trees that could be hit by a forest machine or a work machine while moving substantially in the middle of the logging trail.
  • the target width of the logging trail has been determined in another database with a factor of 1.3 to 1.5, in this case about 4.2 to 4.8 m for the straight sections of the logging trail and about 5.5 to 6.3 m for the curved sections with a minimum turning radius.
  • the target width is determined according to the forwarder that uses the same logging trail as the harvester, but in some cases the target width can be determined directly from the dimensions of the harvester used, by multiplying the dimensions by the safety factor.
  • Figure 6 shows in principle how the harvester 10.1 the work machine 38 is wider than the harvester 10.1.
  • the target width of the logging trail changes dynamically according to the curvature of the logging trail, i.e. the turning radius of the logging trail turn.
  • the turning radius the larger the required target width of the logging trail.
  • step 62 the trees on the logging trail are automatically determined for felling based on the database.
  • This step can be performed using two alternative embodiments. The first embodiment is explained below with reference to Figure 5a.
  • Figure 5a is a basic top view of a harvester 10.1 positioned in a stand marked for harvesting 34 on a logging trail 13 that has been formed by felling trees 11 in the stand marked for harvesting 34.
  • the logging trail 13 between the trees 11 has been identified from the trees 11 and their locations in the database 12.
  • the distance between two trees 11 on the opposite sides of the logging trail 13 is determined in step 64 using software tools.
  • the specified distance d i.e. the width of the logging trail
  • the specified distance d is compared in step 66 using software tools, preferably with the target width specified in another database in step 60, and if the width of the logging trail is less than the target width, at least one of the trees 11 that were used to measure the width of the logging trail is felled by a forest machine.
  • the tree 11.1 to be felled may be selected, for example, by determining the centre line of the logging trail 13 and felling the one of the measured trees 11 that is closer to the centre line .
  • trees on the logging trail can be determined by forming a virtual passage 13V or tunnel on the logging trail in step 68 and further, in step 70, by determining the trees 11.1 to be felled located within the virtual passage 13V based on the database.
  • the virtual passage can be a passage calculated from the previous logging trail determined by the previous location of the harvester, extending a selected distance from the harvester in such a way that the width of the passage is equal to the target width determined in step 60.
  • all trees within the virtual passage 13V are trees to be felled 11.1.
  • a virtual passage or tunnel can be formed by "two walls” or "two lines", the distance between which is determined by the dimensions of the forest machine.
  • This extrapolation can be a straight line from the forest machine forward, but of course the line can also curve according to the angle of the forest machine's joint or by extrapolating the data of the realised driving line, i.e. the way the driving line curves at the forest machine.
  • the width of the required driving line can change adaptively according to how much the driving line curves, the steeper the turn, the wider the road required at the turn.
  • Extrapolation can also be instructive, i.e. guiding the operator to make the logging trail in the right place.
  • the extrapolation of the logging trail is the extrapolation of the logging trail based on the already formed logging trail, which is shown in Figures 5a with reference to reference number 13E.
  • the selected extrapolation criterion may be, for example, the shape of the terrain, the location of the trees observed or other similar extrapolation criterion that has an impact on the desired logging trail.
  • the logging trail can be predicted in such a way that large rocks and stumps are not driven over, but the system searches the best route for the logging trail, for example, relative to the speed, travel distance or fuel consumption.
  • guidance can take into account rocks, landforms, streams, protected sites, or similar, and advanced systems can also optimise the position of the logging trail by taking into account the harvesting plan. The system will then plan the logging trail around the trees to be removed and will try to avoid the trees to be saved.
  • the system can take into account the characteristics of the work machine, such as the width and the minimum turning radius .
  • the system can then warn the operator if attempting to curve the logging trail with a turning radius that is too tight for the work machine .
  • the forest machine can suggest a logging trail forward to the operator based on the tree stand measured by the sensor and other relevant map data (stand edge/size/shape, previous logging trails and thinning, terrain obstacles, etc. ) .
  • the trees to be felled are presented to the operator in step 72 using presentation tools 33, for example by means of the display device 31 shown in Figures 1 and 2, or by other means.
  • presentation tools 33 for example by means of the display device 31 shown in Figures 1 and 2, or by other means.
  • HUD display Head Up Display
  • AR, XR or VR glasses can be used to which data can be added as the operator looks at the trees.
  • trees are felled from the logging trail to widen the logging trail to the target width or wider using a forest machine. The method is then reset in step 52 and the observation of the logging trail is continued as the work progresses to ensure that the logging trail is wide enough.
  • the cutting of the trees is carried out manually, semiautomat ically or with assistance.
  • the operator may control the harvester head to attach to the tree, whereupon the automation, after manual confirmation by the operator, operates the harvester head automatically while the operator monitors the automation.
  • assisted control the system suggests trees to be felled by, for example, an arrow on the display device of the information system included in the system or a tug on the controls or other haptic feedback through the controls.
  • the method and system according to the invention can significantly increase the productivity of the forest machine and achieve better quality for thinning by not damaging trees that remain standing.

Landscapes

  • Business, Economics & Management (AREA)
  • Human Resources & Organizations (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Strategic Management (AREA)
  • Economics (AREA)
  • Entrepreneurship & Innovation (AREA)
  • Quality & Reliability (AREA)
  • Development Economics (AREA)
  • Forests & Forestry (AREA)
  • Game Theory and Decision Science (AREA)
  • Ecology (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Marketing (AREA)
  • Operations Research (AREA)
  • Environmental Sciences (AREA)
  • Tourism & Hospitality (AREA)
  • Physics & Mathematics (AREA)
  • General Business, Economics & Management (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)
  • Harvester Elements (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention is related to a method in a forest machine (10), wherein the method comprises, observing environment of the forest machine (10) with one or more sensors (15) to make observations and collecting the observations in a database (12) of the environment, and determining a logging trail (13) in the environment using the observations of the database (12), defining a target width of the logging trail (13), determining trees (11) on the logging trail (13) automatically for felling based on the database (12) and the target width, felling the trees (11) from the logging trail (13) for widening the logging trail (13) to the target width or wider. The invention is also related to a system (36) in a forest machine (10).

Description

METHOD IN A FOREST MACHINE AND A SYSTEM
The invention is related to a method in a forest machine, wherein the method comprises
- moving the forest machine in a stand,
- observing the environment of the forest machine with one or more sensors of the forest machine to make observations, the observations comprising at least the location of the trees observed, and collecting the observations into a database of the environment,
- using the observations of the database to determine a logging trail for the forest machine in the environment, and
- determining the target width of the logging trail according to a preset criterion.
The invention is also related to a system.
It is known prior art to use a sensor or sensors for observing the environment and forming a database based on the environment. For example, the sensor or sensors can consist of a laser scanner, a radar or a camera that is used to detect trees in the environment, and the geospatial information of the trees determined based on the geospatial information of the forest machine is attached to these. In order that each harvesting area can be processed efficiently and comprehensively, a logging trail is formed to be presented to the driver, based on which it is easier for the driver to perceive the harvesting area and the travel route of the forest machine. The forest machine moves in the harvesting area along the logging trail avoiding in this way collisions with trees. Such a system is known, for example, from publication WO 2020/043956A1 .
Although presenting a logging trail to the driver facilitates the task of felling trees, it may be difficult for the driver to perceive the sufficiency of the width of the logging trail. In this case, the logging trail may remain narrower than desired and a forest machine moving on the logging trail, or a forwarder, often wider than the forest machine, using the same logging trail, or another work machine can easily collide with trees in places where the logging trail has remained too narrow .
The object of the invention is to provide a method and a system in a forest machine to facilitate the work of the forest machine operator and avoid damaging of trees or the forest machine or a work machine as a consequence of collisions. The characteristic features of the invention regarding the method and the system appear, respectively, from the appended Claim 1 and the appended Claim 14.
The object of the invention can be achieved with a method in a forest machine, wherein the method comprises moving a forest machine in a stand marked for harvesting, observing the environment of the forest machine with one or more forest machine sensors to make observations, the observations comprising at least the location of the trees observed, and collecting the observations in a database of the environment. In addition, the method involves determining a logging trail for the forest machine in the environment using database observations, defining the target width of the logging trail based on a preset criterion, determining trees on the logging trail automatically for felling using software tools based on the database and the target width, and felling the trees from the logging trail with said forest machine for widening the logging trail to the target width or wider.
In the method according to the invention, it is verified that the width of the logging trail is sufficient for the forest machine and preferably for a work machine that uses the same logging trail by automatically monitoring the width of the logging trail and presenting to the operator trees that make the logging trail narrower than the target width. Thus, the operator does not need to concentrate on monitoring the width of the logging trail as much as before, because the system indicates the trees to be felled to the operator, if the target width has not been achieved. With automation monitoring the width, there are no trees to be felled on the logging trail that could be hit by the forest machine or a forwarder, causing damage to the tree or the forest machine or a work machine using the logging trail in addition to the forest machine.
When performing the observation of the environment using a sensor in the forest machine, a reliable estimate is achieved of the location of the trees, which could be difficult when using a drone, for example, because the tree branches can obscure the view to the tree trunk.
In this context, when speaking of the location of trees, an absolute or a relative location of trees is meant. An absolute location means, for example, a place based on location data, whereas a relative location can be the location of trees relative to a forest machine or a logging trail.
Preferably, the logging trail defined in the method includes a planned logging trail, or a planned logging trail and a realised logging trail, for at least one of which the trees to be felled on the logging trail are determined.
The sensor used in both the method and the system can be an optical sensor, which is preferably a laser scanner or a camera, or a radar. These provide reliable observations of the environment quickly. An advantage of a laser scanner relative to a camera is three-dimensional data directly obtainable with a laser scanner based on which distances can be determined particularly accurately. On the other hand, the camera has a much lower investment cost than a laser scanner and can be used to generate more accurate two-dimensional images than a laser scanner, for example, to determine tree species.
According to an embodiment, the preset criterion for the target width includes physical parameters of the forest machine, or physical parameters of a work machine using the logging trail, independent relative to the forest machine, or physical parameters of both the forest machine and the work machine. A work machine using the same logging trail as the forest machine is usually a forwarder, which is larger in width than the forest machine, and therefore the target width should be determined according to the work machine. Physical parameters may include, for example, length, width, height, turning radius, reach of a boom assembly or a crane.
In this context, an independent work machine means a work machine, which can move in a self-propelled way independently relative to the forest machine, preferably behind the forest machine, collecting trees felled by the forest machine while using the same logging trail.
Preferably, in addition to the forest machine, the target width is determined according to the width required by the work machine that uses the logging trail. This takes into account the width required by both the forest machine and the work machine .
Preferably, the target width is stored in a second database. The second database may contain a large number of dimensions of different types of work machines, such as different types of forwarders, which determine the desired target width of the logging trail according to each work machine used.
Advantageously, the target width is 1.1 to 1.7 times, preferably 1.3 to 1.5 times the width of the work machine. Thus, the driver of the work machine is offered some tolerance when moving on the logging trail so that a collision with trees does not occur either in situations where the work machine is slightly tilted or turned as the logging trail turns in the stand marked for harvesting.
According to another embodiment, the target width is a standard dimension 4 to 6 m, preferably 4.5 to 5.0 m.
According to a third embodiment, the target width is the width of the work machine + 1 - 1.5 m.
The target width can include an additional measure or a correction coefficient according to the type of the terrain, such as an additional 0.5 m to the target width in a peatland.
According to an embodiment, only trees that are on the logging trail are included in the measurement data. Then the measurement is simple and the amount of data generated relatively small.
According to an embodiment, for the determination of the logging trail, a driving plan has been formed, according to which the curves of the logging trail are determined and, further, a separate target width is determined for the curves based on the work machine or the forest machine or both.
Preferably, the determination of trees to be felled takes place essentially in real time. Then, the operator does not need to remain waiting for decisions and can continuously use an up- to-date situation of trees to be felled.
According to a fourth embodiment, the target width may be, according to the situation, a variable computational quantity, in the determination of which one or more of the following is considered: curve and inclination characteristics of the work machine or the forest machine; a characteristic of the terrain; lateral inclination or curve radius in such a way that these either a) increase the target width by location according to the situation (curve, inclination, soft terrain) for a certain standard amount, or b) the target width is determined by location according to a preset formula taking into account various parameters affecting the target width. Alternative b) is the most advanced method, with data obtained through sensors to be used for this purpose. For example, said specified standard amount can be 1 m more target width in a curve or 0.5 m more target width, if the lateral inclination exceeds 10 degrees .
According to a fifth embodiment, the target width of the logging trail is determined according to a function having as components the width of the forest machine or the work machine and one or more of the following: space required by the forest machine or the work machine for turning, radius of the curvature of the logging trail, inclination of the logging trail, height of the forest machine or the work machine.
Preferably, as the logging trail curves, the turning radius of the logging trail or the additional space required by the work machine or both are considered in determining the target width. Thus, the logging trail can be wider in these points than the straight portions. According to a sixth embodiment, the target width of the logging trail is determined according to a function having as components the space required by the work machine for turning and the radius of the curvature of the logging trail and, preferably, the inclination of the logging trail and the height of the work machine. Generally, it is necessary to consider these components when determining the target width of the logging trail.
Preferably, trees to be felled are presented to the operator for felling the trees and for widening the logging trail to the target width or wider. Alternatively, the presentation of the trees to be felled to the operator is not necessary, if the harvester head is automatically guided to the tree when felling the trees to be felled.
Preferably, at least one of the following is additionally taken into account when computing the target width: the height and inclination of the work machine; or in the control direction of the work machine. For example, if the height of the work machine is 3 m and the inclination is 5°, the target width can be increased by 0.5 m. Correspondingly, if the frame articulation of the forwarder used as the work machine is 5° in the turned state in a work machine with a total length of 10 m, the target width increase can be 1 m on the logging trail section that is required for straightening the forwarder after the curve .
Preferably, the sensor used in the method is a laser scanner, a radar or a camera. These can be used to reliably perceive the environment of the forest machine and to identify trees in the environment in order to determine the logging trail and to define its width. According to a first embodiment, the method comprises defining the width of the logging trail by determining the distance of two trees on the opposite sides of the logging trail in the transverse direction relative to the longitudinal direction of the logging trail, comparing the defined width of the logging trail to said target width, and if the width of the logging trail is smaller than the target width, felling at least one tree used for the determination of the logging trail width. In such an embodiment, a notable number of check measurements for the logging trail are performed for identifying the trees to be felled that have remained on the logging trail.
According to a second embodiment, the method comprises automatic identification of the trees on the logging trail for felling based on a database by forming a virtual passage on the logging trail and identification of trees to be felled within the virtual passage based on the database. In this embodiment, actual width measurements between the two trees on the opposite sides relative to the logging trail are not performed in a similar way as in the first embodiment, but the trees to be felled are determined to be trees existing in the area of the virtual logging trail, all of which are felled.
Preferably, said virtual logging trail is formed, based on the direction of the logging trail already realised, in a direction opposite to the forest machine or, alternatively, in a selected direction according to a driving plan created in the database. The driving plan can take into account the reach of the forest machine and the location of a previous adjacent logging trail and thus form a virtual logging trail in an optimal direction.
According to an embodiment, the logging trail is determined by storing the location of the forest machine. This is one way of determining the location of a logging trail already formed. Alternatively, the logging trail can also be determined, based on the geospatial information of trees stored in the database, as an area that is without trees.
In the method, a future logging trail can be extrapolated based on a selected extrapolation criterion. The extrapolated logging trail can be used to indicate to the operator the direction in which the logging trail should be further formed for achieving optimal work efficiency.
Preferably, the extrapolated logging trail is presented to the operator. In this way, the operator can perceive the logging trail formed based on a visual detection.
The extrapolation criterion can be one or more of the following: location of the recorded logging trail; location, diameter or species of trees stored in the database; boundaries, size or shape of the stand marked for harvesting; surface profiles or obstacles of the environment. Based on the above extrapolation criteria, it is possible to influence the direction of the logging trail extrapolated for increasing the efficiency of work.
Preferably, the method comprises indicating to the operator the trees to be felled on the logging trail that have been automatically determined based on the database. Thus, it is easy for the operator to identify the trees to be felled. In this context, indication means broadly all visual, audible or other haptic control, with which trees to be felled are presented or indicated to the operator. Alternatively, it is not necessary to separately present the trees to the operator, if guiding of the boom assembly close to the tree to be felled is automated. Advantageously, the forest machine is a harvester and the work machine is a forwarder. As cutting and processing equipment, the harvester preferably comprises a harvester head for cutting trees and is thus an optimal device for forming a logging trail .
In this context, a harvester means a self-propelled, wheel or track-based and preferably articulated frame steered machine, which includes a harvester head and other equipment for felling and processing trees.
In turn, a forwarder means a self-propelled, wheel or trackbased and preferably articulated frame steered machine, which includes gripping tools for loading felled and processed trees in a load space included in the forwarder.
The object of the system according to the invention can be achieved with a system, which includes a forest machine comprising one or more sensors arranged to observe the environment of the forest machine while the forest machine is in a stand marked for harvesting, and tree felling and processing equipment, and a database for collecting observations of the environment, the observations comprising at least the location of the trees, the database being arranged to be utilised for using the forest machine. In addition, the system includes software tools arranged to define a logging trail and the target width of the logging trail according to a preset criterion, to identify trees on the logging trail automatically based on the database and the target width, to present said trees to be felled to the operator for felling trees and widening the logging trail to the target width or wider using said forest machine. Preferably, said sensor is a laser scanner, a radar or a camera. These can be used to identify trees in the environment and in this way determine the location and width of the logging trail quickly and reliably.
Preferably, the system includes a memory for the database and software tools, and a computing unit for using the software tools to process the data generated by the sensor for implementing the method according to the invention.
The invention, which is not restricted to the embodiments presented below, is described in more detail by making reference to the enclosed drawings, in which:
Figure 1 is an axonometric diagonal front view of a harvester as the forest machine and a system according to the invention connected thereto,
Figure 2 illustrates a system of a forest machine separated,
Figure 3a illustrates raw data detected from the terrain,
Figure 3b is a view formed from the terrain to be utilised in the invention,
Figure 4 illustrates the steps of the method according to the invention in a block diagram,
Figure 5a is a top view of a basic drawing according to a first embodiment of the method,
Figure 5b is a top view of a basic drawing according to a second embodiment of the method, Figure 6 is a top view of a basic drawing of the method, when the forest machine is followed by a work machine.
In the figures, reference is made to the various parts of the invention using the following reference numbers:
10 forest machine 19 view
10.1 harvester 25 20 front frame 11 tree 22 rear frame
11.1 tree to be felled 24 cabin
12 database 26 crane
13 logging trail 27 cutting and processing
13E extrapolated logging 30 equipment trail 28 harvester head
13S planned logging trail 30 centre hinge
13T realised logging trail 31 display
13V virtual passage 32 software tools
14 second database 35 34 stand marked for 15 sensor harvesting
16 camera 36 system
17 radar 38 work machine.
18 laser scanner Figure 1 illustrates a forest machine 10, more specifically a harvester 10.1, which includes a front frame 20 and a rear frame 22. The front frame 20 has a motor and a cabin 24. Correspondingly, the rear frame 22 has a crane 26 and a harvester head 28 suspended by means of it serving as tree cutting and processing equipment 27 for felling and processing trees. The front frame 20 and the rear frame 22 are preferably articulated with a centre hinge 30. The forest machine 10 also includes a system 36 according to the invention by means of which it is possible to implement a method according to the invention using the forest machine 10. Preferably, the forest machine 10 used in the method is a harvester 10.1 according to Figure 1, because it also comprises a crane 26 and a harvester head 28 suspended thereon, so that the trees on the logging trail 13 can also be felled immediately after their determination .
The forest machine 10 of the system 36 includes, according to Figure 2, at least one sensor 15, with which the environment of the forest machine is observed. The sensor can be located, for example, near the beam assembly or in the cabin of the forest machine. Objects to be observed include at least trees surrounding the forest machine, but preferably also other obstacles, such as stones, rocks or waterways. From the forest machine, the sensor has a direct line of sight to trees and preferably also to tree trunks. In addition, the system 36 includes a database 12, which is generated from the observations of the sensor 15, and software tools 32, which are used to define the logging trail 13 shown in Figures 3b and 5a to 5b from the observations stored in the database 12. As shown in Figures 5a and 5b, the logging trail 13 is a passage formed in a stand marked for harvesting 34, where the forest machine 10 moves. Based on the data received from the sensors, the software tools 32 identify a point cloud from which trees 11 and other obstacles are identified using pattern recognition, for each of which geospatial information is assigned and stored in a memory as a database. The software tools then determine the logging trail 13 generated from the database 12 and further determine the trees 11 on the logging trail 13 based on the target width. These trees 11 must be felled from the logging trail 13 in order that the forest machine 10 and preferably also the forwarder using the same logging trail 13 as the forest machine 10 can move unobstructedly on the logging trail 13 without damaging trees 11 remaining in the stand marked for harvesting. Preferably, the logging trail 13 comprises both the realised logging trail 13T and the planned logging trail 13S, which is preferably determined and indicated to the operator for felling trees 11. In turn, the realised logging trail 13T is that part of the logging trail 13, from which trees have already been felled thus forming a usable logging trail 13 for the forest machine 10 in the stand marked for harvesting 34.
Alternatively, it can be contemplated that the realised logging trail 13T is background information for the planned logging trail 13S .
Preferably, a part of the system is a display device 31, which is located in the cabin 24 of the harvester 10.1 according to Figure 1. The display device 31 can be connected to an information system which controls and monitors the forest machine and its actuators. Preferably, a sensor 15, a database
12 and software tools 32 are also connected to the information system. In Figure 1, connected to the system 36, there is a camera 16, a radar 17 or a laser scanner 18, all of which are shown in Figure 1, although the system 36 preferably uses only one of the aforementioned items at a time. Preferably, the sensors 15 are positioned so that they have a good view of the environment, such as in the cabin 24. In other forest machines, the sensors may be located, for example, on the front frame 20, from where they have a good view of the direction of advance of the harvester 10.1. Most preferably, the sensor used is a laser scanner, which provides very versatile information on the environment of the forest machine. A laser scanner (Lidar) is an optical radar-like device that operates in the range of visible light, near infrared or ultraviolet. Alternatively, the system can include a separate computing unit, such as an android-based device, which can be connected to the forest machine's vehicle bus, such as a can or arcnet bus, or to the forest machine's control unit via an ethernet cable or wirelessly.
Figure 2 shows a basic example of a system according to the invention. Here, the information system contained in the display device 31 includes the necessary software tools 32 for collecting data, storing it in the database 12 and processing it further. Preferably, a radar 17 acting as a sensor 15 is directly connected to the information system, but observation tools connected to the machine control system, such as a 360 camera, can also be used as a sensor. In the system 36, software tools 32 determine, from the data contained in the database 12, which trees are left on the logging trail and need to be removed. The functionality of the method can be implemented in a forest machine equipped with observation tools by means of software. In this case, the method can be implemented by means of a software update.
In the invention, the environment is observed by one or more sensors 15, the measurement data of which is used to generate a 3D measurement point cloud of the environment. The system can use the 3D measurement point cloud directly, but preferably the 3D measurement point cloud can be processed into a visual view presented to the operator to assist the forest machine driver in his work. In Figure 1, the sensor 15 is one or more of the following devices: camera 16, radar 17 or laser scanner 18. In this case, the information is sufficient to form an accurate and reliable database. For example, by combining the 360 camera image data, a 3D model can be created from which the logging trail can be observed. Similarly, radar and laser scanner imaging provide a direct 3D measurement point cloud from which terrain shapes, such as logging trails, can be observed. The observation is preferably linked to the map program of the forest machine's computer system, so that the actual location of the forest machine can be determined from the map program and the real-time observation, even if the GPS signal is inaccessible.
Figure 3a shows the raw data collected by a laser scanner. The raw data consists of a large number of measurements and measurement points that form a measurement point cloud. The resulting measurement point cloud is processed according to its intended use, such as visualisation as a view (Figure 3b) or processing as a tree map (Figures 5a and 5b) . For example, by orienting the sensors diagonally downwards, the view 19 of Figure 3b is obtained, from which the logging trail 13 can be reliably identified from the environment. In addition, the area to be observed can be limited, thus reducing the amount of information to be processed. For example, only a certain sector in front of the forest machine is observed. In this way, the data processing capacity of the forest machine's information system is sufficient and there is as little delay as possible in the creation of the database. One example of a laser scanner is a laser observation tool marketed by the manufacturer Velodyne with the product name VLP-16, which is capable of measuring as many as 600, 000 points in a second.
In Figures 2 and 3, in addition to the logging trail 13, trees 11 and preferably also the terrain can be identified from the view 19, or from the database 12. Thus, a record of the stand marked for harvesting remains for later use. The view 19 can be saved and attached to the map program in the forest machine 10. In this case, the view can also be used the next time, making use of the previous logging trail. The location is also important in recording. In other words, the actual locations of the saved database, and in particular the logging trail and trees determined from it, must be known. In the area of the stand marked for harvesting, a mobile or GPS connection may be unavailable, causing positioning to fail. In the invention, a known starting point can be retrieved prior to observation for locating the forest machine. In practice, a network connection can usually still be found on a forest road, but further into the forest, connections are inaccessible. On the other hand, the starting point can be determined from a known point included in a stored map whose exact coordinates are known. In this case, a known location is defined in the map program, or the location is defined from a known place that is attached to the map program. However, the positioning, or at least the determination of the location of the starting point of the route and/or the map, is always attempted primarily by GPS or other known satellite positioning such as Glonass, Galileo, Beidou, IRNSS, QZSS.
Once the starting point has been retrieved, the locations of the trees and the logging trail can be plotted in the database 12 and preferably in a map program stored in the forest machine 10 for positioning the forest machine 10 without a continuous positioning link. In this case, even without a positioning link, the location of the forest machine is known. Furthermore, after retrieving said starting point, the view 19 can be updated by keeping a part of the view 19 known for locating the forest machine 10 without a network connection. Thus, the location remains known when the actual view is integrated into the map program. Preferably, the observation also identifies obstacles on or near the logging trail. In this way, problems can be avoided in advance. The system can be further developed by incorporating machine learning into the observation, which is adapted to decide whether to avoid the detected obstacle or what the desired action is after the obstacle is detected. In this way, previous obstacle avoidance or crossings remain in the memory and stored information can be used for future operations. For example, a previous very deep logging trail is a reason to instruct to be careful or even to go around that point .
Figure 4 shows the steps 50 to 74 of the method according to the invention in a block diagram with reference to an application example. In step 50, a harvester entering a stand marked for harvesting cuts down trees to form a logging trail in the stand and, as the logging trail is formed, the harvester is driven along the logging trail. In step 52, one or more sensors are used to observe the harvester's environment and the observations are collected into a database of the environment. Subsequently, in step 54, software tools are used to determine a logging trail in the environment from the observations in the database. More specifically, the determination of the logging trail in step 54 can be performed, for example, by identifying a sufficiently large area of the trees stored that is free of trees based on the location according to step 56 or, for example, based on the travel route of the harvester according to step 58. Once the location of the logging trail is known, the target width of the logging trail is preferably defined in step 60 in another database. The second database preferably contains the dimensions and turning radii of several forest machines or work machines following these, according to which the target width of the logging trail specific to each work machine has been determined. The target width is the width of the logging trail that does not contain any trees that could be hit by a forest machine or a work machine while moving substantially in the middle of the logging trail. For example, when using a Ponsse Mammoth series forwarder to collect trees felled by a harvester, with a width of about 3.2 m, a length of about 12.5 m, a turning radius of about 6.3 m for the inner edge and about 10.5 m for the outer edge, the target width of the logging trail has been determined in another database with a factor of 1.3 to 1.5, in this case about 4.2 to 4.8 m for the straight sections of the logging trail and about 5.5 to 6.3 m for the curved sections with a minimum turning radius. Preferably, the target width is determined according to the forwarder that uses the same logging trail as the harvester, but in some cases the target width can be determined directly from the dimensions of the harvester used, by multiplying the dimensions by the safety factor. Figure 6 shows in principle how the harvester 10.1 the work machine 38 is wider than the harvester 10.1.
Preferably, the target width of the logging trail changes dynamically according to the curvature of the logging trail, i.e. the turning radius of the logging trail turn. The smaller the turning radius, the larger the required target width of the logging trail.
In step 62, the trees on the logging trail are automatically determined for felling based on the database. This step can be performed using two alternative embodiments. The first embodiment is explained below with reference to Figure 5a. Figure 5a is a basic top view of a harvester 10.1 positioned in a stand marked for harvesting 34 on a logging trail 13 that has been formed by felling trees 11 in the stand marked for harvesting 34. In the embodiment of Figure 5a, the logging trail 13 between the trees 11 has been identified from the trees 11 and their locations in the database 12. At a single point of the logging trail 13, in its longitudinal direction, which is the same as the travel direction of the harvester 10.1, the distance between two trees 11 on the opposite sides of the logging trail 13 is determined in step 64 using software tools. This distance is shown in the figure with reference d. The specified distance d, i.e. the width of the logging trail, is compared in step 66 using software tools, preferably with the target width specified in another database in step 60, and if the width of the logging trail is less than the target width, at least one of the trees 11 that were used to measure the width of the logging trail is felled by a forest machine. The tree 11.1 to be felled may be selected, for example, by determining the centre line of the logging trail 13 and felling the one of the measured trees 11 that is closer to the centre line .
Alternatively, with reference to the second embodiment of Figure 5b, trees on the logging trail can be determined by forming a virtual passage 13V or tunnel on the logging trail in step 68 and further, in step 70, by determining the trees 11.1 to be felled located within the virtual passage 13V based on the database. The virtual passage can be a passage calculated from the previous logging trail determined by the previous location of the harvester, extending a selected distance from the harvester in such a way that the width of the passage is equal to the target width determined in step 60. In this case, all trees within the virtual passage 13V are trees to be felled 11.1. A virtual passage or tunnel can be formed by "two walls" or "two lines", the distance between which is determined by the dimensions of the forest machine. This extrapolation can be a straight line from the forest machine forward, but of course the line can also curve according to the angle of the forest machine's joint or by extrapolating the data of the realised driving line, i.e. the way the driving line curves at the forest machine. The width of the required driving line can change adaptively according to how much the driving line curves, the steeper the turn, the wider the road required at the turn. Extrapolation can also be instructive, i.e. guiding the operator to make the logging trail in the right place. Here, it is possible to use data other than the data produced by the sensor according to the selected extrapolation criterion. For example, an appropriate distance from the edge of the harvesting site and/or the previous logging trail, depending on the reach of the forest machine. An example of such a predictive activity is the extrapolation of the logging trail based on the already formed logging trail, which is shown in Figures 5a with reference to reference number 13E. Alternatively, the selected extrapolation criterion may be, for example, the shape of the terrain, the location of the trees observed or other similar extrapolation criterion that has an impact on the desired logging trail. As another example, the logging trail can be predicted in such a way that large rocks and stumps are not driven over, but the system searches the best route for the logging trail, for example, relative to the speed, travel distance or fuel consumption. In other words, guidance can take into account rocks, landforms, streams, protected sites, or similar, and advanced systems can also optimise the position of the logging trail by taking into account the harvesting plan. The system will then plan the logging trail around the trees to be removed and will try to avoid the trees to be saved.
Preferably, when extrapolating the logging trail, the system can take into account the characteristics of the work machine, such as the width and the minimum turning radius . The system can then warn the operator if attempting to curve the logging trail with a turning radius that is too tight for the work machine . The forest machine can suggest a logging trail forward to the operator based on the tree stand measured by the sensor and other relevant map data (stand edge/size/shape, previous logging trails and thinning, terrain obstacles, etc. ) .
Preferably, after determining the tree or trees to be felled, the trees to be felled are presented to the operator in step 72 using presentation tools 33, for example by means of the display device 31 shown in Figures 1 and 2, or by other means. Instead of a display device, for example, a display projected onto the windshield of the cabin (HUD display = Head Up Display) or, for example, AR, XR or VR glasses can be used to which data can be added as the operator looks at the trees. In step 74, trees are felled from the logging trail to widen the logging trail to the target width or wider using a forest machine. The method is then reset in step 52 and the observation of the logging trail is continued as the work progresses to ensure that the logging trail is wide enough.
Preferably, in the method according to the invention, the cutting of the trees is carried out manually, semiautomat ically or with assistance. In semi-automation, for example, the operator may control the harvester head to attach to the tree, whereupon the automation, after manual confirmation by the operator, operates the harvester head automatically while the operator monitors the automation. In assisted control, the system suggests trees to be felled by, for example, an arrow on the display device of the information system included in the system or a tug on the controls or other haptic feedback through the controls.
The method and system according to the invention can significantly increase the productivity of the forest machine and achieve better quality for thinning by not damaging trees that remain standing.

Claims

1. A method in a forest machine (10) , wherein the method comprises ,
- moving the forest machine (10) in a stand (34) ,
- observing environment of the forest machine (10) with one or more sensors (15) of the forest machine (10) to make observations, the observations comprising at least a location of the trees (11) observed, and collecting the observations in a database (12) of the environment,
- determining a logging trail (13) in the environment for the forest machine (10) using the observations of the database (12) , and
- defining a target width of the logging trail (13) based on a preset criterion, characterised in that
- trees (11) on the logging trail (13) are automatically determined for felling with software tools (32) based on the database (12) and the target width,
- the trees (11) are felled from the logging trail (13) with the forest machine (10) for widening the logging trail (13) to the target width or wider.
2. A method according to Claim 1, characterised in that the logging trail (13) to be defined includes
- a planned logging trail (13S) or
- a planned logging trail (13S) and a realised logging trail (13T) ; for at least one of which trees (11) to be felled on the logging trail (13) are determined.
3. A method according to Claim 1 or 2, characterised in that the preset criterion for the target width includes the physical parameters of - a forest machine (10) , or
- a work machine (38) , independent relative to the forest machine (10) , using the logging trail (13) , or
- both the forest machine (10) and the work machine (38) .
4. A method according to Claim 3, characterised in that the target width is stored in a second database (14) .
5. A method according to Claim 3 or 4, characterised in that the target width of the logging trail (13) is determined according to a function having as components the width of the forest machine (10) or the work machine (38) and one or more of the following: space required by the forest machine (10) or the work machine (38) for turning, radius of curvature of the logging trail (13) , inclination of the logging trail (13) , height of the forest machine (10) or the work machine (38) .
6. A method according to any of Claims 3 to 5, characterised in that as the logging trail (13) curves, the turning radius of the logging trail (13) or additional space required by the work machine (38) or both are taken into account when determining the target width.
7. A method according to any of Claims 1 to 6, characterised in that the method comprises,
- determining the width of the logging trail (13) by determining distance between two trees (11) on opposite sides of the logging trail (13) in a transverse direction relative to a longitudinal direction of the logging trail (13) ,
- comparing the width determined for the logging trail (13) to the target width, and if the width of the logging trail (13) is less than the target width, felling at least one of the trees (11) used for determining the width of the logging trail (13) .
8. A method according to any of Claims 1 to 6, characterised in that the method comprises determining trees (11) on the logging trail (13) automatically for felling based on the database (12) by forming a virtual passage for the logging trail (13) and identifying trees (11) within the virtual passage based on the database (12) .
9. A method according to any of Claims 2 to 8, characterised in that the planned logging trail (13T) is extrapolated based on one or more extrapolation criteria.
10. A method according to Claim 9, characterised in that the extrapolation criterion selected is one or more of the following: planned logging trail (13T) ; location, diameter or species of the trees (11) stored in the database (12) ; boundaries, size or shape of the stand; surface profiles or obstacles of the environment; at least one of the following: location, position, steering angle, drive direction of the forest machine (10) .
11. A method according to any of Claims 1 to 10, characterised in that trees (11) for felling on the logging trail (13) are automatically indicated to an operator based on the database (12) .
12. A method according to any of Claims 1 to 11, characterised in that said forest machine (10) is a harvester (10.1) and the work machine (38) is a forwarder.
13. A method according to any of Claims 1 to 12, characterised in that the sensor (15) used is a radar (17) or an optical sensor, the optical sensor being preferably a laser scanner (18) or a camera (16) .
14. A system (36) , wherein the system (36) includes
- a forest machine (10) comprising one or more sensors (15) arranged to observe environment of the forest machine (10) while the forest machine (10) is in a stand (34) , and felling and processing equipment for trees (11) ,
- a database (12) for collecting observations of the environment, the observations comprising at least location of trees (11) , the database (12) being arranged to be utilised for using the forest machine (10) , and
- software tools (32) , which are arranged to determine a logging trail (13) and a target width of the logging trail (13) according to a preset criterion, characterised in that the software tools (32) are further arranged to
- determine trees (11) on the logging trail (13) automatically for felling based on the database (12) and the target width,
- indicate the trees (11) to be felled to an operator for felling the trees (11) and widening the logging trail (13) to the target width or wider by help of the forest machine (10) .
15. A system according to Claim 14, characterised in that said sensor (15) is a radar (17) or an optical sensor, the optical sensor being preferably a laser scanner (18) or a camera ( 16 ) .
EP23848701.1A 2022-12-23 2023-12-21 Method in a forest machine and a system Pending EP4639438A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FI20226157A FI131497B1 (en) 2022-12-23 2022-12-23 Method and system in a forest machine
PCT/FI2023/050721 WO2024134033A1 (en) 2022-12-23 2023-12-21 Method in a forest machine and a system

Publications (1)

Publication Number Publication Date
EP4639438A1 true EP4639438A1 (en) 2025-10-29

Family

ID=89854400

Family Applications (1)

Application Number Title Priority Date Filing Date
EP23848701.1A Pending EP4639438A1 (en) 2022-12-23 2023-12-21 Method in a forest machine and a system

Country Status (3)

Country Link
EP (1) EP4639438A1 (en)
FI (1) FI131497B1 (en)
WO (1) WO2024134033A1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2026020242A1 (en) * 2024-07-24 2026-01-29 Groupe Carvi Inc. Real-time tree-cutting assistance system for forestry equipment

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE533217C2 (en) * 2008-10-21 2010-07-20 Measuring equipment for forestry machine
US8275547B2 (en) * 2009-09-30 2012-09-25 Utility Risk Management Corporation, Llc Method and system for locating a stem of a target tree
FI20185724A1 (en) * 2018-08-30 2020-03-01 Ponsse Oyj Method and system in mechanical logging
JP2020113295A (en) * 2020-03-06 2020-07-27 ヤンマーパワーテクノロジー株式会社 Route generator

Also Published As

Publication number Publication date
WO2024134033A1 (en) 2024-06-27
FI131497B1 (en) 2025-05-23
FI20226157A1 (en) 2024-06-24

Similar Documents

Publication Publication Date Title
JP7759366B2 (en) Autonomous driving system and method
AU2019340235B2 (en) Automated vehicle
US12365347B2 (en) Vehicle row follow system
EP2169507B1 (en) Distributed knowledge base method for vehicular localization and work-site management
EP2169505B1 (en) Distributed knowledge base for vehicular localization and work-site management
JP7112066B2 (en) Autonomous mobile robot and its control method
KR20210033536A (en) Harvester, harvesting system, harvesting method, harvesting program and recording medium
JP7433362B2 (en) Travel route generation system
JP2021526086A (en) Methods and equipment for operating autonomously operating work machines
WO2019187883A1 (en) Obstacle detection system for work vehicle
CN113873868A (en) Obstacle detection system, agricultural work vehicle, obstacle detection program, storage medium storing obstacle detection program, and obstacle detection method
JP7246641B2 (en) agricultural machine
CA3233542A1 (en) Vehicle row follow system
CN111343853B (en) Agricultural work vehicle, work vehicle collision warning system and work vehicle
US20240111297A1 (en) Travel control system, travel control method, and computer program
EP4639438A1 (en) Method in a forest machine and a system
EP4013216B1 (en) Method and system in a forest machine
JP6851589B2 (en) Work platform
EP4458123A1 (en) Agricultural work assistance system, agricultural machine, agricultural work assistance device
CN113382905A (en) Autonomous operation of a vehicle in a safe working area
JP7482838B2 (en) Work Support System
JP7667605B1 (en) Running robot
JP2019109695A (en) Service car collision warning system and service car
JP2023010152A (en) Automatic traveling method, automatic traveling system, and automatic traveling program
JP7793055B2 (en) Route generation system and route generation method for automatic driving of agricultural machinery

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: UNKNOWN

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20250626

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC ME MK MT NL NO PL PT RO RS SE SI SK SM TR

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)