FI20205337A1

FI20205337A1 - Forestry machine load determination

Info

Publication number: FI20205337A1
Application number: FI20205337A
Authority: FI
Inventors: Mikael Holsti; Mikko Saari
Original assignee: Empk Oy
Priority date: 2020-04-02
Filing date: 2020-04-02
Publication date: 2021-10-03
Also published as: WO2021198560A1

Abstract

According to an aspect, there is provided a device, configured to receive information indicative of diameters of products; receive information indicative of a cross-section of a load space of a forwarder of the products; receive a load factor compensating a difference in different types of products when loading the load space by the products; and determine a number of products indicative of a substantially full load of the load space based on the diameter of the products, the cross section and the load factor. According to an aspect, the device may be configured to determine an optimal route for collecting the load.

Description

FORESTRY MACHINE LOAD DETERMINATION

TECHNICAL FIELD The present disclosure relates to the field of computer technology, and more particularly to a forestry machine load determination.

BACKGROUND Forestry machines may be divided to at least two types of machines. A forwarder is a forestry machine whose purpose is to bring different types of logs from a harvesting site to a storage or loading site. The forwarder collects and loads logs to its load space. A harvester is another example of a forestry machine. A harvester processes timber on the harvesting site. A harvester is a type of heavy forestry vehicle employed in — cut-to-length logging operations for felling, delimbing and bucking trees. The harvester, sometimes referred to as a forest harvester, is typically employed together with the forwarder that hauls the logs to a roadside landing.

SUMMARY — This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, N nor is it intended to be used to limit the scope of the claimed subject matter. : N 25 It is an object to provide a solution for determining loads to be collected by a I forwarder at a harvesting site. In an embodiment, an optimal route and a loading N order may be determined for the forwarder. This objective is achieved by the features 3 of the independent claims. Further embodiments and examples are apparent from the S dependent claims, the description and the figures.

According to a first aspect, there is provided a device configured to receive information indicative of diameters of products; receive information indicative of a cross-section of a load space of a forwarder of the products; receive a load factor compensating a difference in different types of products when loading the load space by the products; and determine a number of products indicative of a substantially full load of the load space based on the diameter of the products, the cross section and the load factor. This enables, that the number of products, such as logs, that may fit to the load space may be determined. As the load space may be open from at least one end, the load may be determined based on the diameters of the products and cross- sectional area of the load space. Hence, a simple but accurate method for load determination may be provided. In an embodiment, the information indicative of the diameter of the products is received from a harvester based on an opening of a harvester head. This enables, that — the diameters may be obtained accurately from a forestry machine processing the logs. In an embodiment, in addition or alternatively, the device is configured to determine a plurality of categories for the products based on at least one of the information indicative of the diameters of the products or product types of the products; and determine a load value for products in each category indicative of at least one of a number of substantially full loads or a partial load of the load space based on the S number of products in the category, the diameter of the products in the category, the s cross section and the load factor; and determine a total number of loads based on the N 25 load values. This enables, that the total number of loads may be determined while I also the number of loads for different kinds of products may be known. a

O 3 In an embodiment, in addition or alternatively, the total number of loads is O determined by combining the load values of each category. This enables, that the overall number of loads may be determined when all loads are combined.

In an embodiment, in addition or alternatively, the device is configured to combine products from two or more categories into one load when the sum of the load values from the two or more categories is equal to or less than one; and determine the total number of loads based on the number of loads from the combined categories and a number of loads of other categories. This enables, that loads from different categories may be combined if they fit to the same load space in order to reduce the total number of loads. In an embodiment, in addition or alternatively, the device is configured to determine a number of loads of each category based on the respective load value; and determine the total number of loads based on the number of loads of each category. This enables, that the number of loads may be determined on a category-basis and the total number of loads may be determined by combining the number of loads per category.

In an embodiment, in addition or alternatively, the device is further configured to receive information indicative of locations of the products; and determine an optimal route for the forwarder to collect the products based on the number of the products in the load and the locations of the products in relation to a location for unloading. This enables, that the forwarder may be instructed about the location of the load. In an embodiment, in addition or alternatively, the device is further configured to N determine a starting location for loading the load based on the locations of the 3 products, wherein the starting location corresponds to the location of one of the first N 25 or the last product of the load farthest away from the location for unloading along the I optimal route. This enables, that unnecessary driving with the load may be avoided. N Hence, time and resource savings may be obtained. O In an embodiment, in addition or alternatively, the device is configured to receive time information associated to a location of the harvester; receive time information associated to processing the products by the harvester; and determine location of the products based on the time information associated with the location of the harvester and the time information associated to processing of the products by the harvester. This enables, that the locations of the products and formed loads may be determined based on time and location information received from a forestry machine processing the products, even when the exact location at the time of processing is not readily available. According to a second aspect, there is provided a method, comprising receiving information indicative of diameters of products; receiving information indicative of a cross-section of a load space of a forwarder of the products; receiving a load factor compensating a difference in different types of products when loading the load space by the products; and determining a number of products indicative of a substantially full load of the load space based on the diameter of the products, the cross section and the load factor. This enables, that the number of products, such as logs, that may fit to the load space may be determined. As the load space may be open from at least one end, the load may be determined based on the diameters of the products and cross-sectional area of the load space. Hence, a simple but accurate method for load determination may be provided.

According to a third aspect, there is provided a computer program product comprising a computer readable storage medium storing program code thereon, the N program code comprising instructions for executing the method according to the 4 second aspect.

I N 25

I BRIEF DESCRIPTION OF THE DRAWINGS N In the following examples are described in more detail with reference to the attached 3 figures and drawings, in which:

S

FIG. 1 illustrates a schematic representation of a block diagram of a device to determine loads of a load space according to an embodiment; FIG. 2 illustrates a schematic representation of a flowchart of a process for 5 determining one full forwarder load according to an embodiment; FIG. 3 illustrates a schematic representation of a side view of a harvester head according to an embodiment; — FIG. 4 illustrates a schematic representation of a view from the above of a harvester head according to an embodiment; FIG. 5 illustrates a schematic representation of a load space of a forwarder from the above according to an embodiment; FIG. 6 illustrates a schematic representation of a cross-sectional area of a load space of a forwarder according to an embodiment; FIG. 7 illustrates a schematic representation of generated data of a harvester — according to an embodiment; FIG. 8 illustrates a schematic representation of determination of a starting point for N loading according to an embodiment;

N +

I N 25 FIG. 9 illustrates a schematic representation of a track of a forwarder in a harvesting I area, which is determined according to an embodiment; and a

O O FIG. 10 illustrates a schematic representation of a process for determining an optimal

O O route for collecting products according to an embodiment.

In the following identical reference signs refer to identical or at least functionally equivalent features.

DETAILED DESCRIPTION In the following description, reference is made to the accompanying drawings, which form part of the disclosure, and in which are shown, by way of illustration, specific aspects and examples in which the present subject-matter may be placed. It is understood that other aspects may be utilized, and structural or logical changes may be made without departing from the scope of the present subject-matter. The — following detailed description, therefore, is not to be taken in a limiting sense, as the scope of the present subject-matter is defined in the appended claims. For instance, it is understood that a disclosure in connection with a described method may also hold true for a corresponding device or system configured to perform the method and vice versa. For example, if a specific method operation is described, a corresponding device may include a unit or other means to perform the described method operation, even if such unit is not explicitly described or illustrated in the figures. On the other hand, for example, if a specific device is described based on functional units, a corresponding method may include an operation performing the described functionality, even if such operation is not explicitly described or illustrated in the figures. Further, it is understood that the features of the various exemplary aspects described herein may be combined with each other, unless N specifically noted otherwise. 3 N 25 An embodiment relates to a device configured to fit a three-dimensional log to a two- I dimensional area relative to correction factors, based on data produced by measuring N systems in a forestry machine. The data may be applied to another forestry machine 3 related load calculations and track determination, for example to optimize track S and/or loading of the logs.

An embodiment may enable determining a number of logs indicative of a substantially full load of a load space of a forwarder based on information indicative of a diameters of the logs, information indicative of a cross-section of a load space of a forwarder and a load factor. This may enable determining a total number of loads for logs on a harvesting site. In an embodiment, time information associated to harvesting the logs and locations of the harvester may be used together with the determined loads to determine an optimal route for collecting the logs. Further, an optimal starting point for loading each load along the route may be determined. Hence, operation of the forwarder may be streamlined to gain time and resource savings. The load and route optimization may reduce both environmental impact and transportation costs. FIG. 1 illustrates a schematic representation of a block diagram of a device 100 to determine loads of a load space according to an embodiment.

The device 100 may comprise at least one processor 101 and at least one memory

102. The memory 102 may comprise a program code 103 which, when executed on the processor 101 causes the device 100 to perform embodiments of the operations and functionality described. For example, the at least one processor 101 may comprise one or more of various processing devices, such as for example a co- processor, a microprocessor, a controller, a digital signal processor (DSP), a processing circuitry with or without an accompanying DSP, or various other N processing devices. Alternatively, or in addition, the functionality described herein 3 can be performed, at least in part, by one or more hardware logic components. For N 25 example, and without limitation, illustrative types of hardware logic components that I can be used include Field-programmable Gate Arrays (FPGAs), Program-specific - Integrated Circuits (ASICs), Program-specific Standard Products (ASSPs), System- 3 on-a-chip systems (SOCs), Complex Programmable Logic Devices (CPLDs), O Graphics Processing Units (GPUs).

The memory 102 may be any medium, including non-transitory storage media, on which the program code 103 is stored such as a Blu-Ray disc, DVD, CD, USB (flash) drive, hard disc, server storage available via a network, a ROM, a PROM, an EPROM, an EEPROM or a Flash memory having electronically readable control signals stored thereon which cooperate or are capable of cooperating with a programmable computer system such that an embodiment of at least one of the methods described is performed.

The functionality described herein can be performed, at least in part, by one or more computer program product components such as software components.

An embodiment comprises or is a computer program comprising program code for performing any of the methods described herein, when executed on a computer.

Another example comprises or is a computer readable medium comprising a program code that, when executed by the processor, causes a computer system to perform any of the methods described herein.

The program code may comprise instructions which, when executed, cause the processor, computer or — the like, to perform at least one method described herein.

The device 100 may comprise a transceiver 104 configured to configured to enable the device 100 to transmit and/or receive information, to/from other devices or systems.

In an embodiment, the transceiver 104 may receive information from at least one measuring device.

The transceiver 104 may be configured to provide at least one wireless radio connection, such as for example a 3GPP mobile broadband connection (e.g. 3G, 4G, 5G). However, the transceiver 104 may be configured to N provide one or more other type of connections, for example a wireless local area 3 network (WLAN) connection such as for example standardized by IEEE 802.11 N 25 — series or Wi-Fi alliance; a short range wireless network connection such as for I example a Bluetooth, NFC (near-field communication), or RFID connection; a wired N connection such as for example a local area network (LAN) connection, a universal 3 serial bus (USB) connection or an optical network connection, or the like; or a wired S Internet connection.

The device 100 may comprise a user interface 105 comprising an input device and/or an output device. The input device may be any device configured to receive user inputs such a keyboard, a touch screen, or a microphone. The output device may for example comprise a display and/or a speaker. The device 100 may comprise all or only some of the components or devices 101, 102, 103, 104, 105 depending on the functionality of the device 100.

The device 100 may comprise a computing device such as for example a mobile phone, a tablet computer, a laptop, or the like. In an embodiment, the computing — device may be integrated to a forestry machine. Although the device 100 is illustrated as a single device it is appreciated that, wherever applicable, functions of the device 100 may be distributed to a plurality of devices, for example to implement example embodiments as a cloud computing service.

The device 100 comprises means for performing at least one method described herein. In one example, the means comprises the at least one processor 101, the at least one memory 102 including program code 103 configured to, when executed by the at least one processor 101, cause the device to perform the method. The device 100 may be embodied as a separate device, or one or more of devices 100 may be comprised in a single device, for example as dedicated software and/or hardware components.

N FIG. 2 illustrates a schematic representation of a flowchart of a process for 4 determining one full forwarder load according to an embodiment. In an embodiment, N 25 information on diameters or radii of products obtained from a measuring device may I be used to form an area of a circle for each individual product of a product type. In N an embodiment, a certain number n of products may be taken from each product 3 type, multiplied by a solid cubic factor, and the total area of the circles may be S compared to an area indicative of a load capacity of the forwarder. This may be repeated until the number of products gives a result that is greater than or equal to the area indicative of the load capacity computed, for example, based on a cross- sectional area of the load space of the forwarder in a vertical direction multiplied by a load factor. When the result is greater than or equal to the area indicative of the load capacity, the number of products may correspond to a substantially full load of the load space.

At 200, data of the products for loading the load space of the forwarder is obtained.

The data may be associated to parameters of the products, such as logs, received from a measuring device. In an embodiment, the data may be received from a harvester, and the measuring device may be a harvester head configured to measure values indicative of diameters of the logs. The data from the harvester may comprise, for example, a number of the logs with a substantially same diameter, product types associated with the diameters and/or a total number of the logs which diameter has been measured. Alternatively, the information indicative of the diameters of the logs may be used to extract the number of the logs, where one value indicative of a diameter represents one log. In an embodiment, the information indicative of the diameters of the logs may be used to categorize the logs based on the diameters.

Each category may have logs with substantially the same diameter or a diameter within a predetermined range. Alternatively, or in addition, the logs may be categorized based on their product type. At 200, also data associated to a load capacity of the load space is obtained. In an embodiment, the data associated to the load capacity may comprise information indicative of a cross-section of the load N space of the forwarder. In an embodiment, the data may further comprise at least one 3 of a load factor or a solid cubic factor of the product type. The load factor may be N 25 — used to compensate for differences in loading requirements between different types I of timber and differences in machine types or operators of the machines. The load N factor may indicate an average allowable load of the machine, expressed as a 3 percentage of its maximum capacity. The solid cube factor is a mathematical quantity S which may be used to calculate the volume of timber in cubic meters. The solid cube factor may be used to express the logs and the load space in the same measurement unit. At 201, a number of products indicative of a substantially full load of the load space is computed based on the data. In an embodiment, the number of logs may be determined by comparing circular areas derivable from the diameters of the logs to a cross-sectional area of the load space of the forwarder. The measurements associated with the diameters of the products may be used to calculate the area of a circle using the following formula: n *r? where 7 is a radius of the product. If the data from the measuring device is the diameter of the product type, the value may be first divided by two in order to obtain the radius of the circle. In this case the formula is written as: n * (rmin/2)?, — where rmin is a single measured diameter of a product. o In an embodiment, the information indicative of a cross-section of the load space of

QA S the forwarder may comprise a load space volume of the forwarder expressed in cubic S meters. The cross-sectional area of the load space may be obtained by calculating an S 25 area of a one side of a cube, which is proportioned using the load factor to calculate

I T an area indicative of a load capacity of the forwarder:

N 0

O S (NV)? * CO, O

N where / is a volumetric load capacity of the forwarder in cubic meters and CO is the load factor. If the load space of the forwarder is obtained as a cross-sectional area of the forwarder's load space in a vertical direction, the area indicative of the load capacity may be calculated by: D * CO, where D is the cross-sectional area of the load space.

In an embodiment, the circular areas calculated based on the data received from the measurement device may be compared to the calculated area indicative of the load capacity such that the number of the circular areas (i.e. the logs) are added until the combined area of the circles is at least egual to the area indicative of the load capacity. The areas may be compared as follows: (NV) * CO < (x * 1?) * PTC) * n, where PCT is the solid cubic factor, CO is the load factor, V is the volumetric load capacity in cubic meters, 7 is the radius of the measured product, and n is a specific number of products of a product type, wherein n is a positive integer (ne 1, 2, 3... 00).

O O If the load space of the forwarder is declared as the cross-sectional area D of the load x compartment in a vertical direction, the formula may be written as follows: N 25 E D *CO<((n tr?) * PTC) * n, 3 S The number of products of a product type in relation to the cross-sectional area of the N load space in a vertical direction may be computed to estimate the substantially full load, for example, with the following formula:

x = (n * (n * (rmin/2)) * PCT)/(D * CO), Where x is a load value indicative of at least one of one or more substantially full loads or a partial load of the load space with the number of products n. In an embodiment, the load value comprising an integer value indicates the number of full loads. For example, x=0 indicates an empty load space and x=1 indicates a full load space. In an embodiment, the load value comprising a fraction indicates a partial load. The fraction value may further indicate a fill degree of the load space with the number of products associated with the fraction value. For example, x=1,5 may indicate one and a half loads and x=0,3 may indicate that the load space is full by a third part. Alternatively, the load value may be calculated by subtracting the circle areas calculated, for example, from the diameter indicated by the harvester head from the cross-sectional area of the load space in a vertical direction multiplied by the load factor. The circular areas may be subtracted so many times that the result is zero, and the number of products may be estimated based on the number of the subtracted circular areas. In an embodiment, a total number of loads for a product type, for example within a harvesting site, may be computed as follows: S (En * x (rmin/2))) * PCT)/( (NV)? * CO),

S N 25 where 5, gives the sum of the number of products n in each product group and/or E category, expressed in this case as the radius rmin/2 of the products in the respective 5 product group and/or category. : When the number of products give a load value x which does not indicate a substantially full load (x<1), the process may proceed to increase the number of products used in the calculation and return to operation 200 to obtain the diameter(s) of the added product(s). The process may be repeated until the number of products give a result indicative of a substantially full load (x >1). At 202, the number of products indicative of the full load may be stored.

The process may continue until the data on each product is used for the calculations so that a total number of substantially full loads is obtained.

In an embodiment, if all products in at least one of the same category or the product type are used for the calculations without reaching the substantially full load, the load value x of the partial load and the respective number of products may be stored.

In an embodiment, the stored — information at 202 may comprise location of the products.

Table 1 shows an example of calculated total loads from one track with one product type categorized based on diameters of the products.

The track is a path the harvester takes when working in a forest site and along which the forwarder travels when collecting the products processed by the harvester.

The diameter values rmin are expressed in millimeters and the diameter of the product type ranges between 100- 140mm.

In the example of table 1, the cross-sectional area of the load space is 5.3 sguare meters.

Table 1 ~~ rmin mp x 100 372 0882 10371 1,064 N 120 256 0874 3 130 189 0,757 E total 1394 4,535 S Load factor 0,95 x=1,0 = load space full Cross-sectional area of the load space 53m2 ===

Table 1 shows, that there are four and a half full loads on the track as the total load value 1s 4,535. Based on the load values x, the number of loads from each category may be determined as well as the number of overall loads within the harvesting site.

FIG. 3 illustrates a schematic representation of a side view of a harvester head 300 according to an embodiment. In an embodiment, the harvester head 300 may be a measuring device configured to provide information indicative of diameters of products. In FIG. 4, the harvester head 300 is represented from the above view.

The harvester head 300 may comprise a plurality of debranching blades 301 and at least two feeding rollers 302. The harvester may be configured to process timber at a felling site according to predetermined instructions. For example, the harvester may process timber into logs of a certain length and diameter according to the predetermined instructions using the debranching blades 301 and the feeding rollers

302. In an embodiment, the harvester may obtain information about an opening 401 of the harvester head 300 when the log is processed. The length of the opening 401 may be used as the information indicative of diameter of the product being processed by the harvester head 300. The opening 401 may form an area of a circle 400 corresponding to a harvested end of the log. In an embodiment, the information may be categorized by a product type into two or more categories, for example, based on site-specific instructions. The information associated to the products processed by the N harvester head 300 may be used to form optimal forwarder loads. In an embodiment, 4 the information indicative of the diameters as well as number of processed logs may N 25 — be obtained based on the predetermined instructions of the harvester. = = In an embodiment, location and associated time information of the harvester may be 3 obtained at predetermined intervals. In addition, time information associated to S processing of each log by the harvester may be obtained. In an embodiment, geographical location of the harvester may be obtained, wherein the geographical location comprises a timestamp.

Further, the information indicative of a diameters of the products may comprise a timestamp associated to the time of processing the product.

FIG. 7 illustrates a schematic representation of generated data 700 of a harvester according to an embodiment.

The data comprising time information may be gathered by the harvester on a track of the harvester while working on a forest site.

As the harvester moves around the forest site, information may be obtained about the harvester's locations and about a time at each of the locations.

The harvester may further gather information about time instants when the harvester processes products of different product types.

The generated data 700 may be presented as a timeline with a starting time point 701 and an ending time point 702. The location of the harvester may be known at least at the starting and ending time points 701, 702. In an example embodiment, the data is generated within a 59 second time period, in which period the harvester may have processed two timber products at time instants 703, 704 00:22:23 s, and 00:41:75 s.

When the location of the harvester is known at least at the time points 701, 702, the approximate position of the products of all product types processed by the harvester in the track may be deduced from the processing times corresponding to the obtained time instants 703, 704. The shorter the predetermined interval for obtaining the location of the harvester and associated time information is, the more accurately the location of the product on the track may be estimated based on its processing time.

In an embodiment, the harvester may also dispatch its location each time a product is processed.

The data 700 generated by the N harvester may be combined with load determination of a forwarder based on the 3 diameter data from the harvester, for example, to determine optimal route for the N 25 forwarder to collect the loads. i N FIG. 5 illustrates a schematic representation of a load space 500 of a forwarder from 3 the above according to an embodiment.

In an embodiment, the load space 500 may S be configured for transporting timber products, such as logs.

The logs may be loaded — into the load space side by side and on top of each other.

The load space 500 may be open from both ends. The volume of individual timber may not be directly proportional to the load capacity. For example, 300 and 350 liter logs may take up the same load capacity if they have the same diameter. Hence, the load capacity of the load space 500 may be determined based on a cross-sectional area 501 of the load space in a vertical direction instead of, for example, volume of the load space based on its borders. FIG. 6 illustrates a schematic representation of the cross-sectional area 501 of the load space 500 of the forwarder according to an embodiment. In an embodiment, a plurality of circles 502, 503, 504 formed based on diameters of the products may be compared to the cross-sectional area 501 of the load space 500 to determine a substantially full load of the load space 500. However, different forwarder types may have different loading requirements and restrictions, as well as different types of timbers loaded on the forwarder. Hence, the actual load capacity of the load space 500 may be determined by multiplying the cross-sectional area 501 with a load factor in order to take into account the different restrictions and requirements for loading. In FIG 6, the effect of the load factor is illustrated with lines 505, 506. For example, for some forwarder type, or when loading with a specific timber type, the load space may not be allowed to be fully loaded, i.e. all the way to the top border of the compartment of the forwarder. Hence, the load factor associated with line 506 may correct the load capacity to be smaller than a maximum — capacity of the load space 500. Also, a solid cube factor may be taken into account when forming the circle areas such that the forwarder cross-sectional area and the diameter of the products may be compared in a same measurement unit.

S < FIG. 8 illustrates a schematic representation of determination of a starting point for N 25 loading according to an embodiment. The optimum starting position for loading on a I track 806 may be considered based on the number of products 803 to that can fit N inside the load space and based on locations of the products. Preferably, the loading 3 may start from a product of the load which locates physically farther away from a S storage location 800, based on felling information, so that the load is full as close as possible to the storage location 800. An arrow 804 represents order of felling and harvesting by the harvester.

To determine the starting point for loading, two locations 801, 802 used to determine the load of a single product type may be compared: a position 801 with a load value of x = 0 and a position 802 with a load value of x>1. In FIG. 8, the position 802 is physically farther away than the position 801 relative to the storage location 800, so loading may begin at the position 802 where x>1. The loading may proceed from the location 802 towards the location 801 along the track, as illustrated with an arrow 805. FIG. 9 illustrates a schematic representation of an optimal route 906 of a forwarder on a track in a harvesting area, which is determined according to an embodiment.

The optimal route 906 in the example embodiment of FIG. 9 makes one loop and there are products at different locations by the track of two product types a and b.

The total number of loads 901, 902, 903, 904, 905, 907 on the optimal route 906 may be determined based on diameters of the products and an area indicative of load — capacity of the forwarder as described earlier.

Further, locations of the products, such as logs, may be known and, hence, based on the number of products on each load also the locations of the loads may be determined along the track.

In response, the optimal route 906 may be determined.

In an example embodiment, the load values x may be calculated for the products which are divided into a plurality of categories — based on their diameters and their product type, as presented in table 2: Table 2 : Fem ees -€ Lewis ä As described previously, when the load value x is greater than or egual to 1, the load — is full.

Correspondingly, for example, if the load value x is 0.5, the forwarder load is

50% full, or half full. In table 2, the total number of loads of type a is 4, two of which are not full loads. The total number of loads of type b is 2, one of which is not full loads. As table 2 shows, there is a combination of partial loads with a total load value of a + b less than 1. In an embodiment, the partial loads may be combined while the forwarder is in operation, if the combined load value is equal to or less than a load value of a full load. Thus, the operation of the forwarder may be more efficient. The partial loads may be combined from different categories of a particular product type as well as from categories of different product types.

In an example embodiment, locations of the loads 901, 902, 903, 904, 905, 907, having load values as presented in table 2, are determined on the track to form the optimal route 906. The locations of the loads 901, 902, 903, 904, 905, 907 may be determined such that a round trip from a storage location 900 to the load and back is the shortest for full loads 901, 902, 907. That is, driving distance with full loads may be minimized and fuel may be saved. In FIG. 9, a and b may indicate to which product type the load belongs to, and the length of the box representing the load 901, 902, 903, 904, 905, 907 may represent the distance from which the total load is calculated, i.e. distance between a first and a last product of the load. In an embodiment, the location of the load may be determined based on the number of products of the load, where products which are the closest to each other are included in the load. Alternatively, the products for the load may be determined based on their processing order by the harvester such that the products are consecutively added to N the load as they are processed until the load is full or the there are no more products 4 in the category. The optimal route 906 may comprise locations of the loads along the N 25 — track, loading order of the loads and locations where loading of the load is started. E Operation instructions may be provided for the forwarder based on the optimal route.

O 3 In an example embodiment, the forwarder may be instructed to first load a first load O 901 according to the optimal route 900, starting from a location (x=1) of a product of the load 901 locating farthest away from the storage location 900. In the example embodiment, x=0 may relate to a location of a first processed product of the load and x=1 may relate to a location of a last processed product. After unloading the first load 901 at the storage location 900, the forwarder may proceed to a second load 902 along the optimal route 900 and start loading from a location (x=1) of a product of the load 902 farthest away from the storage location 900. After unloading, the forwarder may return from the storage location 900 to load a third load 907 similarly as the previous loads. Next, the forwarder may be instructed to proceed along the optimal route 900 to load both a fourth 903 and a fifth load 904 at the same time as the total load value x of the loads 903, 904 is less than 1. This time, the loading may — be started at locations x=0 where harvesting the products of the loads 903, 904 was started, because the locations are farther from the storage location 900. In an embodiment, if there were multiple partial loads on the optimal route that may be combined, the locations of the partial loads may be compared to determine two or more loads to be combined into same load, for example, based on vicinity of the loads to each other. In an embodiment, the partial loads to be combined may be determined based on the total load value of the partial loads being closest to the load value of a full load. The optimal route and loading order may be changed on the fly in case data on new products processed by the harvester is obtained. Also, with the combined loads, the starting location for loading may be determined based on a location of a product of the combined load locating farthest from the unloading point along the optimal route 906. After unloading the combined load 903, 904, the forwarder may be instructed to load the last, sixth load 905, and start loading again N from a product locating farthest from the storage location 900 along the route. 3 Therefore, unnecessary driving away from the storage location 900 with the load N 25 may be avoided.

= - Hence, by processing the data as previously described, the number of products for a 3 substantially full load may be determined along the track, as well as the start point O and direction for loading the determined load. In addition, the route and loading of the forwarder may be optimized such that partial loads may be combined along the track, for example, to minimize loading rounds and time consumption. FIG. 10 illustrates a schematic representation of a process for determining an optimal route for collecting products according to an embodiment. At 1000, product data comprising information indicative of diameters of products is obtained. The product data may be obtained, for example, from a harvester head. In an embodiment, the product data may comprise information indicative of location of — the products. At 1001, the products are categorized based on at least one of the diameters of the products or product types. In an embodiment, products having the same diameter may be grouped to the same category. Further, the number of products in each category may be stored. At 1002 and 1003, information indicative of a cross-section of a load space and a load factor is obtained. Thereafter, at 1004, circular areas based on the diameters of the products and a cross sectional area of the load space are determined. The circular areas of the products are compared to the cross-sectional area at 1005 by each category. At 1006, the result of the comparison is stored as a load value x for each category.

O

S 3 At 1007, it is checked if a sum of two or more load values is equal to or less than N 25 — one. If yes, then the two or more respective loads are combined into one load at I 1008. This may enable, that the total number of the loads may be reduced. N Otherwise, the load value of each category may represent the number of loads from 3 the category. At 1009, the total number of loads is determined based on the S combined and separate load values. At 1010, an optimal route to collect the loads is determined based on the product data and the number of loads. In an embodiment,

locations of the loads may be determined based on the number of products on each load and the location information of the products such that substantially full loads are closest to an unloading location. Further, starting locations for loading may be determined along the optimal route such that the loading of the load is started from a location of a product of the load farthest away from the location for unloading and completed at a location of a product of the load closest to the location for unloading. Hence, the distance a forwarder needs to drive with the completed load between the load and the location for unloading may be as short as possible.

— Although the subject matter has been described in language specific to structural features and/or acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as examples of implementing the claims and other equivalent features and acts are intended to be within the scope of the claims.

It will be understood that the benefits and advantages described above may relate to one example or may relate to several examples. The examples are not limited to those that solve any or all of the stated problems or those that have any or all of the stated benefits and advantages. It will further be understood that reference to 'an' item may refer to one or more of those items.

N The operations of the methods described herein may be carried out in any suitable 4 order, or simultaneously where appropriate. Additionally, individual blocks may be N 25 — deleted from any of the methods without departing from the scope of the subject I matter described herein. Aspects of any of the examples described above may be N combined with aspects of any of the other examples described to form further 3 examples without losing the effect sought.

S

The term 'comprising' is used herein to mean including the method, blocks or elements identified, but that such blocks or elements do not comprise an exclusive list and a method or apparatus may contain additional blocks or elements.

Although the solution and its advantages have been described in detail with reference to specific features and embodiments thereof, it is evident that various changes, modifications, substitutions, combinations and alterations can be made thereto without departing from the spirit and scope as defined by the appended claims. The specification and drawings are, accordingly, to be regarded simply as an illustration as defined by the appended claims, and are contemplated to cover any and all modifications, variations, combinations or equivalents that fall within the scope of the present subject-matter.

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Claims

1. A device, configured to: receive information indicative of diameters of products; receive information indicative of a cross-section of a load space of a forwarder of the products; receive a load factor compensating a difference in different types of products when loading the load space by the products; and determine a number of products indicative of a substantially full load of the load — space based on the diameter of the products, the cross section and the load factor.

2. The device of claim 1, wherein the information indicative of the diameter of the products is received from a harvester based on an opening of a harvester head.

3. The device of claim 1 or 2, wherein the device is configured to: determine a plurality of categories for the products based on at least one of the information indicative of the diameters of the products or product types of the products; and determine a load value for products in each category indicative of at least one of a number of substantially full loads or a partial load of the load space based on the number of products in the category, the diameter of the products in the category, the cross section and the load factor; and N determine a total number of loads based on the load values. : N25 4. The device of claim 3, wherein the total number of loads is determined by E combining the load values of each category.

O 3 5. The device of claim 3, wherein the device is configured to:

S combine products from two or more categories into one load when the sum of the load values from the two or more categories is equal to or less than one; and determine the total number of loads based on the number of loads from the combined categories and a number of loads of other categories.

6. The device of claim 3, wherein the device is configured to: determine a number of loads of each category based on the respective load value; and determine the total number of loads based on the number of loads of each = category.

7. The device of any of claims 1 to 6, further configured to: receive information indicative of locations of the products; and determine an optimal route for the forwarder to collect the products based on — the number of the products of the load and the locations of the products in relation to a location for unloading.

8. The device of claim 7, wherein the device is further configured to: determine a starting location for loading the load based on the locations of the products, wherein the starting location corresponds to the location of one of the first or the last product of the load farthest away from the location for unloading along the optimal route.

O

S 3 9. The device of claim 7 or 8, configured to: N 25 receive time information associated to locations of the harvester; I receive time information associated to processing the products by the - harvester; and 3 determine location of the products based on the time information associated O with the location of the harvester and the time information associated to processing of the products by the harvester.

10. A method, comprising: receiving information indicative of diameters of products; receiving information indicative of a cross-section of a load space of a forwarder of the products; receiving a load factor compensating a difference in different types of products when loading the load space by the products; and determining a number of products indicative of a substantially full load of the load space based on the diameter of the products, the cross section and the load — factor.

11. A computer program product comprising a computer readable storage medium storing program code thereon, the program code comprising instructions for executing the method according to claim 10.

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