NZ616524B2 - Method, apparatus, and system for controlling a timber-working device - Google Patents
Method, apparatus, and system for controlling a timber-working device Download PDFInfo
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- NZ616524B2 NZ616524B2 NZ616524A NZ61652413A NZ616524B2 NZ 616524 B2 NZ616524 B2 NZ 616524B2 NZ 616524 A NZ616524 A NZ 616524A NZ 61652413 A NZ61652413 A NZ 61652413A NZ 616524 B2 NZ616524 B2 NZ 616524B2
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- timber
- hazard zone
- working device
- object tracking
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- 230000001276 controlling effect Effects 0.000 title claims description 7
- 238000005520 cutting process Methods 0.000 claims description 22
- 239000000969 carrier Substances 0.000 description 23
- 238000000034 method Methods 0.000 description 8
- 230000004044 response Effects 0.000 description 3
- 230000004913 activation Effects 0.000 description 2
- 206010022114 Injury Diseases 0.000 description 1
- 241000269346 Siren Species 0.000 description 1
- 230000000875 corresponding Effects 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006011 modification reaction Methods 0.000 description 1
- 230000001681 protective Effects 0.000 description 1
- 230000001953 sensory Effects 0.000 description 1
- 230000001702 transmitter Effects 0.000 description 1
- 230000001960 triggered Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Abstract
Disclosed is a method for operation of a timber-working device (201) that is configured to perform at least one operation having an associated hazard zone (202). At least one wireless signal is received, which indicates a location of at least one object tracking device (203). The location of the object tracking device (203) relative to the hazard zone of the timber-working device (201) is then determined. At least one recommended operation of the timber-working device (201) is determined based at least in part on the location of the object tracking device (203) relative to the hazard zone (202). At least one hazard zone (202) is determined based on the likely path of an object being propelled from the timber-working device (201). ect tracking device (203) relative to the hazard zone of the timber-working device (201) is then determined. At least one recommended operation of the timber-working device (201) is determined based at least in part on the location of the object tracking device (203) relative to the hazard zone (202). At least one hazard zone (202) is determined based on the likely path of an object being propelled from the timber-working device (201).
Description
James & Wells Ref: 133872/73
METHOD, APPARATUS, AND SYSTEM FOR CONTROLLING A TIMBER-WORKING DEVICE
STATEMENT OF CORRESPONDING APPLICATIONS
This application is based on the Provisional specification filed in relation to New Zealand Patent
Application Number 602930, the entire contents of which are incorporated herein by reference.
TECHNICAL FIELD
The present invention relates to a method, apparatus, and system for controlling a timber-
working device.
BACKGROUND ART
It is well-known to mount timber-working devices to a carrier vehicle in order to perform a
number of operations in connection with timber processing. These operations may include one,
or a combination of, grappling and felling a standing tree, delimbing a felled stem, debarking
the stem, and cutting the stem into logs – commonly using at least one chainsaw.
A significant hazard associated with timber-working devices including a chainsaw is a
phenomenon known as “chain shot”. Chain shot results from the saw chain breaking, following
which parts from the chain or other portions of the saw assembly are propelled at high velocity
from the harvester into the surrounding environment. Other types of saw, such as disc saws,
may experience a similar phenomenon whereby the teeth of the saw are propelled from the
saw.
Further, many timber-working devices include a drive or feed mechanism in the form of at least
one driven roller – for example rollers mounted on grapple arms which grip the stem and control
position of the stem relative to the device. The drive mechanism allows the stem to be moved
relative to the timber-working device for debarking, delimbing, and cutting. In the course of
doing so, the stem may be fed either forward or reverse through the device at upwards of 5
m/s.
It is known to use radio frequency identification (RFID) systems to identify the presence and
location of personnel and equipment within a work environment, and controlling access to an
area, or operation of equipment, based on the danger associated with the presence of
personnel in the vicinity.
James & Wells Ref: 133872/73
For example, United States Patent No. 8,115,650 discloses a system by which the movement
of a vehicle is controlled in response to the presence of workmen in proximity to the vehicle.
This patent discloses that directional antennas may be used to spatially limit a danger zone in
order to minimize the number of alarms being triggered because of workmen in proximity to a
machine but who are not within the danger zone (within which the likelihood of physical collision
is greatly increased).
It is an object of the present invention to address the foregoing problems or at least to provide
the public with a useful choice.
All references, including any patents or patent applications cited in this specification are hereby
incorporated by reference. No admission is made that any reference constitutes prior art. The
discussion of the references states what their authors assert, and the applicants reserve the
right to challenge the accuracy and pertinency of the cited documents. It will be clearly
understood that, although a number of prior art publications are referred to herein, this
reference does not constitute an admission that any of these documents form part of the
common general knowledge in the art, in New Zealand or in any other country.
Throughout this specification, the word "comprise", or variations thereof such as "comprises" or
"comprising", will be understood to imply the inclusion of a stated element, integer or step, or
group of elements integers or steps, but not the exclusion of any other element, integer or step,
or group of elements, integers or steps.
Further aspects and advantages of the present invention will become apparent from the
ensuing description which is given by way of example only.
DISCLOSURE OF THE INVENTION
According to one aspect of the present invention there is provided a method for operation of a
timber-working device, the timber-working device configured to perform at least one operation
having an associated hazard zone, the method including the steps of:
receiving at least one wireless signal indicating a location of at least one object tracking
device;
determining the location of the object tracking device relative to the hazard zone of the
timber-working device;
determining at least one recommended operation of the timber-working device based at
least in part on the location of the object tracking device relative to the hazard zone.
According to another aspect of the present invention there is provided an apparatus for use with
James & Wells Ref: 133872/73
a timber-working device, the timber-working device configured to perform at least one operation
having an associated hazard zone, the apparatus including:
at least one processor configured to:
receive at least one wireless signal indicating a location of at least one object
tracking device;
determine the location of the object tracking device relative to the hazard zone of
the timber-working device;
determining at least one recommended operation of the timber-working device
based at least in part on the location of the object tracking device relative to the hazard
zone.
According to another aspect of the present invention there is provided a harvester system,
including:
a timber-working device configured to perform at least one operation having an
associated hazard zone;
at least one object tracking device configured to output a wireless signal indicating the
location of the object tracking device; and
at least one processor configured to:
receive the wireless signal indicating a location of the object tracking device;
determine the location of the object tracking device relative to the hazard zone of
the timber-working device;
determine at least one recommended operation of the timber-working device
based at least in part on the location of the object tracking device relative to the hazard
zone.
Reference to a hazard zone should be understood to mean a predetermined space within which
a person or object is at risk of being injured or damaged by a particular operation of the timber-
working device – whether due to regular operation of the timber-working device or malfunction
of same.
In particular, the operation is envisaged as being one which extends beyond the physical
dimensions of the timber-working device itself – as will be evident from the examples discussed
further below.
In a preferred embodiment the hazard zone may be determined based on the likely path of an
James & Wells Ref: 133872/73
object being propelled from the timber-working device due to at least one feature or operation
of the device. For example, the object may be a tooth of a disk saw, or link of a chainsaw (as
will be discussed further below).
In another embodiment, the hazard zone may be determined based on the likely path of an
object extending from the timber-working device due to at least one feature or operation of the
device. For example, the timber-working device may be the grapple of a skidder used to drag
cut stems – where the hazard zone is the length of the stem extending from the grapple. The
length of the stem used to determine the hazard zone may, for example, be the greatest length
of stem cut by other timber-working devices in the area.
In another example, the timber-working device may be a swing yarder (also known as a grapple
yarder). Swing yarder operation involves running a grapple along a cable strung between two
points, and lowering the grapple to grasp felled stems. Lowering of the grapple, and
subsequent movement of the grapple carrying the stems, presents a hazard to personnel on
the ground. The hazard zone may be associated with such a system may be the space directly
below the grapple, and/or the length of the stem extending from the grapple once engaged.
Preferably the timber-working device is a harvester head, and may be referred to as such
throughout the specification. Harvester heads typically have the capacity to grapple and fell a
standing tree, delimb and/or debark a felled stem, and cut the stem into logs. For ease of
understanding, reference will herein be made to the timber-working device being a harvester
head. However, a person skilled in the art should appreciate that the present invention may be
used with other timber-working devices, for example a feller buncher, debarking and/or
delimbing head, disc saw head, saw grapple, swing yarder, and so on.
In a preferred embodiment the harvester head includes a cutting means configured to cut
through the stem.
Preferably the cutting means includes at least one saw. In particular it is envisaged that the
present invention may have particular application to timber-working devices including at least
one chainsaw. However, this is not intended to be limiting as the saw may take other forms –
for example a disc saw.
Harvester heads may include a main saw which is primarily used for the felling and cross
cutting of stems. Further, some timber working heads may include a secondary or topping saw.
The topping saw is typically of a lower specification than the main saw, and used primarily
during processing once a tree is felled.
Each chainsaw may include a saw chain, a saw bar around which the saw chain moves, and a
saw drive gear for driving the saw chain around the saw bar.
James & Wells Ref: 133872/73
In a preferred embodiment at least one hazard zone projects from the cutting means.
It is envisaged that the hazard zone may centre about the saw drive gear, although it should be
appreciated that this is not intended to be limiting. In an exemplary embodiment wherein the
cutting means is a chainsaw, the hazard zone extends through the angle of rotation of the
chainsaw about its pivot point in the plane aligning with the cutting plane of the cutting means –
i.e. the saw bar.
It should be appreciated that the hazard zone may take the structure of the timber-working
device into account. For example, it is envisaged that the chainsaw of an exemplary harvester
head may rotate through a 93° angle, with the initial 5-7° contained within the harvester body.
As such, the hazard zone may extend through the substantially 90° angle outside the body.
Further, the hazard zone may extend through substantially 30° in the plane substantially lateral
to the cutting plane. This angle is an industry standard with regard to chainsaws.
It should be appreciated that these angles are described by way of example only, and the
hazard zone or zones implemented with the present invention may vary in light of various
factors such as operating conditions, device configuration – for example saw speed, safety
standards, organisational requirements and so on.
Preferably a hazard zone projects from either side of the cutting means.
This configuration may be particularly useful for defining the space within which chain shot may
occur. In particular, such a hazard zone may define the area in which the greatest risk due to
chain shot is present, while delimiting the space sufficiently to permit safe operation through as
great a range of orientations as possible.
It should be appreciated that this definition of the hazard zone is not intended to be limiting, and
that other configurations of the hazard zone or zones associated with the cutting means may be
used with the present invention.
In a preferred embodiment recommended operation of the harvester head includes disabling
operation of the cutting means when the location of the object tracking device is within the at
least one hazard zone associated with the cutting means.
Preferably the harvester head includes a drive mechanism including at least one driven roller
configured to control the position of a stem held by the harvester head relative to the harvester
head.
In a preferred embodiment at least one hazard zone projects in at least one direction in which a
stem is configured to be driven by the drive mechanism.
In a preferred embodiment recommended operation of the harvester head includes controlling
James & Wells Ref: 133872/73
the drive mechanism when the location of the object tracking device is within the at least one
hazard zone associated with the drive mechanism.
Control of the drive mechanism may include adjusting the speed of the drive mechanism.
Further, control of the drive mechanism may include disabling operation of the drive
mechanism. Disabling operation of the drive mechanism may include limiting operation to be in
one direction, for example away from the operator’s cabin.
In one embodiment the hazard zone may be adjusted depending on the current configuration
or operation of the harvester head.
For example, where the speed of the drive mechanism is variable the hazard zone associated
with the feed operation may vary in accordance with the current feed through speed.
In another embodiment, the harvester head may be configured to determine the diameter of the
stem being processed, and the hazard zone may be adjusted depending on the measured
diameter.
It is envisaged that this adjustment of the hazard zone may be based on the physical
dimensions of the stem such as width, or properties of the stem inferred from diameter such as
mass.
For example, stems with a greater mass may have a greater hazard area due to the greater
momentum when feeding the stem using the drive mechanism.
Further, the length of the stem may be projected from the measured diameter by comparing
previous stem data for similar diameter trees (whether in a specific stand of trees, or forest in
general.
In one embodiment the hazard zone may be adjusted depending on the length of the stem
being processed by the harvester, whether measured or predicted. For example, with regard to
the hazard zone or zones associated with the drive mechanism, the hazard zone may extend to
at least the greatest length of the stem being processed.
In another example, a standing tree may have a hazard zone associated with felling – an area
surrounding a tree to be felled. The recommended operation of the harvester may include
disabling operation of the cutting means when the location of the object tracking device is within
the hazard zone surrounding the tree. The size of the hazard zone is determined, at least in
part, on a measured diameter of the tree when the harvester is mounted to it.
The hazard zone may include a buffer zone extending beyond the length of the stem – whether
a set distance or proportional to the length of the stem.
Reference to an object tracking device should be understood to mean any means by which a
James & Wells Ref: 133872/73
location relative to a base position may be determined. It should be appreciated that reference
to location may mean proximity, direction, or a combination thereof. It should be appreciated
that a number of technologies for achieving this are known. For example, the object tracking
device may be a Radio Frequency Identification (RFID) tag, a Global Positioning System (GPS)
locator, or Real-time Locating System (RTLS) tag. It should be appreciated that this is not
intended to be limiting, and that other forms of object tracking device may be used with the
present invention.
The system may include transmitters and receivers as known in the art in order to facilitate
communication between the various components of the system.
The location of the object tracking device relative to the hazard zone may be determined by any
means known in the art. For example, the harvester head may include an object tracking
device of its own.
In a preferred embodiment, sensors may be used to determine movement of the head relative
to its associated carrier vehicle, with the base position being a fixed position of the vehicle. For
example, rotation sensors may be positioned on the rotator of the harvester head, as well at
points of articulation or rotation on the carrier vehicle and vehicle arm. By combining the
various sensor outputs, the current orientation of the harvester head and associated hazard
areas relative to the base position and/or object tracking device may be determined.
In another embodiment, the head and/or carrier vehicle may include a compass to provide a
frame of reference for orientation of the head and/or carrier vehicle.
It is envisaged that the object tracking device may be used to identify the nature of the object
with which it is associated. For example, an object tracking device may identify whether the
object is a person, or piece of equipment.
It should be appreciated that tracking devices may also be used to demarcate geographical
features or infrastructure rather than objects as such – for example, cliffs, roads, or designated
rest areas. Such areas may be “ring fenced” for protection – whether of the operator or
people/equipment at those locations.
Control of the operation of the harvester head may be based at least on part on the type of
object associated with the object tracking device. For example, if an object tracking device is
identified as being associated with a container at a particular distance and within the hazard
zone of a chainsaw, operation may be permitted to continue. In contrast, if the object was
determined to be a person at the same distance, operation of the chainsaw may be stopped.
In a preferred embodiment, control of the operation of the harvester head may be based at
least on part on the position of one object tracking device relative to another object tracking
James & Wells Ref: 133872/73
device. For example, if a person is determined to be within a hazard zone, but a protective
object (such as a container) is determined to be between the person and the harvester head
operation of the harvester head may not be interrupted.
In a preferred embodiment the location of the object tracking device may be used to determine
proximity of the object tracking device to the harvester head.
In a preferred embodiment the processor is configured to determine the location of the object
tracking device relative to at least one proximity zone surrounding the harvester head.
It is envisaged that a plurality of concentric proximity zones may be provided, each proximity
zone having an associated hazard rating.
The hazard rating may be determined by a number of factors, for example the specifications of
the harvester head and associated vehicle carrier, current operating characteristics of the
harvester head, and/or safety requirements (whether based on local standards, or operator or
site specific).
For example, with regard to chain shot the presence of personnel or equipment within a
proximity zone closer to the harvester head may have a greater hazard rating than an outer
proximity zone.
As a further example, a person may be designated as being at a greater risk of being damaged
due to chain shot within a particular proximity zone than a piece of equipment.
In an exemplary embodiment the hazard rating of a proximity zone, and/or size of a proximity
zone may be adjusted in response to inputs from the operator or timber working device itself.
For example, the operator may recognise that the next tree to be felled is greater in length or
mass than others in the vicinity, and input an indicator of increased risk likelihood into the
controller during the course of processing that tree. Alternatively, the diameter measurement
on attaching the device to the tree may trigger determination of increased risk likelihood and
result in automatic adjustment.
Similarly, the operator may recognise that the gradient of the area on which they are operating
requires a greater proximity zone than at present, and increase the risk likelihood.
Alternatively, a level sensor on the carrier may be used to automatically determine this.
It should be appreciated that the processor may directly or indirectly cause operation of the
harvester head to be controlled in response to the determined recommended operation.
For example, the processor may be one dedicated to performance of the present invention and
configured to communicate the recommended operation to a control module configured to
control operation of the harvester head. Alternatively, the processor may be that of an existing
James & Wells Ref: 133872/73
control system.
In a preferred embodiment the processor is configured to transmit notification of an object
tracking device being within a hazard zone or proximity zone to an operator device.
The operator device may be, for example, a display, a siren, a strobe light, or any other sensory
alarm.
It is envisaged that the notification may be transmitted to a display such as a touchscreen used
by the operator to monitor and control operation of the harvester head, as the operator is likely
to be observing such a display.
In one embodiment the notification may include the recommended operation of the harvester
head. The system may be configured to allow an operator to authorise or override the
recommended operation determined by the processor. For example, the operator may override
the locking out of a chainsaw by performing a double selection of the saw activation button.
Alternatively, the system may rely on the operator to manually perform the recommended
operation.
The notification may include a visual representation of the location of the object tracking device
relative to the harvester head.
Typically, the vision of the operator of a harvester head is restricted to a certain degree by the
structure of the cab from which they operate, and the carrier vehicle itself. By providing the
notification of the object tracking device being within a hazard zone or proximity zone, the
operator of the harvester may take precautions or actions in order to maintain a safe working
environment – whether before or after a high risk hazard condition has occurred.
The various illustrative logical blocks, modules, circuits, and algorithm steps described in
connection with the embodiments disclosed herein may be implemented as electronic
hardware, computer software, or combinations of both. In particular, they may be implemented
or performed with a general purpose processor such as a microprocessor, or any other suitable
means known in the art designed to perform the functions described.
The steps of a method or algorithm and functions described in connection with the
embodiments disclosed herein may be embodied directly in hardware, in a software module
executed by a processor, or in a combination of the two. If implemented in software, the
functions may be stored as processor readable instructions or code on a tangible,
non-transitory processor-readable medium – for example Random Access Memory (RAM),
flash memory, Read Only Memory (ROM), hard disks, a removable disk such as a CD ROM, or
any other suitable storage medium known to a person skilled in the art. A storage medium may
be connected to the processor such that the processor can read information from, and write
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information to, the storage medium.
The various steps or acts in a method or process may be performed in the order shown, or may
be performed in another order. Additionally, one or more process or method steps may be
omitted or one or more process or method steps may be added to the methods and processes.
An additional step, block, or action may be added in the beginning, end, or intervening existing
elements of the methods and processes.
BRIEF DESCRIPTION OF DRAWINGS
Further aspects of the present invention will become apparent from the following description
which is given by way of example only and with reference to the accompanying drawings in
which:
is a side view of an exemplary timber-working system including, for example, a
harvester head according to one aspect of the present invention;
is a diagrammatic view of an exemplary control system for the timber-working
system;
is a side view of an exemplary timber-working system including, for example, a
harvester head showing an exemplary hazard zone associated with the harvester
head;
is an elevated view of the timber-working system and associated hazard zones
is a flowchart illustrating an exemplary method for operating a harvester head
according to one aspect of the present invention;
is an elevated view of an exemplary hazard zone associated with a harvester
head for processing a tree stem according to another aspect of the present
invention;
is an elevated view of another exemplary hazard zone associated with a
harvester head for processing a tree stem according to another aspect of the
present invention, and
is an elevated view of an exemplary embodiment of proximity zones associated
with a harvester head for processing a tree stem according to another aspect of
the present invention.
James & Wells Ref: 133872/73
BEST MODES FOR CARRYING OUT THE INVENTION
illustrates a timber-working system including a carrier 100 for use in forest harvesting.
The carrier 100 includes an operator cab 101 from which an operator (not shown) controls the
carrier 100.
The carrier 100 further includes an articulated arm 102, to which a timber-working device in the
form of a harvester head 103 is connected. Connection of the harvester head 103 to the arm
102 includes a rotator 104, configured to rotate the harvester head about the generally vertical
axis of rotation marked by dashed line 105. A tilt bracket 106 further allows rotation of the
harvester head 103 between a prone position (as illustrated) and a standing position.
The harvester head 103 includes grapple or delimbing arms 107 configured to grasp the stem
of a tree (not illustrated), at least one chainsaw at the end marked by arrow 108, and at least
one feed roller 109 configured to control the position of the tree relative to the chainsaw 108.
Referring to , the carrier 100 and harvester head 103 are controlled by an electronic
control system 110. The control system 110 includes one or more electronic controllers, each
controller including a processor and memory having stored therein instructions which, when
executed by the processor, causes the processor to perform the various operations of the
controller.
For example, the control system 110 includes a first controller 111 on board the carrier 100 and
a second controller 112 on board the head 103. The controllers 111, 112 are connected to one
another via a communications bus 113 (e.g., a CAN bus).
A human operator operates an operator input device 114 located at the operator’s cab 101 of
the carrier 100 to control the head 103. Details of operation are output to an output device 114
– for example a monitor. Certain automated functions may be controlled by first controller 111
and/or second controller 112.
A first position tracking device in the form of a first GPS transponder 116 is associated with the
carrier 100 and electronically connected to first controller 111. The GPS transponder 116 has
an associated unique identifier identifying the carrier 100. Further, the carrier 100 includes an
orientation sensor, for example first compass 117, electronically connected to the first controller
111.
The head 103 also includes a position tracking device in the form of a second GPS transponder
118, electronically connected to second controller 112. The GPS transponder 118 has an
associated unique identifier identifying the head 100 and hazard zones associated with
operation of the head (as will be discussed further below).
James & Wells Ref: 133872/73
Further, the head 103 includes an orientation sensor, for example second compass 119,
electronically connected to the second controller 112. Alternatively, the orientation sensor
could be a rotation sensor associated with rotator 104 – which together with the first compass
117 could be used to determine orientation of the head 103 relative to a cardinal direction.
The control system 110 is configured to receive signals from other GPS transponders in the
vicinity via receiver 120, and process their positions relative to the carrier 100 and head 103 as
discussed below.
and illustrate a harvester carrier 200 for a harvester head 201, generally
configured in the manner described with reference to and .
The harvester head 201 includes a chainsaw (not clearly illustrated) as known in the art. The
harvester head 201 has a saw hazard zone indicated by dashed lines 202 centred about the
saw drive gear.
As seen in , the saw hazard zone 202 extends through substantially 90° in the plane
aligning with the cutting plane of the saw bar. Referring to , the saw hazard zone 202
may extend through substantially 30° in the plane substantially perpendicular to the cutting
plane. It should be appreciated that the angles described herein are exemplary, and not
intended to be limiting.
The distance D to which the saw hazard zone 202 extends may be determined by the operating
speed of the chainsaw, and characteristics of the chain such as pitch or gauge.
Two ground workers 203 and 204, each having a GPS transponder, are illustrated in
and . In , it may be seen that both workers are within the vertical element of the
saw hazard zone 202, while in only the second worker 204 is within the horizontal
element of the saw hazard zone 202.
illustrates a method 300 for operating a harvester head. The methods steps will be
described with reference to , and .
In step 301 the first controller 111 receives location signals from GPS transponders associated
with workers 203 and 204 via receiver 120, and determines the nature of the object associated
with the transponders.
In step 302 the first controller 111 receives signals from the first GPS transponder 116, first
compass 117, second GPS transponder 118, second compass 119 or rotation sensor
associated with rotator 104.
At step 303 the first controller 111 determines whether the workers 203 and 204 are within the
saw hazard zone 202 associated with operation of the chainsaw using the current orientation of
James & Wells Ref: 133872/73
the harvester head and thus saw hazard zone 202.
If so, as in the case of worker 204, in step 304 the first controller 111 looks up a recommended
operation for the chainsaw given the presence of the second worker 204 within the saw hazard
zone 202. A recommended operation for such a condition could be to disable operation of the
chainsaw.
It should be appreciated that in some embodiments, the position and orientation of the carrier
200 may not be required, as the location and orientation of the head 201 may be sufficient for
determining whether a risk of injury is present.
In step 305 the first controller 111 transmits a signal to the second controller 112 to control
operation of the harvester head 201 according to the recommended operation, stopping the
chainsaw.
In step 306 the execution of the recommended operation, and cause for same, is displayed to
the operator of the harvester head 201. The operator may have the option to override the
recommended operation – for example by selecting an override option on the display, or
selecting the relevant control more than once (for example selecting the saw activation button
twice).
Alternatively to steps 305 and 306, following step 305 the first controller 111 may transmit an
alert to the operator via monitor 114 warning them of the presence of the worker and notifying
them of the recommended operation in step 307.
illustrates a harvester carrier 400 for a harvester head 401. In this embodiment the
hazard zone illustrated is a feed hazard zone indicated by dashed line 402. The feed hazard
zone 402 represents the space within which a stem may be driven by the drive mechanism of
the harvester head 401.
In the scenario illustrated, a similar process to that illustrated by may be undertaken to
find that worker 403 would be within the feed hazard zone 402 – and drive operation of the
harvester head 401 disabled.
illustrates a harvester carrier 500 for a harvester head 501. In this embodiment the
hazard zone illustrated is a felling hazard zone indicated by dashed line 502. The feed hazard
zone 502 represents the space within which a standing tree 503 may fall, having been cut by
the cutting means of the harvester head 501.
In the scenario illustrated, a similar process to that illustrated by may be undertaken to
find that worker 504 would be within the felling hazard zone 502 – and cutting operation of the
harvester head 501 disabled.
James & Wells Ref: 133872/73
illustrates an embodiment of the present invention in which a series of concentric
proximity zones 600, 601, and 602 are centred about a harvester head 603.
Each proximity zone has an associated hazard rating, increasing with proximity to the harvester
head 603.
A first ground worker 604 is illustrated outside the proximity zones, with a second ground
worker 605 within the first proximity zone 600.
Referring to elements of , the first controller 111 is configured to receive position
signals from GPS transponders carried by each of the workers 604 and 605. The first controller
111 is configured to determine the location of the workers 604 and 605 relative to the harvester
head 603.
On determining that a transponder is within one of the proximity zones, the first controller 111
may notify the operator of their location to ensure that the operator is aware of their presence.
The hazard rating of the proximity zone may determine the manner in which this is displayed to
the operator. For example, a small notification in the corner of the monitor 114 may be
provided for worker 604, while the presence of worker 605 in the highest risk proximity zone
may cause a more prominent notification to be issued.
This may be particularly useful in the scenario illustrated, where worker 605 may not be directly
within a saw or feed hazard zone of the harvester head 603. The operator may take pre-
emptive steps to ensure that the hazard zones do not intersect with the location of the worker
605 and disrupt operation.
Further, or in place of the alert, the operator may be provided with a radar style overview of
GPS transponders in the vicinity relative to the operator’s position.
Aspects of the present invention have been described by way of example only and it should be
appreciated that modifications and additions may be made thereto without departing from the
scope thereof as defined in the appended claims.
James & Wells Ref: 133872/73
Claims (9)
1. A method for operation of a timber-working device, the timber-working device configured to perform at least one operation having an associated hazard zone, the method including the steps of: receiving at least one wireless signal indicating a location of at least one object tracking device; determining the location of the object tracking device relative to the at least one hazard zone of the timber-working device; determining at least one recommended operation of the timber-working device based at least in part on the location of the object tracking device relative to the at least one hazard zone, wherein at least one hazard zone is determined based on the likely path of an object being propelled from the timber-working device.
2. A method as claimed in claim 1, wherein the recommended operation of the timber- working device includes disabling operation of a cutting means when the location of the object tracking device is within the at least one hazard zone associated with a cutting means.
3. A method as claimed in either claim 1 or claim 2, wherein the recommended operation of the timber-working device includes controlling a drive mechanism when the location of the object tracking device is within the at least one hazard zone associated with the drive mechanism.
4. A method as claimed in claim 3, wherein controlling the drive mechanism includes adjusting the speed of the drive mechanism.
5. A method as claimed in any one of claims 1 to 4, wherein at least one hazard zone is an area surrounding a tree to be felled, and wherein the recommended operation of the timber- working device includes disabling operation of a cutting means when the location of the object tracking device is within the hazard zone surrounding the tree.
6. A method as claimed in claim 5, wherein the size of the hazard zone surrounding the tree is determined, at least in part, on a measured diameter of the tree.
7. A method as claimed in any one of claims 1 to 6, including adjusting the at least one hazard zone based at least in part on the current configuration of the timber-working device.
8. A method as claimed in any one of claims 1 to 7, wherein the wireless signal is used to identify the nature of an object with which the object tracking device is associated.
9. A method as claimed in claim 8, wherein the recommended operation of the timber- James & Wells Ref:
Publications (1)
Publication Number | Publication Date |
---|---|
NZ616524B2 true NZ616524B2 (en) | 2015-07-28 |
Family
ID=
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