NZ762755A - Method and system for controlling tool - Google Patents
Method and system for controlling tool Download PDFInfo
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- NZ762755A NZ762755A NZ762755A NZ76275520A NZ762755A NZ 762755 A NZ762755 A NZ 762755A NZ 762755 A NZ762755 A NZ 762755A NZ 76275520 A NZ76275520 A NZ 76275520A NZ 762755 A NZ762755 A NZ 762755A
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- 230000001276 controlling effect Effects 0.000 title claims abstract description 15
- 238000000926 separation method Methods 0.000 claims abstract description 33
- 230000003247 decreasing Effects 0.000 claims description 27
- 238000004364 calculation method Methods 0.000 claims description 23
- 241000763859 Dyckia brevifolia Species 0.000 claims description 13
- 238000003306 harvesting Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 description 4
- 238000004590 computer program Methods 0.000 description 3
- 230000000875 corresponding Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 241001124569 Lycaenidae Species 0.000 description 1
- 210000000282 Nails Anatomy 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 230000001419 dependent Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
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Abstract
A control unit for controlling a tree stem processing tool (30) pivotably mounted to an articulated boom (20) in such a way that orientation of the tool is changed when the tool is controllably rotated about a rotation axis (N) that is oriented substantially vertically, the articulated boom being rotatably connected to a mobile work machine (10), wherein the control unit (50) is adapted to automatically apply a control mode in the control unit in which control mode a power-driven operation is controlled according to a predetermined dependency in such a way that one or more operating parameters influencing the power-driven operation vary as a function of a prevailing separation or a prevailing distance determined in relation relating to a predetermined hazard direction (S) or predetermined hazard trajectory (V) associated with the tool. tatably connected to a mobile work machine (10), wherein the control unit (50) is adapted to automatically apply a control mode in the control unit in which control mode a power-driven operation is controlled according to a predetermined dependency in such a way that one or more operating parameters influencing the power-driven operation vary as a function of a prevailing separation or a prevailing distance determined in relation relating to a predetermined hazard direction (S) or predetermined hazard trajectory (V) associated with the tool.
Description
P28606-NZ
METHOD AND SYSTEM FOR CONTROLLING TOOL
FIELD OF THE SOLUTION
The present solution relates to a control unit for controlling a tree stem
processing tool pivotably mounted to an articulated boom connected to a
work machine. The present solution relates to a mobile work machine
comprising the control unit. The present solution relates to a method for
controlling a tree stem processing tool pivotably mounted to an articulated
boom connected to a work machine. The present solution relates to a work
machine, particularly a forestry machine.
BACKGROUND OF THE SOLUTION
Mobile work machines, in particular forestry equipment and forestry
machines, e.g. harvesters and forwarders, have an articulated boom and a
tree stem processing tool at the tip of the boom. The tool can be e.g. a
harvester head, a felling head, a harvesting and processing head, or a log
grapple equipped with a sawing apparatus. The tool can be used e.g. to cut
standing trees, to process felled trees or to grab objects, such as logs or tree
stems. When using such a tool with power-driven operations, it is operated
under the control of an operator of the work machine.
A potential hazard taking place during a power-driven operation and
being associated with the tool including a sawing apparatus is the result of
the breaking saw chain of the sawing apparatus during the power-driven
operation. The phenomenon is also known as a "chain shot" in which a part,
e.g. a link of the saw chain, comes off the sawing apparatus and is propelled
from the tool into the surrounding environment. Guards attached to the
sawing apparatus eliminate chain shots but there is still a need to reduce the
risk of an occasional chain shot hitting an object, e.g. the mobile work
machine, and causing any damage. Another potential hazard is associated
with the tool including a feeding device for transferring a tree stem through
the tool. The moving tree stem may unintentionally hit an object in the vicinity
of the tool. Solutions are needed to avoid the hazards mentioned above
and similar hazards.
2 P28606-NZ
SUMMARY OF THE SOLUTION
The presented solution relates to a method and a control unit for
controlling a tree stem processing tool pivotably mounted to an articulated
boom in such a way that orientation of the tool is changed when the tool is
controllably rotated about a rotation axis that is oriented substantially
vertically, the articulated boom being rotatably connected to a mobile work
machine, wherein the control unit is adapted to maintain a calculation model.
According to a first aspect of the solution, the calculation model relates
to a predetermined direction coinciding with a predetermined hazard direction
or being at a fixed angle in relation to the predetermined hazard direction, in
which predetermined hazard direction a piece coming off the tool is expected
to fly or a tree stem held in the tool is expected to move during a power-
driven operation of the tool. The control unit is further adapted to maintain
location data in the control unit, wherein the location data defines a
predetermined location associated with the mobile work machine, a
geographical place, or an object or a location in the vicinity of the tool;
automatically determine in the calculation model and on a basis of the
location data the separation prevailing between the predetermined direction
and the predetermined location during the power-driven operation; and
automatically apply a control mode in the control unit in which control mode
the power-driven operation is controlled according to a predetermined
dependency in such a way that one or more operating parameters influencing
the power-driven operation vary as a function of the prevailing separation.
According to a second aspect of the solution, the calculation model
relates to a predetermined hazard trajectory along which a piece coming off
the tool is expected to fly or the tree stem is expected to move during a
power-driven operation of the tool. The control unit is further adapted to
maintain location data in the control unit, wherein the location data defines a
predetermined location associated with the mobile work machine, a
geographical place, or an object or a location in the vicinity of the tool;
automatically determine in the calculation model and on a basis of the
location data the distance prevailing between the predetermined hazard
trajectory and the predetermined location during the power-driven operation;
and automatically apply a control mode in the control unit in which control
mode the power-driven operation is controlled according to a predetermined
3 P28606-NZ
dependency in such a way that one or more operating parameters influencing
the power-driven operation vary as a function of the prevailing distance.
The presented solution is adapted in a mobile work machine,
comprising an articulated boom being rotatably connected to the mobile work
machine, wherein the mobile work machine is a forestry machine, a
forwarder for transferring timber or tree stems, or a harvester for harvesting
and processing timber or tree stems; a tree stem processing tool pivotably
mounted to the articulated boom in such a way that orientation of the tool is
changed when the tool is controllably rotated about a rotation axis that is
oriented substantially vertically; and a control unit for controlling the mobile
work machine, the articulated boom, and the tool.
DESCRIPTION OF THE DRAWINGS
Fig. 1 shows an exemplary mobile work machine.
Fig. 2 shows an overview of the mobile work machine and a tool.
Fig. 3 shows an alternative overview of the mobile work machine and
a tool.
Fig. 4 shows a control diagram of one embodiment.
Fig. 5 shows a flow chart of one embodiment.
Fig. 6 shows a control mode of one embodiment.
Fig. 7 shows an alternative overview of the mobile work machine and
a tool.
DETAILED DESCRIPTION OF THE EMBODIMENTS
Reference will now be made to the examples of which are illustrated in
the accompanying drawings. Wherever possible, the same or corresponding
reference numbers will be used throughout the drawings to refer to the same
or corresponding parts or features.
Fig. 1 shows an exemplary mobile work machine 10 in which the
presented solution and control unit can be applied. The mobile work machine
may be a forestry machine, for example a harvester for harvesting and
processing timber or tree stems, as shown in Fig. 1, or a forwarder for
transferring timber or tree stems.
The mobile work machine 10 (also referred to herein as a machine, a
mobile machine, and a vehicle) comprises a frame 12, an articulated boom
4 P28606-NZ
(also referred to herein as a boom) on the frame 12, and a control unit 50.
The machine 10 may further on the frame 12 comprise a cabin 14 with an
operator’s station.
The machine 10 may comprise an engine as the source of power. The
frame 12 may be articulated and have two or more frame sections connected
one after the other by means of a controlled joint. The frame 12 may be
wheeled and supported by several wheels. Alternatively, the frame 12 may
have an endless track arrangement for supporting the frame 12 and to drive
the machine 10. The machine 10 may have a load space located on the
frame 12 or on a frame section. The load space may have several bunks for
supporting a load. The load space is for carrying logs or tree stems loaded
into the load space.
The boom 20 may be mounted onto a slewing apparatus 22 connected
to the frame 12 for changing the orientation of the boom 20. By turning the
slewing apparatus 22, the boom 20 can be rotated about a rotation axis N
that is substantially vertical when the machine 10 stands or moves on the
ground that is substantially horizontal. In an example of the solution, the
boom 20 with the slewing apparatus 22 may further be mounted on a tilting
apparatus connected to the frame 12 for tilting the boom 20 in such a way
that the rotation axis N is controllably tilted.
The boom 20 may have two or more boom sections connected one
after the other. Two or more boom sections are connected to each other by
means of joint arrangements controlled by means of one or several
actuators, e.g. a linear actuator or a hydraulic cylinder.
In the example of Fig. 1, the boom 20 may have a base section 28
connected between the slewing apparatus 22 and a second boom section 26.
The orientation of the second boom section 26 in relation to the base section
28 is controlled by an actuator 52. The actuator 52 is connected between the
base section 28 and the second boom section 26. A first boom section 24 is
connected to the second boom section 26. The position of the first boom
section 24 in relation to the second boom section 26 is controlled by an
actuator 54. The actuator 54 is connected between the second boom section
26 and, either directly or via a joint arrangement, the first boom section 24.
One or more boom sections of the boom 20 may operate
telescopically. The extension and the length of the telescopically operating
boom section may be controlled by means of two or more boom section parts
arranged movably within each other. One or several actuators, e.g. a linear
P28606-NZ
actuator or a hydraulic cylinder, may be used to control the relative positions
of the boom section parts. The actuator is connected to the boom section
with boom section parts and the actuator is located either inside or outside
the boom section.
According to an example and Fig. 1, the first boom section 24 may be
arranged telescopically operating in such a way that the first boom section 24
has two boom section parts controlled by at least one actuator, e.g. a linear
actuator or a hydraulic cylinder.
In the presented solution, a tree stem processing tool 30 (also referred
to herein as a tool) is connected to the boom 20. Preferably, the tool 30 is
connected at the end of the boom 20 or the first boom section 24 and
represented by the tip P of the boom 20. The tool 30 is rotatably connected to
the boom 20 by means of an actuator 32, e.g. a rotary actuator or a rotator.
With the actuator 32, the tool 30 suspended from the actuator 32 can be
controllably rotated about a rotation axis X that is oriented substantially
vertically. The orientation of the tool 30 is thus controlled with the actuator 32.
In this description, orientation refers to the position of a component in
question in relation to its surroundings or another component. The orientation
may be indicated with a direction associated with the component. The
direction may be represented by a direction arrow. Preferably, the direction is
observed in such a way that the component represents an origin or a
reference point. The orientation or the direction is observed preferably in a
substantially horizontal plane.
According to an example and Fig. 1, the actuator 32 may be
connected to the boom 20 via a link 34. The link 34 provides free orientation
of the actuator 32 and the tool 30 with respect to the boom 20 in such a way
that the rotation axis X, the actuator 32, or the tool 30 connected to the
actuator 32, can maintain its upright, substantially vertical position.
The tool 30 may be a harvester head, a felling head, a harvesting and
processing head, a harvester head suitable to be used as a log grapple, or a
log grapple equipped with a sawing apparatus for cross-cutting a tree stem
held in the log grapple. According to an example and Fig. 1, the tool 30 is a
harvester head for harvesting and processing timber first by grabbing and
felling a standing tree and then debranching and cross-cutting the tree stem.
The tool 30, when configured to grab a standing tree from a side and
then cross-cutting the standing tree held in the tool 30, needs to be oriented
as shown in Fig. 1 i.e. towards the tree standing vertically, e.g. towards right
6 P28606-NZ
as in Fig. 1. Then, a predetermined side of the tool 30 faces the standing
tree.
The tool 30, when configured to debranch and cross-cut a felled tree
or cross-cut a tree stem that may be positioned substantially horizontally and
is held in the tool 30, is preferably oriented e.g. towards the ground, i.e.
downwards.
The tool 30 may include a frame including tilting devices enabling
tilting of a housing of the tool 30 to face the standing tree or the ground. The
tilting devices are for changing the position of the tool 30 from vertical (see
Fig. 1) to horizontal, and vice versa. Thus, when horizontally positioned, the
tool 30 can grab logs or process tree stems that are oriented substantially
horizontally.
The tool 30 may have two or more arms pivotally connected to the
housing of the tool 30 for grabbing a standing tree, a log, or a tree stem e.g.
from two opposite sides. A mechanism driven by one or more actuators, e.g.
a hydraulic cylinder, is connected to the housing for moving the arms to an
open position and a closed position. The arms may be additionally
constructed as blades for debranching a tree stem held in the tool 30.
The tool 30 may have a feeding device 56 for transferring a tree stem
through the tool 30 while being held in the tool 30. The tree stem is
transferred in its longitudinal direction. The feeding device 56 may include
one or more feed wheels that contact the tree stem and are adapted to rotate
for transferring the tree stem. The feeding device 56 and/or the feed wheel is
driven by an actuator 62, e.g. a rotary actuator or a motor, see Fig. 4. The
motor may be a hydraulic motor adapted to convert hydraulic pressure and
flow into torque and rotational speed for driving the feeding device 56 and/or
the feed wheel. The feed wheel may be attached to the arm or housing of the
tool 30.
The tree stem is transferred for simultaneously debranching the tree
stem by means of the blades and/or for moving the tree stem to a position in
which it is cross-cut. The tree stem is held in the tool by the arm and/or the
feeding device 56. Preferably, the tree stem is substantially horizontal when
being transferred.
The tool 30 may have a sawing apparatus 58 for cross-cutting a
standing tree and/or a tree stem held in the tool 30. The sawing apparatus 56
is e.g. a chain saw provided with a saw blade around which a saw chain
travels when driven by an actuator 64, e.g. a rotary actuator or a motor, see
7 P28606-NZ
Fig. 4. The motor may be a hydraulic motor adapted to convert hydraulic
pressure and flow into torque and rotational speed for driving the saw chain.
The sawing apparatus 58 may include an actuator 66 for swinging the saw
blade (see Fig. 4) for performing the cross-cutting, the actuator 66 being
adapted to convert hydraulic pressure and flow into force and speed of the
saw blade. The saw blade swings in a substantially vertical plane when
cross-cutting a tree stem positioned horizontally.
One or more boom sections of the boom 20 operate by raising and
lowering the tool 30 or another boom section connected to the boom section.
The raising and lowering takes place in a substantially vertical plane.
According to an example and Figs 1, the second boom section 26 is pivotably
connected to the base section 28. In this way, the height of the end U of the
second boom section 26 can be controlled by turning the second boom
section 26 about an axis that is substantially perpendicular to the rotation
axis N, thus substantially horizontal during operation of the machine 10. The
second boom 26 is pivotably connected to the first boom section 24. In this
way, the height of the tip P of the first boom section 24 and the boom 20 can
be controlled by turning the first boom section 24 about an axis that is
substantially perpendicular to the rotation axis N.
One or more control devices, e.g. a joystick, in the cabin 14 or at the
operator's station may be used by an operator to move the boom 20, the tip
P of the boom, or the tool 30. The control devices may be operably
connected with the control unit 50 of the machine 10. A display may be
connected to the control unit 50 for showing information and data to the
operator. A keyboard or input devices may be connected to the control unit
50 for inputting data and giving instructions by the operator.
The control unit 50 is operably connected with various actuators
associated with the boom 20, the tool 30 and other components of the
machine 10. Control signals from the control devices are communicated to
the control unit 50 and the control unit 50 is operable to responsively control
the various actuators, e.g. with the help of a hydraulic circuit, to move and
change the position of the boom 20 and the tool 30, rotate the boom 20 to
change the orientation of the boom 20, rotate the tool 30 to change the
orientation of the tool 30, and operate the devices and apparatuses of the
tool 30, e.g. the sawing apparatus 58 and the feeding device 56, for
performing work or power-driven operations.
8 P28606-NZ
The control unit 50 may a programmable microprocessor-based
device with a memory device and associated computer program code, for
generating control signals to responsively control the various actuators. The
computer program code may be in a form of a control program or a control
algorithm, or appropriate computer software, running or being executed
under the control of a control computer, i.e. the control unit 50. The
associated computer program code may be embodied on a computer
readable medium. The control unit 50 may have a distributed configuration
with several subunits communicating with each other’s. In the context of this
description, the term “automatic” refers to control methods performed by the
control unit 50 based on input information or data received by the control unit
50, e.g. from sensors 200, and applying a calculation model when analyzing
the information and data to provide control modes adapted to control the
actuators and associated devices or apparatuses. The control unit 50 utilizes
generated control signals to automatically implement the control methods.
The actuators may be hydraulic motors and/or hydraulic cylinders
utilizing hydraulic energy, i.e. hydraulic pressure and flow, and pressurized
medium which is transmitted to the actuators by means of e.g. lines and
flexible hoses. An apparatus needed for generating the hydraulic energy is
placed in the machine 10, e.g. in the frame 12 or is operatively connected to
the engine 15. Hydraulic energy is distributed e.g. in the form of pressurized
medium to the actuators via the hydraulic circuit presenting necessary valves
and components for controlling the flow and the hydraulic pressure of the
pressurized medium. Some actuators may utilize electric energy stored in an
accumulator or generated with a generator operatively connected to the
engine. The hydraulic circuit is controlled based on control signals from the
control unit 50 under the control of the operator and/or the automatic control
of the control unit 50. In this description, the actuators using hydraulic or
electrical energy bring about power-driven operations of e.g. the tool 30, the
feeding device 56, and/or the sawing apparatus 58.
Embodiments of the presented solution will now be discussed with
reference to Figs. 2 and 3 in which the tool 30 is oriented substantially
horizontally, as discussed above, to cross-cut or feed a tree stem that is
being held substantially horizontally in the tool 30. The tool 30 is preferably
oriented towards the ground. The method of the presented solution is also
discussed with reference to a flow chart in Fig. 5.
9 P28606-NZ
Figs. 2 and 3 show a machine 10 having a tool 30 pivotably mounted
to a boom 20 on the machine 10. The machine 10 and the boom 20 may be
as in the examples explained above or in Fig. 1. The tool 30 may be as in the
examples explained above or in Fig. 1. The machine 10 may be a harvester
and the tool 30 may be a harvester head.
The tool 30 may have a predetermined main direction T defining e.g.
the orientation for the longitudinal direction of the tool 30 or the orientation of
the tool 30 in relation to e.g. the boom 20. The main direction T may define
the angular orientation, e.g. in a substantially horizontal plane, of the tool 30
in relation to e.g. the boom 20 or the machine 10. A tree stem held 70 in the
tool 30 or the longitudinal direction of the tree stem 70 may run parallel with
the main direction T. According to an example, the main direction T runs
parallel with a substantially horizontal plane.
The tool 30 may have one or more predetermined hazard directions S
associated with the tool 30, see Fig. 2. Additionally, or alternatively, the tool
may have one or more predetermined hazard trajectories V associated
with the tool 30, see Fig. 3.
The hazard direction S may define e.g. the direction in which a piece
coming off the tool 30 is expected to fly during a power-driven operation of
the tool 30 (see direction S1). The hazard trajectory V may define e.g. the
trajectory along which a piece coming off the tool 30 is expected to fly during
a power-driven operation of the tool 30 (see trajectory V1). The piece may be
a part of the saw chain of the sawing apparatus 58 mentioned above, e.g. a
chain link coming off the saw chain that is being driven during the power-
driven operation. For example, when hitting a nail in a tree stem that is being
cross-cut the saw chain may break and send a chain link flying in the hazard
direction S or along the hazard trajectory V. Therefore, the hazard direction S
or the hazard trajectory V may be associated with the sawing apparatus 58 of
the tool 30. The power-driven operation may include cross-cutting a standing
tree or a tree stem 70 held substantially horizontally in the tool 30.
The tool 30 may have, e.g. when horizontal and cross-cutting a
horizontal tree stem 70 as shown in Fig. 2 and 3, two or more predetermined
hazard directions S or hazard trajectories V contained in a substantially
vertical plane. Preferably, the vertical plane and a vertical plane defined by
the swinging motion of the saw blade of the sawing apparatus 58 coincide.
Additionally, or alternatively, the tool 30 may have, e.g. when vertical as
shown in Fig. 1 and cross-cutting a standing tree, two or more predetermined
P28606-NZ
hazard directions S or hazard trajectories V contained in a substantially
horizontal plane. Preferably, the horizontal plane and a horizontal plane
defined by the swinging motion of the saw blade of the sawing apparatus 58
converge.
Additionally, or alternatively, the hazard direction S may define e.g. the
direction in which a tree stem 70 held in the tool 30 is expected to move
during a power-driven operation of the tool 30 (see direction S2). The hazard
trajectory V may define e.g. the trajectory along which a tree stem 70 held in
the tool 30 is expected to move during a power-driven operation of the tool
30 (see trajectory V2). The hazard direction S or the hazard trajectory V may
be associated with the feeding device 56 of the tool 30. The power-driven
operation may include transferring the tree stem 70 for debranching it or prior
to cross-cutting it. The hazard direction S or the hazard trajectory V may run
parallel with the longitudinal direction of the tree stem 80 or coincide with it.
According to an example, e.g. in the calculation model mentioned
above, the hazard direction S may be represented by a direction that is
oriented substantially horizontally. The orientation, the angular orientation, a
related distance, or related spacing, e.g. in a substantially horizontal plane, of
the hazard direction S may be defined in relation to e.g. the machine 10, the
boom 20, the tool 30, and/or a given point or location. The calculation model
is maintained in the control unit 50, see step 100 of the method in Fig. 5.
According to an example, e.g. in the calculation model, the hazard
trajectory V may be represented by a trajectory which is oriented
substantially horizontally. The orientation, the angular orientation, related
distance, or related spacing, e.g. in a substantially horizontal plane, of the
hazard trajectory V may be defined in relation to e.g. the machine 10, the
boom 20, the tool 30, and/or a given point or location.
As shown in the examples of Figs. 2 and 7, the hazard direction S may
in the calculation model be substituted by a predetermined direction F which
is at a fixed angle FA in relation to the hazard direction S, the predetermined
direction F and/or the fixed angle FA being observed e.g. in a substantially
horizontal plane. The predetermined direction F is associated with the tool
. For example, the predetermined direction F is the main direction T that is
at a fixed angle in relation the predetermined hazard direction S, e.g. when
crosscutting or transferring a tree stem that is substantially horizontal. The
fixed angle FA preferably remains unchanged during power- driven
11 P28606-NZ
operations of the tool 30, the feeding device 56, and/or the sawing apparatus
The above-mentioned predetermined direction F may coincide with the
hazard direction S and in that case the hazard direction S may be used as a
point of reference in the calculation model, not the predetermined direction F.
In this description the hazard direction S is a point of reference but in the
examples related to Fig. 2 the hazard direction S may be substituted with the
coinciding predetermined direction F without deviating from the presented
solution.
The boom 20 may have a predetermined boom direction B defining
e.g. the orientation for the longitudinal direction of the boom 20 or the
orientation of the boom 20 in relation to e.g. the machine 10 or the
longitudinal direction M of the machine 10. The boom direction B may define
the angular orientation, e.g. in a substantially horizontal plane, of the boom
20 in relation to e.g. the machine 10. According to an example, the boom
direction B runs parallel with a substantially horizontal plane.
According to an example, the boom 20 or the tool 30 may be moved
by the operator to one or more initial predetermined orientations in which e.g.
the boom direction B, the main direction T, and/or the hazard direction S is
set and maintained with the help of the control unit 50. According to an
example, the initial predetermined orientation may be such that the hazard
direction S is directed towards one or more predetermined locations
discussed hereinafter.
In the presented solution, one or more predetermined locations P may
be defined to be taken into consideration when the control unit 50 controls a
power-driven operation of the tool 30, e.g. the power-driven operations
explained above. The power-driven operation may potentially cause a hazard
in these locations and therefore risks related to the hazard are reduced with
the presented solution.
The predetermined location P may be associated with the machine 10.
The predetermined location P may be a location on the machine 10, e.g. the
cabin 14 (see location P1), the operator’s station, or a point in the frame 12.
Alternatively, or additionally, the predetermined location P may be an
object C in the vicinity of the tool 30, or a location (see location P3) in the
vicinity of the tool 30. The object C may be a stationary or moving object (see
location P2).
12 P28606-NZ
Alternatively, or additionally, the predetermined location P may be a
geographical place defined as a geographic location, e.g. a position on Earth
defined by longitude and latitude, or, a location defined by two coordinates in
relation to a predetermined reference point. The predetermined reference
point may be stationary or move with the machine 10 and is located e.g. in
the tool 30, the cabin 14, or the operator’s station.
The predetermined location P may be defined as a location in a polar
coordinate system in which the location is determined by a distance from a
reference point and an angle from a reference direction. The reference point
may be stationary or move with the machine 10 and is located e.g. in the tool
. The reference direction may be a point of the compass, a predetermined
angular orientation of the boom 20 or tool 30 in relation to e.g. the machine
, the longitudinal direction M, the boom direction B, or the boom 20.
The control unit 50 is adapted to store and maintain location data
defining the one or more predetermined locations P. According to an
example, the location data indicative of the location of the predetermined
location P may be communicated to the control unit 50. According to one
example, the operator feeds the location data to the control unit 50 by using
e.g. input devices located at the operator’s station.
The predetermined point P may be defined as the location in which a
predetermined, automatically observable object is situated. The object may
be configured to send location data indicative of the location, e.g. the
geographic location, of the object to e.g. the control unit 50. The object may
include a GNSS module (Global Navigation Satellite System) using e.g. the
GPS system (Global Positioning System). Alternatively, the object may be
configured to be automatically observable by a detection system adapted to
determine the location of the object in relation to the detection system and
related location data. The detection system may be in the machine 10, the
boom 20, or the tool 30, and is operably connected to the control unit 50. The
detection system may include a radar device or a laser scanner device. In a
similar manner, one or more of the reference points P mentioned above may
be indicated with the help of the automatically observable object.
The location data mentioned above is maintained in the control unit
50, see step 102 of the method in Fig. 5.
In the presented solution, the tool 30 and a power-driven operation of
the tool 30 are automatically controlled by the control unit 50 in accordance
with the control modes mentioned above. In the control mode the power-
13 P28606-NZ
driven operation is controlled according to a predetermined dependency in
such a way that one or more operating parameters influencing the power-
driven operation is varied. The one or more operating parameters are set to
vary as a function of a prevailing separation and/or distance.
In the context of this description, the term “operating parameter” refers
to a measurable factor that sets conditions of the operation of a system.
The prevailing separation is defined as the separation prevailing
between the
predetermined hazard direction S and the predetermined location P during
the power-driven operation. The prevailing distance is defined as the
distance prevailing between the predetermined hazard trajectory V and the
predetermined location P during the powerdriven operation.
In the corresponding method, the control unit 50 automatically applies
the control mode, see step 106 in Fig. 5.
According to an example, the magnitude or extent of the prevailing
separation and/or distance represents risks related to the power-driven
operation, e.g. the risk of a tree stem 70 moving or a piece coming off the
tool 30 hitting an object or person situated in the predetermined location P
while the tree stem 70 is being moved or cross-cut with the tool 30. The risk
increases when the prevailing separation or distance decreases.
In the context of this description, the term “separation” relates to a
state of being separated e.g. by an intervening space, and the term
“distance” relates to the degree or amount of separation between two points
or objects.
The control unit 50 is adapted to automatically determine, by means of
the calculation model and on a basis of the location data mentioned above,
the prevailing separation and/or distance. The determination takes place prior
to or during the power-driven operation of the tool 30 or may be determined
continually. Mathematical equations necessary for the determination may be
based on the geometry associated with the tool 30 and related to the location
of the predetermined point P. Elementary mathematics known to the skilled
person may be applied.
The prevailing separation and/or distance is automatically determined
by the control unit 50, see step 104 in the method of Fig. 5, followed by step
106.
The predetermined location P may be represented by a point in a
substantially horizontal plane and the prevailing distance or separation may
14 P28606-NZ
be determined in a substantially horizontal direction or along the same,
substantially horizontal plane or another substantially horizontal plane.
For example, as shown in Fig. 2, the prevailing separation may be
represented by the relative angle R between the hazard direction S, or the
hazard trajectory V, and the location of the predetermined location P. In other
words, the relative angle R equals the angle between the hazard direction S,
or the hazard trajectory V, and another direction turned towards the
predetermined location P. Preferably, the relative angle R in a substantially
horizontal plane is determined. The hazard direction S and the other direction
are preferably associated with a common origin or reference point that is
located e.g. in the tool 30, the feeding device 56, or the sawing apparatus 58.
In Fig. 2, relative angles R1, R2 and R3 represent the relative angle R in
relation to the predetermined locations P1, P2 and P3, respectively.
For example, as shown in Fig. 3, the prevailing distance may be
represented by the distance D between the hazard trajectory V and the
location of the predetermined location P. In other words, the distance D may
equal the perpendicular distance between the hazard trajectory V, or a point
along the hazard trajectory V, and the predetermined location P, e.g.
measured along a line that may be perpendicular to one or both of the hazard
trajectory V and the location of the predetermined point P. In Fig. 3, distances
D1, D2 and D3 represent the distance D in relation to the predetermined
locations P1, P2 and P3, respectively.
According to an example, the one or more operating parameters are
additionally set to vary as a function of the distance prevailing between the
predetermined location P and the tool 30, the sawing apparatus 58, or the
feeding apparatus 56, e.g. measured along a line in a substantially horizontal
plane.
According to an example, the operating parameter is related to a
power-driven operation of the tool 30, the sawing apparatus 58, or the
feeding apparatus 56. According to another example, the operating
parameter is more specifically related to an actuator of the sawing apparatus
58, e.g. the actuator 64 driving the saw chain of the sawing apparatus 58, or
an actuator of the feeding device 56, e.g. the actuator 62 driving the feeding
device 56 or the feed wheel of the feeding device 56.
More specifically and according to an example, the operating
parameter is the torque generated in the actuator, e.g. a rotary actuator or a
motor. The torque generated in a hydraulic motor used as the actuator is
P28606-NZ
decreased by decreasing the hydraulic pressure in the hydraulic circuit, and
increased by increasing the hydraulic pressure, by means of the hydraulic
circuit mentioned above.
More specifically and according to an example, the operating
parameter is the rotational speed of the saw chain or feed wheel effected by
the actuator and controlled e.g. by controlling flow of pressurized medium
into the actuator. The rotational speed effected by the actuator is decreased
by decreasing the flow in the hydraulic circuit, and increased by increasing
the flow, by means of the hydraulic circuit mentioned above or the actuator
when being e.g. a variable-displacement hydraulic motor.
According to yet another example, the operating parameter is related
to the actuator 66 of the sawing apparatus 58, the actuator 66 swinging the
saw blade for performing crosscutting.
More specifically and according to an example, the operating
parameter is the speed of the swinging saw blade effected by the actuator 66
and controlled e.g. by controlling in the hydraulic circuit the flow of
pressurized medium into the actuator 66. The speed generated with the
actuator 66 is decreased by decreasing the flow, and increased by increasing
the flow, by means of the hydraulic circuit mentioned above.
More specifically and according to an example, the operating
parameter is the force effected by the saw blade and saw chain while
pressing against a tree stem, which force is generated by the actuator 66
adapted to swing the saw blade, and controlled e.g. by controlling the
pressure of the pressurized medium in the actuator 66. The force generated
by means of the actuator 66 is decreased by decreasing the pressure, and
increased by increasing the pressure, by means of the hydraulic circuit.
Regarding the saw chain, the probability of the event that the saw
chain breaks or sends a piece of the saw chain flying during a power-driven
operation of the sawing apparatus 58 diminishes when the torque, the
rotational speed, the generated speed, or the generated force as explained
above decreases. Additionally, the decreased rotational speed means
decrease in the kinetic energy of the piece when compared to a typical,
higher rotational speed.
Regarding the feeding device 56, the decreased rotational speed
means decrease in the speed and kinetic energy of the tree stem 70 that is
being moved with the feeding device 56 when compared to a typical, higher
speed. Additionally, the lowered speed gives the operator more time to react
16 P28606-NZ
in a potentially hazardous situation in which the tree stem 70 moves in the
vicinity of the object or person situated in the predetermined location P.
According to an example of the presented solution and as shown in
Fig. 6, in the sawing device 58 or in the feeding device 56, and according to
the examples presented above, the magnitude or value 212 of the operating
parameter is changed when it is established in the control unit 50 that the
prevailing separation or distance has been decreased e.g. in such a way that
the relative angle or distance in relation to the predetermined location P has
decreased. Preferably, the change results in a change in the rotational speed
or torque driving the saw chain or feed wheel.
In Fig. 6, the prevailing separation or distance is represented by the
horizontal axes 202 and 204, each axis representing the moduli of
magnitudes or values, e.g. absolute or relative, of the prevailing separation or
distance. The prevailing separation or distance increases in the direction
shown by each axis 202, 204. The vertical axis 210 represents magnitudes or
values, e.g. absolute or relative, related to the operating parameter. The
magnitudes or values increase in the direction shown by the axis 210. The
origin O represents magnitudes or values equalling zero, e.g. zero speed,
zero torque, zero force, zero relative angle, zero distance, or the
predetermined point P and the hazard direction S being aligned.
According to an example of the presented solution, in the sawing
apparatus 58 or feeding device 56, and according to the examples presented
above, the torque, the rotational speed, the generated force, or the generated
speed is decreased when it is established in the control unit 50 that the
prevailing separation or distance has been decreased e.g. in such a way that
the above-mentioned relative angle or distance in relation to the
predetermined location P has decreased. According to an example, the
torque, the rotational speed, the generated force, or the generated speed
decreases with the decreasing relative angle or distance. That is, the smaller
the relative angle or the distance is, the lower the torque, the rotational
speed, the generated force, or the generated speed is. According to another
example, the torque, the rotational speed, the generated force, or the
generated speed is decreased to a lower level, e.g. to a level lower than a
default or nominal value 208 (see e.g. a magnitude or value 206).
According to an example, the above-mentioned decrease may take
place when the relative angle, preferably the modulus of the value of the
relative angle, or the distance equals or is less than a predetermined
17 P28606-NZ
threshold value 200, 202, e.g. 10°, 20°, or 30° for the relative angle. Outside
this range or with values above the predetermined threshold value 200, 202
the operating parameter in question may follow the default or nominal value
208.
In a case in which the hazard direction S is substituted by the above-
mentioned predetermined direction F, e.g. the main direction T, the
predetermined threshold values 200, 202 may differ in value from each other.
Alternatively, or additionally, in that case the origin O may represent a value
that equals the above-mentioned fixed angle FA between the predetermined
direction F and the hazard direction S. However, when the above-mentioned
relative angle equals the fixed angle FA, the predetermined point P and the
hazard direction S are aligned.
The examples above relating to decreasing the value of the operating
parameter in question when applying the above-mentioned control mode,
relating to one or more operating parameters, is depicted in step 108 of the
method in Fig. 5.
In the examples above the operating parameter (e.g. the torque, the
rotational speed, the generated force, or the generated speed), or the
magnitude or value 212 of it, may be decreased and/or kept at the above-
mentioned lower level when it is established that the prevailing separation or
distance is within a predetermined range. Within this predetermined range
the magnitude or value of the operating parameter is decreased to the
above-mentioned lower level or to a level lower than outside the
predetermined range. The predetermined range may be represented by the
range between the predetermined threshold values 200, 202.
In the examples above, the operating parameter, or the magnitude or
value 212 of it, preferably changes in a continuous manner when it is
decreasing with the prevailing separation or distance that is decreasing.
Preferably, in the examples above, the operating parameter, or the
magnitude or value 212 of it, decreases at its lowest to a magnitude or value
206 that guarantees continuation of the power-driven operation in question
e.g. without stopping it. That is, e.g. without setting the magnitude or value
212 to zero, or, maintaining the magnitude or value 212 at the above-
mentioned lower level or a level (see the magnitude or value 206 in Fig. 6) in
which the torque generated, the rotational speed, the generated force, or the
generated speed is active or goes on.
18 P28606-NZ
Preferably, the magnitude or value 212 of the operating parameter is
at its lowest when the prevailing separation or distance is at its minimum.
In the examples above, to guarantee continuation of the power-driven
operation, the rotational speed or the torque is maintained at a level that
keeps the saw chain or the tree stem moving, or, the generated force or the
generated speed is maintained at a level that keeps saw blade moving to
cross-cut a tree stem.
The maintaining of the magnitude or value at the level mentioned
above, or at its lowest, when applying the above-mentioned control mode, is
depicted in step 110 of the method in Fig. 5.
In relation to the examples presented above, for receiving data or
information indicative of e.g. the orientation or location of the tool 30, the
hazard direction S, the hazard trajectory V, the boom 20, the machine 10, the
cabin 14, or the operator’s station, one or more sensors 200 may be in use.
The sensors 200 are operably connected to the control unit 50 and
e.g. electric signals from the sensors 200 are communicated to the control
unit 50. The control unit 50 is able to determine the orientation or location
mentioned above on the basis of the received data or information and the
calculation model mentioned above. The determination may be based on
mathematical equations related to the geometry of the machine 10 and its
various components, e.g. the boom 20 and the tool 30. In the above, the
sensor may be a device arranged to measure a value. The sensor may
actively send, via a wire or wirelessly, information or data to the control unit
50.
An exemplary arrangement of the sensors 200 is presented referring
to Fig. 1 showing the boom 20. The arrangement may comprise an
orientation sensor 60 arranged to determine the orientation of the tool 30 e.g.
with respect to the boom 20. The orientation sensor 60 may be in or at the
actuator 32. The orientation of the actuator 32 sensed by the orientation
sensor 60 may be dependent on the orientation of the tool 30. Thus, the
orientation of the tool 30 or the hazard direction S may be determined by the
orientation sensor 60. The output of the orientation sensor 60, i.e. information
or data indicative of the orientation of the tool 30, may be used in the control
unit 50.
Additionally, the tool 30 may include a position sensor arranged to
determine the location, e.g. the geographic location, of the tool 30, the
19 P28606-NZ
sawing apparatus 58 and/or the feeding device 56, with respect to e.g. the
actuator 32, the boom 20, the slewing apparatus 22, the machine 10, the
cabin 14, or the operator’s station, in which component another position
sensor may be in use to determine the location, e.g. the geographic location,
of the component. The determination may be based on calculations related to
the geometry of the components and carried out e.g. in the calculation model
of the control unit. The position sensor may include a GNSS module (Global
Navigation Satellite System) using e.g. the GPS system (Global Positioning
System). The output of the position sensor, i.e. information or data indicative
of the location of the tool 30 and/or the component, may be used in the
control unit 50.
As will be detailed below, the position of the boom 20 and the location
of e.g. the tip P of the boom 20 or the actuator 32 depends on the angular
relationships of the boom sections of the boom 20 and the dimensioning of
the boom sections, i.e. the length of each boom section. According to an
example and Fig. 1, the angular relationships may be represented by using
the azimuth angle α1 of the boom 20 effected by the slewing apparatus 22,
the altitude angle α2 of the second boom section 26, and the angle α3
between the first and second boom sections 24 and 26. The altitude angle α2
represents the angle between the base section 28 and the second boon
section 26 or the altitude angle of the second boon section 26. Additionally,
an altitude angle of the boom 20 or the base section 28 effected by the tilting
apparatus may be determined. For example, a point on the rotation axis N
may be used as a reference point and additional reference points may be
used to determine the absolute or relative position of e.g. the tip P of the
boom 20. The angles α1, α2 and α3 may be measured e.g. with angular
sensors or acceleration sensors. Relating to the examples explained above,
one or more of the above-mentioned sensors may be in use.
Several sensors, optionally of different types, can be used in
combination. Thus, the information indicative of the quantities mentioned
above in the various examples can be provided by at least one, preferably
many, sensors chosen from a set of sensors, the set of sensors comprising
acceleration, position, velocity, angle, and length sensors. The operational
principle of such sensors is wide; e.g. optical, electro-optical, mechanical,
electro-mechanical, electrical, and resistive sensors may be used.
The output of the sensors 200 mentioned above may be used in the
control unit 50 to determine the attitude and geometry of the boom 20 or
P28606-NZ
when determining e.g. the location or orientation of the tool 30, the sawing
apparatus 58, the feeding device 56, the hazard direction S, or the hazard
trajectory, with respect to e.g. the machine 10 or the predetermined location
In the context of this application the term “substantially vertical” may
be substituted with the term “vertical” and the term “substantially horizontal”
may be substituted with the term “horizontal”. Also, as used herein, the term
“substantially” means that the specified parameter may be varied within an
acceptable range without deviating from the presented solution as
understood by those skilled in the relevant art. In an example, the acceptable
range is ±30°, or ±15°, in relation to the horizontal direction perpendicular to
the local gravity direction (i.e. the vertical direction).
The verbs "to comprise" and "to include" are used in this document as
open limitations that neither exclude nor require the existence of also un-
recited features. Furthermore, it is to be understood that the use of "a" or
"an", i.e. a singular form, throughout this document does not exclude a
plurality, unless where specifically mentioned.
As used herein, a plurality of items or structural elements may be
presented in a common list for convenience. However, these lists should be
construed as though each member of the list is individually identified as a
separate and unique member.
In the description, numerous specific details are set forth in order to
provide a thorough understanding of the present solution. It is to be
understood that the examples of the solution disclosed are not limited to the
structures disclosed herein, but are extended to equivalents thereof as would
be recognized by those skilled in the relevant art.
21 P28606-NZ
Claims (15)
1. A control unit for controlling a tree stem processing tool pivotably mounted to an articulated boom in such a way that orientation of the tool is 5 changed when the tool is controllably rotated about a rotation axis that is oriented substantially vertically, the articulated boom being rotatably connected to a mobile work machine, wherein the control unit is adapted to: maintain a calculation model, wherein the calculation model relates to at least one of 10 a predetermined direction coinciding with a predetermined hazard direction or being at a fixed angle in relation to the predetermined hazard direction, in which predetermined hazard direction a piece coming off the tool is expected to fly or a tree stem held in the tool is expected to move during a power-driven operation of the tool, and 15 a predetermined hazard trajectory along which the piece is expected to fly or the tree stem is expected to move during a power-driven operation of the tool; maintain location data in the control unit, wherein the location data defines a predetermined location associated with the mobile work machine, a 20 geographical place, or an object or a location in the vicinity of the tool; automatically determine in the calculation model and on a basis of the location data at least one of separation prevailing between the predetermined direction and the predetermined location during the power-driven operation, and 25 distance prevailing between the predetermined hazard trajectory and the predetermined location during the power-driven operation; automatically apply a control mode in the control unit in which control mode the power-driven operation is controlled according to a predetermined 30 dependency in such a way that one or more operating parameters influencing the power-driven operation vary as a function of the prevailing separation or the prevailing distance.
2. The control unit according to claim 1, wherein the predetermined 35 hazard direction or the predetermined hazard trajectory is associated with a sawing apparatus of the tool, the piece is a part of a saw chain in the sawing 22 P28606-NZ apparatus, and the saw chain is adapted to move in the sawing apparatus during the power-driven operation of the tool to cross-cut the tree stem.
3. The control unit according to claim 1 or 2, wherein the 5 predetermined hazard direction or the predetermined hazard trajectory is associated with a feeding device of the tool, and the feeding apparatus is adapted to transfer the tree stem through the tool during the power-driven operation of the tool to move the tree stem or debranch the tree stem with the tool.
4. The control unit according to any one of claims 1 to 3, wherein the prevailing separation is represented by the relative angle between the predetermined direction and the predetermined location, whereby the one or more operating parameters vary as a function of the relative angle 15 determined by the control unit.
5. The control unit according to any one of claims 1 to 4, wherein the prevailing distance is represented by a distance between the predetermined hazard trajectory and the predetermined location, whereby the one or more 20 operating parameters additionally vary as a function of the distance determined by the control unit.
6. The control unit according to any one of claims 1 to 5, wherein the control mode is adapted to control the power-driven operation according to 25 the predetermined dependency in such a way that the one or more operating parameters additionally vary as a function of a distance prevailing between the predetermined location and the tool, a sawing apparatus of the tool, or a feeding device of the tool, the distance being determined by the control unit. 30
7. The control unit according to any one of claims 1 to 6, wherein the one or more operating parameters include one or more of torque generated in an actuator of a sawing apparatus in the tool, the actuator driving a saw chain, force generated in an actuator of the sawing apparatus, the actuator 35 driving a saw blade swinging, rotational speed generated in an actuator of the sawing apparatus, the actuator driving a saw chain, 23 P28606-NZ rotational speed generated in an actuator of a feeding device in the tool, the actuator driving a feed wheel, and speed generated in an actuator of the sawing apparatus, the actuator driving the saw blade swinging.
8. The control unit according to claim 7, wherein according to the predetermined dependency the value or magnitude of the one or more operating parameters is decreased when it is established in the control unit that the prevailing separation or the prevailing distance has been decreased.
9. The control unit according to claim 8, wherein the decreasing is adapted to take place when it is established in the control unit that the prevailing separation or the prevailing distance equals or is less than a predetermined threshold value.
10. The control unit according to claim 8 or 9, wherein the value or magnitude of the one or more operating parameters is adapted to decrease at its lowest to a magnitude or value that guarantees continuation of the power-driven operation in question.
11. The control unit according to any one of claims 1 to 10, wherein the power-driven operation is cross-cutting a tree stem held in a substantially vertical position in the tool or cross-cutting a tree stem held in a substantially horizontal position in the tool or feeding the tree stem through the tool while 25 being held in a substantially horizontal position.
12. The control unit according to claim 11, further comprising one or more sensors operably connected to the control unit, wherein the control unit is adapted to receive information or data indicative of the orientation of the 30 tool, the predetermined direction, the predetermined hazard direction, and/or the predetermined hazard trajectory, and information or data indicative of the location of the predetermined location from the one or more sensors.
13. A mobile work machine, comprising: 35 an articulated boom being rotatably connected to the mobile work machine, wherein the mobile work machine is a forestry machine, a 24 P28606-NZ forwarder for transferring timber or tree stems, or a harvester for harvesting and processing timber or tree stems; a tree stem processing tool pivotably mounted to the articulated boom in such a way that orientation of the tool is changed when the tool is 5 controllably rotated about a rotation axis that is oriented substantially vertically; and a control unit for controlling the mobile work machine, the articulated boom, and the tool; wherein the control unit is adapted to: 10 maintain a calculation model, wherein the calculation model relates to at least one of a predetermined direction coinciding with a predetermined hazard direction or being at a fixed angle in relation to the predetermined hazard direction, in which predetermined hazard direction a piece coming off 15 the tool is expected to fly or a tree stem held in the tool is expected to move during a power-driven operation of the tool, and a predetermined hazard trajectory along which the piece is expected to fly or the tree stem is expected to move during a power-driven operation of the tool; 20 maintain location data in the control unit, wherein the location data defines a predetermined location associated with the mobile work machine, a geographical place, or an object or a location in the vicinity of the tool; automatically determine in the calculation model and on a basis of the location data at least one of 25 separation prevailing between the predetermined direction and the predetermined location during the power-driven operation, and distance prevailing between the predetermined hazard trajectory and the predetermined location during the power-driven operation; 30 automatically apply a control mode in the control unit in which control mode the power-driven operation is controlled according to a predetermined dependency in such a way that one or more operating parameters influencing the power-driven operation vary as a function of the prevailing separation or the prevailing distance.
14. A method for controlling a tree stem processing tool pivotably mounted to an articulated boom such that orientation of the tool is changed 25 P28606-NZ when the tool is controllably rotated about a rotation axis that is oriented substantially vertically, the articulated boom being rotatably connected to a mobile work machine having a control unit controlling the mobile work machine, the articulated boom, and the tool, the method comprising: 5 maintaining a calculation model in the control unit, wherein the calculation model relates to at least one of a predetermined direction coinciding with a predetermined hazard direction or being at a fixed angle in relation to the predetermined hazard direction, in which predetermined hazard direction a piece coming off 10 the tool is expected to fly or a tree stem held in the tool is expected to move during a power-driven operation of the tool, and a predetermined hazard trajectory along which the piece is expected to fly or the tree stem is expected to move during a power-driven operation of the tool; 15 maintaining location data in the control unit, wherein the location data defines a predetermined location associated with the mobile work machine, a geographical place, or an object or a location in the vicinity of the tool; automatically determining in the calculation model and on a basis of the location data, during a power-driven operation of the tool, at least one of 20 separation prevailing between the predetermined direction and the predetermined location during the power-driven operation, and distance prevailing between the predetermined hazard trajectory and the predetermined location during the power-driven operation; 25 automatically applying a control mode in the control unit in which control mode the power-driven operation is controlled according to a predetermined dependency is such a way that one or more operating parameters influencing the power-driven operation varies as a function of the prevailing separation or the prevailing distance.
15. The method according to claim 14, further comprising: when applying the control mode, decreasing the value or magnitude of the one or more operating parameters according to the predetermined dependency when it is established in the control unit that the prevailing 35 separation or the prevailing distance has been decreased. P28606 1 P28606 2-3 P,P3 P,P2 R,R2 R,R3 S,S1,F R,R1 S,S2 P,P1 P,P3 P,P2 D,D3 D,D2 V,V1 D,D1 V,V2 P,P1 P28606 4-5 30 200 20 56 58 62 64 P28606 6-7 R,R2 P,P2 S,S1 FIG. 7
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP19174505.8 | 2019-05-14 |
Publications (1)
Publication Number | Publication Date |
---|---|
NZ762755A true NZ762755A (en) | 2020-03-27 |
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