WO2011000743A1 - Enregistrement de données relatives à des piles de grumes - Google Patents

Enregistrement de données relatives à des piles de grumes Download PDF

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Publication number
WO2011000743A1
WO2011000743A1 PCT/EP2010/058851 EP2010058851W WO2011000743A1 WO 2011000743 A1 WO2011000743 A1 WO 2011000743A1 EP 2010058851 W EP2010058851 W EP 2010058851W WO 2011000743 A1 WO2011000743 A1 WO 2011000743A1
Authority
WO
WIPO (PCT)
Prior art keywords
forwarder
round
imaging
rundholzpolters
recordings
Prior art date
Application number
PCT/EP2010/058851
Other languages
German (de)
English (en)
Inventor
Friedbert Bombosch
Lutz Brekerbohm
Dietmar Sohns
Original Assignee
Hochschule für angewandte Wissenschaft und Kunst Fachhochschule Hildesheim/Holzminden/Göttingen
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hochschule für angewandte Wissenschaft und Kunst Fachhochschule Hildesheim/Holzminden/Göttingen filed Critical Hochschule für angewandte Wissenschaft und Kunst Fachhochschule Hildesheim/Holzminden/Göttingen
Publication of WO2011000743A1 publication Critical patent/WO2011000743A1/fr

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G23/00—Forestry

Definitions

  • the invention relates to a method and a device for detecting Rundholzpoltern with an imaging arrangement and the other features of the preamble of the independent claims.
  • Roundwood polders are accumulations of roundwoods in which roundwoods are harvested after harvesting trees, in particular with the help of a so-called harvester, in the vicinity of the harvesting location, before they are transported away for processing.
  • the roundwoods are being used for automated harvesting with the help of a so-called forwarder, which picks up the logs where they are stored by the harvester.
  • Round wood poles are also created for the interim storage of round timbers if they are caused by the manual hitting of trees as well as the decortification and trimming of their logs and are brought together by spines.
  • the product sScale from Dralle A / S, Denmark discloses a method and a device according to the preambles of the independent patent claims.
  • the product of the company Dralle is offered for assembly on a car or a forest machine. De facto, however, it can only be used on a dedicated SUV. It comprises a stereoscopic imaging arrangement in which headlamps for illuminating the end faces of the round timbers of the polter are arranged between two cameras arranged one behind the other in the longitudinal direction of the vehicle and laterally aligned with their imaging directions.
  • the invention has for its object to provide a method and apparatus for detecting Rundholzpoltern with the features of the preambles of the independent claims, which allow detecting the roundwood polter with the least possible effort. - A -
  • the object is achieved by a method and a device for detecting Rundholzpoltern with the features of the independent claims.
  • Preferred embodiments of the new method and the new device are defined in the dependent claims.
  • the imaging arrangement is moved with a forwarder, namely with the forwarder, with which the round logs were poled to form the roundwood pole.
  • a forwarder namely with the forwarder, with which the round logs were poled to form the roundwood pole.
  • the driver of the forwarder documents after the creation of the round wood polisher his work result. It can therefore be expected that the driver of the forwarder on its own initiative ensures that good conditions exist for the successful implementation of the method, ie, for example, no grass covers the front sides of the individual round logs, but, for example, in advance of applying the Rundholzpolters by driving over was depressed.
  • the forwarder, with which the round timbers were poled to the roundwood polter is available at the location of the log pile when this is completed.
  • the imaging arrangement is subjected to a rough working environment in the process with the forwarder takes into account the new method in that all recordings with the imaging arrangement are recorded under one same, ie all at a single angle to the longitudinal axis of the forwarder.
  • the imaging arrangement is not stereoscopic, but monoscopic and can in particular build on a single camera for all recordings.
  • the imaging arrangement is compact and can be readily arranged in a protected area of a forwarder, such as in a driver's cab of the forwarder and fixed there. As a result, less information may be contained in the images of the imaging arrangement.
  • the illumination of the round wood polisher preferably takes place coaxially to the imaging direction of the imaging arrangement in order to avoid shadows in the exposures.
  • Suitable light sources for light sources emitting in the near infrared range are in particular LEDs, of which those of high power emitting at about 850 nm or 950 nm are commercially available.
  • a wavelength band pass filter in front of the imaging arrangement which is tuned to the wavelength of the artificial illumination, ie. H. ideally just lets this through.
  • the relevant image information in the individual images of the imaging arrangement can be increased by subtracting the light intensity distribution from corresponding intensity background images recorded by the forwarder under artificial lighting of the roundwood pole.
  • the difference images exactly the signals of the additionally caused by the artificial lighting light intensities, which include the desired information, ie the images of the artificially illuminated end faces of the round logs. It is understood that in the case of Set of an intensity bandpass filter, this is also used in the intensity background recordings.
  • color information about the end faces of the round timbers is preferably stored in the overall illustration of the roundwood polisher so that it can be subsequently subjected to quality control, for example with regard to decay.
  • the color information does not have to be stored in a colored overall illustration. They can also be coded in grayscale of the overall picture.
  • the new process creates and stores contiguous records on the forwarder.
  • These datasets include the overall image, the number of logs in the logwood pole, and a location of the logwood pod determined with a position sensor of the forwarder.
  • these data sets preferably include the lengths and diameters of the logs as determined by a forwarder-processing harvester.
  • very compact data sets for each roundwood pole which need not include the overall image, are sent from the forwarder to a central registration unit.
  • the data records transmitted in this way include in particular the number of logs in the roundwood pole and a location of the log pile determined by a position sensor of the forwarder, and preferably also the lengths and diameters of the logs as determined by a forwarder-processing harvester.
  • Additional data such as key figures on the quality of the round logs may also be transmitted depending on the transmission capacity of the transmission link and in particular depending on the particular needs, but are often of minor importance. If the overall image is not transmitted remotely, it will be available for documentation at a later date as it will be stored on the forwarder.
  • this number can be matched on the forwarder or in a central logging computer to which the number is transmitted remotely with a number of round logs that has been cut by a forwarder harvester, especially since this information is regularly available on the forwarder as part of the data, which is transferred in digital form from the harvester to the forwarder, so that he can pick up the logs cut by the forwarder.
  • a difference between the cut roundwoods and The collected roundwood can be booked as a loss. It also gives an indication of the work quality of the forwarder and encourages the driver of the forwarder to work precisely.
  • the light intensity distribution of the images can be appropriately intensity bandpass filtered, since the light intensities resulting from the artificial lighting fall within the limits of the end faces of the round woods in comparatively narrow limits.
  • Intensity bandpass filtering is understood to mean that only intensity measurements above a lower limit and below an upper limit are considered. As a result, the data volume can be reduced and the contrast of the recordings can be increased.
  • the magnification of each shot can be determined, which facilitates the joining of the individual shots to a total image.
  • light intensity limit values can also be set during intensity bandpass filtering of the intensity distributions of the recordings, the limit values decreasing as the distance increases.
  • Different distances from the roundwood pole can also be detected in the novel method by distance sensors arranged close to the imaging arrangement of the imaging arrangement, if the distances are measured, for example, in different directions intersecting the imaging direction of the imaging arrangement.
  • distance sensors arranged close to the imaging arrangement of the imaging arrangement, if the distances are measured, for example, in different directions intersecting the imaging direction of the imaging arrangement.
  • ultrasonic distance sensors are used to measure the distances
  • their signals are preferably low-pass filtered in order to hide local obstacles in the distance measurement arranged in the area of the forwarder or in front of the roundwood pole.
  • the triggering of the individual images by the imaging arrangement is carried out in the new method, preferably by a path signal of the forwarder, which is available in the control.
  • the entire implementation of the new process can be moved to the mapping arrangement in the controller, which is present anyway in a modern forwarder.
  • the accuracy of this estimate is generally less than what can be deduced from the data of a harvester in connection with the actual number of logs in the roundwood pole.
  • the estimation is not in principle worse than that which is possible from the images of a stereoscopic arrangement according to the prior art, since the determination of the volume of the surface of the end faces and the length of round timbers is associated with relatively large systematic errors.
  • the imaging assembly is provided for fixed mounting in a protected area such as within the cab or other protected against external impact space of a forwarder, with the round logs are rotatable to Rundholzpoltern so that the imaging assembly all recordings at a same angle to Longitudinal axis of the forwarder receives.
  • the imaging arrangement of the new device is not stereoscopic but monoscopic, whereby the imaging arrangement is very compact and without disturbing can be accommodated in a small protected volume of a forwarder.
  • the preferred embodiments of the new device have been addressed at least indirectly already in the description of the new method. This also includes that all devices of the new device, in addition to the imaging arrangement including all light sources and any distance sensors are preferably not provided in the form of additional hardware, but as parts of a program for programming an existing controller of the forwarder.
  • Fig. 1 outlines the new method and apparatus for detecting a
  • Fig. 2 outlines the implementation of the new method of a forwarder with
  • the round timber pole 1 sketched in FIG. 1 regularly has a multiple of the length of the section sketched in FIG. 1, which is detected with a single image of a camera 2.
  • the roundwood pole 1 in the direction of its longitudinal extension 3 is not necessarily a straight course, but may, for example, follow the curvature of a forest path.
  • the Rundholzpolter 1 is traversed on one side with a forwarder 5 shown in Fig. 2, with the previously the Holzholzpolter 1 was applied, while a number of each other overlapping shots of Rundholzpolters 1 with a view towards the end faces 6 of the round timber 4 of the roundwood polter 1 added.
  • Each of the recordings detects the round timber pole 1 over its entire height, as indicated in Fig. 2.
  • the individual shots are joined together to form an overall view of the round timber pile 1.
  • the associated distance to the roundwood polter 1 is detected with a distance sensor 7 for each shot.
  • the roundwood polter 1 is artificially illuminated during shooting with the camera 2 with a light source 8.
  • the camera 2, the distance sensor 7 and the light source 8 are parts of an imaging assembly 9, which is fixed in a driver's cab of the forwarder 5, with perpendicular to the longitudinal direction of the forwarder 5 and horizontally oriented imaging direction 10 of the camera.
  • the imaging assembly 9 In the driver's cab of the forwarder 5, the imaging assembly 9 is protected. By being only monoscopic, it is compact and takes up little space in the cab. A displacement transducer 1 1, whose signal is used to trigger the individual shots of the camera 2, so that these shots overlap in a meaningful way partially, however, as well as a position sensor 12 for determining the position of the respective roundwood Polters 1, a controller 13, a Display unit 14, an archiving unit 15 and as a transmitting unit 16 part of the existing equipment of a modern forwarder 5. That is, the imaging assembly 9 must be connected only to the existing controller 13 of the forwarder 5 and this control 13 for the control of the imaging assembly 9 and the evaluation which are programmed by this coming recordings to make an inventive detection of roundwood bumps 1 can.
  • this registration also counts or grayscale hints on color changes of the faces of the round timber 4, for example, as a result of rot, can give, the number of stored in the roundwood polter 1 round logs 4, the diameter and lengths as determined by a harvester who has harvested the round logs, and from the position sensor 12 certain position of Rundholzpolters 1.
  • This information is summarized to records that are stored in the archiving unit 15. Further, essential information from these records is transmitted from the transmitting unit 16 to a central logging computer for managing the wood stocks in various logs 1.
  • the determination of the number of round logs 4 in the roundwood polter 1 is possible with comparatively little computational effort when the shots of the camera 2 are processed in a meaningful way, for example, intensity bandpass filtered with respect to the light intensities or corrected by deduction of light intensity distributions without artificial lighting by the light source 8 ,
  • the then still necessary computing power is readily provided by a controller of a contemporary forwarder 5.
  • Even an estimate of the wood volume in the roundwood polter 1 from the surface of the end faces 6 of the round timber 4 and the known length of the round timber 4 is possible in this way.
  • the absolute magnification of the camera 2 is determined from the signal of the distance sensor 7.
  • the controller 13 also controls that regardless of the relative inclination of the forwarder 5 about its longitudinal axis 17 relative to the roundwood pole 1, the roundwood pole 1 in each receptacle is detected over its entire height. For example, illustrations of end faces 6 of roundwood up to the upper and lower edges of the picture indicate that the roundwood pole 1 was not covered by its overall height.
  • the camera can be pivoted about the longitudinal axis 17 of the forwarder 5 around. This can be done automatically or as requested by the controller 13 by the driver of the forwarder 5. LIST OF REFERENCE NUMBERS

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Ecology (AREA)
  • Forests & Forestry (AREA)
  • Environmental Sciences (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

Pour enregistrer des données relatives à des piles de grumes (1), un système d'imagerie est déplacé sur un côté le long de la pile de grumes (1) devant être soumise à une prise de vues, toutes les grumes (4) de la pile (1) étant soumises à une prise de vues avec le système d'imagerie orienté vers leur face avant (6), et figurant sur plusieurs images qui représentent la pile de grumes (1) sur l'ensemble de sa hauteur et se chevauchent dans le sens de la longueur, les images étant assemblées pour former une représentation globale de la pile de grumes (1) et le nombre des grumes (4) dans la pile (1) étant déterminé par analyse des images. Selon l'invention, le système d'imagerie est déplacé à l'aide d'un porteur forestier (5), avec lequel les grumes (4) sont empilées pour former la pile (1), et toutes les images faites avec le système d'imagerie sont prises sous un même angle par rapport à l'axe longitudinal (17) du porteur forestier (5).
PCT/EP2010/058851 2009-07-03 2010-06-22 Enregistrement de données relatives à des piles de grumes WO2011000743A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102009027449A DE102009027449A1 (de) 2009-07-03 2009-07-03 Erfassung von Rundholzpoltern
DE102009027449.9 2009-07-03

Publications (1)

Publication Number Publication Date
WO2011000743A1 true WO2011000743A1 (fr) 2011-01-06

Family

ID=42732845

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2010/058851 WO2011000743A1 (fr) 2009-07-03 2010-06-22 Enregistrement de données relatives à des piles de grumes

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DE (1) DE102009027449A1 (fr)
WO (1) WO2011000743A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107111602A (zh) * 2014-08-13 2017-08-29 C 3 有限公司 原木扫描系统
US10903482B2 (en) 2012-03-02 2021-01-26 Cornell University Lithium containing nanofibers

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3349141A1 (fr) 2017-01-11 2018-07-18 Deere & Company Dispositif et procédé de commande de charge

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1989007749A1 (fr) * 1988-02-17 1989-08-24 Vision-Systems Oy Procede et equipement servant a mesurer une pile de troncs
US4913551A (en) 1987-07-28 1990-04-03 Davis Richard B Log measuring method and apparatus
DE10031410A1 (de) 2000-02-07 2001-08-30 Michael Willmann Verfahren zur Mengenermittlung von Industrieholzsortimenten
US20060092403A1 (en) * 2002-08-27 2006-05-04 Dralle Aps Method and a system for automatic measurement and tracking of logs, industrial wood and boards
US20070286474A1 (en) * 2004-02-20 2007-12-13 Kim Dralle System for Grading of Industrial Wood
EP2171484A1 (fr) 2007-07-19 2010-04-07 Koninklijke Philips Electronics N.V. Mesure de consommation d'énergie
WO2010051818A1 (fr) * 2008-11-07 2010-05-14 Dralle A/S Suivi du bois depuis la forêt jusqu'à une installation industrielle

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE515950C2 (sv) * 1999-06-23 2001-10-29 Acanova Ab Förfarande och anordning att mäta en timmerstocks vedyteprofil

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4913551A (en) 1987-07-28 1990-04-03 Davis Richard B Log measuring method and apparatus
WO1989007749A1 (fr) * 1988-02-17 1989-08-24 Vision-Systems Oy Procede et equipement servant a mesurer une pile de troncs
DE10031410A1 (de) 2000-02-07 2001-08-30 Michael Willmann Verfahren zur Mengenermittlung von Industrieholzsortimenten
US20060092403A1 (en) * 2002-08-27 2006-05-04 Dralle Aps Method and a system for automatic measurement and tracking of logs, industrial wood and boards
US20070286474A1 (en) * 2004-02-20 2007-12-13 Kim Dralle System for Grading of Industrial Wood
EP2171484A1 (fr) 2007-07-19 2010-04-07 Koninklijke Philips Electronics N.V. Mesure de consommation d'énergie
WO2010051818A1 (fr) * 2008-11-07 2010-05-14 Dralle A/S Suivi du bois depuis la forêt jusqu'à une installation industrielle

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
MARTIN MUELLER: "Holzaufnahme im BaySF-Logistik-Prozess", LWF AKTUELL,, vol. 65, 1 January 2008 (2008-01-01), pages 26 - 27, XP009139116, ISSN: 1435-4080 *

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10903482B2 (en) 2012-03-02 2021-01-26 Cornell University Lithium containing nanofibers
CN107111602A (zh) * 2014-08-13 2017-08-29 C 3 有限公司 原木扫描系统
US10503943B2 (en) 2014-08-13 2019-12-10 C 3 Limited Log scanning system
CN107111602B (zh) * 2014-08-13 2020-09-01 C 3 有限公司 原木扫描系统

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