WO2023020758A1 - Procédé et système pour faire fonctionner une machine de travail en foresterie - Google Patents

Procédé et système pour faire fonctionner une machine de travail en foresterie Download PDF

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Publication number
WO2023020758A1
WO2023020758A1 PCT/EP2022/070028 EP2022070028W WO2023020758A1 WO 2023020758 A1 WO2023020758 A1 WO 2023020758A1 EP 2022070028 W EP2022070028 W EP 2022070028W WO 2023020758 A1 WO2023020758 A1 WO 2023020758A1
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WO
WIPO (PCT)
Prior art keywords
tree
work
forestry
working
specific parameter
Prior art date
Application number
PCT/EP2022/070028
Other languages
German (de)
English (en)
Inventor
Gabriela Jager
Original Assignee
Zf Friedrichshafen Ag
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 Zf Friedrichshafen Ag filed Critical Zf Friedrichshafen Ag
Priority to EP22751084.9A priority Critical patent/EP4387433A1/fr
Publication of WO2023020758A1 publication Critical patent/WO2023020758A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G23/00—Forestry
    • A01G23/02—Transplanting, uprooting, felling or delimbing trees
    • A01G23/08—Felling trees

Definitions

  • the present invention relates to a method for operating a working machine and to a working system for carrying out such a method.
  • Performing a work task may require the use of a work machine operated by a forest worker.
  • the occupational safety of the forest worker can depend on a visual inspection of the work environment. While carrying out the work task, the forest worker may be exposed to environmental hazards which may not be perceptible during such a visual inspection by the forest worker.
  • the present invention relates to a method for operating a working machine in forestry.
  • the work machine can be a self-propelled work machine or a vehicle.
  • the working machine can have a working device for performing a forestry work task.
  • the self-propelled work machine can also be an agricultural machine or a construction machine.
  • the method has a detection of a point cloud assigned to a stand of trees with a laser scanner.
  • the laser scanner can be designed as a two-dimensional or three-dimensional scanning sensor.
  • the laser scanner can be a lidar sensor.
  • the tree population can be selectively recorded or scanned with the laser scanner.
  • the point cloud can be assigned to the tree population as a discretization thereof, where the point cloud can discretize the tree population.
  • the tree population can be recorded contact-free with the laser scanner.
  • a point cloud which can have a large number of measuring points related to the tree population, can thus be recorded with the laser scanner.
  • the point cloud can be a two-dimensional or three-dimensional point cloud.
  • the method includes recognizing a tree in the detected point cloud.
  • the detected point cloud can have a large number of point coordinates.
  • the tree can be recognized in the detected point cloud based on a segmentation for segmenting a geometric model of the tree in the point cloud or the point coordinates.
  • the method can therefore have a segmentation of the geometric model of the tree in the point cloud as a further step.
  • the geometric model can be, for example, a cylindrical or frusto-conical geometry.
  • the tree can be recognized in the detected point cloud based on an AI-based extraction of the tree from the point cloud or the point coordinates.
  • the method can therefore include recognizing the tree in the point cloud based on an AI approach.
  • the tree can be recognized in the detected point cloud based on a feature extraction for extracting a geometric feature of the tree in the point cloud or the point coordinates.
  • the method can therefore include, as a further step, extracting the geometric feature of the tree in the point cloud.
  • the tree can be recognized in the detected point cloud based on a classification for classifying the tree in the point cloud or the point coordinates.
  • the method can therefore have a classification of the tree in the point cloud.
  • the method includes deriving a tree-specific parameter of the recognized tree.
  • the tree-specific parameter can be a spatial parameter that indicates a spatial position of the building mes can define.
  • the spatial location may include a spatial position of the tree.
  • the spatial position can have a spatial orientation of the tree.
  • the tree specific parameter can be derived from the segmented geometric model of the tree.
  • the tree-specific parameter can be derived from the extracted feature of the tree.
  • the tree-specific parameter can be derived based on the classification step.
  • the method includes controlling a working device of the working machine to carry out a working step with the working machine for performing a forestry work task as a function of the derived tree-specific parameter.
  • the forestry work item may be a forestry work item to be performed in a forest.
  • the working device can be arranged on the working machine.
  • the working device can be a device for driving the working machine to perform the forestry work task.
  • the working device can therefore be controlled to drive or intervene in a drive of the working machine.
  • the work step can therefore include driving or moving the work machine.
  • the working device can be a tool for carrying out the forestry work task.
  • the work step can therefore include operating or controlling the work device or the tool to carry out the forestry work task.
  • the tool can be a saw.
  • the method can include selecting the working device of the working machine to be controlled for carrying out the working step with the working machine for performing the forestry work task as a function of the derived tree-specific parameter.
  • the step of capturing the point cloud can be carried out repeatedly or multiple times.
  • the steps of recognizing the tree and deriving the tree-specific parameters can also be based be carried out repeatedly or several times on the repeatedly recorded point clouds.
  • the method can therefore have a further step of comparing the repeatedly derived tree-specific parameter.
  • the controlling step can then be carried out as a function of a comparison result based on the comparing step.
  • the result of the comparison can show agreement or discrepancy among the repeatedly derived tree-specific parameters.
  • a forestry work task can be carried out automatically based on the sensory detection of the tree population.
  • the forestry work task can be carried out more efficiently through automated control of the working machine, with occupational safety also being able to be increased through automated detection of the tree population in the working environment of the working machine. With the invention, you can therefore reduce the amount of work and wear and tear on the machine when performing the forestry work task.
  • the point cloud in the step of capturing the point cloud, can be captured using a laser scanner arranged on the work machine.
  • the laser scanner can therefore be a scanning environment detection sensor that can be carried on the work machine.
  • the laser scanner can have a detection field that deviates from the visual field of view of an operator of the working machine. In this way, areas in the working environment of the working machine that are shaded for the operator can be captured by the laser scanner. By detecting shaded areas, work safety can be guaranteed more reliably.
  • the laser scanner can also be arranged at a distance from or separately from the working machine. The detection of areas in the working environment of the work machine that cannot be seen by the operator can thus be further improved and work safety can be maintained in a task-specific manner.
  • a tree trunk can be recognized in the detected point cloud in the step of recognizing the tree.
  • the tree- For example, stem can be detected based on segmenting a cylinder in the point cloud.
  • the tree trunk can be a tree trunk of a standing or grown tree or a tree trunk of a felled tree.
  • a parameter of the identified tree trunk can be derived in the step of deriving the tree-specific parameter.
  • the tree specific parameter can be derived from the segmented cylinder.
  • the identified tree trunk can be a tree trunk at or on which the forestry work task is to be performed.
  • the identified tree trunk can also be a tree trunk that represents an obstacle or a hazard for the work machine or the operator when performing the forestry work task. Work tasks on a tree trunk can therefore also be automated and carried out more safely using the method.
  • a spatial orientation of the identified tree trunk can be determined in the step of deriving the tree-specific parameter.
  • a skewed position or inclination of the identified tree trunk can be determined.
  • a fallen or at least partially broken tree trunk can also be determined in the step of deriving the tree-specific parameter.
  • a trunk diameter or a trunk circumference of the recognized tree trunk can be determined in the step of deriving the tree-specific parameter.
  • an age or a mass of the identified tree trunk can be derived from the determined trunk diameter.
  • a trunk length of the identified tree trunk can be determined in the step of deriving the tree-specific parameter. The age or mass of the detected log can be derived from the log length of the detected log.
  • tree-specific parameters relevant for felling a tree can be determined automatically with the method and the working device can be based then be steered to fell the tree.
  • the tree-specific parameter can also be a foliage of the tree, which can also be derived from at least one of the other parameters described.
  • the foliage can be derived from a point density in the point cloud.
  • the work machine can thus also be controlled to carry out the work task depending on the foliage of the recognized tree.
  • this can have, as a further step, a classification of the recognized tree based on the tree-specific parameter into at least one forestry tree class.
  • the tree class can be, for example, a stability tree class, a vitality class, a quality class or a spatial distribution class. For example, a thinning of the tree population can be carried out in a more targeted manner and is therefore more environmentally friendly.
  • the step of controlling the working device can be performed based on a classification based on the step of classifying.
  • the classification can be, for example, a classification into stability classes, a classification into vitality classes, a classification into quality classes or a classification into spatial distribution classes.
  • the forestry work task can therefore be carried out in a targeted manner directed towards a tree class, with trees of at least one further tree class being excluded from the work task and thus being preserved.
  • this can have, as a further step, the definition of a work route for carrying out the work step based on the step of deriving or the derived tree-specific parameter.
  • the step of controlling the working device can be performed based on the set working route.
  • the work task or the work step can therefore also include navigating or moving the work machine in the tree population.
  • the work task or work step can also be navigating or moving the work machine in the tree population.
  • the method can therefore include navigating the work machine based on the step of deriving or the derived tree-specific parameter.
  • the work route for carrying out the work step can be defined in such a way that protected areas in the work environment of the work machine are not violated.
  • the protection areas in which the trees to be protected are located can thus be determined in a further step.
  • the stock of trees to be protected can be determined based on the derivation step or the derived tree-specific parameter.
  • the work machine can thus be controlled in such a way that a stand of trees to be protected is not damaged when the work step or the work task is carried out.
  • this can include, as a further step, determining a position of the work machine in the tree population in order to define the work route.
  • the step of determining the position can be carried out with a positioning sensor, for example a GNSS antenna.
  • the positioning sensor can be arranged on the working machine. The work machine can thus be set up for automated navigation in the tree population.
  • the forestry work task to be performed can include felling the identified tree.
  • the felling may be a future felling.
  • the work step or work task can therefore also be a work step in preparation for felling or a work task in preparation for felling.
  • the forestry task or work step to be performed may include documenting the derived tree-specific parameter.
  • the step of controlling the working device for felling the identified tree can be carried out depending on the derived tree-specific parameter.
  • the step of controlling the working device can be performed to document the derived tree-specific parameter.
  • the documentation can be carried out in a digital forest information system or a digital geographic information system, wherein the work machine or a control device for controlling the work machine or for executing the method can be connected to the forest information system or the digital geographic information system.
  • a degree of digitization of forestry work tasks can thus be increased with the invention and the forestry work task can thus be carried out more efficiently and sustainably.
  • this can include, as a further step, detecting at least one climatic element acting on the tree population.
  • the climate element can be, for example, a temperature, an air pressure, an air humidity, a wind force, a precipitation value, a dryness value, solar radiation or environmental radiation.
  • the climate element can be derived based on the captured point cloud.
  • the step of controlling the working device can be performed based on the detected climate element.
  • the method can include detecting at least one climate factor as a further step.
  • the climatic element can depend on the recorded at least one climatic factor or can be determined based on this.
  • the climate factor can be, for example, a geographical location, a topographical elevation, an exposure, a distance from a body of water, a groundwater level, a type of soil or a boulder. act dencovering.
  • the step of controlling the working device can be performed based on the detected climate factor.
  • the step of controlling the working device can also be performed based on the climate element determined based on the detected climate factor.
  • the method can, as a further step, detect at least one anthropogenic factor which, for example, can describe a geographical location of a building or infrastructure.
  • the step of controlling the work device can therefore also be performed based on the detected anthropogenic factor.
  • this can include, as a further step, carrying out an environmental damage analysis for the work step for performing the forestry work task.
  • the environmental damage analysis can be performed based on the derived tree specific parameter.
  • the environmental damage analysis can show damage to the tree population or the environment, for example the forest floor, occurring when performing the work task, which damage can occur to the tree population or the environment independently of the tree population involved in the work task.
  • the step of controlling the working device can be carried out based on the environmental damage analysis that has been carried out. Setting the work route can be done based on the environmental damage analysis. Environmental damage can be reduced or minimized in this way. Further, the work route can be optimized based on the environmental damage analysis.
  • the present invention relates to a forestry work system.
  • the forestry work system can be set up to carry out the method according to the preceding aspect.
  • the forestry work system can be set up to automatically carry out the method according to the previous aspect.
  • the forestry work system has a laser scanner for capturing a point cloud of a stand of trees.
  • the forestry work system assigns which has an evaluation unit for detecting a tree in the detected point cloud and for deriving a tree-specific parameter of the detected tree.
  • the forestry work system has a control unit for controlling a work device of the work machine to carry out a work step of the work machine for performing a forestry work task as a function of the derived tree-specific parameter.
  • the control unit can have the evaluation unit.
  • FIG. 1 schematically shows a forestry work system according to an embodiment of the invention.
  • FIG. 2 shows a flow chart for carrying out a method for operating a work machine in forestry according to an embodiment of the invention.
  • FIG. 1 shows a forestry work system 200 which is set up to carry out the method steps shown in FIG.
  • the forestry work system 200 has a laser scanner 10 for capturing a point cloud, which at least partially discretely depicts a stock of trees.
  • the stock of trees has a large number of trees 2 .
  • the laser scanner 10 is arranged on a work machine 100 , the laser scanner 10 being arranged above a housing of the work machine 100 according to one embodiment. This results in an advantageous detection range of the laser scanner 10, in which Shading, for example by the housing of the working machine 100 itself, can be minimized.
  • the forestry work system 200 also has an evaluation unit 30 which is set up to recognize a tree 2 in the recorded point cloud of the tree population.
  • the evaluation unit 30 is set up to derive a tree-specific parameter of the identified tree 2 .
  • the evaluation unit 30 is arranged on the work machine 100 and is connected to the laser scanner 10 for reading in the detected point cloud.
  • the forestry working system 200 also has a control unit 40 which is set up to control a working device 20 of the working machine 100 .
  • the work device 20 is controlled to perform a work step of the work machine 100 .
  • the work step can be carried out with the work device 20 for performing a forestry work task depending on the derived tree-specific parameter.
  • the working device 20 is arranged on the working machine 100 and connected to the control unit 40 .
  • the control unit 40 has the evaluation unit 30 or is connected to it.
  • evaluation unit 30 is set up to determine an orientation of a tree trunk as the tree-specific parameter of identified tree 2 . According to this exemplary embodiment, the evaluation unit 30 is also set up to compare the determined alignment of the tree trunk with a predetermined threshold value for the alignment of the tree trunk and, based on this, to output a work signal for felling the tree 2 . According to this exemplary embodiment, the control unit 40 is set up to control a work tool based on the work signal in order to cut down the tree 2 with the work tool in the stand of trees or to exempt it from being felled in the stand of trees.
  • FIG. 2 schematically shows a flowchart for carrying out a method for operating work machine 100 in forestry.
  • a point cloud acquisition is carried out.
  • the point cloud associated with the tree population is recorded with the laser scanner 10.
  • tree identification is carried out.
  • a tree 2 of the tree population is recognized by the evaluation unit 30.
  • a parameter derivation is carried out in a third step S3.
  • the tree-specific parameter of the identified tree 2 is derived.
  • control is performed.
  • the working device 20 is controlled by the control unit 40 in order to carry out a working step in a fifth step S5.
  • the work step is carried out in order to perform a forestry task with the work device 20 .

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  • Life Sciences & Earth Sciences (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Ecology (AREA)
  • Forests & Forestry (AREA)
  • Environmental Sciences (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)
  • Laser Beam Processing (AREA)

Abstract

L'invention concerne un procédé pour faire fonctionner une machine de travail (100) en foresterie, le procédé comprenant les étapes consistant à : détecter un nuage de points attribué à une population d'arbres à l'aide d'un scanner laser (10), identifier un arbre (2) dans le nuage de points détecté, dériver un paramètre spécifique à l'arbre de l'arbre détecté (2), commander un dispositif de travail (20) de la machine de travail (100) pour qu'il réalise une étape de travail avec la machine de travail (100) pour réaliser une tâche de travail en foresterie en fonction du paramètre spécifique à l'arbre dérivé. L'invention concerne également un système de travail forestier (200) qui est conçu pour mettre en œuvre le procédé.
PCT/EP2022/070028 2021-08-18 2022-07-18 Procédé et système pour faire fonctionner une machine de travail en foresterie WO2023020758A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP22751084.9A EP4387433A1 (fr) 2021-08-18 2022-07-18 Procédé et système pour faire fonctionner une machine de travail en foresterie

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102021209036.2 2021-08-18
DE102021209036.2A DE102021209036A1 (de) 2021-08-18 2021-08-18 Verfahren und System zum Betreiben einer Arbeitsmaschine in der Forstwirtschaft

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WO2023020758A1 true WO2023020758A1 (fr) 2023-02-23

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PCT/EP2022/070028 WO2023020758A1 (fr) 2021-08-18 2022-07-18 Procédé et système pour faire fonctionner une machine de travail en foresterie

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DE (1) DE102021209036A1 (fr)
WO (1) WO2023020758A1 (fr)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160138905A1 (en) * 2013-06-05 2016-05-19 Ponsse Oyj Method and arrangement for measuring timber
DE102019215578A1 (de) * 2018-11-13 2020-05-14 Deere & Company Steuerung des betriebs von forstmaschinen auf basis von datenerfassung
WO2020263163A1 (fr) * 2019-06-28 2020-12-30 Deep Forestry Ab Procédé de préparation de la récolte d'une forêt à l'aide d'un véhicule sans pilote et véhicule sans pilote et système utilisant ledit procédé

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT520253A3 (de) 2018-07-16 2019-04-15 Umweltdata G M B H Verfahren zur selektiven Holzernte
JP7167813B2 (ja) 2019-03-28 2022-11-09 トヨタ自動車株式会社 検出システムおよび検出方法

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160138905A1 (en) * 2013-06-05 2016-05-19 Ponsse Oyj Method and arrangement for measuring timber
DE102019215578A1 (de) * 2018-11-13 2020-05-14 Deere & Company Steuerung des betriebs von forstmaschinen auf basis von datenerfassung
WO2020263163A1 (fr) * 2019-06-28 2020-12-30 Deep Forestry Ab Procédé de préparation de la récolte d'une forêt à l'aide d'un véhicule sans pilote et véhicule sans pilote et système utilisant ledit procédé

Non-Patent Citations (2)

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Title
KOLB ALEXANDER ET AL: "Tree trunk detection system using LiDAR for a semi-autonomous tree felling robot", 2015 IEEE 10TH CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA), IEEE, 15 June 2015 (2015-06-15), pages 84 - 89, XP032815801, DOI: 10.1109/ICIEA.2015.7334089 *
WEI YAO ET AL: "Tree species classification and estimation of stem volume and DBH based on single tree extraction by exploiting airborne full-waveform LiDAR data", REMOTE SENSING OF ENVIRONMENT, ELSEVIER, XX, vol. 123, 24 March 2012 (2012-03-24), pages 368 - 380, XP028408556, ISSN: 0034-4257, [retrieved on 20120411], DOI: 10.1016/J.RSE.2012.03.027 *

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Publication number Publication date
EP4387433A1 (fr) 2024-06-26
DE102021209036A1 (de) 2023-02-23

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