• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to off-road working machines and unloading of the load in a off-road working machine and in particular to an arrangement and method for handling the unloading of the load in a forest machine. The method of the invention for handling the unloading of the load in a forest machine (10), in which the forest machine (10) comprises a load space (11) for a timber load (22), a boom system (12) and a wood treatment tool (16) connected to said boom system , is characterized in that the method comprises the following phases: determined and recorded (43), (44) in the location of the wood pile (20), calculated and recorded in memory the location of the wood pile edge, with the wood treatment tool (16) taking a wood bundle from the lumber (22), (46) said timber is calculated in a load screen (13) spaced apart distance from the wood treatment tool (16), a unloading location is calculated for said timber bundle in a timber stack location (20) determined for said timber stack, and controlled and unloaded (47) said wood bundle in the wood pile in said calculated unloading location such that the edge of the wood pile becomes smooth and / or straight at one of its edges.
    公开号:FI20185725A1
    申请号:FI20185725
    申请日:2018-08-30
    公开日:2020-03-01
    发明作者:Marko Halonen
    申请人:Ponsse Oyj；
    IPC主号:
    专利说明:

    ARRANGEMENT AND METHOD FOR MANAGING THE UNLOADING OF FORESTRY MACHINES
    FIELD OF THE INVENTION The invention relates to off-road implements and the unloading of an off-road implement, and in particular to an arrangement and method for controlling the unloading of a forestry machine.
    BACKGROUND OF THE INVENTION Forest machines are used in mechanical logging for felling, pruning and felling, collecting, transporting and stacking trees. Forest machines include, for example, harvesters, forwarders and their combinations, the so-called combination machines. Harvesters are used in mechanical logging for felling, pruning and cutting to size. With the help of harvesters, the timber is typically stacked in the felling area in stacks suitable for spare species.
    Similarly, with forwarders, timber is typically collected from work stacks, transported to the roadside and unloaded into timber stacks. Combined machines can handle both forest machines, i.e. harvesters and forwarders.
    Forestry machines, such as forwarders and combination machines, are off-road machines that collect timber from different work stacks or heaps to transport timber along the road for unloading into different timber stacks.
    The stacks of timber along the road should be clean and the ends of said stacks of timber should be flat. The flatness of the ends of the timber stacks 25 is a safety issue and also aesthetically desirable.
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    When the ends of the timber stacks are flat, it is easier to transfer the timber for further transport, e.g. to road vehicles.
    The traditionally used method of controlling the unloading of a forest machine works in such a way that the operator of the forest machine guides the unloading of the timber load to the timber stack with manual controls. The operator of the forest machine must therefore be especially careful that the end of the timber stack becomes flat. Smooth unloading of the timber load into the timber stack by manual control according to the prior art has proven to be very time consuming and cumbersome.
    Thus, there is a clear need for a solution that provides a more controlled, time-saving, and reliable solution for unloading timber loads into timber stacks than previous solutions.
    BRIEF DESCRIPTION OF THE INVENTION It is an object of the present invention to provide a new solution for controlling the unloading of a forest machine 15 which provides a more controlled, time-saving and reliable solution for unloading timber loads into timber stacks, for example by road, and the problems and disadvantages of unloading timber loads. minimized.
    The arrangement according to the invention for controlling the unloading of a forest machine, wherein the forest machine comprises a load for a timber load, a boom and a wood handling tool connected to said boom, which arrangement further comprises a forest machine control system and measuring equipment, is preferably adapted to measure , and boom position and / or rotation angle and / or
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    20185725 prh 30 -08- 2018 the position and / or space of movement of the individual boom parts of the boom and / or the location of the wood handling tool, preferably with respect to the timber stack and the forestry machine, and / or the angle of rotation; and wherein: said control system is adapted to: determine and record the location of the timber stack, 5 calculate and record the location of the edge of the timber stack, calculate the said stack of timber on the stack of timber at said calculated unloading location so that the edge of the stack of timber becomes flat and / or straight at one edge.
    Preferably, said control system is adapted to control the position and / or angle of rotation of said boom and / or the position and / or state of motion of the individual boom parts of the boom 15 and / or the position and angle of rotation of said wood handling tool.
    Preferably, said measuring apparatus is adapted to measure the position of the gripping means of the woodworking tool.
    Preferably, said control system is adapted to identify and / or control the position of the gripping means of the woodworking tool.
    Preferably, said control system is adapted to calculate the height of the timber stack based on the location of the unloaded wood spare bundles.
    Preferably, said control system is adapted to automatically detect the location of the forest machine and / or the location of the timber stack location.
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    20185725 prh 30 -08- 2018 Preferably, said control system is adapted to automatically detect the position and / or the angle of rotation of the boom of the forest machine by detecting the position and / or the mode of movement of the individual boom parts.
    Preferably, said forest machine in the arrangement is a forwarder.
    The method according to the invention for controlling the unloading of a forest machine, wherein the forest machine comprises a load for a timber load, a boom and a wood processing tool connected to said boom, characterized in that the method comprises the steps of: determining and recording the location of the timber stack; the woodworking tool calculates a bundle of timber from the timber load, calculates the distance of the end of said timber bundle aligned to the load screen from the woodworking tool, calculates the unloading location for said timber bundle
    Preferably, the location of the timber stack is recorded by taking a timber stack from said timber load and moving and unloading said timber stack to the first edge of the timber stack location.
    Alternatively, the location of the timber stack is recorded by taking a first timber stack from said timber load and moving and unloading said first timber stack to the first edge of the timber stack location, and taking a second timber stack from said load load and
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    20185725 prh 30 -08- 2018 by moving and unloading said second wood spare bundle to the other edge of the timber stack location.
    Preferably, the method comprises the step of guiding the wood processing tool guided against the screen against the screen and registering the location of said screen 5 in memory.
    Preferably, said forest machine in the method is a forwarder.
    BRIEF DESCRIPTION OF THE DRAWINGS Some embodiments of the invention will now be described in more detail in connection with some preferred embodiments, with reference to the accompanying drawings, in which:
    Figure 1 shows a perspective view of a forest machine according to an embodiment of the invention.
    Figure 2 shows a top view of a solution according to an embodiment of the invention for controlling the unloading of a forest machine.
    Fig. 3 shows a block diagram of the structure of a load unloading control arrangement according to an embodiment of the invention.
    Figure 4 shows a flow chart view of a method for controlling the unloading of a forest machine according to an embodiment of the invention.
    Figure 5 shows a top view of a solution for controlling the unloading of a forest machine according to an alternative embodiment of the invention.
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    Figure 6 shows a flow chart view of a method for controlling the unloading of a forest machine according to an alternative embodiment of the invention.
    Fig. 7 shows a top view of an unloading situation of a forest machine according to an embodiment 5 of the invention.
    Fig. 8 shows a perspective view showing an unloading situation of a forest machine according to an embodiment of the invention.
    Fig. 9 shows a first top view of the progress of the unloading of a forest machine load 10 according to an embodiment of the invention.
    Fig. 10 shows another top view of the progress of unloading a forest machine according to an embodiment of the invention.
    Fig. 11 shows a third top view of the progress of unloading a forest machine according to an embodiment of the invention 15.
    The figures are not shown to scale and some features may have been simplified, highlighted or obscured in the figures to improve the clarity of the essential features.
    DETAILED DESCRIPTION OF THE INVENTION Figure 1 shows a perspective view of a forest machine according to an embodiment of the invention. Figure 1 shows a forest machine 10 according to an embodiment of the invention, more particularly a forwarder 10. The forest machine 10 according to the invention is described here without a timber load. In various embodiments, the forest machine 10 may
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    20185725 prh 30 -08- 2018 also comprises another forestry machine, for example a combination of a forwarder and a harvester or another type of driving machine suitable for transporting a load.
    The forest machine 10 according to an embodiment of the invention may comprise 5 loads 11 for stacking a transportable timber load.
    The forest machine 10 may further comprise a boom 12 and a wood handling tool connected to said boom 12, such as a lifting device such as a bucket. In addition, the forest machine 10 may comprise a rotating articulation device arranged between said boom 12 and said wood processing tool, the so-called 10 rotators. In addition, the forest machine 10 may comprise a cab 15 as well as a load screen fitted to the end of the load 11 on the side of the cab 15.
    13. A forest machine 10 according to an embodiment of the invention is adapted to collect timber from working stacks in a felling area, to transport the collected timber load to a roadside and to unload the timber load 15 into timber stacks.
    The forestry machine 10 may further comprise moving means 14, which moving means 14 may comprise at least one of axle-mounted wheels, swing-axle wheels, bogie-axle wheels, a track or other means 20 known per se for guiding the forest machine relative to its work platform. It will be apparent to one skilled in the art that a forest machine typically typically comprises a number of different structural and functional components and entities depending on the type of forest machine, such as a power source, and so on.
    The forest machine 10 according to the invention may further comprise an arrangement for controlling the unloading of the forest machine. By means of a load unloading arrangement for a forest machine according to the invention
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    20185725 prh 30 -08- 2018 in unloading the timber load 22 of the forest machine 10, the driver is assisted so that the timber load 22 can be neatly unloaded as a timber stack to the desired timber stack location 20.
    Fig. 2 shows a top view 5 of a solution for controlling the unloading of a forest machine according to an embodiment of the invention. In a solution according to an embodiment of the invention, the operator of a forest machine 10, such as a forwarder 10, selects / identifies a suitable location 20 for a timber stack 20, for example a roadside timber stack 20. The driver controls the forest machine 10 to an area 21 adjacent to said timber stack 20.
    In the solution according to the embodiment of the invention, the timber load 22 of the forest machine 10 is already leveled in the loading phase so that the ends of the timber are evenly against the load screen 13 of the load 11 of the forest machine 10.
    In a solution according to an embodiment of the invention, the operator of the forest machine 10 records the timber stack location 20 in the memory of the forest machine 10 by means of the boom 12 of the forest machine 10 and the wood processing work connected to said boom 12. The memorization of the timber stack location 20 can be done, for example, by taking the timber stack 23 from the timber load 22 of the forest machine 10 and moving (arrow A) and unloading said timber stack 23 to the first edge of the timber stack location 20, the left edge in Fig. 2. In the solution according to the invention, the control system of the forest machine 10 then interprets that the location 20 of the timber stack 25 starts from said unloading location of the timber bundle 23. The control system of the forest machine 10 can also interpret that the filling direction of the timber stack is from said unloading location of the timber bundle 23 in the direction of the forest machine 10, starting from the left edge in Fig. 2 to the right. Alternatively, the driver
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    20185725 prh 30 -08- 2018 may inform the control system of the direction of filling of the timber stack in another way, for example by a separate command or by a certain predetermined control movement. If desired, the driver can align the timber bundle 23 against the load screen 13 if the ends have not been straight against the load screen 5 13. Preferably, this alignment of the timber bundle against the screen can be an automatic or semi-automatic function. Preferably, in connection with this function, the gripping means of the wood processing tool 16, for example the jaws of the grab, are opened, thus allowing the individual trees in the bundle to level in the bundle to the same level.
    In the solution according to the embodiment of the invention, the control system of the forest machine 10 always detects the position of the wood processing tool 16 and is able to control the position of the wood processing tool 16 and the rotation angle of the wood processing tool 16. The location of the wood processing tool 16 can be calculated based on sensor measurement data, such as the boom 15 sensor data, or otherwise. Further, the control system of the forest machine 10 is adapted to detect and / or control the position of the gripping means of the wood processing tool 16, for example the position of the jaws of the grab.
    When the forest machine 10 takes the bundle load 11 from the timber load 22 with the wood processing tool 16 20, the control system of the forest machine 10 knows in advance the location of the load screen 13 and thus also knows the distance of the bundle head a woodworking tool 16 against 25 screens and commanding the control system to register the location of the load screen 13 in memory. The alignment of the timber bundle 23 can be reset with the grapple closed function, because when aligning the ends, the woodworking tool 16 has to be opened slightly.
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    20185725 prh 30 -08- 2018 In a solution according to an embodiment of the invention, when the forest machine 10 takes the timber bundle load space 11 from the timber load 22, the measuring equipment of the forest machine 10 measures and / or identifies the level of the bundle load screen 13 The control system of the forest machine 10 knows the distance of the head of the bundle from the wood processing tool 16. The control system of the forest machine 10 thus knows the distance from the wood processing tool 16, for example a grab, from the screen, regardless of where the wood handling tool 16 takes the load space 10 11. When the driver inserts the first stack of timber 23 into the timber stack 20 and opens the wood processing tool 16, the control system calculates and records the location of the edge of the timber stack. The control system can then help the operator to move each bundle of timber 15 to the correct distance from the machine, and the edge of the timber stack then becomes smooth and straight.
    In the solution according to the embodiment of the invention, the control system of the forest machine 10 can also calculate the height of the timber stack based on the unloading location 20 of the previous timber bundles 23 of the wood processing tool 16 and thus adjust the unloading height of the wood processing tool 16 for each wood reserve 23 approximately. In the solution according to the embodiment of the invention, the control system of the forest machine 10 is able to control the rotation angle of the wood processing tool 16, for example by means of the rotation angle of the rotator. Thus, the control system, 25 of the forest machine 10 also knows the exact direction of the bundle and the system can automatically turn the trees of the timber bundle 23 parallel to the stack and the trees of the timber bundle 23 remain at a 90 degree angle to the edge of the stack.
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    20185725 prh 30 -08- 2018 When the timber stack location 20 is marked in the solution according to the embodiment of the invention, the control system of the forest machine 10 automatically assists in controlling and unloading the timber load 22. The control system of the forest machine 10 calculates a suitable unloading location for each wood spare bundle taken from the spare load 22 by means of a wood processing tool 16 for each load of the forest machine 10 and guides said timber bundles neatly into the timber stack. This provides a flat and / or straight stack of timber at one edge to the marked timber stack location 20. After the timber load 22 has been unloaded into the timber stack of the timber stack location 20, the forest machine 10 may begin to retrieve a new load from the harvesting area.
    In the solution according to the embodiment of the invention, the forest machine 10 returns with a new timber load back to the vicinity of the timber stack location 20 along the road. When the driver guides the forest machine 10 to the area 21 adjacent to said timber stack location 20, the forest machine 10 control system automatically detects the location of the forest machine 10, preferably relative to the timber stack, and the location of the timber stack location 20 and interprets that the forest machine 10 has returned with a new timber load 22 20. Furthermore, the control system of the forest machine 10 remembers the filling condition of the timber stack at the timber stack location 20 and automatically assists in neatly unloading the new timber load 22 into the timber stack.
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    20185725 prh 30 -08- 2018 for example with a separate command or with a certain predetermined control movement.
    Fig. 3 is a block diagram showing a structure of a load unloading management arrangement 5 according to an embodiment of the invention. According to an embodiment of the invention, the forest machine unloading control arrangement 30 comprises a control system 31, a measuring device 32 and forest machine actuators 37. The measuring device 32 according to the invention comprises at least two measuring devices 33-36 for measuring the required measurement quantities, such as the location of the forest machine 10, preferably a timber stack. with respect to, the position of the wood processing tool 16, preferably with respect to the timber stack and the forest machine 10, and the angle of rotation and the position and angle of rotation of the timber bundle taken by the wood processing tool 16. Said at least two measuring devices 33-36 15 of the measuring device 32 may comprise at least one GPS measuring device 33 for determining the location of the forest machine 10.
    Figure 4 shows a flow chart of a method for controlling the unloading of a forest machine according to an embodiment of the invention. In a method 20 for controlling the unloading of a forest machine according to an embodiment of the invention, the driver first selects / identifies a suitable location 20 for the timber stack 20, e.g. a roadside timber stack 20, and directs the forest machine 10 to said selected / identified timber stack location 41.
    Next, the control system 31 of the forest machine 10 detects 42 whether or not the timber stack location has already been marked. If the timber stack location has not been marked before, it is the next turn
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    20185725 prh 30 -08- 2018 marking of a timber stack location 43. In the described method according to an embodiment of the invention, the operator of the forest machine 10 marks 43 timber stack locations 20 by means of a boom 12 of a forest machine 10 and a wood processing tool 16 connected to said boom 12. The initial edge of the timber stacking location can be marked 43, for example, by taking a timber stack 23 from the timber load 22 of the load space 11 of the forest machine 10 and moving and unloading said timber stack 23 to the initial edge of the timber stacking location 20. After marking the timber stack location 43, it is possible to proceed to the timber load unloading step 45-48. 10 Similarly, if the control system 31 in the identification step 42 detects that the wood spare stack location has already been marked, the timber load unloading step 45-48 is moved.
    Next, in the timber load unloading step 45-48, the forest machine 10 takes 45 the wood bundle 15 from the timber load 22 of the load space 11 with the wood handling tool 16. to a suitable unloading location where the timber bundle is neatly unloaded 47 into a timber stack. Once the timber load has been unloaded into the timber stack 20 of the timber stack location 48, the unloading step 45-48 is terminated and the forest machine 10 can begin to retrieve a new load from the felling area.
    Fig. 5 is a top view of a solution 25 for controlling the unloading of a forest machine according to an alternative embodiment of the invention. In a solution according to an alternative embodiment of the invention, the operator of a forest machine 10, such as a forwarder 10, selects / identifies a suitable location 20 for the timber stack and controls said timber stack location of the forest machine 10.
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    20185725 prh 30 -08- 2018 to the adjacent area 21. The operator of the forest machine 10 marks the timber stack location 20 by means of the boom 12 of the forest machine 10 and the wood processing tool 16 connected to said boom 12.
    In the solution 5 according to an alternative embodiment of the invention, the initial edge of the timber stack location 20 can be memorized, for example, by first taking the first timber stack 23 from the timber load 22 of the forest machine 10 and moving (arrow A] and unloading said first timber stack 23 to the left edge 10 of the timber stack 20 Similarly, recording the end edge of the timber stack location 20 can be done by taking the timber load 22 from the timber load 22 of the forest machine 10 and moving (arrow B) and unloading said timber stack 24 to the opposite second edge of the timber stack location 20, right in Figure 5.
    In the solution according to the invention, the control system of the forest machine 10 then interprets that the timber stacking place 20 starts from said unloading place of the first timber bundle 23 and ends at said unloading place of the second timber bundle 24. The control system of the forest machine 10 can also thus interpret that the stack of timber can be filled 20 evenly between the unloading points of the above-mentioned timber bundles 23, 24.
    When the timber stack location 20 is marked in the solution according to an alternative embodiment of the invention, the control system of the forest machine 10 automatically assists in controlling and unloading the timber load 22 25. The control system of the forest machine 10 calculates a suitable bundle for each timber load 22 taken from the timber load 22 by means of the wood processing tool 16.
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    20185725 prh 30 -08- 2018 unloading site and directs said timber bundles one bundle at a time to a suitable unloading site calculated in this way neatly into the timber stack. This provides a flat and / or straight stack of timber at one edge to the marked wood stack location 20. Once the wood spare load 22 has been unloaded into the timber stack of the timber stack location 20, the forest machine 10 can start retrieving a new load from the felling area. In the solution according to the embodiment of the invention, the forest machine 10 returns with a new timber load back to the vicinity of the timber stack location 20 along the road. When the driver guides the forest machine 10 to the area 21 adjacent to said timber stack location 20 10, the forest machine 10 control system automatically detects the location of the forest machine 10, preferably relative to the timber stack, and the location of the timber stack location 20 and interprets that the forest machine 10 has returned with a new timber load 22. Furthermore, the control system of the forest machine 10 remembers the filling situation of the timber stack 15 of the timber stack location 20 and automatically assists in neatly unloading the new timber load 22 into the timber stack. , for example by a separate command or by a certain predetermined control movement.
    Fig. 6 is a flow chart diagram of a method for controlling the unloading of a forest machine 25 according to an alternative embodiment of the invention. In a method according to an embodiment of the invention for controlling the unloading of a forest machine, the driver first selects / identifies a suitable location 20 for the timber stack, for example a roadside timber stack 20,
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    20185725 prh 30 -08- 2018 and directs the forest machine 10 to the proximity 41 of said selected / identified timber stack site. Next, the control system 31 of the forest machine 10 identifies 42 whether or not the timber stack site has already been marked. If the timber stack location has not been previously marked, then it is the turn of the timber stack location 43, 44. In the described method according to an embodiment of the invention, the operator of the forest machine 10 marks the timber stack location 43, 44 by the forest machine boom 12 and the wood processing tool 16 connected to said boom 12.
    The initial edge of the timber stacking location can be marked 43, for example, by taking the first timber stack 23 from the timber load 22 of the forest machine 10 and moving and unloading said first timber stack 23 to the initial edge of the timber stacking location 20. Likewise, the end edge of the timber stack location can be marked 44, for example, 15 by taking a second timber stack 24 from the timber load 22 of the forest machine 10 and moving and unloading said second timber stack 24 to the beginning edge of the timber stack location 20. After marking the timber stack location 43, 44, it is possible to proceed to the timber load unloading step 45-48. Similarly, if the control system 31 detects 42 in the identification step 31 that the timber stack location has already been marked, the timber load unloading step 45-48 is transferred.
    Next, in the timber load unloading step 45-48, the forest machine 10 takes 45 the load bundle 25 from the timber load 22 with the wood processing tool 16. When the timber bundle is taken into the 45 wood processing tool 16 suitable
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    20185725 prh 30 -08- 2018 to a demolition site where the timber bundle is 47 neatly unloaded into a timber stack. Once the timber load has been unloaded into the timber stack of the timber stack location 20, the unloading step 45-48 is terminated and the forest machine 10 can begin to retrieve a new load from the felling area.
    Fig. 7 shows a top view of an unloading situation of a forest machine according to an embodiment of the invention. In the situation of unloading the load of the forest machine according to the embodiment of the invention, the forest machine 10 is placing the timber bundle 25 in the timber stack by means of the wood handling tool 16 of the boom 12 and 10.
    Fig. 8 shows a perspective view of an unloading situation of a forest machine according to an embodiment of the invention. In the situation of unloading a forest machine according to an embodiment of the invention, the forest machine 10 is placing 15 timber bundles 25 in place on the timber stack by means of a boom 12 and a wood processing tool 16. In Fig. 8, the load screen is indicated by reference numeral 13.
    Fig. 9 shows a first top view of the progress of unloading a forest machine load 20 according to an embodiment of the invention. In the situation of unloading a forest machine according to an embodiment of the invention, the forest machine 10 is placing a timber bundle 25 in the timber stack by means of a boom 12 and a wood processing tool 16. In the unloading step shown in Fig. 9, there are still 25 timber loads left in the load space of the forest machine.
    Fig. 10 shows another top view of a forest machine load according to an embodiment of the invention.
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    20185725 prh 30 -08- 2018 on the progress of the demolition. In the situation of unloading a forest machine according to an embodiment of the invention, the forest machine 10 is placing the last wood spare bundle 25 of the timber load on the timber stack by means of a boom 12 and a wood processing tool 16.
    In the unloading step shown in Fig. 10, there is no timber load left. The load space of the forest machine is empty. In Figure 10, the control system of the forest machine has not yet guided the wood processing tool to turn the timber stack 25 straight into a suitable timber stack location.
    Fig. 11 shows a third top view 10 of the progress of unloading a forest machine according to an embodiment of the invention. In the situation of unloading a forest machine according to an embodiment of the invention, the forest machine 10 is ready to unload the last timber stack 25 into place on the timber stack by means of a boom 12 and a wood processing tool 16.
    In the unloading step shown in Fig. 11, there is no timber load left. The load space of the forest machine is empty. In Figure 11, the forest machine control system has already guided the wood processing tool to turn the timber stack 25 straight and is thus ready to disassemble the timber stack 25 at a suitable timber stack location.
    By means of the timber load unloading management arrangement according to the invention, the unloading of the timber load can be considerably facilitated. The forest machine control system according to the solution of the invention automatically assists in guiding and unloading the timber load to the marked timber stack location. In the solution according to the invention, the control system of the forest machine helps the operator to always move the timber stack to the correct distance from the machine and the edge of the timber stack then becomes straight, regardless of where the wood processing tool grips the timber stack in the longitudinal direction.
    It will be apparent to one skilled in the art that as technology advances, the basic idea of the invention may be implemented in many different ways. The invention and its embodiments are thus not limited to the examples described above but may vary within the scope of the claims.
    权利要求:
    Claims (9)
    [1]
    An arrangement (30) for controlling the unloading of a forest machine (10), the forest machine (10) comprising a load (11) for a timber load (22), a boom (12) and a wood handling tool (16) connected to said boom, the arrangement (30) further comprising a control system (31) and measuring equipment (32) for the forest machine (10), wherein:
    said measuring apparatus (32) is adapted to measure the position of the forest machine (10), preferably in relation to the timber stack, and the position and / or rotation angle of the boom (12) and / or the position and / or movement of individual boom parts of the boom (12) and / or the woodworking tool (16) position, preferably with respect to the timber stack and the forestry machine (10), and / or the angle of rotation; and where:
    15 - said control system (31) is adapted to:
    determine and record the location of the timber stack (20), calculate and record the location of the edge of the timber stack,
    20 - calculating the distance of the aligned end of the timber bundle taken from the timber load (22) by the wood processing tool (16) from the timber processing tool (16), calculating the unloading location for said timber bundle at said timber stack location (20), and
    - guiding and unloading said bundle of timber into the timber stack at said calculated unloading location so that the edge of the timber stack becomes flat and / or straight at one edge.
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    [2]
    An arrangement (30) according to claim 1, wherein said control system (31) is adapted to control the position and / or rotation angle of said boom (12) and / or the position and / or movement of individual boom parts of the boom (12) and / or
    5 positions and / or rotation angles of the woodworking tool (16).
    [3]
    An arrangement (30) according to claim 1 or 2, wherein said measuring apparatus (32) is adapted to measure the position of the gripping means of the woodworking tool (16).
    [4]
    An arrangement (30) according to claim 3, wherein said control system (31) is adapted to detect and / or control the position of the gripping means of the woodworking tool (16).
    An arrangement (30) according to any one of the preceding claims 1 to 4, wherein said control system (31) is adapted to calculate the height of the timber stack based on the location of the unloaded timber bundles.
    An arrangement (30) according to any one of the preceding claims 1-5, wherein said control system (31) is adapted to automatically detect the location of the forest machine (10) and / or the location of the timber stack location (20).
    An arrangement (30) according to any one of the preceding claims 1 to 6, wherein said control system (31) is adapted to automatically detect the position and / or rotation angle of the boom (12) of the forest machine (10) by detecting the position and / or movement mode of the individual boom parts.
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    An arrangement (30) according to any one of the preceding claims 1 to 7, wherein said forestry machine (10) is a forwarder (10).
    [5]
    A method for controlling the unloading of a forest machine (10), the forest machine (10) comprising a load (11) for a timber load (22), a boom (12) and a wood handling tool (16) connected to said boom, the method comprising the steps of:
    defining and marking (43), (44) memorizing the location (20) of the timber stack 10, calculating and recording the location of the edge of the timber stack, taking (45) a timber stack from the timber load (22) with a woodworking tool (16), lowering (46) the timber stack (13) 15 the distance of the leveled end from the woodworking tool (16), calculating an unloading location for said timber stack at said timber stack location (20), and guiding and unloading (47) said timber stack to said calculated unloading location so that the edge of the timber stack is straight from one edge to the other.
    [6]
    A method according to claim 9, wherein the location (20) of the timber stack is marked (43), (44) by taking a timber stack (23) from said timber load (22) and moving and unloading said timber stack (23) at the timber stack location (20). to the first edge.
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    [7]
    A method according to claim 9, wherein the location (20) of the timber stack is marked (43), (44) by taking a first timber stack (23) from said timber load (22) and moving and unloading said timber stack (22).
    5 a first timber stack (23) at a first edge of the timber stack location (20), and taking said load (11) from the timber load (22) a second timber stack (24) and moving and unloading said second timber stack (24) to the second edge of the timber stack location (20).
    [8]
    A method according to any one of the preceding claims 9 to 11, comprising the step of guiding a wood processing tool (16) guided against the screen against the load screen (13) and registering the location of said load screen (13) in memory.
    [9]
    A method according to any one of the preceding claims 9-12, wherein said forestry machine (10) is a forwarder (10).
    20185725 prh 30 -08- 2018
    类似技术:
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    RU2535969C2|2014-12-20|Timber carrier truck
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    同族专利:
    公开号 | 公开日
    BR112021002925A2|2021-05-11|
    EP3843530A1|2021-07-07|
    WO2020043952A1|2020-03-05|
    CA3107402A1|2020-03-05|
    EP3843530A4|2021-11-10|
    US20210345560A1|2021-11-11|
    FI128475B|2020-06-15|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    FI125464B|2014-03-18|2015-10-15|Novatron Oy|System and method for locating a construction machine|
    FI126982B|2014-04-29|2017-09-15|John Deere Forestry Oy|Method and system for controlling the forwarder boom|
    EP2987399B1|2014-08-22|2021-07-21|John Deere Forestry Oy|Method and system for orienting a tool|
    FI20175016L|2017-01-10|2018-07-11|Ponsse Oyj|Method and arrangement for controlling the function of a wood-handling device in a work machine, and forest machine|
    法律状态:
    2020-06-15| FG| Patent granted|Ref document number: 128475 Country of ref document: FI Kind code of ref document: B |
    2021-03-12| MD| Opposition filed|Opponent name: JOHN DEERE FORESTRY OY |
    优先权:
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    FI20185725A|FI128475B|2018-08-30|2018-08-30|Arrangement and method for managing the unloading of a forest machine|FI20185725A| FI128475B|2018-08-30|2018-08-30|Arrangement and method for managing the unloading of a forest machine|
    EP19854463.7A| EP3843530A4|2018-08-30|2019-08-29|Arrangement and method for managing unloading of a load of a forestry machine|
    PCT/FI2019/050615| WO2020043952A1|2018-08-30|2019-08-29|Arrangement and method for managing unloading of a load of a forestry machine|
    US17/272,041| US20210345560A1|2018-08-30|2019-08-29|Arrangement and method for managing unloading of a load of a forestry machine|
    CA3107402A| CA3107402A1|2018-08-30|2019-08-29|Arrangement and method for managing unloading of a load of a forestry machine|
    BR112021002925-7A| BR112021002925A2|2018-08-30|2019-08-29|arrangement and method for managing the unloading of a load from a forestry machine|
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