Patent Application
20250155232
The invention relates to a method for a check measurement of a log processed with a tree-handling device. In addition, the invention relates also to a corresponding measurement system, a forest machine and hardware.
Logging is performed with a multi-process machine equipped with a harvester head in accordance with the cut-to-length (CTL) method. The harvester head is used there to simultaneously fell, delimb and cut a tree into cut-to-length logs. While running a tree through the harvester head, the diameter of the tree is also simultaneously measured at an established accuracy in the lengthwise position of the tree and thus the log prepared from it. In this way, it is possible to know the volume of the tree and thereby also the logs prepared from it. Based on the measurement, the seller is paid for the trees cut.
The diameter of a tree is measured with sensors, for example. Sensors can be arranged, for example, in rotatable delimbing knives and/or rotatable feeding rollers or rolls of the harvester head. The length and thus also the lengthwise position of the diameter measurement can be measured with a measuring wheel, for example. For this, it is provided with sensors. All of these run along the surface of the tree when feeding the tree through the harvester. Based on these, it is possible to know the diameter of the tree at each longitudinal measuring point of the tree and the volume computed based on these.
According to the current practice, check measurements must be performed every now and then to monitor the accuracy of the measuring operation carried out by the harvester head and possibly also correct it. If it is discovered based on the check measurement that the measurement is not correct, the measurement arrangement of the harvester head must be tuned. This, too, is performed based on the check measurement. The automation system of a multi-process machine may indicate when a check measurement is due. A typical check measurement is a random measurement. There are different rules for imposing it. A check measurement is performed in accordance with a preset instruction. It can vary by country, for example. Most typically, however, several logs for different diameter classes are prepared with a harvester head for a check measurement. Log diameters and corresponding lengthwise positions are stored. After preparing the logs, a manual check measurement is performed. This takes place, for example, with a caliper as a so-called crosswise measurement. The measurement is thus performed by a forest machine driver, for example.
With a caliper, the check measurement is taken at preset and thus fixed longitudinal measuring points along the log. In Finland, for example, it is instructed to measure the diameter of each log at certain standard measuring points counting from the end of the log, in the longitudinal direction of the log. It is instructed to measure the last diameter of the log in the middle of the last log section. In addition, standard measuring points can be different, for example, between a butt log and other logs.
A crosswise measurement means, in turn, that the diameter of the log is measured at the same measuring point from two directions. The difference between these directions is most preferably 90 degrees. The purpose of this is to compensate for possible ellipticity of the tree, for example. Log diameters at each measuring point are stored, for example, in a caliper in connection with the measurement. Log diameters are transferred to, for example, multi-process machine for a comparison with the measurements that it has taken on corresponding logs.
However, many inaccuracy factors are associated with measurements performed with a caliper. These are both due to logs or measuring conditions and human factors. A first one of these includes branch knots, protuberances, enlargements, ellipticity, curvature and other similar deformations in logs. For example, a log may have multiple branch knots in its longitudinal direction in annual growth branch whorls, for instance. When such a branch knot is located at a fixed standard measuring point of the log, at which the log diameter is to be measured according to the Timber Measurement Act or Regulation, the measurement will very likely include measurement errors or at least deviations between different measurers. Particularly for an inexperienced caliper measurer, it is difficult to detect the above-mentioned from a delimbed tree, from which the bark has often detached at least partly. Thus, the measurement result can be highly dependent on the measurer. Most typically and despite careful measuring work, the error is smaller for an experienced measurer than for an inexperienced one.
In addition to the above, a crosswise measurement of a log taken at each measuring point using a 90 degrees angle as instructed is far from always possible. It can be restricted, for example, by the terrain in which the log has been prepared (for example, hummocks when touching the imposed measuring position) and also by snow in winter. In this case, the caliper cannot by rotated for the required 90 degrees, for example, but the crosswise measurement must be performed using a smaller angle of rotation. And even though the caliper could be rotated sufficiently for a crosswise measurement, there may be a one-sided branch knot on that side of the log that is not visible to the measurer or bent over bark between the measuring insert of the caliper and the log. This distorts the measurement result. The measurement result can additionally be affected by the shape of the log prepared. For example, when preparing a log on a bed timber, it turns on its wide side when falling down to the ground from the harvester head grasp. This, too, has an effect on the measurement accuracy of the caliper measurement. Although there are various rules and guidelines for measuring aiming to eliminate the afore-mentioned factors, a human factor is still always associated with a caliper measurement causing differences in the measurement result. An example of this is the clamping force used by the measurer when pressing the measuring inserts of the caliper against the surface of the log.
It may be demanding for a forest machine driver to select the measuring points and detect the afore-mentioned deviations from the logs. In addition, measurement results may vary greatly between different drivers. Because of this, caliper measuring differences, i.e., divergence between different measurers can be as much as between 5% and 6% by volume. The differences between experienced and well-informed measurers can be of the order of 2%.
From a self-monitoring measurement of a multi-process machine used, for example, in Finland it follows that for drivers, who perform caliper measurements, a reference measurement is not available, if they do not measure a check measurement batch of 30 logs to be performed twice a year at the same time while an external measurer does this. This leads to that, for young drivers and drivers starting their career, for example, it is very challenging to learn to measure logs in the right way taking into account their branch knots and ellipticity, etc. In turn, as a consequence of this, the tuning of the diameter measurement of a tree-handling device may be incorrect. In this case, there may be big measuring differences between drivers who work in different shifts with the same multi-process machine, and the diameter measurement of the multi-process machine is constantly adjusted.
The present invention is generally directed to forest machinery and, more particularly, to a system and methods for a check measurement of a log processed with a tree-handling device for improving the measuring accuracy of the check measurement.
In one aspect, the diameter of at least one log processed with a tree-handling device is measured with a measurement device according to a measuring instruction. The measuring instruction is determined based on measurement data created in connection with the processing of the log with the tree-handling device. Thus, it is not necessarily instructed to measure each log prepared for a check measurement according to the same formula, but there is a dedicated measuring instruction for at least part of logs. This measuring instruction is based at least partly on the measurement data created in connection with the processing, such as, for example, the preparation of the log with a tree-handling device. Thus, owing to the invention, it is possible to consider error factors appearing in logs, which are exactly defined based on the measurement data created in connection with the processing performed with a tree-handling device and which affect the check measurement performed with a measurement device, and/or to also eliminate human measurement errors related to the measurement.
Thus, it can also be stated that, in the method and measurement system according to the invention, it is instructed to use adaptive measuring points as part of log-specific measuring instructions, determined based on the measurement data created in connection with the processing of the log with a tree-handling device. Adaptive measuring points can be used exclusively or together with standard measuring points of the type that are used as prior art and in context with the current guidelines for a check measurement, for example.
In another aspect, with more reliable adaptive measuring points according to the invention, it is also possible to filter out unreliable measuring points from possible standard measuring points and/or reduce their weighting, for example.
Advantageously, when using the measurement data created in connection with the processing performed with a tree-handling device in accordance with the method, tuning of the diameter measurement of a work machine and/or a tree-handling device can be made much more reliable than with mere prior art standard measuring points.
As another advantage of the present disclosure, tuning of the diameter measurement of a work machine and/or a tree-handling device becomes possible for lower-quality trunks, as well. Further, it is possible to determine, based on the measurement data, measuring points that are reliably measurable with a measurement device and in connection with the processing performed with a tree-handling device for lower-quality trunks, as well. With the method and the measurement system according to the present disclosure, actions related to the determination of accuracy of the diameter measurement of a work machine and/or a tree-handling device, such as, for example, measurement tuning, monitoring of measuring accuracy and reporting based on it are based on substantially more reliable measurement data than in procedures according to known practices. Additional advantages are listed in the description portion.
While the invention is susceptible to various modifications and alternative forms, specific exemplary embodiments thereof have been shown by way of example in the drawings and have herein been described in detail. It should be understood, however, that there is no intent to limit the invention to the particular embodiments disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the scope of the invention as defined by the appended claims.
The invention, which is not restricted to the embodiments presented below, is described below in more detail by making reference to the enclosed drawings, in which:
A forest machine 100 also includes a crane 47 in a manner known per se. The crane 47 can be composed of a boom assembly 102 in a manner known per se. The boom assembly 102 can be composed of at least two booms articulated to each other; that is, a construction composed of a main boom 102.1 and a knuckle boom 102.2 that is pivotally articulated to the frame of the forest machine 100. A tree-handling device 12 is connected to the end 101 of the outermost boom 102.2 of the boom assembly 102. The tree-handling device 12 is now in this case a harvester head 104 including actuators, control equipment and determination means for felling, delimbing and cutting trees 106 into cut-to-length logs. The knuckle boom 102.2 of the boom assembly 102 may now comprise an extendable extension 102.3, a so-called telescopic extension, to increase the extension of the boom assembly 102. The forest machine 100 can be equipped with wheels or a crawler chassis, for example.
In the context of the invention, it is also obvious to those skilled in the art that, in addition to a forest machine 100, the method and a corresponding measurement system 51 according to the invention are just as well suitable for use, for example, with excavators and other work machines equipped with a work boom assembly that can be used to operate a tree-handling device 12. Likewise, a work machine 11 is not even necessary as regards the method or the measurement system 51. For example, the treelength method does not necessarily have a special work machine at all for a tree-handling device, but the tree-handling device, such as, for example, a delimber, is an independent unit.
As an example of the measurement device 10,
For performing the functions of the harvester head 104, the harvester head 104 includes actuators, which may be hydraulic cylinders or motors. It is also possible to refer to contact functions 55 of the harvester head 104. They operate, for example, the delimbing knives 23.1, 23.2, 24.1, 24.2 of the harvester head 104 of
Instead, in the embodiment of the harvester head 104 shown in
The harvester head 104, more generally, a tree-handling device 12 and/or a work machine 11 also includes determination means 33′. They perform measurement and/or estimation of the diameter d1-dn of the tree 106 and/or the log that has been run through the harvester head 104 and the corresponding lengthwise position m1-m2 of the tree 106 and/or the log producing their determination result. For example, determination means 33′ are sensors 33 in the embodiment shown in
According to an embodiment, the diameter d1-dn of the tree 106 and/or the log can be established in a manner known per se based on information determined from delimbing knives 23.1, 23.2, 24.1, 24.2 and/or feeding rollers 22.1, 22.2, for example. Again, it is possible to more generally refer to contact functions 55. Delimbing knives 23.1, 23.2, 24.1, 24.2, 38 and feeding rollers 22.1-22.3 move tightly against the surface of the tree 106 and/or the log that is run through the harvester head 104. Thus, based on their position relative to each other, it is possible to computationally determine the diameter of an object run through the harvester head 104 and its changing. In this measurement, it is also possible to utilise the position of the fixed delimbing knife 38 and the feeding roller 22.3. For example, the calculation can be performed as triangulation in a manner known per se. In other words, it is possible to measure the distance of the rotatable knives 23.1, 23.2, 24.1, 24.2 from the fixed knife 38, for example. It is also possible to measure the position of the rotatable feeding rollers 22.1, 22.2 relative to the fixed feeding roller 22.3. Thus, delimbing knives need not be even closed, but diameter information can also be obtained exclusively based on information determined from the feeding rollers 22.1-22.3.
Sensors 33 arranged in the context of the delimbing knives 23.1, 23.2, 24.1, 24.2 and/or feeding rollers 22.1, 22.2 provide, in their various positions, a measurement signal comparable to the position. Using this in the calculation, the thickness d1-dn of the tree 106 and/or the log can be determined in each longitudinal L measuring position m1-mn of the tree 106. It is known that the thickness typically changes in the longitudinal direction L of the tree 106. Thus, the position of the delimbing knives 23.1, 23.2, 24.1, 24.2 and/or feeding rollers 22.1, 22.2 relative to, for example, their pivot points, about which they have been set to rotate, also changes. From this follows a change in the measurement signal provided by the sensors 33. In the described embodiment, the measurement signal or information computed from it is stored, for example, in the memory 32 of the central computer 45 functioning as the control system 35 of the work machine 11 (
In the embodiment shown in
Referring to
If a random draw measurement is concerned, the diameter measuring function 16 of the work machine 11 and/or the tree-handling device 12, that is, for example, software for measuring equipment, draws out the due time of the check measurement based on preset drawing parameters. When the time is due in step 402, the process proceeds to the preparation of logs for a check measurement.
More generally, a check measurement according to the method of the invention may comprise several different things. For example, it may consist of self-monitoring of measuring accuracy, a calibration measurement (verification of measurement difference) for the diameter measuring function 16, that is, for example, software for measuring equipment, and tuning of the diameter measuring function 16 based on it and/or a check measurement (for example, semiannually or on request of a measurement party).
In step 403, logs 13.1-13.3, 14.1-14.4, 15.1-15.3 are prepared with the tree-handling device 12 for a check measurement. While preparing logs, the lengthwise position m1-mn and the diameter d1-dn corresponding to the lengthwise position of the tree 106 and/or the log that is now run through the tree-processing device 12 is measured and stored. More generally, this can be referred to as a measurement performed in connection with log processing. The measurement of the lengthwise position and the corresponding diameter may be mainly continuous and produce measurement data from the diameter of the tree 106 and/or the log, for example, at intervals of 1 cm in the longitudinal direction L of the tree 106 and/or the log. The diameter D and/or the cross-sectional shape of the log may be determined in the tree-handling device 12, for example, based on one or more triangulations that are performed with delimbing knives 23.1, 23.2, 24.1, 24.2, 38 and/or feeding rollers 22.1-22.3. In turn, the lengthwise position is measured, for example, with at least one measuring wheel 39 (
In the described embodiment, in step 404, one or more suggested measuring positions 18.1-18.n in the longitudinal direction L of the log are determined for at least part of each log 13.1-13.3, 14.1-14.4, 15.1-15.3 prepared, more generally processed, from the tree 106, for a check measurement. According to an embodiment, suggested measuring positions 18.1-18.n may include one or more measuring areas 19.1-19.n in the longitudinal direction L of the log. Suggested measuring positions 18.1-18.n, such as, for example, measuring areas 19.1-19.n, or even individual measuring points M1-Mn are determined based on the measurement data 28 created in connection with the processing, now the preparation, of the log 13.1-13.3, 14.1-14.4, 15.1-15.3 with the tree-handling device 12. Measurement data 28 may be raw data produced by the diameter measuring function 16, that is, for example, software for measuring equipment, of the work machine 11 and/or the tree-handling device 12 and/or filtered measurement data created from it in a preset manner. In addition, measurement data 28 may also comprise all information that has been created by combining and/or further processing this afore-mentioned data, for example.
In step 405, a dedicated measuring instruction 17.1-17.10 is created for at least part of the logs 13.1-13.3, 14.1-14.4, 15.1-15.3 prepared, more generally processed, with the tree-handling device 12. The creation of the measuring instruction 17.1-17.10 takes place based on the measurement data 28 created in connection with the preparation of the log 13.1-13.3, 14.1-14.4, 15.1-15.3 with the tree-handling device 12 in step 402. Hence, it can be stated that the measuring instruction 17.1-17.10 for logs is log-specific for at least part of the logs that are prepared, more generally, processed with the tree-handling device 12 for a check measurement. The measuring instruction 17.1-17.10 is based on measurement data 28. For example, measurement data 28 has been created based on the measurement performed by the diameter measuring function 16 of the work machine 11 and/or the tree-handling device 12, that is, for example, software for measuring equipment, in connection with the processing of the log 13.1-13.3, 14.1-14.4, 15.1-15.3 with the tree-handling device 12. By utilising the raw data 28′ of the diameter measurement and information provided by all diameter sensors 33 in the creation of the measuring instruction, it is possible to exactly identify any deformations appearing in the trunk, for example. These affect the reliability of the measurement, such as, for example, when later tuning the diameter measuring function 16 of the tree and/or the log in step 804 based on the performed accuracy determination.
When unfiltered raw data 28′ and filtered measurement data 28* (
An exemplary criterion for determining a measuring point M1-Mn may be that, based on measurement data 28, locations are searched where the log diameter first locally increases and then decreases due to a branch knot 49, for example (or vice versa, depending on the processing direction of the log, for instance). An exemplary criterion may also be that an increasing log diameter is not permitted, if the tree is run through the harvester head 104 in such a way that its diameter decreases as delimbing proceeds. In other words, measuring points M1-Mn are determined for logs only for areas where the log diameter only decreases.
A first exemplary method for characterising the imposition of a measuring point M1-Mn in the level of principle may be that, for imposing a measuring point, one or more positions or areas are determined in the longitudinal direction L of the log 13.1-13.3, 14.1-14.4, 15.1-15.3 where there is a local deviation in the diameter D1-Dn of the log 13.1-13.3, 14.1-14.4, 15.1-15.3, in its longitudinal direction. In this deviation, the log diameter, which is otherwise constant or changes uniformly, both increases and decreases, or vice versa. This increase and then the decrease of the diameter take place within a relatively short distance in the longitudinal direction of the log. Thus, the measuring point is then imposed outside such one or more positions or areas defined. In other words, such a position or area is discarded and left out from the determination of measuring points due to the deviation that appears in it.
Correspondingly, another exemplary method for characterising the imposition of a measuring point M1-Mn in the level of principle may be that, for imposing a measuring point M1-Mn, one or more areas are determined in the longitudinal direction L of the log 13.1-13.3, 14.1-14.4, 15.1-15.3 where the diameter D1-Dn of the log 13.1-13.3, 14.1-14.4, 15.1-15.3 does not change substantially or changes uniformly in such a way that the diameter between the start point and the end point of the area either increases or decreases in the longitudinal direction L of the log 13.1-13.3, 14.1-14.4, 15.1-15.3. Then, one or more measuring points are selected from the one or more areas thus defined. In other words, this area can thus be defined, for its start point and end point, by positions affected by a branch knot. Between these branch knots, the log shape behaves in the preset way.
Still another third exemplary method for characterising the imposition of a measuring point M1-Mn in the level of principle may be that, for imposing a measuring point M1-Mn, at least one position or area is determined in the longitudinal direction L of the log 13.1-13.3, 14.1-14.4, 15.1-15.3 where the diameter D1-Dn of the log 13.1-13.3, 14.1-14.4, 15.1-15.3 does not change substantially or changes uniformly in such a way that the diameter, before and after the measuring point M1-M2, either increases or decreases in the longitudinal direction L of the log 13.1-13.3, 14.1-14.4, 15.1-15.3. In other words, this prevents positioning a measuring point in the area of a branch knot, for example. In the area surrounding the branch knot, the diameter of the log behaves exactly in this way, changing in both directions. As can be seen from the examples, several alternative principles may exist for determining measuring points and areas or they can be applied in different ways as different combinations.
According to an embodiment, the creation of a measuring instruction 17.1-17.4 for each log 13.1, 14.1, 15.1, 16.1 based on a determination according to measurement data 28 can be performed so that raw data 28′ and filtered data 28* are used together in the determination.
According to an embodiment, filtered data 28* may function as basic data topped by raw data 28′. However, filtered data 28* and raw data 28′ are first processed separately. Certain representative facts can be searched from them. After this, data groups 28*, 28′ are summed up, which provides their summation information. One or more mathematical models are used in the summation information of the data groups. These may be different filters or trunk models (depending on the tree type, for example). In addition to these, the analysis may be based on the log length. It is possible to examine the slopes of summation information, raw data 28′ and/or filtered data 28* at certain measuring intervals/areas and/or at certain measuring points. From these, advantageous and disadvantageous measuring positions can be identified. Based on this identification, the selection of measuring areas and points is further specified. In this way, it is possible to find representative and non-representative measuring points and areas, from which log-specific measuring instructions are created. Based on the principles listed above, it is possible to determine the location of branch knots 49 and, based on them, define suitable measuring areas 19.1-19.n, which are free from branch knots 49 and, more generally, deviations affecting the measurement. In other words, when defining measuring areas 19.1-19.n and points M1-Mn, it is possible to utilise one or more algorithms, which identify and eliminate branch knots 49. The methods may be digital, analog, computational and/or mechanical. For filtering, it is possible to use generally known statistical methods and/or signal processing. With filtering, the measurement signal of raw data 28′ has been cleaned in such a way that errors and noise are eliminated from the measurement data whereas actual diameter changes remain visible in filtered data 28′.
According to an embodiment, for example, raw data 28′ may convey information for each measuring position m1-mn, if the driver has controlled measurement devices, i.e., feeding rollers or front knives, to release from the trunk of the tree 106. More generally, it is possible to refer to contact functions 55 of a tree-handling device 12 where determination means 33′ connected to them are used to create measurement data 28 in connection with the processing of logs 13.1-13.3, 14.1-14.4, 15.1-15.3 concerning the lengthwise position m1-mn and the corresponding diameter d1-dn of the logs 13.1-13.3, 14.1-14.4, 15.1-15.3. In this case, an internal parameter can be provided in raw data for each measured value, for example, or this parameter is provided when the release begins and when it ends (release control=True/False). In other words, status data of contact functions 55 is thus created and stored concerning the measurement of the lengthwise position m1-mn and/or the corresponding diameter d1-dn. Status data is related to the current position of contact functions 55 relative to the log 13.1-13.3, 14.1-14.4, 15.1-15.3 processed. Thus, leaps in raw data would surely be caused by faults or deviations appearing in the trunk. In the same way, it would be known more reliably when the measurement device has returned down and contacts the trunk. And even otherwise, this makes it possible to know when the machine has actually taken the measurement. These measuring positions need not be compared or used for tuning. However, the described embodiment eliminates and takes into account operations, possibly performed by the driver, that worsen the measurement. Therefore, status data of the contact functions 55 of a tree-handling device 12 can be used to create a measuring instruction 17.1-17.10.
According to an embodiment, in addition to determining the diameter D of the log 13.1-13.3, 14.1-14.4, 15.1-15.3 while preparing, more generally, processing the log 13.1-13.3, 14.1-14.4, 15.1-15.3 with a tree-handling device 12, it is also possible to define the cross-sectional shape of the log 13.1-13.3, 14.1-14.4, 15.1-15.3, such as, for example, ellipticity, in its longitudinal direction L. Information concerning this defined cross-sectional shape of the log 13.1-13.3, 14.1-14.4, 15.1-15.3 can also be used for creating a measuring instruction 17.1-17.10 for the log 13.1-13.3, 14.1-14.4, 15.1-15.3. In other words, if the log is highly elliptic for some of its areas, it is not necessarily suggested/instructed to take a check measurement with a caliper 36 or an equivalent device 10 in this area. Typically, if ellipticity exists, it exists more in the base of the tree 106, 10-20 mm, for instance, and less in the top, 2-5 mm, for instance. However, if ellipticity exists, it usually appears over the entire length of the tree 106.
In step 406, measuring instructions 17.1-17.10 created are transferred to the measurement device 10 and, in step 407, measuring instructions 17.1-17.10 are received at the measurement device 10 and stored in the memory 41 of the measurement device 10 for the following check measurement of logs to be performed with it.
According to an embodiment, in the substep 602 of the check measurement performed with the measurement device 10, for example, a suggestion 18.2 can be made to the measurer 20 for the first measuring position M1. Thus, for at least part of the logs 13.1-13.3, 14.1-14.4, 15.1-15.3 measured in step 601, the measuring instruction 17.1-17.10 for the log 13.1-13.3, 14.1-14.4, 15.1-15.3 includes one or more suggested measuring positions 18.1-18.n. Furthermore, suggested measuring positions 18.1-18.n may include one or more measuring areas 19.1-19.n in the longitudinal direction L of the log 13.1-13.3, 14.1-14.4, 15.1-15.3. One or more measuring positions M1-Mn are selected or imposed from the measuring areas 19.1-19.n while measuring the log 13.2.
In step 603, a decision can be made on the actual exact measuring point M1 in the log 13.2 based on the suggested measuring position 18.2 included in the measuring instruction 17.2 for the log 13.2 (
In step 604, the diameter D1 of the log 13.2 is measured at the selected measuring point M1. In addition to the diameter measurement, the lengthwise position of the log 13.2 corresponding to the measuring point M1, at which the diameter was measured, may also be possibly verified. More generally, in step 604, in connection with the measurement of the diameter D1-Dn of the log 13.1-13.3, 14.1-14.4, 15.1-15.3, the measurement device 10 is used to measure the diameter D1-Dn of the log 13.1-13.3, 14.1-14.4, 15.1-15.3 at a measuring point M1-Mn located in at least one measuring area 19.1-19.n. The measurement is performed as a crosswise measurement, if the measurement device 10 is a caliper 36.
As mentioned above, there may be several alternative procedures. According to a first embodiment, while measuring the log 13.2 with the measurement device 10, the measurer 20 is instructed to measure at least one measuring point M1 from the measuring area 19.2 included in the suggested measuring position 18.2, more generally, the measuring instruction 17.2, in which the measurer 20 performs the diameter measurement of the log 13.2. According to a second embodiment, the measurer 20 can select at least one measuring point M1 in the log 13.2 from the measuring area 19.2 included in the suggested measuring position 18.2, more generally, the measuring instruction 17.2. According to a third embodiment, at least one measuring point M1 in the log 13.2 from the measuring area 19.2 included in the suggested measuring position 18.2, more generally, the measuring instruction 17.2, is suggested to the measurer 20. According to a fourth embodiment, the measurement device 10 can measure even automatically in at least one measuring area 19.2 included in the suggested measuring position 18.2, more generally, the measuring instruction 19.2, and/or at a measuring point M1 defined from it. Of these, one or more alternative procedures can be implemented in the same embodiment, i.e., in the check measurement, or even in the context of the same log 13.2. Most typically, the measurer 20 and/or the measurement device 10 can be informed of the exact position M1 or at least the measuring range or area 19.2, in which the measurement should be taken with the measurement device 10. If the measurer 20 is allowed to freely select the measuring point M1 from the area, at least in this case the corresponding positional information M1 is determined and stored. When the measuring position M1 is imposed, storing the positional information M1 may in this case function as verification for the measuring position.
According to an embodiment of the invention, measuring instructions 17.1-17.10 defined based on the measurement data 28 created in connection with the processing of the log 13.1-13.3, 14.1-14.4, 15.1-15.3 with a tree-handling device 12, such as, for example, measuring points M1-Mn, can be used in the case of one or more logs 13.1-13.3, 14.1-14.4, 15.1-15.3 requiring a check measurement either without standard measuring points 48 imposed in the Timber Measurement Act or Regulation or guidelines or together with at least part of them. According to an embodiment of the invention, based on the measurement data 28 created in connection with the processing of the log 13.1-13.3, 14.1-14.4, 15.1-15.3 with a tree-handling device 12, unreliable measuring points 48′ can be filtered out from standard measuring points 48 and/or the weighting of standard measuring points 48 can be reduced. In other words, if it is detected, based on the measurement data 28 created in connection with the work on the tree-handling device 12, that a standard measuring point 48′ is in a deviating area in the log, such as, for example, a branch knot 49, it can be instructed that the standard measuring point 48′ remains unmeasured or, alternatively, a lower weighting is given to the measurement result measured at it.
In step 605, information is stored, for example, in the memory 41 of a measurement device 10 concerning the lengthwise position of the log 13.2 measured with the measurement device 10, i.e., the measuring point M1, and at least to the diameter D1 of the log 13.2 measured at this measuring point M1 with the measurement device 10.
In step 606, it is examined if the log 13.2 subjected to the measurement is already completely measured. If this log 13.2, currently subjected to the measurement, has other remaining measuring points M2-Mn based on its measuring instruction 17.2, the next measuring point in its longitudinal direction L, for example, the measuring point M2 imposed by the measuring instruction 17.2 is entered. This next measuring point M2, too, may have been determined based on the measurement data 28 created in connection with the processing of the log 13.2 with the tree-handling device 12. Here, too, steps 602-605 are repeated in the same way as already described above. If standard measuring points, which are to be measured, are encountered inbetween, these are also measured. Thus, another measuring point M2 is imposed from the measuring instruction 17.2 created for the log 13.2, which may be included in another suggested measuring position 18.3, which is in the form of another measuring area 19.2 in the embodiment presented.
Instead, if it is discovered in step 606 that the entire log 13.2 is already measured, that is, all measuring points M1-Mn, 48 defined for the log 13.2 have been processed with the measurement device 10, step 607 is entered. In step 607, it is examined whether all logs 13.1-13.3, 14.1-14.4, 15.1-15.3 made for the check measurement have already been measured. If unmeasured logs 13.3, 14.1-14.4, 15.1-15.3 still exist, step 601 is returned to and steps 602-605 follow as above. In other words, the successive log 13.3 of the set is measured next. For this, too, its own measuring instruction 17.3 including suggested measuring positions 18.1-18.n and measuring areas 19.1-19.n included in these may have been created, of which one or more measuring points M1-Mn are imposed for performing the check measurement with the measurement device 10. As stated, instead of a measuring area, the measuring position of the log imposed from the measurement data 28 may also be an exact measuring point, taking into account the accuracy of the determination tool 43 for the lengthwise position of the measurement device 10, such as, for example, a measuring reel 43′.
If it is discovered in step 607 that there are no remaining unmeasured logs, step 608 is entered. In step 608, the measurement results 30 concerning the logs 13.1-13.3, 14.1-14.4, 15.1-15.3 regarding the measuring points M1-Mn, at which the diameter measurement has been performed, and the corresponding diameters D1-Dn, can be transferred to the work machine 11 and/or the tree-handling device 12, for example. In step 609, for example, the work machine 11 and/or the tree-handling device 12 receives the measurement results 30 from the measurement device 10. In addition, it stores them in its memory 32 for processing/further analysis of the measurement results 30. Measurement results 30 can also be sent to a cloud service for computation/analysis to be performed on them. This can take place independent of place via information networks. It is of course possible to transfer measurement results 30 just as well already when the measurement is still in progress. In this case, it can take place even immediately after each measurement taken at a measuring point.
Furthermore, in this context, reference is made to
In step 802, based on the comparison, the accuracy of the diameter measurement determined in connection with the processing of the log 13.1-13.3, 14.1-14.4, 15.1-15.3 with the tree-handling device 12 is determined at mutually corresponding longitudinal L measuring points M1-Mn of the log 13.1-13.3, 14.1-14.4, 15.1-15.3. In other words, the correctness of the measurement performed in connection with the processing with the tree-handling device 12 at mutually corresponding measuring points is determined.
In step 803, conclusions, suggested actions and/or reports are created based on the determined accuracy of the measurement. Herein, in step 803, the diameter determination measurement performed in connection with the processing of the log 13.1-13.3, 14.1-14.4, 15.1-15.3 with the tree-handling device 12 is controlled and/or information 29 is created concerning the performed diameter measurement and thereby the determination based on the measuring accuracy defined in step 802. In other words, actions are thus taken based on the correctness of the measuring accuracy. In step 804, conclusions and suggested actions based on the measurement results 30 obtained with the measurement device 10 are used, for example, in the measuring operation of the work machine 11 and/or the tree-handling device 12, such as, for example, maintenance of the accuracy of the diameter measuring function 16 of the work machine 11 and/or the tree-handling device 12, that is, for example, software for measuring equipment, such as, for example, tuning, self-monitoring of measuring accuracy, such as, for example, concerning possible claim cases, reporting of measuring and harvesting activities and/or check measurement of the work machine 11 and/or the tree-handling device 12 (for example, semiannual measurement/measurement performed on request of a measuring party), fault diagnostics of the work machine 11 and/or the tree-handling device 12, measurement quality assurance and/or monitoring and/or adjustment of operation of the work machine 11 and/or the tree-handling device 12. In fact, the end use and utilisation of information do not in any way restrict applicability of the method according to the invention to different situations and applications. Possibilities are thus very versatile.
According to an embodiment, for example, step 601 may have a substep consisting of an application of the invention where the measurement device 10 is also used to determine ellipticity or, more generally, the cross-sectional shape of the log 13. Reference is also made to
According to an embodiment, when measuring the diameter D of the log 13 with the measurement device 10 at a measuring point M, the diameter D of the log 13 is measured in two or more positions in its circumferential direction 21 and the corresponding diameter D′, D′A of the log 13 is stored. Information, such as, for example, the average of the diameter D′, D′ A of the log 13 at this longitudinal measuring point M, is created from the diameter measurement of the log 13 in two or more positions in its circumferential direction 21. In addition, a crosswise measuring instruction, based on which the measurement is performed, can be created for this measuring point M from the diameter measurement of the log 13 in one or more positions in its circumferential direction 21. For example, based on the circumferential 21 measurement, two or more crosswise measuring positions are thus retrieved at the concerned measuring point M, at which the measurement is to be taken based on instructions or guidance. In other words, measuring directions that meet the set criteria are defined for the crosswise measurement performed with the measurement device 10 and a crosswise measurement is performed with the measurement device 10 in these defined measuring directions. In this way, any errors caused to the measurement result by ellipticity can be eliminated from the measurement performed with a caliper 36 already in connection with the crosswise measurement performed with the measurement device 10.
According to a second embodiment, when measuring the diameter D of the log 13 with the measurement device 10 at a measuring point M, the diameter D of the log 13 can be measured in its circumferential direction 21 even as a continuous measurement, while storing the diameter D of the log 13 at the same time, i.e., in connection with the measurement. Thus, more than two measurements are taken from the same measuring point M. During the measurement, when detecting based on a measurement rotated in the circumferential direction, ellipticity at one measuring point M that conforms to the set criterion, such as, for example, exceeding 7 mm, an alert can be given. Based on this, it is possible, for example, to discard this measuring point M in the longitudinal direction L of the log 13, if suitable measuring positions for the caliper 36 are not found at this measuring point M.
Based on the above, according to an embodiment, the caliper 36 can also be arranged to include its position measurement. One or more position sensors 46 arranged in the caliper 36 provide reliable information on ellipticity of logs 13 for a caliper measurement. According to an embodiment, the caliper 36 may instruct the measurer 20, in one or more adaptive measuring positions M1 of the log 13 and/or at a standard measuring point 48, to clamp the caliper 36 with a normal clamping force and simultaneously rotate the caliper 36 at least 90 degrees while the caliper 36 is at an angle of 90 degrees relative to the longitudinal axis L of the log 13. Thus, the diameter is measured in more than two measuring positions of the measurement device 10. Furthermore, the same rotation can also be made in the opposite direction to verify the measurement. Thus, the caliper 36 continuously measures the diameter D of the log 13 while rotating it around the log in the circumferential direction 21; in other words, several pairs of diameter/posit ion points are then stored. Based on the measurement performed, correct measuring directions can be computationally retrieved for the best crosswise measurement. For example, after the rotational measurement and determination, the caliper 36 indicates the correct position for this measuring point M1, for example, on the display of the caliper 36 and/or with an audible signal once the defined measuring position has been reached. If bark has detached from this measuring point M1, then this measuring point M1 can be skipped and the corresponding action can be performed at the following measuring point M2, for example. The selection of the measuring point M1-Mn and the measurement of ellipticity can be made even more reliable with a camera 50 arranged in connection with the caliper 36, for example. With this, it is possible to verify if bark has detached from this measuring point M1 or if there are other corresponding deviations that may affect the measurement, for example.
In other words, based on the above, the crosswise measurement can be controlled based on ellipticity determination of the log 13. It indicates one or more measuring directions for guiding the measurement for the measurer 20 and gives a signal to the measurer 20, when a position sensor 46 detects that the measurement device 10 is in the position according to the defined measuring direction. Thus, the measurer 20 is guided based on the ellipticity determination. For example, the measurer 20 may first take one measuring point and then guidance can be given to know at how big intervals in the circumferential direction 21 the following one or more diameter measurements are taken. For example, one point may be guided or then several points are guided. In a rectangular measurement, the measurement device 10 gives an indication, such as, for example, an audible signal, once it has been rotated by 90 degrees relative to the first measuring position. This embodiment and a caliper with such a function can be utilised in context with this invention, however, just as well independent of this invention.
Thus, a position measurement arranged in a caliper is not necessarily tied to the use of adaptive measuring points. The caliper has a processor connected to a position sensor and necessary program codes for execution with the processor and arranged to provide the afore-mentioned functions and substeps in connection with the performance of the measurement. The processor also controls the input and output means of the caliper, which are related to this embodiment. On the other hand, information about ellipticity of the log 13 can also be obtained, instead of or in addition to the measurement device 10, from the delimbing knives and/or feeding rollers of the tree-handling device 12, for example, when the technology enables it in the future. This information, too, can be used for determining, for example, adaptive measuring points M1-Mn.
Adaptive measuring points M1-Mn, more generally, measuring instructions 17.1-17.10 including or defining these, can be defined, based on the measurement data 28, with the central computer 45 of the work machine 11 or the tree-handling device 12, for example. Just as well, they can also be determined as a cloud service somewhere else, for example. In addition, they can also be determined in the measurement device 10 itself. Thus, regarding the invention, it is not essentially significant where the measuring instruction 17.1-17.10 for each log is determined, it is not tied to a place. The measuring instruction 17.1-17.10 can be created in any step. The creation of one individual instruction may take place in several places and/or in successive steps, for example.
Data can be transferred via an information network for both the measurement data 28 and the measuring instruction 17.1-17.10 created from it. Similarly, measurement results 30 created with the measurement device 10 can be transferred for processing to a work machine 11, a tree-handling device 12, a cloud service, such as, for example, for an analysis by third parties, to a mobile device, a portable computer, or measurement results 30 can be analysed in the measurement device 10 itself. An analysis and comparison of measurement results 30 and action performed based on them are not also tied to a place or critical as regards the invention.
For example, according to an exemplary embodiment, for example, in step 401, the diameter measuring function 16 of the work machine 11 and/or the tree-handling device 12 can be analysed by a third party. When deviations are detected in the measurement results of the work machine 11 and/or the treehandling device 12, a decision is made in step 402 that the following trunks are measured. Thus, a continuous online data link may exist between the work machine 11 and/or the treehandling device 12 and the party who performs an online, i.e., mainly real-time analysis of the measurement results of the work machine 11 and/or the tree-handling device 12. A part or all of the measuring instructions 17.1-17.n may also come from the caliper 36, a part from the work machine 11 and a part from a third party who analyses the measurement data 28, for example. A check measurement can be started for different reasons. Measuring instructions 17.1-17.10 can also be changed even during a measurement that has already been started with the measurement device 10.
In addition to the method, the invention also relates to a measurement system 51 for a check measurement of a log 13.1-13.3, 14.1-14.4, 15.1-15.3 processed with a tree-handling device 12. The system includes a tree-handling device 12, which is arranged to process, such as, for example, prepare logs 13.1-13.3, 14.1-14.4, 15.1-15.3. The system also includes determination means 33′ arranged to create measurement data 28 in connection with the processing of logs 13.1-13.3, 14.1-14.4, 15.1-15.3. The measurement data 28 created concerns the lengthwise position m1-mn and the corresponding diameter d1-dn of the logs 13.1-13.3, 14.1-14.4, 15.1-15.3 at each longitudinal L measuring point m1-mn, i.e., lengthwise position of the log. Determination means 33′ may be located, for example, in the tree-handling device 12 and/or the work machine 11.
Furthermore, in the described embodiment, the system may also include a measurement device 10, such as, for example, a caliper 36. The measurement device 10 is meant for measuring the diameter D1-Dn of a log 13.1-13.3, 14.1-14.4, 15.1-15.3 processed with a tree-handling device 12 at one or more longitudinal L measuring points M1-Mn of the log 13.1-13.3, 14.1-14.4, 15.1-15.3. As one of its parts, the system may also have one or more processors 45′ and memory 32 connected to it. Of these, at least one processor 45′, such as, for example, the processor 45 of the control system 35 of the work machine 11, is arranged to compare the diameter d1-dn of a log 13.1-13.3, 14.1-14.4, 15.1-15.3 based on the measurement data 28 created with the determination means 33′ to the diameter D1-Dn of a log 13.1-13.3, 14.1-14.4, 15.1-15.3 measured with the measurement device 10. The comparison is performed at least at some of the mutually corresponding longitudinal L measuring points M1-Mn of the log 13.1-13.3, 14.1-14.4, 15.1-15.3.
The at least one processor 45′ included in the measurement system 51 is arranged to create a measuring instruction 17.1-17.10 for at least one log 13.1-13.3, 14.1-14.4, 15.1-15.3 based on the measurement data 28 created in connection with the processing of the log 13.1-13.3, 14.1-14.4, 15.1-15.3 with the tree-handling device 12. In addition, the at least one processor 45′ included in the measurement system 51 is arranged to compare one or more diameters D1-Dn of at least one log 13.1-13.3, 14.1-14.4, 15.1-15.3 measured with the measurement device 10 to the diameter d1-dn determined in connection with the processing of the log 13.1-13.3, 14.1-14.4, 15.1-15.3 with the tree-handling device 12. The at least one processor 45′ included in the measurement system 51 is also arranged to determine, based on the comparison, the accuracy of the diameter determined in connection with the processing of the log 13.1-13.3, 14.1-14.4, 15.1-15.3 with the tree-handling device 12. The at least one processor 45′ included in the measurement system 51 is further arranged to control the diameter determination performed in connection with the processing of the log 13.1-13.3, 14.1-14.4, 15.1-15.3 with the tree-handling device 12 and/or create information 29 concerning the diameter determination based on the determined measuring accuracy.
The measurement device 10 is arranged to be instructed to measure the diameter D1-Dn of at least one log 13.1-13.3, 14.1-14.4, 15.1-15.3 processed, such as, for example, prepared, with the tree-handling device 12 according to the measuring instruction 17.1-17.10 created for the log 13.1-13.3, 14.1-14.4, 15.1-15.3.
At least one processor 45′ of the system is arranged to perform substeps of the method according to the invention.
In addition to a method and a measurement system, the invention is also related to a forest machine 100. The forest machine 100 is arranged to perform one or more substeps of the method. In addition, the forest machine 100 may be a part of the aforementioned system or it is arranged to perform one or more substeps and/or functions according to the method described above. In the case of a forest machine 100, the tree-handling device 12 may be a harvester head 104, which is arranged in a work machine 11, such as, for example, a forest machine 100.
According to an embodiment, the forest machine 100 may be a part of the system 51 according to the invention. In this case, the forest machine 100 is equipped with devices required by the measurement system 51 according to the invention already in connection with its manufacture. Alternatively, elements that are necessary for implementing the measurement system 51 can also be arranged in existing forest machines that are in other respects equipped with components required by the measurement system 51. At its simplest, it may be sufficient to merely perform a software update, which forms adaptive measuring points M1-Mn from measurement data 28 specific to each log, which does not include, for example, branch knots 48 or other similar factors that cause inaccuracies in the accuracy of diameter measurement.
Furthermore, an object of the invention is also a computer program product 52 as shown in
Program code means 34 may be a part of software or a computer program or computer program product 52, which operates, for example, on a control system 35. According to an embodiment, program code means 34 may also be located remotely as a cloud service, for instance. Thus, data of the control system 35 of the forest machine 100 is sent to programmable means to another location using the remote connection. An object of the invention is also hardware 45 including a memory unit 32 for storing the program code 34 and a processor 45′ for executing the program code 34. In connection with execution, the hardware 45 performs at least some of the steps according to the method. The hardware 45 or at least part of it may consist of the central computer 45 of the forest machine 100, for example.
More particularly, the hardware 45 may include one or more processors 45′ and one or more memories 32 including computer program code 34. In addition, the hardware 45 includes a first interface 54.1 arranged for data transfer concerning measurement data 28 created in connection with the processing of a log 13.1-13.3, 14.1-14.4, 15.1-15.3 with a tree-handling device 12 and another interface 54.2 arranged for data transfer concerning information that is created in the hardware 45 based on measurement data 28 created in connection with the processing of a log 13.1-13.3, 14.1-14.4, 15.1-15.3 with a tree-handling device 12. In the hardware 45, one or more memories 32 and computer program code 34 are configured, together with one or more processors 45′, to provide that the hardware 45 at least creates, based on the measurement data 28 created in connection with the processing of the log 13.1-13.3, 14.1-14.4, 15.1-15.3 with the tree-handling device 12, a measuring instruction 17.1-17.10 for at least one log 13.1-13.3, 14.1-14.4, 15.1-15.3, which is arranged to be used for a check measurement of a log processed with the tree-handling device 12. Therefore, the measuring instruction is information for the second interface 54.2. Thus, the measuring instruction can be created in any place with the processor and even in a decentralised manner, and its creation is not tied to the context of a forest machine or caliper, more generally, a measurement device, for example. The measurement device 10 may be any existing device for checking a measurement. For example, it can be a mechanical measurement device 37, such as, for example, a caliper 36 shown as an application example, a measuring clamp or a measuring tape. It may also be an electronic measurement device, such as, for example, a camera device, a laser device, based on a photocell, infrared, ultrasound or radiation, a radar device or a combination of any of these. The determination means 33′ of the work machine 11 and/or the tree-handling device 12 may also be based on any one or more of these technologies.
The tree-handling device 12 itself can also function as the measurement device 10. Thus, it can be used to determine the diameter of a log for checking purposes after its preparation. In this case, the log is run, as regards delimbing knives, for example, to an area, which definitely does not include branch knots 48 or the like that affect the measurement, and the diameter of the log is measured with a stationary log in this position. Here, too, the measuring position is determined according to the invention based on the measurement data 28, which was created for the log, for example, while preparing, more generally, processing it with the tree-handling device 12. The log to be measured can just as well be a so-called standard log and the measurement taken with it.
Monitoring and/or adjustment of the operation of a work machine 11 and/or a tree-handling device 12, to which the invention also brings improvements, may also include, to provide some non-restricting examples, knife/roller pressures, maintenance needs, sharpening needs of knives and the fuel consumption of the work machine 11 and/or the tree-handling device 12. A higher knife/roller pressure increases the fuel consumption. The accuracy of diameter measurement also has an impact on the stopping of the guide bar of a chain saw 27 in just the right place. Owing to the invention, as a consequence of improved measuring accuracy, a harvester head 104 can be made to operate better in all diameter ranges and, in addition, more optimally.
Owing to the invention, acquisition of a measurement device 10, such as a caliper, 36, also brings savings to a forest machine contractor. The productivity of the harvester increases. Owing to the invention, when measuring, besides the standard measuring points 48 of the log 13, also adaptive measuring points M1-Mn or only adaptive measuring points M1-Mn, the accuracy of diameter measurement of a work machine 11 and/or a tree-handling device 12 can be made much better already with a smaller number of logs prepared for a check measurement. This saves the working time of the driver and thereby also increases the productivity of the work machine 11 and/or the tree-handling device 12. In addition, extraordinary actions are left out from operations. It is often necessary to perform such actions in awkward working conditions, such as, for example, in snow, frost or rain, which may make the measurement difficult. Undersawing, i.e., too early cutting of the log, which causes quality defects, is also avoided when the accuracy of diameter measurement improves. Thus, advantages of the method according to the invention are manifold.
The invention also benefits the end client. A sawmill performing log sawing can be mentioned as an example. Sawmills order logs as a number of pieces to different assortments, which is length dependent. As an example of an order may be mentioned an order for 5.20 m long trunks to top diameter class 22-23 with the number of trunks being 550, for example. Length and diameter measurement of logs is performed at the sawmill, too. Due to a measurement error of a work machine 11 and/or a tree-handling device 12, it is not at all exceptional that the measurement result regarding the number of pieces of trunks turns out to be incorrect at the sawmill; i.e., in other words, based on the order, the sawmill has received only 450 trunks for the dimension class concerned. To take this into account, for example, the sawmill needs to anticipate the situation in such a way that it needs to order, due to a possibly erroneous log measurement of a work machine 11/a tree-handling device 12, either too many or alternatively too few trunks, if the measurement error of the work machine 11/tree-handling device 12 is downwards in the diameter class concerned, so that the order is surely sufficient for the required number of pieces of the tree. The significance of a measurement error in the diameter measurement is excellently reflected in that an error of 1 cm in the length measurement can create an additional cost of several millions, even over 10 millions of euros in a year for the sawmill, particularly in the case of a larger sawmill. In this respect, too, a method according to the invention improves the situation.
It is to be understood that the above description and the related figures are only intended to illustrate the present invention. The invention is therefore not only restricted to the embodiments set forth above or those defined in the claims, but several different variations and adaptations of the invention that are possible within the inventive idea defined by the appended claims will be obvious to a person skilled in the art.
| Number | Date | Country | Kind |
|---|---|---|---|
| 20225177 | Feb 2022 | FI | national |
This application claims benefit of PCT/FI2023/050108 filed Feb. 24, 2023, which claims benefit of Finnish Patent Application No. FI 20225177 filed Feb. 25, 2022, each of which is incorporated by reference in its entirety.
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/FI2023/050108 | 2/24/2023 | WO |
