Seat control device for a forestry machine

Abstract

A seat (104) control device of a forestry machine, the seat control device comprising a swivel seat (104) having a seat (104) actuator configured to cause the seat (104) to swivel (360), means for determining at least a position of the seat (104) of the forestry machine and a position of a tip (112) of a boom (110, 112), and a processing circuit (114) configured to provide a control signal to the seat (104) actuator to cause the seat (104) to swivel (360) based on the determination of the means such that the position of the seat (104) follows the position of the tip (112) of the boom (110, 112) with a predetermined deviation when the position of the tip (112) of the boom (110, 112) deviates from a base centerline of the forestry machine, and wherein the predetermined deviation is from the position of the tip (112) of the boom towards the base centerline of the forestry machine.

Description

Technical Field

[0001] This invention relates to the field of forestry machinery, and more particularly to the control of the seats of forestry machinery. Background Technology

[0002] From an ergonomic perspective, seat control is crucial in forestry machinery. The movable cantilever of forestry machinery, in particular, presents numerous challenges to seat control and ergonomics, as the operator must be able to follow and control the cantilever in every situation. In known solutions, the seat is configured to follow the movement of the tip of the cantilever, which carries the tool. However, these known solutions have several drawbacks, especially from an ergonomic standpoint. These drawbacks may involve, for example, the operator's viewing direction when operating the cantilever.

[0003] Another aspect affecting economic efficiency is how the seat movement is achieved. In other words, it's insufficient for the seat to simply follow the cantilever; the seat movement should be optimized for ergonomics for the operator. Known solutions also have several drawbacks in this regard. These drawbacks may involve, for example, unstable, rapid, large-amplitude, and unnecessary seat movements.

[0004] For example, publication FI110502 discloses a solution in which the operating range of the cantilever is divided into multiple sectors, and the seat is aligned with these sectors such that when the cantilever moves from the first sector to the second sector, the seat follows that movement. Thus, the seat's viewing direction is within the sector where the cantilever is located. In many cases of forestry machinery, from an ergonomic point of view, this may be insufficient to synchronize the seat's movement with the cantilever's movement. Therefore, a sophisticated solution is needed to improve operator seat control and ergonomics in forestry machinery. Summary of the Invention

[0005] This invention is defined by the subject matter of the independent claims.

[0006] Each embodiment is defined in the dependent claims.

[0007] The embodiments and features described in this specification that do not fall within the scope of the independent claims (if any) should be interpreted as examples that help to understand the various embodiments of the invention. Attached Figure Description

[0008] The following description, by way of example only, refers to the accompanying drawings, in which:

[0009] Figure 1 , Figure 2 , Figure 3A , Figure 3B , Figure 4 , Figure 6A, Figure 6B and Figure 10 The illustration shows a seat control device according to an embodiment of the present invention; and

[0010] Figure 5 , Figure 7 , Figure 8 and Figure 9 A flowchart illustrating an embodiment of the present invention is shown. Detailed Implementation

[0011] The following embodiments are merely examples. Although this specification may refer to "one" embodiment in several places, this does not necessarily mean that every such reference is for the same embodiment, or that the feature applies only to a single embodiment. Individual features of different embodiments may also be combined to provide other embodiments. Furthermore, the words "comprising" and "including" should be understood not to limit the described embodiments to consisting only of the features already mentioned, and such embodiments may also include features / structures not specifically mentioned. All combinations of embodiments are considered possible if they do not result in structural or logical contradictions.

[0012] For example, the present invention can be applied to forestry machinery in which the cantilever is controlled via tip control. Data related to tip control can be used in the present invention. In tip control, the operator issues a command to the tip of the cantilever assembly via a control device; in other words, requests movement in a specific direction at a specific speed. The required speed of motion is calculated for each actuator of the cantilever assembly, such that the desired movement of the tip of the cantilever assembly is achieved through the combined action of the different actuators of the cantilever assembly. Nevertheless, it is important to recognize that the present invention can also be applied to forestry machinery without tip control or where tip control is disabled. Therefore, tip control may not be mandatory in forestry machinery in which the present invention is applied.

[0013] The forestry machinery mentioned in this application may include a frame steering mechanism. Forestry machinery with a frame steering mechanism typically includes a front frame and a rear frame hinged together, the hinges allowing movement between the frames and steering of the forestry machinery. In some cases, the forestry machinery may include three or more frame components hinged together. In this application, forestry machinery with a front frame and a rear frame is used as an example, but the invention can still be applied to forestry machinery with three or more frame components. A cantilever and a cab may be mounted on at least one of the frame components. For example, in forestry machinery with a front frame and a rear frame, the front frame may include a cab and the rear frame may include a cantilever. For example, the forestry machinery may also include tools adapted for the cantilever. The operator of the forestry machinery should be able to master the use of the tools. Therefore, the term "tip of the cantilever" may also refer to a tool connected to the tip of the cantilever. This tool may include, for example, lifting components such as loading buckets and / or timber processing tools such as harvester heads. The forestry machinery may be a transport vehicle or a harvester or a combination thereof. However, the examples and figures in this application may only relate to frame-steering machinery, and the invention can also be applied to forestry machinery in which frame-steering devices are not used.

[0014] According to one aspect, a seat control device for forestry machinery is provided, the seat control device comprising: a rotating seat having a seat actuator configured to rotate the seat; means for determining at least the position of the seat of the forestry machinery and the position of the tip of the cantilever; and a processing circuit configured to provide a control signal to the seat actuator based on the determination of the means to rotate the seat such that when the position of the tip of the cantilever deviates from the base centerline of the forestry machinery, the position of the seat follows the position of the tip of the cantilever with a predetermined deviation, and wherein the predetermined deviation is from the position of the tip of the cantilever toward the base centerline of the forestry machinery.

[0015] For clarity, the following basic terms used in this application are briefly explained:

[0016] •CL1: The center line of the seat (viewed from the center of the seat)

[0017] •CL2: Centerline of the front frame (passing through the middle point of the seat)

[0018] ·CL3: The line between the tip of the cantilever and the midpoint of the seat.

[0019] •CL4: The center line of the rear frame (not necessarily passing through the center point of the seat)

[0020] CL5: The line from the middle of the rear frame to the middle point of the seat.

[0021] • RL: Reference line, which is the target line of the seat's center line.

[0022] • A1: Angle between CL1 and the foundation centerline

[0023] A2: Angle between CL1 and CL3

[0024] • A3: Angle between CL3 and the foundation centerline (A1+A2)

[0025] ·RA: Reference angle between RL and CL3

[0026] The term "base centerline" in this application may refer to the centerline CL2 of the front frame, the centerline CL4 of the rear frame, or the centerline of the frame component containing the cab (if not in the front frame). The base centerline may also refer to a line passing through the midpoint of the rear frame and the midpoint of the seat (in a transport vehicle with a loading compartment), or a line passing through the rotation axis of the cantilever and the midpoint of the seat (in a harvester). In some cases, the base centerline may be other lines besides those mentioned above. The base centerline may be determined and changed by the operator of the forestry machinery. The base centerline may also be automatically determined based on the location of the forestry machinery and / or the operations being performed by the forestry machinery.

[0027] This application describes the orientation of the seat aligned with the tip of the cantilever by a predetermined deviation. In other words, the seat follows the movement of the tip of the cantilever, causing the seat to move slightly away from the tip alignment. Nevertheless, it is important to recognize that any other point on the cantilever can also be used as a reference point in place of the tip of the cantilever or in any other way. The principles of the invention remain valid.

[0028] All accompanying drawings of forestry machinery are top views. Therefore, most directions, lines, and angles between lines in this application can be determined from the top views of the forestry machinery.

[0029] exist Figure 1 In the illustrated embodiment, the seat control device 100 of the forestry machinery 102 includes a seat 104 in the cab 106. The seat is rotatable about its vertical axis. The seat can rotate 360 ​​degrees about its vertical axis, or the rotation of the seat can be limited to a portion of 360 degrees. The vertical axis of the seat can be the same as the vertical axis of the forestry machinery and / or the vertical axis of the operator's body seated on the seat. Therefore, when the seat rotates about its vertical axis, the operator's viewing direction can be changed. This allows the seat to be oriented toward the working direction of the forestry machinery. When the operator drives the forestry machinery forward, the seat can be guided forward. Accordingly, for example, when the operator uses the cantilever, the seat can be guided backward or toward the cantilever. The seat can also follow the movement of the cantilever when it is in use. In other words, the seat rotates according to the movement of the cantilever so that the seat is toward the cantilever.

[0030] Figure 1 The diagram also illustrates the center line CL1 of the seat. The arrows in the center line CL1 indicate the viewing and seating direction for the operator sitting in the seat. The term "seat position" refers to the direction pointed to by the viewing and seating direction CL1 when the seat is rotated. The seat position can be changed by rotating the seat. For example, the center line CL1 of the seat points to... Figure 1 The forestry machinery 102 is positioned in front of the machine (F). In other words, the seat 104 is positioned facing forward of the forestry machinery, so that the operator's seating and observation direction is forward. This is, for example, the typical orientation of the seat when the operator is driving the forestry machinery forward. Figure 2 The illustration shows the seat's centerline CL1 pointing towards the rear B of the forestry machinery 102. Therefore, the seat 104 is positioned rearward, causing the operator's seating and observation direction to be rearward. This is a typical orientation of the seat, for example, when the operator is using or beginning to use the cantilever. In both of these positions, the seat's centerline CL1 can be parallel to the centerline CL2 of the front frame of the forestry machinery. For example, in... Figure 3A The diagram shows the center line CL2 of the front frame. Now refer to... Figure 3A As described above, the forestry machinery 102 may have a frame steering system, which has a front frame FF and a rear frame BF. A cab 106 with a seat 104 may be located in the front frame. The centerline CL2 of the front frame refers to the longitudinal axis of the front frame; in other words, the centerline CL2 of the front frame extends from the front of the front frame towards the rear. Figure 3A In the middle, the center line of the front frame is also the center line of the rear frame, because the front and rear frames are aligned.

[0031] The seat position can also be as follows Figure 1 and Figure 2 The observation direction shown is between forward and backward positions. Still referring to... Figure 3A As can be observed, the centerline CL1 of the seat is offset from the centerline CL2 of the front frame, and therefore the direction of observation is not directly forward or backward.

[0032] In this implementation, the seat is coupled to a seat actuator that provides rotational movement to the seat. In other words, the actuator is configured to provide force to rotate the seat about its vertical axis, and thus, the seat actuator is used to change the position of the seat. The seat actuator may be coupled to a control interface such as a button, allowing the operator to automatically turn the seat to the correct orientation. Therefore, the seat actuator can achieve automatic seat rotation, either as a substitute for manual rotation or as a supplement to manual rotation.

[0033] In one embodiment, the seat control device further includes means for determining at least the position of the seat and the position of the tip of the cantilever. (See reference...) Figure 3AThe basic centerline is the centerline CL2 of the front frame. The front and rear frames are... Figure 3A The alignment is such that the longitudinal centerlines of the front and rear frames are parallel, and therefore the centerline CL2 of the front frame is the same as the centerline of the rear frame. In other words, the centerline of the front frame is actually the centerline of the entire forestry machinery. The seat control device includes a means 108 for determining the position of the seat, which can be configured to detect and / or determine the angle A1 between the centerline CL1 of the seat and the centerline CL2 of the front frame, in which case the centerline CL2 of the front frame is the base centerline. Based on angle A1, the position of the seat (viewing direction) is known. The means 108 is also configured to determine the position of the tip 112 of the cantilever. The determination of the position of the tip of the cantilever can be performed based on multiple pieces of information received from the forestry machinery and / or the cantilever assembly. This determination can be based at least in part on the same parameters and / or data as those used, for example, in the control of the tip of the cantilever. When the position of the tip of the cantilever is known, the centerline CL3 from the tip 112 to the seat 104 can be determined. Still referring to Figure 3A ,exist Figure 3A In this study, a centerline CL3 from the cantilever 112 to the seat 104 is determined. The centerline CL3 of the cantilever can be substantially aligned with the midpoint of the seat 104, such that the centerline CL3 of the cantilever intersects the centerline CL1 of the seat at the midpoint. The midpoint can refer to a point on the seat that is substantially in the middle of the seat, or it can be the same as the vertical axis of the seat around which it rotates as described above. Therefore, the centerline CL3 of the cantilever's tip and the centerline CL1 of the seat can intersect the centerline CL2 of the front frame at the same location (in the middle of the seat). When the centerline CL3 of the cantilever and the centerline CL1 of the seat are known, the angle A2 between them can be determined. Angle A2 represents the actual deviation between the viewing direction of the seat and the cantilever's tip. In other words, it represents the deviation between the position of the cantilever's tip and the position of the seat.

[0034] In one embodiment, the seat control device 100 further includes a processing circuit 114. The processing circuit may be part of the control equipment of the forestry machinery, and / or the seat control device may include its own processing circuit. Therefore, the processing circuit may be part of the seat control device, or the device may be coupled to an (external) processing circuit. The processing circuit may be coupled to a device for at least determining the position of the seat and the tip of the cantilever of the forestry machinery.

[0035] In one implementation, the processing circuitry is configured to provide a control signal to the seat actuator based on the determination of the device, causing the seat to rotate such that the seat position follows the position of the cantilever tip with a predetermined deviation when the position of the cantilever tip deviates from the base centerline of the forestry machinery. As described above, the positions of the cantilever tip and the seat, and the deviation between them, can be determined based on the variable centerlines CL1, CL2, CL3, angles A1, A2, and the base centerline.

[0036] exist Figure 3A In the illustrated embodiment, the processing circuit is configured to determine a reference angle RA. The reference angle RA can be determined based on the centerline CL3 of the cantilever tip. The reference angle RA represents the direction the seat should point, achieving a desired predetermined deviation. In other words, a control signal provided by the processing circuit is configured to align the angle A2 (between the centerline CL3 of the cantilever tip and the centerline CL1 of the seat) with the reference angle RA. The seat position then follows the position of the cantilever tip with a predetermined deviation, which is the reference angle. In other words, the seat's viewing direction deviates from the cantilever tip by a reference angle and therefore does not point directly at the tip. By changing the reference angle, the predetermined deviation between the tip position and the seat can be adjusted. Figure 3A The reference line RL in the diagram shows the viewing direction of the seat when angle A2 is aligned with the reference angle RA. In other words, the center line CL1 of the seat is then parallel to the reference line RL. The reference line RL can be determined by the reference angle RA.

[0037] In one implementation, when the position of the cantilever tip deviates from the centerline of the forestry machinery's base, the seat position follows the position of the cantilever tip with a predetermined deviation. For example... Figure 3A In the embodiment shown, the base centerline is the centerline CL2 of the front frame, but as mentioned above, the base centerline can also be some other line in the forestry machinery.

[0038] In this implementation, the foundation centerline is determined based on the location of the forestry machinery. For example, the position of the frame components of the forestry machinery relative to each other may affect the foundation centerline.

[0039] In another embodiment, the baseline centerline is determined based on the operation of the forestry machinery. The baseline centerline can be determined based on the operations the operator will perform using the forestry machinery.

[0040] In another embodiment, the foundation centerline is determined based on the structure of the forestry machinery. In other words, the foundation centerline can vary depending on the type of forestry machinery. The position of the cantilever of the forestry machinery may affect the foundation centerline. For example, the cantilever may be located in the rear frame, the front frame, or between the rear and front frames.

[0041] Still refer toFigure 3A , Figure 3A The illustration depicts a forestry machine with a cantilever 110 located in the rear frame BF. For example, Figure 3A The type of forestry machinery illustrated can be a transport vehicle. As mentioned above, in Figure 3A In this case, the base centerline can be the front frame centerline CL2. Therefore, the processing circuit provides a control signal when the position of the cantilever tip deviates from the front frame base centerline CL2. If the cantilever tip is on the base centerline CL2, then the centerline CL3 of the cantilever tip is parallel to the base centerline CL2, and the processing circuit may not provide the seat actuator with a control signal to rotate the seat so that the seat position follows the position of the cantilever tip by a predetermined deviation.

[0042] Now refer to Figure 3B ,exist Figure 3B In the middle, the front frame (FF) and rear frame (BF) are not aligned. The base centerline can still be as follows. Figure 3A The centerline CL2 of the front frame is shown. For example, this could be in the case of a harvester. In another embodiment, the base centerline CL5 is the line from the midpoint of the rear frame BF to the midpoint of the seat 104. For example, this could be in the case of a transport vehicle with a loading compartment in the rear frame. (This is related to the above regarding...) Figure 3A The same principle described still applies, but now angle A1 is determined between the center line CL1 of the seat and the base center line CL5, which runs from the middle of the rear frame to the middle of the seat.

[0043] In some cases, forestry machinery may include more or fewer than two frame components, and / or the cantilever may be adapted to components other than the rear frame, and / or the cab may be adapted to components other than the front frame. As an example of such alternative configurations, Figure 4 The illustration shows a forestry machine with two frames, where both the cantilever and the cab are fitted to the front frame. Now refer to... Figure 4 ,exist Figure 4 In the middle, the front frame FF and rear frame BF are not aligned, and the cantilever is located in the front frame FF. The base centerline can still be the front frame centerline CL2, and since the base centerlines are the same, it is related to... Figure 3A The principles described are the same.

[0044] In this implementation, the baseline centerline is determined manually. For example, the baseline centerline may be determined by the operator of the forestry machinery. Then, for example, the operator may determine the baseline centerline based on their own needs (preferences) and / or the operations(s) he / she will perform with the forestry machinery.

[0045] In another embodiment, the basic centerline is automatically determined by processing circuitry. The processing circuitry can be configured to determine the basic centerline of the forestry machinery based on data received from the machinery's sensors and / or control system, which is optimal for the machinery's position and / or the operations to be performed by the machinery.

[0046] For example, operators can define the base centerline, which can be determined manually or automatically, via the control interface of forestry machinery.

[0047] In this implementation, the predetermined deviation is from the position of the cantilever tip towards the centerline of the forestry machinery's base. Still referring to... Figure 3A As described above, angle A2 represents the actual deviation between the tip 112 of the cantilever and the centerline CL1 of the seat, and reference angle RA represents the deviation at which a predetermined deviation is achieved. Reference angle RA can be configured to deviate the reference line RL from the centerline CL3 of the cantilever tip, such that this deviation is directed towards the base centerline of the forestry machinery. For example, in Figure 3A In this configuration, the base centerline is the centerline CL2 of the front frame, and the predetermined deviations RA and RL are from the centerline CL3 of the cantilever tip 112 toward the base centerline CL2. Therefore, when the tip moves away from the forestry machinery (base centerline), the centerline CL1 of the seat (seat position) moves behind the tip of the cantilever (position of the cantilever tip), and correspondingly, when the tip of the cantilever moves toward the forestry machinery (base centerline), the centerline CL1 of the seat moves in front of the tip of the cantilever 112.

[0048] In this implementation, the predetermined deviation is a portion of the actual deviation between the tip of the cantilever of the forestry machinery and the centerline of the foundation. (Refer to...) Figure 10 In this example, the base centerline can be the centerline CL2 of the front frame. The actual deviation between the tip of the cantilever and the base centerline CL2 can be angle A3, which can also be a combination of angles A1 and A2. A predetermined deviation can be determined as a reference angle RA, and then the reference angle RA is a part of angle A3. For example, the reference angle RA (predetermined deviation) can be 30% of angle A3. In this example, the base centerline is the centerline CL2 of the front frame, but as mentioned above, the base centerline can be determined in a variety of ways that may affect the determination of the reference angle. For example, in Figure 3B In the middle, the basic center line can be line CL5 from the middle of the rear frame to the middle of the seat, and then the angle between line CL3 and line CL5 is angle A3(A1+A2), and the reference angle RA is determined based on this angle.

[0049] In the implementation, the reference angle is varied such that the reference angle RA can be 30 degrees at the edge of the seat's operating range, and the reference angle decreases when the tip of the cantilever is close to the base centerline, such that the reference angle is 0 degrees when the tip of the cantilever is on the center baseline.

[0050] In this implementation, the processing circuitry is configured to provide a control signal when the reference angle RA between the position of the cantilever tip and the centerline of the seat changes beyond a predetermined value. The predetermined value may refer to a tolerance. For example, a small movement of the cantilever tip may affect the reference angle RA, and this may result in a small deviation between the position of the cantilever tip and the centerline of the seat. However, if the small movement of the cantilever tip is sufficient to change the angle RA (within the tolerance), no control signal is provided. Thus, although the cantilever tip may move slightly, unnecessary movement of the seat is avoided, which does not actually affect the operator's ergonomics.

[0051] In this implementation, the tolerance includes angle. For example, the tolerance can be from 0.1 degrees to 5 degrees. Therefore, if the variation of the reference angle RA between the tip of the cantilever and the centerline of the seat is less than the tolerance, in other words, does not exceed the tolerance, the processing circuit does not provide a control signal.

[0052] In another implementation, the tolerance includes time. The time tolerance can be from 0.1 seconds to 10 seconds, for example, typically from 1 second to 3 seconds. Therefore, if the duration of the deviation (the change in the reference angle RA) is less than the time tolerance—in other words, does not exceed the time tolerance—the processing circuitry does not provide a control signal. Filtering of the signal in the seat control unit can also result in a time delay, which can also be used to remove sudden changes in seat position.

[0053] In another embodiment, the tolerances include angle and time. Therefore, these two tolerances must be exceeded before the processing circuitry provides the control signal.

[0054] In addition to the aforementioned tolerances for seat control devices, forestry machinery may include tolerances for controlling the hysteresis of the cantilever. Hysteresis tolerances may include angle and / or time. If no given tolerance is exceeded, the control unit (processing circuitry) of the forestry machinery is configured to determine that the cantilever is stationary. Therefore, minor movements of the cantilever may not trigger any motion-based changes in the operation of the forestry machinery. For example, hysteresis may be controlled such that the reference angle RA is changed and updated when the change in angle A2 between the tip of the cantilever and the centerline of the base is greater than 4 degrees, and stops when it is less than 1 degree. Hysteresis control is well known and obvious to those skilled in the art, and therefore will not be described in detail herein. Referring now to... Figure 5 , Figure 5The functionality of the invention is illustrated in the flowchart according to an embodiment. In this example, the base centerline is the centerline CL2 of the front frame. In the first step [box 500], the angle A1 between the centerline CL1 of the seat and the centerline CL2 of the front frame (base centerline) and the angle A2 between the centerline CL1 of the seat and the centerline CL3 of the tip are determined. In the second step [box 502], a reference angle RA is determined. In the third step [box 504], the angle A2 between the centerline CL1 of the seat and the centerline CL3 of the tip is compared with the reference angle RA, and the deviation between angle A2 and the reference angle RA is determined. If a deviation exists and exceeds the tolerance, in the fifth step [box 506], the processing circuit provides a control signal to the seat actuator to align angle A2 with the reference angle RA. If there is no deviation and / or the tolerance is not exceeded, angles A1 and A2 are determined again.

[0055] In one implementation, the processing circuitry is configured to provide a control signal to align the seat position with the cantilever tip position when the cantilever tip is positioned on the centerline of the forestry machinery's base. (See reference...) Figure 6A ,exist Figure 6A In this configuration, the base centerline can be line CL2. When the tip 112 is positioned on the base centerline CL2, the processing circuit 114 is configured to provide a control signal to the seat actuator to rotate the seat 104, such that the position of the seat 104 is aligned with the position of the tip 112 of the cantilever. In other words, when the tip 112 of the cantilever is on the baseline CL2 of the forestry machinery, the centerline CL1 of the seat is aligned with the centerline CL3 of the tip of the cantilever, as shown below. Figure 6A As shown in the diagram. This means that the reference angle RA is set to zero. Therefore, there may be no significant deviation between the position of the tip and the position of the seat.

[0056] Now refer to Figure 6B ,exist Figure 6B In this configuration, the front frame FF and rear frame BF are not aligned, and the base centerline is the centerline CL2 of the front frame, with the tip 112 positioned on the base centerline. Furthermore, in this case, the angle A1 between the seat centerline CL1 and the centerline CL2 (base centerline) of the front frame can be determined, and the seat position is then known. The angle A2 between the centerline CL3 of the cantilever tip and the seat centerline CL1 is also determined, and the actual deviation between the positions of the tip and the seat is then known. If a deviation exists and exceeds the possible tolerance, the processing circuit provides a control signal to the seat actuator to rotate the seat so that the seat centerline CL1 is aligned with the centerline CL3 of the cantilever tip (CL1 and CL3 are parallel), as shown. Figure 6BAs shown in the diagram. In other words, the seat is rotated so that angle A2 is essentially zero. Then, since the tip of the cantilever is on the centerline of the base, the seat points essentially at the tip of the cantilever without deviation.

[0057] Now refer to Figure 7 , Figure 7 This is a flowchart according to an embodiment of the present invention. In this example, the base centerline is the centerline CL2 of the front frame. In the first step [box 700], the angle A1 between the centerline CL1 of the seat and the centerline CL2 of the front frame (base centerline) and the angle A2 between the centerline CL1 of the seat and the centerline CL3 of the cantilever are determined. In the second step [box 702], the deviation between the cantilever tip and the base centerline is determined; in other words, whether the cantilever tip is substantially on the base centerline is determined. In the third step [box 704], it is determined whether a deviation exists between the cantilever tip and the base centerline. If a deviation exists and exceeds the tolerance, a reference angle RA is determined in the fourth step [box 706]. In the fifth step [box 708], the angle A2 between the centerline CL1 of the seat and the centerline CL3 of the cantilever is compared with the reference angle RA, and the deviation between angle A2 and the reference angle RA is determined. In the sixth step [box 710], it is determined whether a deviation exists between angle A2 and RA. If a deviation exists and exceeds the tolerance, in step seven [box 712], the processing circuit provides a control signal to the seat actuator to align angle A2 with the reference angle RA. If there is no deviation and / or the tolerance is not exceeded, angles A1 and A2 are determined again. Now returning to step three [box 704], if there is no deviation between the tip of the cantilever and the base centerline and / or the tolerance is not exceeded—in other words, the tip of the cantilever is on the base centerline—then in step seven [box 714], the processing circuit provides a control signal to the seat actuator to rotate the seat so that angle A2 is essentially set to zero. The centerline of the seat then points to the tip of the cantilever, and there is no deviation between the tip of the cantilever and the centerline of the seat.

[0058] The technical effect of the above features is that, compared to the case where the seat always points precisely to the tip of the cantilever, the predetermined deviation between the tip of the cantilever and the viewing direction of the seat improves the operator's ergonomics.

[0059] All examples and embodiments may be illustrated in the accompanying drawings from only one side of the forestry machinery, but the invention can be applied to both sides of the forestry machinery. The same principles still apply.

[0060] In embodiments, the means for determining at least the position of the seat and the tip of the cantilever of the forestry machinery includes one or more sensors. For example, the cantilever assembly may include one or more travel speed sensors. For example, the travel speed sensor may be a position sensor. The travel speed sensor allows, for example, the angle and angular acceleration of the cantilever to be measured. Furthermore, the travel speed sensor allows, for example, the position of the cantilever and the travel speed of the piston in the actuator cylinder to be measured. For example, the travel speed sensor may include an inclinometer and / or a gyroscope. Additionally, one or more magnetostrictive linear sensors connected to the base of the cantilever may be present as travel speed sensors, providing information about the rotation angle. Similarly, the telescopic extension may have magnetostrictive linear sensors as travel speed sensors. One or more rotation angle sensors may be used to provide information about the rotation angle of the cantilever. Furthermore, the cantilever assembly may have one or more pressure sensors. Pressure sensors can, in principle, be adapted to any location within the pressure system of the forestry machinery. Additionally, the cantilever assembly may include a load cell for measuring the load mass at the tip of the cantilever. One or more sensors may include one or more cameras configured to determine the position of the cantilever and / or the position of the seat. Alternatively, an absolute encoder or an incremental encoder may be used to determine the position of the seat.

[0061] In this embodiment, the means for determining at least the position of the seat and the tip of the cantilever of the forestry machinery includes control data of the forestry machinery. The control data can include any type of control data received from the operation of the forestry machinery. Control data can be received from the control system of the forestry machinery. In this case, the control data may refer to data that is not based on sensor data, but rather data received from the control system of the forestry machinery. The control data may include control data for the cantilever assembly and / or the seat. The seat actuator can be an electric motor, such as a DC servo motor or a stepper motor. For example, control data from the electric motor can be used in determining the position of the seat.

[0062] In this implementation, the position of the cantilever can be determined by the transmitter-receiver system.

[0063] In one implementation, the processing circuitry is further configured to enable and / or disable the seat controls, wherein the processing circuitry is configured to provide a control signal when the seat controls are enabled. If the seat controls are disabled, the processing circuitry may not provide a control signal, and the seat position will not change even if the position of the cantilever tip is changed. For example, the processing circuitry may be connected to an external control interface configured to provide enable and / or disable signals. The enable signal may trigger the processing circuitry to enable the seat controls.

[0064] In one embodiment, the seat control device also includes a switch configured to provide an enable and / or disable signal to processing circuitry. The switch may be located in the cab of the forestry machinery. For example, the switch may be located in the control interface of the forestry machinery. For example, the switch may include a button and / or a touchscreen. The operator of the forestry machinery can press the switch, which triggers the processing circuitry to enable or disable the seat control device.

[0065] In this implementation, the processing circuitry is configured to determine the seat position based on the device's determination before the seat control device is activated. Activation of the seat control device may only be possible in a specific seat position. For example, if the operator wants to activate the seat control device, the seat should first be positioned towards the rear of the forestry machinery before the seat control device can be activated. This feature prevents accidental activation of the seat control device, which could potentially cause problems during operation.

[0066] In one implementation, the seat also includes a seatbelt, wherein one or more sensors are configured to detect the state of the seatbelt, and processing circuitry is configured to enable and / or disable seat controls based on the seatbelt's state. For example, enabling the seat controls may require the seatbelt to be fastened. If the seat controls are enabled and the seatbelt is unfastened, the processing circuitry can disable the seat controls. This also improves workplace safety.

[0067] In one implementation, one or more sensors are also configured to detect the status of the doors of the forestry machinery, and the processing circuitry is configured to enable and / or disable the seat controls based on the door status. For example, enabling the seat controls may require the door to be closed. If the seat controls are enabled and the door is open, the processing circuitry can disable the seat controls. This also improves operational safety.

[0068] In one implementation, the rotational speed provided by the seat actuator is slower at the end of the seat's rotational motion.

[0069] In this implementation, the rotational speed provided by the seat actuator is slower at the start of the seat's rotational movement. The slower speed at the start and / or end of the rotational movement makes the automatic rotation of the seat more comfortable for the operator.

[0070] Figure 8 The diagram illustrates a flowchart of the seat's rotational motion. In the first step

[800] , the seat actuator receives a control signal to rotate the seat. In the second step [box 802], the seat actuator increases the rotational speed. In the third step

[804] , the seat actuator maintains the rotational speed. In the fourth step [box 806], the seat actuator decreases the rotational speed.

[0071] Still refer to Figure 8The seat's rotational movement can be divided into three stages. First, the seat actuator begins to accelerate the rotational speed. When the seat's maximum rotational speed is reached, the seat actuator maintains that maximum speed. At the end of the rotational movement, the seat actuator begins to reduce the rotational speed until the seat stops; in other words, the rotational movement is complete. The rotational speed can also be reduced directly from acceleration, or vice versa. If the cantilever stops and / or the direction of movement of the cantilever changes during the seat's rotation, the seat's rotational speed can be reduced, and the direction of rotation can change according to the movement of the cantilever tip. Furthermore, at the start of rotational movement in the new direction, the speed gradually increases; in other words, the rotational speed is slower at the beginning of the movement.

[0072] In this implementation, the rotation speed of the seat is adjustable. The adjustment of the rotation speed can be performed by the operator of the forestry machinery and / or can be performed automatically by the processing circuitry.

[0073] Reference Figure 2 In one embodiment, the seat control device 100 includes an operating range OR for rotating the seat 104. The operating range refers to the range of rotation of the seat. The operating range can be + / - 180 degrees, or it can be limited. If the operating range is 180 degrees, the seat can rotate 360 ​​degrees. In a first embodiment, the operation can be limited to + / - 110 degrees. In a second embodiment, the operating range can be + / - 45 degrees. In a third embodiment, the operating range can be + / - 30 degrees.

[0074] In this implementation, the operating range of the seat can be adjustable. The operating range can be determined by the operator of the forestry machinery. Alternatively, the operating range can be automatically adjusted based on information about the machine and the operation to be performed.

[0075] In this implementation, the operating range is asymmetrical, in other words, asymmetrical. The range could then be, for example, +70 / -30 degrees. Also in this implementation, the operating range of the seat can be determined by the operator of the forestry machinery or adjusted automatically.

[0076] In this implementation, the zero point of the operating range OR is adjustable. The zero point can refer to the zero angle of the seat, where the angle of the seat's position is zero. For example, Figure 2 The diagram illustrates a symmetrical operating range, where the zero point can be the centerline CL2 of the front frame. For example, Figure 2The operating range can be + / - 30 degrees. The seat is at zero point when the seat CL1 is aligned with the centerline CL2 of the front frame. If the zero point is different from the centerline of the front frame or any other direction, it can also be the base centerline of the forestry machinery, rather than the base centerline of the front frame. Typically, the zero point can be the centerline of the frame containing the cab and seat. In one embodiment, the zero point (zero angle) of the operating range can be determined by the operator of the forestry machinery. In another embodiment, the zero point (zero angle) is automatically aligned with the center baseline.

[0077] If the tip of the cantilever moves to the point that the centerline CL1 of the seat (the viewing direction of the seat) goes beyond the operating range, the seat stops when the limit of the operating range is reached. When the cantilever moves to bring the centerline CL1 of the seat back into the range, the seat begins to (with deviation) follow the movement of the tip.

[0078] According to another aspect, a method is provided as follows: Figure 9 The method shown is for controlling a seat of forestry machinery. The method includes the following steps: [block 900] detecting at least the position of the seat and the position of the cantilever tip of the forestry machinery by means of means for at least determining the position of the seat and the position of the cantilever tip, and [block 902] providing a control signal to a seat actuator via a processing circuit based on the determination of the means to rotate the seat such that when the position of the cantilever tip deviates from the base centerline of the rear frame of the forestry machinery, the position of the seat follows the position of the cantilever tip by a predetermined deviation, and wherein the predetermined deviation is from the position of the cantilever tip toward the base centerline of the forestry machinery.

[0079] According to another aspect, a computer program product is provided, comprising instructions for causing a seat control device to perform any step of the invention described in this application. The computer program can perform at least the following steps: determining, by means of means, the position of the seat and the position of the cantilever tip of a forestry machine; and, based on the means's determination, providing a control signal to a seat actuator via processing circuitry to rotate the seat such that, when the position of the cantilever tip deviates from the base centerline of the forestry machine, the position of the seat follows the position of the cantilever tip by a predetermined deviation, wherein the predetermined deviation is from the position of the cantilever tip toward the base centerline of the forestry machine.

[0080] Computer programs can be in the form of source code, object code, or some intermediate form, and can be stored on some kind of carrier, which can be any entity or device capable of carrying the program. Such carriers include transient and / or non-transient computer media, such as recording media, computer memory, read-only memory, electrical carrier signals, telecommunication signals, and software distribution packages. Depending on the required processing power, a computer program can be executed in a single electronic digital processing unit, or it can be distributed across multiple processing units.

[0081] As is known from the prior art, a seat can be configured to follow the movement of the cantilever, such that the seat's viewing and sitting direction is towards the tip of the cantilever. From an ergonomic point of view, this is not necessarily the optimal solution. The present invention provides a solution in which the seat is aligned with the tip of the cantilever by a predetermined offset, such that the seat's viewing direction CL1 is slightly towards the base centerline of the forestry machinery from the tip of the cantilever. When the tip of the cantilever moves away from the forestry machinery, the seat's viewing direction CL1 moves to the rear of the tip of the cantilever (the position of the tip of the cantilever), and correspondingly, when the tip of the cantilever moves towards the forestry machinery, the seat's viewing direction CL1 moves to the front of the tip of the cantilever. This offset makes the operator of the forestry machinery more ergonomic.

[0082] As used in this application, the term "processing circuit" may refer to all of the following: (a) a purely hardware circuit implementation, such as an implementation in analog and / or digital circuits only; (b) a combination of circuitry and software and / or firmware, such as (if applicable): (i) a combination of processors or processor cores; or (ii) a portion of processor / software, including a digital signal processor, software, and at least one memory that work together to enable a device to perform a specific function; and (c) circuitry that requires software or firmware to operate, such as a microprocessor or a portion of a microprocessor, even if the software or firmware does not physically exist.

[0083] It will be apparent to those skilled in the art that the concept of this invention can be implemented in various ways as technology advances. The invention and its embodiments are not limited to the exemplary embodiments described above, but can be varied within the scope of the claims.

Claims

1. A seat control device (100) for a forestry machinery (102), the seat control device (100) comprising: A rotating seat (104) having a seat actuator configured to rotate the seat; Device (108), said device (108) being used to at least determine the position of the seat (104) and the position of the tip (112) of the cantilever of said forestry machinery (102); and A processing circuit (114) is configured to provide a control signal to the seat actuator based on a determination of the device (108) to rotate the seat (104) such that when the position of the tip of the cantilever (112) deviates from the base centerline of the forestry machinery (102), the position of the seat (104) follows the position of the tip of the cantilever (112) by a predetermined deviation (RA), wherein the predetermined deviation (RA) is from the position of the tip of the cantilever toward the base centerline of the forestry machinery (102).

2. The seat control device (100) according to claim 1, wherein, The basic centerline is determined based on the position and / or operation of the forestry machinery (102).

3. The seat control device (100) according to claim 1 or 2, wherein, The basic centerline was determined manually.

4. The seat control device (100) according to claim 1 or 2, wherein, The basic center line is automatically determined by the processing circuit (114).

5. The seat control device (100) according to claim 1 or 2, wherein, The device (108) for determining the position of the seat (104) and the tip (112) of the cantilever of the forestry machinery includes at least one or more sensors and / or control data of the forestry machinery (102).

6. The seat control device (100) according to claim 1 or 2, wherein, The processing circuit (114) is configured to provide the control signal to align the position of the seat (104) with the position of the cantilever tip (112) when the position of the cantilever tip (112) is on the center line of the base of the forestry machinery (102).

7. The seat control device (100) according to claim 1 or 2, wherein, The predetermined deviation (RA) is a portion of the actual deviation (A3) between the tip (112) of the cantilever and the base centerline of the forestry machinery (102).

8. The seat control device (100) according to claim 7, wherein, The predetermined deviation (RA) is variable.

9. The seat control device (100) according to claim 1 or 2, wherein, The processing circuit (114) is configured to provide the control signal when the angle between the position of the tip (112) of the cantilever and the position of the seat (104) exceeds a predetermined value.

10. The seat control device (100) according to claim 9, wherein, The predetermined values ​​include angle and / or time.

11. The seat control device (100) according to claim 1 or 2, wherein, The processing circuit (114) is also configured to enable and / or disable the seat control device (100), wherein the processing circuit (114) is configured to provide the control signal when the seat control device (100) is enabled.

12. The seat control device (100) according to claim 11, wherein, The seat control device (100) also includes a switch connected to the processing circuit (114), the switch being configured to enable and / or disable the seat control device (100).

13. The seat control device (100) according to claim 11, wherein, The processing circuit (114) is configured to determine the position of the seat (104) based on the device (108) before activating the seat control device (100).

14. The seat control device (100) according to claim 11, wherein, The seat (104) also includes a seat belt and one or more sensors configured to detect the state of the seat belt, and the processing circuit (114) is configured to enable and / or disable the seat control device (100) based on the state of the seat belt.

15. The seat control device (100) according to claim 14, wherein, The one or more sensors are also configured to detect the state of the door of the forestry machinery (102), and the processing circuit (114) is configured to enable and / or disable the seat control device (100) based on the state of the door.

16. The seat control device (100) according to claim 1 or 2, wherein, The rotational speed provided by the seat actuator is slower at the end of the rotational motion.

17. The seat control device (100) according to claim 1 or 2, wherein, The rotational speed provided by the seat actuator is relatively slow at the beginning of the rotational motion.

18. The seat control device (100) according to claim 1 or 2, wherein, The rotation speed of the seat is adjustable.

19. The seat control device (100) according to claim 1 or 2, wherein, The operating range of the seat is adjustable.

20. A method for controlling a seat for forestry machinery, the method comprising: The position of the seat and the position of the tip of the cantilever of the forestry machinery are determined by means of a device for determining at least the position of the seat and the position of the tip of the cantilever of the forestry machinery. as well as Based on the determination of the device, a control signal is provided to the seat actuator through the processing circuit to rotate the seat such that when the position of the tip of the cantilever deviates from the base centerline of the forestry machinery, the position of the seat follows the position of the tip of the cantilever with a predetermined deviation, wherein the predetermined deviation is from the position of the tip of the cantilever toward the base centerline of the forestry machinery.

21. A computer program product comprising instructions for causing a seat control device to perform at least the following steps: The position of the seat and the position of the tip of the cantilever of the forestry machinery are determined at least by means of a device for determining at least the position of the seat and the position of the tip of the cantilever of the forestry machinery; and Based on the determination made by the device, a control signal is provided to the seat actuator via a processing circuit to rotate the seat, such that when the position of the cantilever tip deviates from the base centerline of the forestry machinery, the position of the seat follows the position of the cantilever tip with a predetermined deviation, and wherein, The predetermined deviation is from the position of the tip of the cantilever toward the base centerline of the forestry machinery.

Images