Method and control system for controlling boom of forestry work machine

Abstract

A method and control system for controlling a boom of a forestry work machine by tip control. In the method and control system, a coordinate system of a forestry work machine, a coordinate system of a work environment of the forestry work machine, and a correlation between the coordinate systems are determined. In response to a control command for controlling the tip of the boom of the forestry work machine in motion to a target position in a coordinate system of the work environment or for holding the tip of the boom of the forestry work machine in the target position, the forestry work machine is controlled to the target position. A posture and / or a motion state of a cantilever part of the cantilever in a coordinate system of the forestry work machine is determined, and the forestry work machine is determined on the basis of the determined posture and / or motion state of the cantilever part of the cantilever and a correlation between the coordinate system. The control command of the tip of the boom of the forestry work machine in motion is converted at least into at least one control measure of at least one actuator of the boom.

Description

Background Art

[0001] The invention relates to a method and a control system for controlling the boom of a forestry machine by using so-called tip control.

[0002] The boom of a forestry machine is often intended to be used while the machine is moving, in order to enhance the work. However, it is more difficult to grasp an object when the machine is moving than when the machine is stationary. Furthermore, the faster the machine moves, the more difficult it is to grasp an object, which increases the risk that the tool at the end of the boom of the forestry machine hits the ground or hits the object to be grasped, thereby possibly damaging the boom of the forestry machine, the tool and / or the object to be grasped.

[0003] In addition to the above, the gripping of objects is also made difficult by the fact that forestry machines are often used in uneven terrain. When traveling in uneven terrain, the terrain may cause the forestry machine to tilt and swing in the lateral direction and / or longitudinal direction of the forestry machine. The boom of a forestry machine is usually attached to the frame of the forestry machine via its base. Then, when the forestry machine tilts or swings, the boom will also tilt or swing along the frame, whereby the height of the tool at the end of the boom relative to the ground will increase or decrease unintentionally. This unintentional vertical movement of the tool relative to the ground makes the operation more difficult, which further increases the risk of the tool hitting the ground or the object in question when trying to grab the object to be grabbed while the machine is moving, or when, for example, lowering the object being processed to the ground. Summary of the invention

[0004] The object of the present invention is to provide a novel method and control system for controlling the boom of a forestry machine while the forestry machine is moving.

[0005] The arrangement according to the invention is characterized by what is disclosed in the independent claim.

[0006] In the arrangement structure according to the present invention, the coordinate system of the forestry work machine, the coordinate system of the working environment of the forestry work machine and the correlation between the coordinate systems are determined, whereby, as a response to a control command for controlling the tip of the boom of the moving forestry work machine to a target position in the coordinate system of the working environment or for maintaining the tip of the boom of the forestry work machine in the target position, at least the posture and / or movement of the boom part of the boom in the coordinate system of the forestry work machine is determined, and based on the determined posture and / or movement of the boom part of the boom and the correlation between the coordinate systems, the control command for the tip of the boom of the moving forestry work machine is converted into at least one control measure of at least one actuator of the boom.

[0007] The advantage of the solution according to the invention is that a control command for controlling the tip of the boom of a moving forestry machine to a desired target position in the working environment of the forestry machine or for keeping the tip of the boom of a moving forestry machine in the desired target position can be easily converted into one or more control measures that influence the posture of the boom part of the boom relative to the forestry machine, so that the tip of the boom of the forestry machine will be guided to its target position or kept in its target position.

[0008] Some embodiments of the invention are given in the dependent claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The invention will now be described in more detail with the aid of preferred embodiments and with reference to the accompanying drawings, in which:

[0010] Figure 1 This is a schematic diagram of the transporter.

[0011] Figure 2 This is a diagram of a harvester.

[0012] Figure 3 is a schematic flow chart of a method for controlling the operation of a forestry machine in motion,

[0013] Figure 4 It is a schematic diagram of a control system of a forestry machine for controlling the operation of the forestry machine in motion.

[0014] Figure 5 is a schematic flow chart of another method for controlling the operation of a forestry machine in motion,

[0015] Figure 6 is a schematic diagram of another control system for controlling the operation of a forestry machine in motion,

[0016] Figure 7 is similar to Figure 3 A schematic flow chart of an embodiment of an embodiment for controlling the operation of a forestry machine in motion,

[0017] Figure 8 is similar to Figure 5 A schematic flow chart of an embodiment of an embodiment for controlling the operation of a forestry machine in motion, and

[0018] Fig. 9 is similar to Figure 5 A schematic flow chart of another embodiment of an embodiment for controlling the operation of a forestry machine in motion.

[0019] For the sake of clarity, some embodiments of the present invention are shown in simplified form in the drawings. In the drawings, the same reference numerals represent the same elements. DETAILED DESCRIPTION

[0020] Figure 1 It is a schematic diagram of a transporter 1 constituting a mobile forestry machine to which the above-described solution can be applied. Figure 2 is a schematic diagram of a harvester 2 constituting another mobile forestry machine to which the above arrangement can be applied. The mobile forestry machine to which the above solution can be applied can also be another type of transporter machine suitable for transporting loads, or a combination of a transporter and a harvester, or a skidder equipped with a boom. Figure 1 The transporter 1 and Figure 2 The harvester 2 shown in the figure is an articulated steering forestry machine, but the above solution can also be applied in other ways, such as mobile forestry machines that can be controlled via steerable wheels. Next, for the characteristics or embodiments discussed in this specification, if the characteristics or embodiments discussed are not only applicable to the transporter 1 but also to the harvester 2, then Figure 1 The transporter 1 and Figure 2 The harvesters 2 may be referred to by their common name of forestry work machines.

[0021] Figure 1 and Figure 2 The forestry machine comprises a chassis 3 comprising a first frame part 4 and a second frame part 5, which are connected to each other via a connecting rod 6 so that the first frame part 4 and the second frame part 5 can rotate relative to each other via the connecting rod 6, whereby the forestry machine in question is a so-called articulated steering forestry machine. Arranged in connection with the chassis 3 is a moving device 7, by means of which the forestry machine can be moved relative to its working surface. The moving device 7 is Figure 1 and Figure 2 In the embodiment, the moving device is a wheel, but generally the moving device may include at least one of the following: a wheel arranged on an axle, a wheel arranged on a bogie, a track system, or some other device known to provide movement of the forestry machine and possibly change the direction of movement of the forestry machine relative to its working surface or working environment. The moving device may also include one or more braking devices for slowing down the travel speed of the forestry machine or completely stopping the travel of the forestry machine.

[0022] Figure 1The forwarder 1 further comprises a loading space 8 arranged in connection with the second frame part 5 for loading a load to be transported by the forwarder 1. Typically, the forwarder 1 is used to transport parts of tree trunks, usually cut to size, which parts are usually called logs or blocks, but in the case of alternative uses of the forwarder, the load may also include felling or thinning waste generated in connection with timber harvesting or forestry thinning. Figure 2 The harvester 2 does not include the loading space, so Figure 2 The harvester 2 is intended only for felling, delimbing and / or debarking of trees and for cutting them into portions of desired length.

[0023] Figure 1 and Figure 2 The forestry machine also includes a power source 9, which is Figure 1 The transporter 1 is arranged to be supported by the first frame part 4 and Figure 2 The harvester 2 is supported by the second frame part 5. The power source 9 may include, for example, an internal combustion engine, one or more electric motors and a battery pack and / or a generator or a different combination of these to generate the power required to provide movement of the forestry machine, increase its movement speed, and operate the equipment arranged in the forestry machine.

[0024] Figure 1 and Figure 2 The forestry machine also includes a cab 10, which is Figure 1 and Figure 2 The cab 10 is arranged in a forestry machine supported by the first frame part 4. The cab 10 comprises the necessary control devices 20, by means of which the operator of the forestry machine can control the travel of the forestry machine and the devices arranged in the forestry machine for executing the control commands to be issued via the control device 20. The control device 20 is arranged in a Figure 1 and Figure 2 , and the control device 20 may include, for example, one or more manually controllable control devices, such as a joystick, and / or one or more foot-controllable control devices, such as a pedal. The control device 20 may also include a pre-designed forestry machine operation plan in the form of an executable program, which can be controlled by, for example, Figure 1 and Figure 2 One or more forestry machine control units 21 shown very schematically in the figure operate to control the travel of the forestry machine and the equipment arranged in the forestry machine. The control unit 21 can be, for example, a computer or some other device or apparatus including a microprocessor or some other microcontroller, which is obvious to a person skilled in the art.

[0025] Figure 1 and Figure 2 A forestry machine is typically a forestry machine that is operated based on the active control of the operator of the forestry machine. However, the proposed arrangement structure can also be applied to both semi-autonomous forestry machines, in which the forestry machine can be operated at least part of the time without the active control of the operator, and substantially fully autonomous forestry machines, in which the operator will not actively participate in the control of the operation of the forestry machine without special reasons. The special reason may be, for example, such an abnormal operating condition of the forestry machine that the control unit 21 that controls the operation of the forestry machine cannot be executed autonomously. With respect to semi-autonomous forestry machines and fully autonomous forestry machines, the device for controlling the forestry machine can be located separately from the forestry machine, whereby the forestry machine does not necessarily include an actual cab, and the control of the machine is achieved by remote control or automatically.

[0026] Figure 1 and Figure 2 The forestry machine also comprises a boom 11. The boom 11 can be supported, for example, on the chassis 3 or on a separate inclined base or some other part of the machine frame. The cab 10 and / or the boom 11 can be arranged in such a way that they can be folded and / or rotated relative to the chassis 3. The outermost end of the boom 11 usually comprises a tool 19 of the forestry machine, whereby the outermost end of the boom 11 and the tool 19 arranged thereon constitute the tip of the boom. Figure 1 In the transporter 1 of FIG. 1 , the tool 19 usually comprises a lifting device, such as a grab or some other grabber, and Figure 2 In a harvester 2 of FIG. 1 , the tool 19 typically comprises a wood handling tool, such as, for example, a harvester head.

[0027] exist Figure 1 In the transporter 1 of , the boom 11 is configured so that a base 12 with a turntable 13 is attached to the transporter 1. The turntable 13 also has a lower ring and an upper ring bearing-mounted relative to each other. The upper ring is rotated by a toothed rod mechanical unit operated by a hydraulic cylinder.

[0028] The boom 11 further comprises a columnar body 14 of the boom 11. The columnar body 14 of the boom 11 in turn has a lifting boom 15 pivotally connected to the columnar body 14. The lifting boom 15 is moved by a lifting cylinder 16.

[0029] Furthermore, a luffing boom 17 is pivotally connected to the lifting boom 15. The luffing boom 17 is moved by a folding cylinder 18. The outermost end of the luffing boom 17 comprises the above-mentioned tool 19 of the forestry machine. The luffing boom 17 may also comprise a telescopic extension that can be moved by its own actuator, whereby the tool 19 of the forestry machine is arranged to the outer end of the telescopic extension.

[0030] exist Figure 2 In the harvester of Figure 1 However, regarding the base 12, Figure 2 The cantilever 11 and Figure 1 The structure is different. Figure 2 In the cantilever 11, the upper ring of the turntable or reversing link 13 is provided with a toothed portion, and the toothed portion is rotated by a motor which rotates a toothed gear against the toothed portion.

[0031] The boom 11 can also be described as having an annular base to be rigidly connected to the forestry machine, a foot section of the boom pivotally connected to the annular base in a rotatable manner, a first boom pivotally connected to the foot section, a second boom pivotally connected to the first boom and a possible telescopic arrangement in the second boom as continuous boom sections of the boom 11. In addition, the boom 11 and the tool 19 arranged at its end comprise actuators, which are obvious to a person skilled in the art, for using each continuous boom section, i.e. for rotating by means of the pivoting or for shortening or lengthening by means of a possible telescopic arrangement or for using or rotating the tool, as well as a sensor arrangement, which is also obvious to a person skilled in the art and comprises one or more sensors for determining the attitude and / or the state of motion of the boom section of the boom and for determining the attitude and / or the state of motion of the tool, wherein the state of motion of the boom section or of the tool describes the speed, acceleration and / or angular velocity of the movement of the boom section or of the tool in question. The attitude and / or movement state of the boom part and / or the tool can be determined independently or can be determined relative to a part of the boom 11 or the forestry machine frame. The actuator can be, for example, the cylinder mentioned above or other cylinders or various motors, and the sensor can be, for example, various position sensors, motion speed sensors, sensors measuring attitude, acceleration or angular velocity, pressure sensors, sensors sensing the direction of a magnetic field or radars or cameras based on, for example, radio waves or optical devices.

[0032] It will be apparent to a person skilled in the art that the forestry machine may include many additional structural and functional structural components and entities different from the examples described above, depending on the intended use and type of the forestry machine. The forestry machine may include, for example, one or more frames in which, for example, a loading space, a boom and tools attached to the boom are arranged, a power source, a drive train, a control device and a mobile device. The mobile device may include, for example, a variable number of axles, which may be rigid, swinging or bogie axles, and wheels or rollers may be arranged on the axles or bogies.

[0033] The proposed arrangement further applies the tip control of the boom 11 for providing a desired position and possibly also a desired attitude of the tip of the boom 11, i.e. the outer end of the boom 11 and of the tool 19 located in the outer end of the boom 11, for performing a working phase. In the tip control, a command is issued to the tip of the boom by the control device 20 of the forestry machine, in other words a request for movement in a certain direction at a certain speed. The control command is converted by means of one or more control units 21 included in the control system of the forestry machine into at least one control measure of at least one actuator influencing the attitude of the boom 11 and / or into at least one control measure of at least one actuator influencing the attitude of the tool 19. For each of the actuators of the boom or the tool, the required movement speed is calculated by the one or more control units 21, so that the combined effect of the various actuators influencing the attitude of the boom or the tool provides the desired movement of the tip of the boom and thus further provides the end position of the tip of the boom 11 and, if necessary, the desired direction of the tip of the boom 11. That is, by controlling the boom portion of the boom 11 and / or the tool 19 to a desired posture, a desired position and a desired orientation of the tip of the boom 11 are provided.

[0034] In tip control, the control command directed by the control device at the tip of the cantilever 11 for moving the tip of the cantilever 11 is implemented by dividing the control command into the motion of the various cantilever parts of the cantilever 11 and / or the motion of the tool, so as to move the tip of the cantilever 11 according to the control command using the posture and motion state of the cantilever parts and / or the tool measured by sensors within the degrees of freedom allowed by the cantilever parts and the tool and their actuators. The desired motion of the tip of the cantilever 11 is divided into parts for different cantilever parts and / or tools by using, for example, the so-called Jacobian matrix. In order to implement tip control, guidance can be found in the following literature references, for example: Kinematic Control of Redundant Knuckle Booms, Licentiate thesis, Department of Machine Design, Royal Institute of Technology, Stockholm, 2004; Kinematic Control of Redundant Knuckle Booms with Automatic Path-Following Functions, Doctoral thesis, Department of Machine Design, Royal Institute of Technology, Stockholm, 2009; Mikkel M. Pedersen, Michael R. Hansen, Morten Ballebye: Developing a Tool Point Control Scheme for a Hydraulic Crane Using Interactive Real-time Dynamic Simulation: Modelling, Identification and Control, Vol. 31, No. 4, 2010, pp. 133-143, ISSN 1890-1328.

[0035] Figure 3 is a schematic flow chart of a method for controlling a boom 11 of a forestry machine in motion. Figure 4 The schematic diagram of the control system of the forestry machine is used to control the boom 11 of the forestry machine in motion. Figure 1 and Figure 2In the working environment, i.e. the working site of the forestry machine, which is very schematically shown with reference numeral 23, the tip control for controlling the outer end of the boom 11 and the tool 19 located in the outer end of the boom 11, i.e. the tip of the boom 11, is controlled so that when the forestry machine moves, the tool 19 will not hit the surface of the working environment 23, or so that when the forestry machine moves, the tool 19 can be guided to a target position or remain in a target position in the working environment 23, the tool 19 of the forestry machine is intended to be guided to a specific work execution related to the target position. The object of the work execution related to the target position can be, for example, a part of the trunk of a felled tree, i.e. a log or a block of wood, received in the transporter 1 for transport, or a whole trunk, or a pile where parts of the trunk of a tree transported by the transporter 1 are stacked to wait for further transport. Alternatively, the object can be, for example, a tree that is intended to be felled, delimbed and / or debarked and cut into parts by the harvester 2. The target position can be substantially constant during the execution of one operation after another, such as, for example, a pile of tree trunks or parts of felled tree trunks. The target position can also be variable, even so that the target position always changes between the execution of one operation after another. An example of such a variable or changing target position is a group of trees intended to be felled, wherein each of the trees to be felled forms a target position different from the other trees to which the tool 19 of the harvester 2 is intended to be guided when appropriate.

[0036] exist Figure 3 In the method, in box 31, a coordinate system MAC of the forestry machine is determined, by means of which at least the position and / or the state of motion of the tip of the boom 11 of the forestry machine relative to the forestry machine can be determined. The determination of the coordinate system MAC of the forestry machine includes fixing the origin of the coordinate system MAC in question to a specific point in the forestry machine, such as, for example, the attachment point of the turntable 13 of the base 12 of the boom 11 in the base, whereby the position and / or the state of motion of the tip of the boom 11 of the forestry machine can be determined relative to the attachment point of the turntable 13 of the base 12 of the boom 11, and, if necessary, the direction and / or the state of motion of the tip of the boom 11 relative to the forestry machine.

[0037] The above definition "position and / or motion state of the tip of the cantilever 11" describes the position and / or motion of the tip in the xyz coordinate system, said motion being of the translational type. Furthermore, the above definition "direction and / or motion state of the tip of the cantilever 11" describes the direction of the tip and / or a change in direction, whereby the motion corresponding to the change in direction is a rotational motion, such as a rotation of the tool 19 relative to one or more axes of rotation.

[0038] In block 32, a coordinate system WOC of the working environment of the forestry machine is determined, by means of which at least the position and / or the state of motion of the tip of the boom 11 of the forestry machine relative to the working environment 23 of the forestry machine and the motion of the forestry machine relative to the working environment 23 can be determined. Determining the coordinate system WOC of the working environment 23 of the forestry machine comprises fixing the origin of the coordinate system WOC in question to a specific point in the working environment 23, such as, for example, a rock in the working environment 23, whereby the position and / or the state of motion of the tip of the boom 11 of the forestry machine can be determined relative to the rock in question and, if necessary, the orientation and / or the state of motion of the tip of the boom 11 in the working environment 23 of the forestry machine can be determined.

[0039] The movement of a forestry machine may include both a translational motion component and a rotational motion component. The translational motion component includes movement that occurs substantially in a horizontal plane, which may be virtually in a straight line or at an angle relative to a horizontal virtual reference horizontal plane. For example, the forward or backward movement of a forestry machine without the forestry machine being tilted relative to any virtual axis of the forestry machine is a translational motion of the forestry machine. The rotational motion component includes movement that occurs by rotating relative to a certain virtual axis. For example, the tilt of a forestry machine in the lateral direction and / or the longitudinal direction may be a rotational motion of the forestry machine. In practice, the movement of a forestry machine moving on an uneven surface in its working environment often or almost always includes both a translational motion component and a rotational motion component, and due to the tilt of the forestry machine during operation, the movement of a forestry machine that does not substantially move in its working environment may substantially only include a rotational motion component.

[0040] In box 33, the correlation between the coordinate system MAC of the forestry machine and the coordinate system WOC of the working environment 23 of the forestry machine is determined, thereby converting the known position and / or motion state and direction and / or motion state of the tip of the cantilever 11 of the forestry machine in the coordinate system MAC of the forestry machine into the known position and / or motion state and direction and / or motion state of the tip of the cantilever 11 in the coordinate system WOC of the working environment of the forestry machine, or converting the known position and / or motion state and direction and / or motion state of the tip of the cantilever 11 of the forestry machine in the coordinate system WOC of the working environment of the forestry machine into the known position and / or motion state and direction and / or motion state in the coordinate system MAC of the forestry machine.

[0041] The coordinate system MAC of the forestry machine, the coordinate system WOC of the working environment 23 of the forestry machine and the correlation between said coordinate systems can be determined in the control unit 21. To determine the correlation between the coordinate systems, an observation device 22 arranged in the forestry machine or the working environment 23 can be used, which is suitable for indicating information related to the movement of the forestry machine, such as, for example, the advance, driving speed, driving direction, attitude and / or inclination of the forestry machine, or for observing stationary or moving objects in the working environment 23. The observation device 22 generates the situation information ENVI of the forestry machine and / or the working environment required for determining the correlation between the coordinate systems to the control unit 21, and the observation device 22 then forms part of the control system for controlling the boom 11 of the forestry machine. The driving speed and driving direction of the forestry machine and other odometer information of the forestry machine can be determined based on sensor information obtained, for example, from the traction motor, traction transmission or wheels of the forestry machine or by means of satellite positioning. Information about the attitude and / or tilt of the forestry machine and its speed of change relative to the environment and therefore also relative to the speed of change of the coordinate system of the environment can be determined by various position and motion sensors, such as, for example, accelerometers, inclinometers, gyroscopes or combined sensors based on sensor fusion. The means for observing stationary or moving objects in the working environment 23 can include, for example, radars, cameras or laser scanning devices known to those skilled in the art as being suitable for this purpose.

[0042] In block 34, a control command CC is generated for controlling the tip of the boom 11 of the forestry machine in motion to a target position and possibly additionally to a target orientation in the coordinate system WOC of the working environment, or for keeping the tip of the boom 11 in a target position and possibly additionally in a target orientation, even if the forestry machine moves, for example in the case of a need to transfer the machine, the target position of the tip of the boom 11 remains unchanged. The control command CC is generated by the control device 20, for example by the operator of the forestry machine or automatically based on a pre-designed work plan.

[0043] In block 35, based on the correlation of the coordinate systems MAC, WOC, at least the attitude and / or the motion state of the boom part of the boom 11 relative to the coordinate system MAC of the forestry machine is determined. The attitude and / or the motion state of the boom part of the boom 11 can be determined occasionally at regular or irregular intervals, or can be determined so that the attitude and / or the motion state of the boom part of the boom 11 is essentially known at all times for implementing the control command CC that may come from the control device 20 for executing the necessary control measures. Alternatively, the attitude and / or the motion state of the boom part of the boom 11 can be determined as a response to the control command CC before starting to execute the control measures necessary to implement the control command CC from the control device 20. In addition, the attitude and / or the motion state of the attitude of the tool 19 located at the end of the boom 11 can also be determined. The attitude and / or the motion state of the boom part of the boom 11 and the attitude and / or the motion state of the attitude of the tool 19 can be determined in the control unit 21 based on the measurement information M1 received from the actuators and / or sensors of the boom 11.

[0044] In block 36, the above-mentioned control command CC of the tip of the boom 11 of the forestry machine in motion is converted into at least one control measure CA-11 / 19 of at least one actuator of the boom 11, based on the determined attitude of the boom 11 in the coordinate system MAC of the forestry machine and based on the correlation between the coordinate systems MAC, WOC. Based on the correlation between the coordinate systems MAC, WOC, the target position of the tip of the boom 11 in the coordinate system WOC of the working environment 23 corresponding to the control command CC is converted in the control unit 21 into the target position of the tip of the boom 11 in the coordinate system MAC of the forestry machine, and the control unit 21 converts the control command CC of the tip of the boom 11 given relative to the coordinate system WOC of the working environment into one or more control measures of one or more actuators that will be executed in the coordinate system MAC of the forestry machine to affect the attitude of the boom part of the boom 11. If necessary, the attitude of the tool 19 located at the end of the boom 11 can also be affected by one or more control measures that affect the attitude of the tool 19 of one or more actuators. The designation CA-11 / 19 used in conjunction with the control measure relates to the fact that the control measure is able, depending on the circumstances, to influence either the actuator influencing the posture of the cantilever part of the cantilever 11 alone, the actuator influencing the posture of the tool 19 alone or both the actuator influencing the posture of the cantilever part of the cantilever 11 and the actuator influencing the posture of the tool 19.

[0045] exist Figure 3 and Figure 4In the arrangement structure, a control command CC for controlling the tip of the boom 11 of a moving forestry machine to a desired target position in the working environment 23 of the forestry machine or for keeping the tip of the boom 11 of the moving forestry machine in the desired target position can be converted into one or more control measures, which affect the posture of the boom part of the boom 11 and may affect the posture of the tool 19 relative to the forestry machine, so that the tip of the boom 11 of the moving forestry machine will be guided to its target position or kept in its target position by the control measures executed in the coordinate system MAC of the forestry machine.

[0046] therefore, Figure 3 and Figure 4 and Figure 3 and Figure 4 The above description provides an example for controlling the boom 11 of a forestry machine in motion, and the measures related to the example can also be executed in different orders and with different logics. Therefore, the position and / or motion state of the tip of the boom can be first determined in the coordinate system of the working environment and then the position and / or motion state of the tip of the boom can be determined in the coordinate system of the forestry machine using the correlation between the coordinate systems, or the position and / or motion state of the tip of the boom can be first determined in the coordinate system of the forestry machine and then the position and / or motion state of the tip of the boom can be determined in the coordinate system of the working environment using the correlation between the coordinate systems. In the same way, the target position of the tip of the boom can be first determined in the coordinate system of the working environment and then the target position of the tip of the boom can be determined in the coordinate system of the forestry machine using the correlation between the coordinate systems, or the target position can be first determined in the coordinate system of the forestry machine and then the target position can be determined in the coordinate system of the working environment using the correlation between the coordinate systems.

[0047] Figure 5 is a schematic flow chart of a second method for controlling the boom 11 of a forestry machine in motion. Figure 5 Methods and Figure 3 The method corresponds to Figure 5 The method includes box 38 instead of box 36 and additionally includes box 37 and box 39. Figure 6 Schematic diagram of a second control system of a forestry machine for controlling a boom 11 of the forestry machine in motion.

[0048] In block 37, the movement of the forestry machine is determined in the coordinate system WOC of the working environment 23. The movement of the forestry machine in the coordinate system WOC of the working environment can be determined, for example, by means of the observation device 22 based on the situation information ENVI obtained about the forestry machine and / or the working environment. In one or more other embodiments, in addition to the movement of the forestry machine, the position and / or attitude of the forestry machine can also be determined.

[0049] The movement of the forestry machine and, in other embodiments, also the position and / or attitude of the forestry machine in the coordinate system MAC of the working environment 23 can be determined occasionally at regular or irregular intervals, or can be determined so that the movement, or the position and / or attitude of the forestry machine is essentially known at all times for implementing the control command CC that may come from the control device 20 for executing the necessary control measures. Alternatively, the movement, position and / or attitude of the forestry machine can be determined as a response to the control command CC before starting to execute the control measures necessary to implement the control command CC from the control device 20.

[0050] In box 38, the above-mentioned control command CC of the tip of the boom 11 of the forestry machine in motion is converted into at least one control measure CA-11 / 19 of at least one actuator of the boom 11, based on the determined attitude of the boom part of the boom 11 in the coordinate system MAC of the forestry machine, based on the determined movement of the forestry machine in the coordinate system WOC of the working environment and based on the correlation between the coordinate systems MAC, WOC. Based on the correlation between the coordinate systems MAC, WOC, the target position of the tip of the boom 11 in the coordinate system WOC of the working environment 23 corresponding to the control command CC is converted in the control unit 21 into the target position of the tip of the boom 11 in the coordinate system MAC of the forestry machine, and the control unit 21 is also configured to convert the control command CC of the tip of the boom 11 given relative to the coordinate system WOC of the working environment into one or more control measures CA-11 / 19 of one or more actuators that will be executed in the coordinate system MAC of the forestry machine and that affect the attitude of the boom part of the boom 11. If necessary, the attitude of the tool 19 can also be influenced by one or more control measures influencing the position of the tool 19 at the end of the boom 11 by one or more actuators.

[0051] In box 39, taking into account the target position of the tip of the boom 11 in the coordinate system MAC of the forestry machine determined in box 38, based on the determined posture of the boom part of the boom 11 in the coordinate system MAC of the forestry machine, the determined movement of the forestry machine in the coordinate system WOC of the working environment and based on the correlation between the coordinate systems MAC and WOC, the control command CC of the tip of the boom 11 of the moving forestry machine is converted into at least one control measure CA-1 / 2 for controlling the movement of the forestry machine. The control unit 21 is then configured to also convert the control command CC for the tip of the boom 11 given relative to the coordinate system WOC of the working environment into one or more control measures CA-1 / 2 executed in the coordinate system WOC of the working environment, said one or more control measures CA-1 / 2 affecting the movement of the forestry machine, i.e. in practice affecting the travel direction and travel speed of the forestry machine, so that by affecting the movement of the forestry machine in addition to the boom part of the boom 11, i.e. affecting the travel direction or travel speed of the forestry machine, the target position of the tip of the boom 11 corresponding to the control command CC can be reached, or the tip of the boom 11 can be kept in the target position. The designation CA-1 / 2 used in conjunction with the control measure in question is a forestry machine related to the transporter 1, the harvester 2 or a combination of the transporter 1 and the harvester 2.

[0052] exist Figure 5 and Figure 6 In the solution, both boxes 38 and 39 are present, in which box 38, the control command CC of the tip of the boom 11 of the forestry machine in motion is converted into at least one control measure CA-11 / 19 of at least one actuator of the boom 11 in the coordinate system MAC of the forestry machine, and in box 39, the control command CC of the tip of the boom 11 of the forestry machine in motion is also converted into at least one control measure CA-1 / 2 for controlling the movement of the forestry machine in the coordinate system WOC of the working environment. In this case, the control command CC of the tip of the boom 11 can be realized by controlling both the position of the tip of the boom 11 and the movement of the forestry machine.

[0053] therefore, Figure 5 and Figure 6 and Figure 5 and Figure 6The above description provides a second example for controlling the boom 11 of a forestry machine in motion, and the measures related to the second example can also be executed in a different order and with different logic. Therefore, the position and / or motion state of the tip of the boom can be first determined in the coordinate system of the working environment and then the position and / or motion state of the tip of the boom can be determined in the coordinate system of the forestry machine using the correlation between the coordinate systems, or the position and / or motion state of the tip of the boom can be first determined in the coordinate system of the forestry machine and then the position and / or motion state of the tip of the boom can be determined in the coordinate system of the working environment using the correlation between the coordinate systems. In the same way, the target position of the tip of the boom can be first determined in the coordinate system of the working environment and then the target position of the tip of the boom can be determined in the coordinate system of the forestry machine using the correlation between the coordinate systems, or the target position can be first determined in the coordinate system of the forestry machine and then the target position can be determined in the coordinate system of the working environment using the correlation between the coordinate systems. Figure 7 is with Figure 3 Schematic flow chart of an embodiment similar to that of the control of a boom 11 of a forestry machine in motion. Figure 7 is a schematic diagram of frame 34-7 and frame 36-7, frame 34-7 is arranged to replace Figure 3 Frame 34, frame 36-7 are arranged to replace Figure 3 For the other boxes, Figure 7 The implementation method and Figure 3 The implementation methods are basically the same.

[0054] In block 34-7, a control command is generated for controlling the tip of the boom 11 of the forestry machine in motion to a target position in the coordinate system WOC of the working environment and to a position that does not change substantially in the vertical direction. The control command CC is generated by the control device 20, for example, by the operator of the forestry machine or automatically based on a pre-designed working plan, with the purpose of keeping the tool 19 of the boom 11 substantially at a constant distance from the surface of the working environment 23 in the vertical direction in the coordinate system WOC of the working environment.

[0055] In block 36-7, the control command CC of the tip of the boom 11 is converted via the control unit 21 into at least one control measure CA-11 / 19 of at least one actuator for controlling the tip of the boom 11 with at least one degree of freedom of the tip of the boom 11 for keeping the tip of the boom 11 in a substantially unchanged position in the vertical direction in the coordinate system WOC of the working environment via at least one change in attitude of at least one boom part of the boom 11. Based on the correlation between the coordinate systems MAC, WOC, the target position of the tip of the boom 11 in the coordinate system WOC of the working environment 23 corresponding to the control command CC is converted in the control unit 21 into a target position of the tip of the boom 11 in the coordinate system MAC of the forestry working machine. The attitude of the tool 19 can remain constant or can be changed, for example, if a change in the attitude of the tool 19 minimizes the control measures required to control the boom part of the boom 11.

[0056] Figure 7 The embodiment is suitable for use in both the transporter 1 and the harvester 2 to compensate for the swing of the boom 11 and the tool 19 at the end thereof caused by the inclination of the transporter 1 or the harvester 2 in the lateral or longitudinal direction, so that the tool 19 is kept at a substantially constant distance from the ground, so that the tool 19 does not hit the ground. Figure 7 In the embodiment, for controlling the tip of the boom 11, it is not necessary to consider the travel direction or travel speed of the forestry machine, so Figure 7 The embodiments are also suitable for controlling the position of the tip of the boom 11 in a stationary forestry machine, in which swaying or tilting in the transverse or longitudinal direction may occur, for example due to dynamic tilting of the machine, shifting of the load or depressions or yielding of the surface of the working environment 23. If the maximum movement speed or the dynamics of the actuator of the boom 11 or the general performance of the boom 11 are not sufficient to compensate for the swaying or tilting of the machine, the travel speed of the forestry machine may be limited and the movement of the forestry machine may thus also be actively influenced.

[0057] therefore, Figure 7 and with Figure 7The above description relates to a third example for controlling the boom 11 of a forestry machine in motion, and the measures related to the third example may also be executed in a different order and with different logic. Therefore, the position and / or motion state of the tip of the boom may be first determined in the coordinate system of the working environment and then the position and / or motion state of the tip of the boom may be determined in the coordinate system of the forestry machine using the correlation between the coordinate systems, or the position and / or motion state of the tip of the boom may be first determined in the coordinate system of the forestry machine and then the position and / or motion state of the tip of the boom may be determined in the coordinate system of the working environment using the correlation between the coordinate systems. In the same manner, the target position of the tip of the boom may be first determined in the coordinate system of the working environment and then the target position of the tip of the boom may be determined in the coordinate system of the forestry machine using the correlation between the coordinate systems, or the target position may be first determined in the coordinate system of the forestry machine and then the target position may be determined in the coordinate system of the working environment using the correlation between the coordinate systems.

[0058] Figure 8 is with Figure 5 A schematic flow chart of an embodiment similar to that of the embodiment for controlling the boom 11 of a forestry machine in motion, Figure 8 Schematically showing blocks 34-8, 35-8 and 38-8, block 34-8 being arranged to replace Figure 5 The blocks 34, 35-8 are arranged to replace Figure 5 The frame 35, frame 38-8 is arranged to replace Figure 5 Box 38. Figure 8 Not shown with Figure 5 The box corresponding to box 39 of Figure 8 As for other boxes, Figure 8 The implementation method and Figure 5 The implementation methods are basically the same.

[0059] In block 34-8, a control command is generated for controlling the tip of the boom 11 of the forestry machine in motion to an object stationary in the coordinate system WOC of the working environment, which object forms a target position for the tip of the boom 11. The control command CC is generated by the control device 20, for example, by the operator of the forestry machine or automatically based on a pre-designed working plan.

[0060] In block 35-8, the following is determined by the control unit 21:

[0061] - determining at least the position and / or the state of motion of the tip of the boom 11 in the coordinate system WOC of the working environment, the tip of the boom 11 being at a certain distance from the stationary object,

[0062] - based on the correlation between the coordinate systems MAC, WOC, at least determining the position and / or the motion state of the tip of the boom 11 in the coordinate system MAC of the forestry machine, the tip of the boom 11 being at said distance from said stationary object, and

[0063] - Based at least on the position of the tip of the boom 11 in the forest machine's coordinate system MAC, at least the attitude and / or the state of movement of at least the boom part of the boom 11 in the forest machine's coordinate system MAC is determined.

[0064] In box 38-8, based on the determined movement of the forestry work machine in the coordinate system WOC of the working environment, the determined posture and / or motion state of the cantilever part of the cantilever 11 in the coordinate system MAC of the forestry work machine and based on the correlation between the coordinate systems MAC and WOC, the control unit 21 converts the control command CC for controlling the tip of the cantilever 11 to the stationary object into at least one control measure CA-11 / 19 of at least one actuator for controlling the tip of the cantilever 11 with at least one degree of freedom in the coordinate system MAC of the forestry work machine, so as to control the tip of the cantilever 11 to the stationary object.

[0065] exist Figure 8 In the embodiment, the tip of the boom 11 is thus controlled to the stationary object only by changing the attitude of the boom part of the boom 11. The attitude of the tool 19 can remain constant depending on the embodiment, or in addition, the attitude of the tool 19 can be changed.

[0066] therefore, Figure 8 and with Figure 8 The above description relates to a fourth example for controlling the boom 11 of a forestry machine in motion, and the measures associated with the fourth example may also be executed in a different order and with different logic. Therefore, the position and / or motion state of the tip of the boom may be first determined in the coordinate system of the working environment and then the position and / or motion state of the tip of the boom may be determined in the coordinate system of the forestry machine using the correlation between the coordinate systems, or the position and / or motion state of the tip of the boom may be first determined in the coordinate system of the forestry machine and then the position and / or motion state of the tip of the boom may be determined in the coordinate system of the working environment using the correlation between the coordinate systems. In the same manner, the target position of the tip of the boom may be first determined in the coordinate system of the working environment and then the target position of the tip of the boom may be determined in the coordinate system of the forestry machine using the correlation between the coordinate systems, or the target position may be first determined in the coordinate system of the forestry machine and then the target position may be determined in the coordinate system of the working environment using the correlation between the coordinate systems.

[0067] Fig. 9 is with Figure 5 A schematic flow chart of another embodiment for controlling the boom 11 of a forestry machine in motion is similar to the embodiment of FIG. Figure 8 compared to, Fig. 9 Schematically showing blocks 34-9, 35-9 and 38-9, block 34-9 is arranged to implement Figure 8 The operations of blocks 34-8 and 35-9 are arranged to implement Figure 8 The operations of blocks 35-8 and 38-9 are arranged to implement Figure 8 The operation of block 38-8. Figure 8 compared to, Fig. 9 Also includes frame 39-9. As for the other frames, Fig. 9 The implementation method and Figure 5 The implementation methods are basically the same.

[0068] In block 38-9, based on the determined movement of the forestry work machine in the coordinate system WOC of the working environment, the determined posture of the cantilever part of the cantilever 11 in the coordinate system MAC of the forestry work machine and based on the correlation between the coordinate systems MAC and WOC, the control unit 21 converts the control command CC for controlling the tip of the cantilever 11 to the stationary object into at least one control measure CA-11 / 19 for controlling the tip of the cantilever 11 with at least one degree of freedom in the coordinate system MAC of the forestry work machine and at least one control measure CA-1 / 2 for controlling the movement of the forestry work machine in the coordinate system WOC of the working environment.

[0069] exist Fig. 9 In an embodiment, the tip of the boom 11 is controlled to the stationary object by changing the posture and / or direction of the boom part of the boom 11 and by changing the movement of the forestry machine, that is, the driving direction and / or the driving speed.

[0070] therefore, Fig. 9 and with Fig. 9The above description relates to a fifth example for controlling the boom 11 of a forestry machine in motion, and the measures associated with the fifth example may also be executed in a different order and with different logic. Therefore, the position and / or motion state of the tip of the boom may be determined first in the coordinate system of the working environment and possibly also in the direction and / or motion state of the tip of the boom, and then the position and / or motion state of the tip of the boom may be determined in the coordinate system of the forestry machine using the correlation between the coordinate systems, or the position and / or motion state of the tip of the boom may be determined first in the coordinate system of the forestry machine and possibly also in the direction and / or motion state of the tip of the boom, and then the position and / or motion state of the tip of the boom may be determined in the coordinate system of the working environment using the correlation between the coordinate systems and possibly also in the direction and / or motion state of the tip of the boom. In the same way, the target position of the tip of the cantilever can be first determined in the coordinate system of the working environment and then determined in the coordinate system of the forestry work machine using the correlation between the coordinate systems, or the target position can be first determined in the coordinate system of the forestry work machine and then determined in the coordinate system of the working environment using the correlation between the coordinate systems.

[0071] According to Figure 8 An implementation similar to or similar to Fig. 9 In a similar embodiment, the control device 21 is configured to generate a control command CC for controlling the tip of the boom 11 of the forestry machine in motion to grab an object that is stationary in the coordinate system WOC of the working environment, or alternatively, the control device 21 is configured to generate a control command CC for controlling the tip of the boom 11 of the forestry machine in motion in the coordinate system WOC of the working environment to leave the load at the tip of the boom in a stationary position in the coordinate system of the working environment. In these embodiments,

[0072] - determining the position and / or the state of motion of the tip of the boom 11 in the coordinate system WOC of the working environment and additionally determining the direction and / or the state of motion of the tip of the boom 11 in the coordinate system WOC of the working environment, the tip of the boom 11 being at a distance from the stationary object,

[0073] - determining the position and / or movement state of the tip of the boom 11 in the coordinate system MAC of the forestry machine based on the correlation between the coordinate systems MAC, WOC and based on the position and / or movement state of the tip of the boom 11 in the coordinate system WOC of the working environment and additionally based on the direction and / or movement state of the tip of the boom 11 in the coordinate system WOC of the working environment, and additionally determining the direction and / or movement state of the tip of the boom 11 in the coordinate system MAC of the forestry machine, the tip of the boom 11 being at said distance from said stationary object,

[0074] - determining the attitude and / or movement state of at least the boom part of the boom 11 in the coordinate system MAC of the forestry machine and the attitude and / or movement state of at least the tool 19 at the end of the boom 11 in the coordinate system MAC of the forestry machine based on the determined position and / or movement state of the tip of the boom 11 in the coordinate system MAC of the forestry machine and additionally based on the orientation and / or movement state of the tip of the boom 11 in the coordinate system MAC of the forestry machine, and

[0075] -Based on the determined movement of the forestry work machine, the determined posture and / or motion state of the cantilever part of the cantilever 11, the posture and / or motion state of the tool 19 and based on the correlation between the coordinate systems MAC and WOC, the control command CC is converted into at least one control measure CA-11 / 19 of at least one actuator for controlling the posture of the cantilever 11 and / or the tool 19 with at least one degree of freedom in the coordinate system MAC of the forestry work machine and / or at least one control measure CA-1 / 2 for controlling the movement of the forestry work machine in the coordinate system WOC of the working environment.

[0076] With regard to the transporter 1, the embodiments described can be applied, for example, to grab one or more logs on the ground or to lower a load or haulage at the tip of the boom 11 to the ground or into a pile when the transporter 1 is moving. With regard to the harvester 2, the embodiments described can be applied, for example, to grab trees to be felled or to lower a load or haulage at the tip of the boom 11 to the ground or into a pile or to saw logs to the ground or into a pile when the harvester 2 is moving.

[0077] According to Figure 8 Embodiments similar to or similar to Fig. 9 In an embodiment similar to that of the embodiment of the present invention, the control device 21 is configured to generate a control command CC for causing the forestry machine in motion to shift in the working environment so that the tip of the boom 11 remains supported on a stationary object in the working environment 23, such as the ground or some other solid object. In this embodiment,

[0078] - determining at least the position of the tip of the boom 11 in the coordinate system WOC of the working environment, the tip of the boom 11 being supported on said stationary object,

[0079] - determining at least the position of the tip of the boom 11 in the coordinate system MAC of the forestry machine based on the correlation between the coordinate systems MAC, WOC and the position of the tip of the boom 11 in the coordinate system WOC of the working environment, the tip of the boom 11 being supported on said stationary object,

[0080] - determining the attitude of at least the boom portion of the boom 11 in the coordinate system MAC of the forestry machine based on the position of the tip of the boom 11 in the coordinate system WOC of the working environment,

[0081] - determination of the movement of the forestry machine in the coordinate system WOC of the working environment, and

[0082] -Based on the determined posture of the boom part of the boom 11, the determined movement of the forestry work machine and based on the correlation between the coordinate systems MAC and WOC, the control command CC is converted into at least one control measure CA-11 / 19 of at least one actuator for controlling the tip of the boom 11 with at least one degree of freedom in the coordinate system MAC of the forestry work machine and / or at least one control measure CA-1 / 2 for controlling the movement of the forestry work machine in the coordinate system WOC of the working environment.

[0083] In this embodiment, the forestry machine in motion can be transferred in the working environment 23 by means of a change in the attitude of the boom 11 and / or by means of a change in the movement of the forestry machine, so that the tip of the boom 11 remains supported on the ground or on some other solid object. This embodiment can be used, for example, when the tool 19 at the end of the boom 11 has not yet grasped the object in question, but the position of the tool 19 still allows to change.

[0084] According to Figure 8 Embodiments similar to or similar to Fig. 9 In an embodiment similar to the embodiment of the invention, the control device 21 is configured to generate the following control command CC: the control command CC is used to transfer the forestry machine in motion in the working environment so that the tip of the boom 11 keeps grasping a stationary object in the working environment 23, such as an upright tree or a stump, without substantially changing the posture of the tool 19 at the end of the boom 11. In this embodiment,

[0085] - determining the position and orientation of the tip of the boom 11 in the coordinate system WOC of the working environment, the tip of the boom 11 grasping the stationary object,

[0086] - based on the correlation between the coordinate systems MAC and WOC and the position and orientation of the tip of the boom 11 in the coordinate system WOC of the working environment, the position and orientation of the tip of the boom 11 in the coordinate system MAC of the forestry machine is determined, and the tip of the boom 11 grabs the stationary object,

[0087] - based on the determined position and orientation of the tip of the boom 11 in the forestry machine's coordinate system MAC, determining the attitude of the boom portion of the boom 11 in the forestry machine's coordinate system MAC and the attitude of the tool 19 in the forestry machine's coordinate system MAC,

[0088] - determination of the movement of the forestry machine in the coordinate system WOC of the working environment, and

[0089] -Based on the determined posture of the boom part of the boom 11 and the posture of the tool 19, the determined movement of the forestry work machine and based on the correlation between the coordinate systems MAC and WOC, the control command CC is converted into at least one control measure CA-11 / 19 of at least one actuator for controlling the tip of the boom 11 with at least one degree of freedom in the coordinate system MAC of the forestry work machine and / or at least one control measure CA-1 / 2 for controlling the movement of the forestry work machine in the coordinate system WOC of the working environment.

[0090] In this embodiment, the forestry machine in motion can be transferred in the working environment 23 by means of a change in the attitude of the boom 11 and / or by means of a change in the movement of the forestry machine, so that the tip of the boom 11 keeps gripping the stationary object without substantially changing the attitude of the tool 19 at the end of the boom 11. This embodiment can be used, for example, when the tool 19 at the end of the boom 11 has already gripped the object in question and the attitude of the tool 19 should no longer undergo any substantial changes.

[0091] The embodiment suitable for transferring a forestry machine in motion can be used, for example, to transfer a forestry machine when the tool 19 is grabbing a tree to be felled or a felled trunk or part thereof or when the tool 19 has already grabbed a tree being felled or a felled trunk or part thereof. The forestry machine can then be easily transferred by means of a change in the attitude of the boom 11 and / or by means of a change in the movement of the forestry machine - the change in movement is that the forestry machine is closer to or farther away from the object being grabbed or already grabbed - or alternatively the forestry machine is transferred, the object being located to the side of the forestry machine. The embodiment discussed can also be used to transfer a forestry machine when trying to eliminate or reduce the overturning moment directed towards the forestry machine caused by the unfavorable attitude of the forestry machine. When transferring a forestry machine that has already grabbed an object in the manner described herein, the movement of the forestry machine can still be limited so that the size of the boom 11 is not exceeded.

[0092] A person skilled in the art will find it obvious that, as technology advances, the basic idea of ​​the invention can be implemented in many different ways. Therefore, the invention and its embodiments are not limited to the examples described above, but may vary within the scope of the claims. Figure 1 and Figure 2 The forestry machines of each comprise only one boom, but the given arrangement can naturally also be applied in forestry machines equipped with two or more booms. Two or more booms can be considered for use in particular in semi-autonomous or substantially fully autonomously operating forestry machines, whereby the forestry machine has more space and load carrying capacity when the cab is omitted from the forestry machine.

Claims

1. A method for controlling a boom of a forestry machine by tip control, wherein: determining a coordinate system of the forestry machine, by means of which at least the position and / or the state of motion of the tip of the boom of the forestry machine relative to the forestry machine can be determined, determining a coordinate system of the working environment of the forestry machine, by means of which at least the position and / or the motion state of the tip of the boom of the forestry machine relative to the working environment and the motion of the forestry machine relative to the working environment can be determined, determining the relevance of the coordinate system, generating a control command for controlling the tip of the boom of the forestry machine in motion to a target position in the coordinate system of the working environment or for maintaining the tip of the boom of the forestry machine in motion in the target position, determining at least the attitude and / or the state of motion of the boom part of the boom in the coordinate system of the forestry machine, and Based on the determined posture and / or motion state of the boom part of the boom and the correlation between the coordinate systems, the control command of the tip of the boom of the moving forestry machine is converted into at least one control measure of at least one actuator of the boom.

2. The method according to claim 1, characterized in that further determining the movement of the forestry machine in the coordinate system of the working environment, and Based on the determined posture and / or motion state of the boom part of the boom, the determined movement of the forestry work machine and based on the correlation between the coordinate systems, the control command of the tip of the boom is converted into both at least one control measure of at least one actuator of the boom and at least one control measure for controlling the movement of the forestry work machine.

3. The method according to claim 1 or 2, characterized in that: generating a control command for controlling the tip of the boom of the forestry machine in motion to a position that does not substantially change in the vertical direction in the coordinate system of the working environment, and comprising: The control command for the tip of the boom is converted into at least one control measure of at least one actuator for controlling the tip of the boom with at least one degree of freedom in the coordinate system of the forestry work machine, so as to keep the tip of the boom in a substantially unchanged position in the vertical direction in the coordinate system of the working environment via at least one change in the posture of at least one boom part of the boom.

4. The method according to any one of the preceding claims, characterized in that A control command is generated for controlling the tip of the boom of the forestry machine in motion to a stationary object in the coordinate system of the working environment, wherein at least determining the position and / or motion state of the tip of the cantilever in the coordinate system of the working environment, the tip of the cantilever being at a certain distance from the stationary object, determining at least the position and / or the motion state of the tip of the boom in the coordinate system of the forestry machine, the tip of the boom being at the distance from the stationary object, determining at least the attitude and / or the motion state of at least the boom portion of the boom in the coordinate system of the forestry machine based at least on the determined position and / or the motion state of the tip of the boom in the coordinate system of the forestry machine, determining the movement of the forestry machine in the coordinate system of the working environment, and Based on the determined movement of the forestry work machine, the determined posture and / or motion state of the cantilever part of the cantilever and based on the correlation between the coordinate systems, the control command for controlling the tip of the cantilever to the stationary object is converted into at least one control measure of at least one actuator for controlling the tip of the cantilever with at least one degree of freedom in the coordinate system of the forestry work machine for controlling the tip of the cantilever to the stationary object.

5. The method according to claim 4, characterized in that Based on the determined movement of the forestry work machine, the determined posture and / or motion state of the cantilever part of the cantilever and based on the correlation between the coordinate systems, the control command for controlling the tip of the cantilever to the stationary object is converted into both at least one control measure for controlling the tip of the cantilever with at least one degree of freedom in the coordinate system of the forestry work machine and at least one control measure for controlling the movement of the forestry work machine in the coordinate system of the working environment.

6. The method according to claim 4 or 5, characterized in that: generating a control command for controlling the tip of the boom of the forestry machine in motion to grasp an object that is stationary in the coordinate system of the working environment, wherein determining a position and / or a motion state of the tip of the cantilever in a coordinate system of the working environment and additionally determining an orientation and / or a motion state of the tip of the cantilever in a coordinate system of the working environment, the tip of the cantilever being at a distance from the stationary object, determining the position and / or the state of motion of the tip of the boom in the coordinate system of the forestry machine and additionally determining the direction and / or the state of motion of the tip of the boom in the coordinate system of the forestry machine, the tip of the boom being at the distance from the stationary object, Based on the determined position and / or motion state of the tip of the boom in the coordinate system of the forestry machine and additionally based on the orientation and / or motion state of the tip of the boom in the coordinate system of the forestry machine, determine the attitude and / or motion state of at least the boom part of the boom in the coordinate system of the forestry machine and additionally determine the attitude and / or motion state of at least a tool located at the end of the boom in the coordinate system of the forestry machine, and Based on the determined movement of the forestry work machine, the determined posture and / or motion state of the cantilever part of the cantilever, the posture and / or motion state of the tool and based on the correlation between the coordinate systems, the control command is converted into at least one control measure of at least one actuator to control the posture of the cantilever and / or the tool with at least one degree of freedom in the coordinate system of the forestry work machine and / or at least one control measure to control the movement of the forestry work machine in the coordinate system of the working environment.

7. The method according to claim 4 or 5, characterized in that: generating a control command for controlling the tip of the boom of the forestry machine in motion in the coordinate system of the working environment so as to leave the load at the tip of the boom at a stationary position in the coordinate system of the working environment, wherein determining a position and / or a motion state of the tip of the cantilever in a coordinate system of the working environment and additionally determining an orientation and / or a motion state of the tip of the cantilever in a coordinate system of the working environment, the tip of the cantilever being at a distance from the stationary object, determining the position and / or the state of motion of the tip of the boom in the coordinate system of the forestry machine and additionally determining the direction and / or the state of motion of the tip of the boom in the coordinate system of the forestry machine, the tip of the boom being at the distance from the stationary object, Based on the determined position and / or motion state of the tip of the boom in the coordinate system of the forestry machine and additionally based on the direction and / or motion state of the tip of the boom in the coordinate system of the forestry machine, determine the attitude and / or motion state of at least the boom part of the boom in the coordinate system of the forestry machine and the attitude and / or motion state of at least a tool at the end of the boom in the coordinate system of the forestry machine, and Based on the determined movement of the forestry work machine, the determined posture and / or motion state of the cantilever part of the cantilever, the posture and / or motion state of the tool and based on the correlation between the coordinate systems, the control command is converted into at least one control measure of at least one actuator to control the posture of the cantilever and / or the tool with at least one degree of freedom in the coordinate system of the forestry work machine and / or at least one control measure to control the movement of the forestry work machine in the coordinate system of the working environment.

8. The method according to claim 4 or 5, characterized in that: generating a control command for translating the forestry machine in motion in the coordinate system of the working environment so that the tip of the boom remains supported to the stationary object, wherein determining at least the position of the tip of the cantilever in the coordinate system of the working environment, the tip of the cantilever being supported on the stationary object, determining at least the position of the tip of the boom in the coordinate system of the forestry machine, the tip of the boom being supported on the stationary object, determining at least the attitude of the boom portion of the boom in the coordinate system of the forestry machine based on the determined position of the tip of the boom in the coordinate system of the forestry machine, determining the movement of the forestry machine in the coordinate system of the working environment, and Based on the determined posture of the cantilever part of the cantilever, the determined movement of the forestry work machine and based on the correlation between the coordinate systems, the control command is converted into at least one control measure of at least one actuator to control the tip of the cantilever with at least one degree of freedom in the coordinate system of the forestry work machine and / or at least one control measure to control the movement of the forestry work machine in the coordinate system of the working environment.

9. The method according to claim 4 or 5, characterized in that: generating a control command for translating the forestry machine in motion in the coordinate system of the working environment so that the tip of the boom keeps grasping the stationary object without substantially changing the posture of the tool at the end of the boom, wherein determining the position and orientation of the tip of the cantilever in the coordinate system of the working environment, the tip of the cantilever grasping the stationary object, determining the position and orientation of the tip of the boom in the coordinate system of the forestry machine, the tip of the boom grasping the stationary object, determining the posture of the boom portion of the boom in the coordinate system of the forestry machine and the posture of the tool in the coordinate system of the forestry machine based on the determined position and orientation of the tip of the boom in the coordinate system of the forestry machine, determining the movement of the forestry machine in the coordinate system of the working environment, and Based on the determined posture of the cantilever part of the cantilever and the posture of the tool, the determined movement of the forestry work machine and based on the correlation between the coordinate systems, the control command is converted into at least one control measure of at least one actuator to control the tip of the cantilever with at least one degree of freedom in the coordinate system of the forestry work machine and / or at least one control measure to control the movement of the forestry work machine in the coordinate system of the working environment.

10. A control system for controlling a boom of a forestry machine by tip control, the control system comprising: at least one control unit configured to determine a coordinate system of the forestry machine, a coordinate system of a working environment of the forestry machine, and a correlation between the coordinate systems, wherein the control unit is configured to at least determine a position and / or a motion state of a tip of the boom of the forestry machine relative to the forestry machine in the coordinate system of the forestry machine, a position and / or a motion state of the tip of the boom of the forestry machine relative to the working environment in the coordinate system of the working environment, and a motion of the forestry machine in the coordinate system of the working environment, at least one control device for generating a control command for controlling the tip of the boom of the forestry machine in motion to a target position in the coordinate system of the working environment, a sensor for determining the attitude and / or the state of motion of the boom part of the boom at least in the coordinate system of the forestry machine and the attitude of a tool at the end of the boom at least in the coordinate system of the forestry machine, and an actuator for changing the posture of the cantilever portion of the cantilever and the posture of the tool, and wherein The at least one control unit is also configured to convert the control command of the tip of the boom of the moving forestry machine into at least one control measure of at least one actuator of the boom based on the determined posture and / or motion state of the boom part of the boom and the correlation between the coordinate systems.

11. The control system according to claim 10, characterized in that: The at least one control unit is further configured to determine the movement of the forestry machine in a coordinate system of the working environment, and The control command for the tip of the boom is configured to be converted into both at least one control measure of at least one actuator of the boom and at least one control measure for controlling the movement of the forestry working machine based on the determined posture and / or motion state of the boom portion of the boom, the determined movement of the forestry working machine and the correlation between the coordinate systems.

12. The control system according to claim 10 or 11, characterized in that: The at least one control device is configured to generate a control command for controlling the tip of the boom of the forestry machine in motion to a target position in the coordinate system of the working environment or for maintaining the tip of the boom of the forestry machine in motion in the target position, and wherein The at least one control unit is configured to convert the control command of the tip of the boom into at least one control measure of at least one actuator for controlling the tip of the boom with at least one degree of freedom in the coordinate system of the forestry work machine, so as to maintain the tip of the boom in a position that does not change substantially in the vertical direction in the coordinate system of the working environment via at least one change in the posture of at least one boom part of the boom.

13. The control system according to any one of claims 10 to 12, characterized in that: The at least one control device is configured to generate a control command for controlling the tip of the boom of the forestry machine in motion to an object that is stationary in the coordinate system of the working environment, wherein the at least one control unit is configured to: at least determining the position and / or motion state of the tip of the cantilever in the coordinate system of the working environment, the tip of the cantilever being at a certain distance from the stationary object, determining at least the position and / or the motion state of the tip of the boom in the coordinate system of the forestry machine, the tip of the boom being at the distance from the stationary object, determining at least the attitude and / or the motion state of the boom portion of the boom in the coordinate system of the forestry machine based at least on the determined position and / or the motion state of the tip of the boom in the coordinate system of the forestry machine, determining the movement of the forestry machine in the coordinate system of the working environment, and Based on the determined movement of the forestry work machine, the determined posture and / or motion state of the cantilever part of the cantilever and based on the correlation between the coordinate systems, the control command for controlling the tip of the cantilever to the stationary object is converted into at least one control measure of at least one actuator for controlling the tip of the cantilever with at least one degree of freedom in the coordinate system of the forestry work machine for controlling the tip of the cantilever to the stationary object.

14. The control system according to claim 13, characterized in that: The at least one control unit is configured to convert the control command for controlling the tip of the cantilever to the stationary object into both at least one control measure for controlling the tip of the cantilever with at least one degree of freedom in the coordinate system of the forestry working machine and at least one control measure for controlling the movement of the forestry working machine in the coordinate system of the working environment of at least one actuator based on the determined movement of the forestry working machine, the determined posture and / or movement state of the cantilever part of the cantilever and based on the correlation between the coordinate systems.

15. The control system according to claim 13 or 14, characterized in that: The at least one control device is configured to generate a control command for controlling the tip of the boom of the forestry machine in motion to grasp an object that is stationary in the coordinate system of the working environment, wherein the at least one control unit is configured to: determining a position and / or a motion state of the tip of the cantilever in a coordinate system of the working environment and additionally determining an orientation and / or a motion state of the tip of the cantilever in a coordinate system of the working environment, the tip of the cantilever being at a distance from the stationary object, determining the position and / or the state of motion of the tip of the boom in the coordinate system of the forestry machine and additionally determining the direction and / or the state of motion of the tip of the boom in the coordinate system of the forestry machine, the tip of the boom being at the distance from the stationary object, Based on the determined position and / or motion state of the tip of the boom in the coordinate system of the forestry machine and additionally based on the direction and / or motion state of the tip of the boom in the coordinate system of the forestry machine, determine the posture and / or motion state of at least the boom part of the boom in the coordinate system of the forestry machine and the posture and / or motion state of at least the tool at the end of the boom in the coordinate system of the forestry machine, and Based on the determined movement of the forestry work machine, the determined posture and / or motion state of the cantilever part of the cantilever, the posture and / or motion state of the tool and based on the correlation between the coordinate systems, the control command is converted into at least one control measure of at least one actuator to control the posture of the cantilever and / or the tool with at least one degree of freedom in the coordinate system of the forestry work machine and / or at least one control measure to control the movement of the forestry work machine in the coordinate system of the working environment.

16. The control system according to claim 13 or 14, characterized in that: The at least one control device is configured to generate a control command for controlling the tip of the boom of the forestry work machine in motion in the coordinate system of the work environment to leave a load at the tip of the boom at a stationary position in the coordinate system of the work environment, wherein the at least one control unit is configured to: determining a position and / or a motion state of the tip of the cantilever in a coordinate system of the working environment and additionally determining an orientation and / or a motion state of the tip of the cantilever in a coordinate system of the working environment, the tip of the cantilever being at a distance from the stationary object, determining the position and / or the state of motion of the tip of the boom in the coordinate system of the forestry machine and additionally determining the direction and / or the state of motion of the tip of the boom in the coordinate system of the forestry machine, the tip of the boom being at the distance from the stationary object, Based on the determined position and / or motion state of the tip of the cantilever in the working environment of the forestry machine and additionally based on the orientation and / or motion state of the tip of the cantilever in the working environment of the forestry machine, determine the attitude and / or motion state of at least the cantilever part of the cantilever in the coordinate system of the forestry machine and the attitude and / or motion state of at least the tool located at the end of the cantilever in the coordinate system of the forestry machine, and Based on the determined movement of the forestry work machine, the determined posture and / or motion state of the cantilever part of the cantilever, the posture and / or motion state of the tool and based on the correlation between the coordinate systems, the control command is converted into at least one control measure of at least one actuator to control the posture of the cantilever and / or the tool with at least one degree of freedom in the coordinate system of the forestry work machine and / or at least one control measure to control the movement of the forestry work machine in the coordinate system of the working environment.

17. The control system according to claim 13 or 14, characterized in that: The at least one control device is configured to generate control commands for causing the forestry machine in motion to shift in the working environment so that the tip of the boom remains supported on the stationary object, wherein the at least one control unit is configured to: determining at least the position of the tip of the boom in the coordinate system of the working environment, the tip of the boom being supported on the stationary object, determining at least the position of the tip of the boom in the coordinate system of the forestry machine, the tip of the boom being supported on the stationary object, determining, based on the position of the tip of the boom in the coordinate system of the forestry machine, at least the attitude of the boom portion of the boom in the coordinate system of the forestry machine, determining the movement of the forestry machine in the coordinate system of the working environment, and Based on the determined posture of the cantilever part of the cantilever, the determined movement of the forestry work machine and based on the correlation between the coordinate systems, the control command is converted into at least one control measure of at least one actuator to control the tip of the cantilever with at least one degree of freedom in the coordinate system of the forestry work machine and / or at least one control measure to control the movement of the forestry work machine in the coordinate system of the working environment.

18. The control system according to claim 13 or 14, characterized in that: The at least one control device is configured to generate control commands for transferring the forestry machine in motion in the working environment so that the tip of the boom keeps gripping the stationary object without substantially changing the attitude of the tool at the tip of the boom, wherein the at least one control unit is configured to: determining the position and orientation of the tip of the cantilever in the coordinate system of the working environment, the tip of the cantilever grasping the stationary object, determining the position and orientation of the tip of the boom in the coordinate system of the forestry machine, the tip of the boom grasping the stationary object, determining the posture of the boom portion of the boom in the coordinate system of the forestry machine and the posture of the tool in the coordinate system of the forestry machine based on the determined position and orientation of the tip of the boom in the coordinate system of the forestry machine, determining the movement of the forestry machine in the coordinate system of the working environment, and Based on the determined posture of the cantilever part of the cantilever and the posture of the tool, the determined movement of the forestry work machine and based on the correlation between the coordinate systems, the control command is converted into at least one control measure of at least one actuator to control the tip of the cantilever with at least one degree of freedom in the coordinate system of the forestry work machine and / or at least one control measure to control the movement of the forestry work machine in the coordinate system of the working environment.

Images