Feller, feller, feller control method and medium

Abstract

The invention relates to a felling machine tool, a felling machine, a felling machine tool control method and a medium. The felling machine tool comprises a rack (1); the feeding mechanism (2) is provided with a feeding support (21) hinged to the rack (1) and a feeding wheel (22) connected with the feeding support (21), and the feeding wheel (22) is configured to feed trunks; the trimming mechanism (3) is provided with a rotating shaft (31) hinged to the rack (1) and a cutter (32) connected with the rotating shaft (31), and the cutter (32) is configured to rotate relative to the rack (1) along with the rotating shaft (31); the sensing mechanism (4) is configured to obtain the diameter of the trunk; the processor (5) is in signal connection with the feeding mechanism (2), the trimming mechanism (3) and the sensing mechanism (4) and is configured to adjust the position of the cutter (32) relative to the trunk according to the trunk diameter obtained by the sensing mechanism (4) in the process that the feeding wheel (22) feeds the trunk.

Description

Technical Field

[0001] The present disclosure relates to the field of construction machinery, and in particular, to a logging tool, a logging machine, a control method for a logging tool, and a computer-readable storage medium. Background Art

[0002] A logging tool is a professional device for forestry logging, integrating functions such as felling, pruning, lengthwise sawing, and logging. When a logging tool fells wood, first, the pruning knife and the feeding wheel clamping mechanism clamp the wood tightly, and then the chain saw cuts and fells the wood. Secondly, the feeding wheel drives the wood to feed. After reaching the specified length, the chain saw cuts off the wood, and so on to complete the felling of a tree.

[0003] By driving the wood to move through the feeding wheel, the branches on the wood can collide with the two side blades of the pruning knife that clamps the wood, thereby cutting off the branches. In the related art, the pruning knife clamps the wood with too much force, resulting in the problem that the surface of the wood is easily damaged, and at the same time, the energy consumption is increased. Summary of the Invention

[0004] In view of this, embodiments of the present disclosure provide a logging tool, a logging machine, a control method for a logging tool, and a computer-readable storage medium, which can improve the output of wood.

[0005] In one aspect of the present disclosure, a logging tool is provided, including:

[0006] A frame;

[0007] A feeding mechanism, having a feeding support hinged to the frame and a feeding wheel connected to the feeding support, the feeding wheel being configured to feed the tree trunk;

[0008] A trimming mechanism, having a rotating shaft hinged to the frame and a tool connected to the rotating shaft, the tool being configured to rotate relative to the frame along with the rotating shaft;

[0009] A sensing mechanism, configured to obtain the diameter of the tree trunk; and

[0010] A processor, signal-connected to the feeding mechanism, the trimming mechanism, and the sensing mechanism, and configured to adjust the position of the tool relative to the tree trunk according to the tree trunk diameter obtained by the sensing mechanism during the process of the feeding wheel feeding the tree trunk.

[0011] In some embodiments, the feeding wheel feeds the tree trunk in a first direction, and the feeding mechanism and the trimming mechanism are spaced apart in the first direction;

[0012] Wherein, the sensing mechanism includes:

[0013] A first sensing device, arranged on the feeding mechanism, and configured to obtain a first diameter parameter, the first diameter parameter being the tree trunk diameter at the feeding wheel;

[0014] A second sensing device is disposed on the trimming mechanism and configured to obtain a second diameter parameter, where the second diameter parameter is the trunk diameter at the trimming mechanism when the feed wheel is at the initial feed position.

[0015] Wherein, the processor is configured to obtain the first diameter parameter in real time during the entire feeding process through the first sensing device, make the tool abut against the trunk when the feed wheel is at the initial feed position, obtain the second diameter parameter through the second sensing device, and determine the target position of the tool in real time based on the first diameter parameter, the second diameter parameter, and the preset residual branch height, and rotate the tool to the target position.

[0016] In some embodiments, the processor is configured to obtain a calibration factor based on the first diameter parameter and the second diameter parameter when the feed wheel is at the initial feed position, and obtain the target diameter corresponding to the real-time target position of the tool based on the calibration factor, the real-time first diameter parameter during the feeding process, and the preset residual branch height.

[0017] Where X = D1 - D2, D t2 = D t1 - X + 2 * H, where X is the calibration factor, D1 is the first diameter parameter when the feed wheel is at the initial feed position, D2 is the second diameter parameter when the feed wheel is at the initial feed position, D t1 is the real-time first diameter parameter during the feeding process, D t2 is the real-time target diameter of the tool during the feeding process, and H is the preset residual branch height.

[0018] In some embodiments, the second sensing device is an angle sensor. The second sensing device is connected to the rotating shaft and configured to rotate with the rotating shaft.

[0019] In some embodiments, the feeding mechanism further includes a transmission assembly;

[0020] Wherein, the first sensing device is an angle sensor. The first sensing device is connected to the feed support through the transmission assembly and configured to rotate with the feed support.

[0021] In some embodiments, the number of feed supports is two, which are arranged at intervals in a second direction perpendicular to the first direction. A feeding space for the trunk to move in the first direction is formed between the two feed supports;

[0022] Wherein, the transmission assembly includes:

[0023] Connecting rods, which are respectively connected to the two feed supports and configured to make the two feed supports rotate synchronously;

[0024] Wherein, the first sensing device is located on a side away from the feeding space with respect to the connecting rod.

[0025] In some embodiments, the first sensing device has a sprocket wheel;

[0026] Wherein, the transmission assembly further includes a chain, the chain is connected to the connecting rod and meshed with the first sensing device.

[0027] In some embodiments, the feeding mechanism further includes:

[0028] An elastic member, which is respectively connected to the frame and the chain.

[0029] In another aspect of the present disclosure, a logging machine is provided, including:

[0030] A body, the body has a boom; and

[0031] Any one of the above-mentioned logging tools, the logging tool further includes a tipping mechanism hinged to the frame, and the tipping mechanism is connected to the boom.

[0032] In another aspect of the present disclosure, a control method for a logging tool based on any one of the above-mentioned logging tools is provided, including:

[0033] During the process of the feed wheel feeding the tree trunk, adjust the position of the tool relative to the tree trunk according to the tree trunk diameter obtained by the sensing mechanism.

[0034] In some embodiments, the sensing mechanism includes: a first sensing device arranged on the feeding mechanism and a second sensing device arranged on the trimming mechanism. The first sensing device is configured to obtain a first diameter parameter, and the second sensing device is configured to obtain a second diameter parameter. The first diameter parameter is the tree trunk diameter at the feed wheel, and the second diameter parameter is the tree trunk diameter at the trimming mechanism when the feed wheel is at the initial feeding position;

[0035] Wherein, the operation of adjusting the position of the tool relative to the tree trunk according to the tree trunk diameter obtained by the sensing mechanism specifically includes:

[0036] When the feed wheel is at the initial feeding position, make the tool abut against the tree trunk;

[0037] Obtain the first diameter parameter in real time during the whole feeding process through the first sensing device, and obtain the second diameter parameter when the feed wheel is at the initial feeding position through the second sensing device;

[0038] Based on the first diameter parameter, the second diameter parameter and the preset residual branch height, determine the target position of the tool in real time;

[0039] Rotate the tool to the target position.

[0040] In some embodiments, the operation of determining the target position of the tool in real time based on the first diameter parameter, the second diameter parameter and the preset residual branch height specifically includes:

[0041] Obtain a calibration factor based on the first diameter parameter and the second diameter parameter when the feed wheel is in the initial feed position;

[0042] Obtain the target diameter corresponding to the real-time target position of the tool according to the calibration factor, the real-time first diameter parameter during the feeding process, and the preset residual branch height;

[0043] Where X = D1 - D2, D t2 = D t1 - X + 2 * H, where X is the calibration factor, D1 is the first diameter parameter when the feed wheel is in the initial feed position, D2 is the second diameter parameter when the feed wheel is in the initial feed position, D t1 is the real-time first diameter parameter during the feeding process, D t2 is the real-time target diameter of the tool during the feeding process, and H is the preset residual branch height.

[0044] In another aspect of the present disclosure, there is provided a computer-readable storage medium having a computer program stored thereon, and when the program is executed by a processor, it implements the control method of the logging machine system as described above.

[0045] Therefore, according to the embodiments of the present disclosure, by obtaining the trunk diameter through the sensing mechanism 4 and adjusting the position of the tool 32 in real time during the trunk feeding process based on the trunk diameter information, it can actively adjust the pruning action position of the tool 32 flexibly with the change of the trunk diameter, so that the logging machine can perform precise pruning operations for different types of trees and different diameter positions of the same tree, reducing the risk of damaging the wood when pruning too close to the trunk surface, and helping to improve the wood output. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The drawings forming a part of the specification depict embodiments of the present disclosure and, together with the specification, are used to explain the principles of the present disclosure.

[0047] Referring to the drawings, the present disclosure can be more clearly understood from the following detailed description, wherein:

[0048] Figure 1 is a schematic structural diagram of some embodiments of the logging machine according to the present disclosure;

[0049] Figure 2 is a schematic structural diagram of some embodiments of the feeding mechanism of the logging machine according to the present disclosure;

[0050] Figure 3 is a schematic structural diagram of some embodiments of the pruning mechanism of the logging machine according to the present disclosure;

[0051] Figure 4 is a schematic connection diagram of some embodiments of the logging machine according to the present disclosure;

[0052] Figure 5 is a flowchart according to some embodiments of the logging tool control method of the present disclosure.

[0053] In the figure:

[0054] 1. Frame; 2. Feeding mechanism; 21. Feeding support; 22. Feeding wheel; 23. First oil cylinder; 24. First pin; 3. Pruning mechanism; 31. Rotating shaft; 32. Tool; 33. Second oil cylinder; 34. Second pin; 35. Third pin; 4. Sensing mechanism; 41. First sensing device; 42. Second sensing device; 5. Processor; 61. Connecting rod; 62. Chain; 63. Elastic member; 7. Tilting mechanism.

[0055] It should be understood that the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationships. In addition, the same or similar reference numerals represent the same or similar components. Detailed implementation manners

[0056] Now, various exemplary embodiments of the present disclosure will be described in detail with reference to the drawings. The description of the exemplary embodiments is merely illustrative and in no way limits the present disclosure and its application or use. The present disclosure can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to make the present disclosure thorough and complete and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that: unless otherwise specifically stated, the relative arrangements of components and steps, the components of materials, numerical expressions, and numerical values set forth in these embodiments should be construed as merely exemplary and not as limitations.

[0057] The "first", "second", and similar terms used in the present disclosure do not denote any order, quantity, or importance, but are merely used to distinguish different parts. Terms such as "including" or "comprising" mean that the elements before the term cover the elements listed after the term and do not exclude the possibility of also covering other elements. "Upper", "lower", "left", "right", etc. are only used to represent relative positional relationships, and when the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0058] In the present disclosure, when it is described that a specific device is located between a first device and a second device, there may or may not be an intermediate device between the specific device and the first device or the second device. When it is described that a specific device is connected to other devices, the specific device may be directly connected to the other devices without an intermediate device, or may not be directly connected to the other devices but have an intermediate device.

[0059] All terms used in this disclosure (including technical or scientific terms) have the same meaning as understood by those of ordinary skill in the art to which this disclosure pertains, unless otherwise specifically defined. It should also be understood that terms defined in common dictionaries should be interpreted as having meanings consistent with their meanings in the context of the relevant art, and should not be interpreted in an idealized or overly formal sense, unless specifically defined as such herein.

[0060] Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such technologies, methods, and devices should be regarded as part of the specification.

[0061] A logging machine is a professional device for forestry logging, integrating functions such as felling, pruning, length-fixed sawing, and timber gathering. When the logging machine fells timber, first, the pruning knife and the feeding wheel clamping mechanism clamp the timber tightly, and then the chain saw cuts and fells the timber. Secondly, the feeding wheel drives the timber to feed. After reaching the specified length, the chain saw cuts off the timber, and so on to complete the felling of one tree repeatedly.

[0062] By driving the timber to move through the feeding wheel, the branches on the timber can collide with the two side blades of the pruning knife that clamps the timber, thereby cutting off the branches. In the related art, the excessive clamping force of the pruning knife on the timber leads to the problem that the surface of the timber is easily damaged, and at the same time, the energy consumption is also increased.

[0063] In some related technologies, a pressure sensor measures the clamping force. When encountering an irregularly curved tree, the sensor fails to contact the surface of the tree, which may lead to incorrect detection results, and further cause errors in the clamping force control and damage the surface of the timber.

[0064] Moreover, in the related art, the position of the pruning knife cannot be accurately adjusted actively according to requirements. When harvesting for producing firewood, the residual branches at the preset height cannot be retained, resulting in waste of timber.

[0065] In view of this, in one aspect of the embodiments of the present disclosure, a logging machine is provided, which can improve the output of timber.

[0066] Figure 1 is a schematic structural diagram of some embodiments of the logging machine according to the present disclosure, Figure 2 is a schematic structural diagram of the feeding mechanism of the logging machine according to some embodiments of the present disclosure, Figure 3 is a schematic structural diagram of the pruning mechanism of the logging machine according to some embodiments of the present disclosure, Figure 4 is a schematic connection relationship diagram of some embodiments of the logging machine according to the present disclosure, referring to Figures 1 to 4 , in some embodiments, the logging machine includes a frame 1, a feeding mechanism 2, a pruning mechanism 3, a sensing mechanism 4, and a processor 5.

[0067] The feeding mechanism 2 has a feeding support 21 hinged to the frame 1 and a feeding wheel 22 connected to the feeding support 21. The feeding wheel 22 is configured to feed the tree trunk. The pruning mechanism 3 has a rotating shaft 31 hinged to the frame 1 and a cutter 32 connected to the rotating shaft 31. The cutter 32 is configured to rotate relative to the frame 1 along with the rotating shaft 31.

[0068] The sensing mechanism 4 is configured to obtain the diameter of the tree trunk. The processor 5 is signal-connected to the feeding mechanism 2, the pruning mechanism 3, and the sensing mechanism 4, and is configured to adjust the position of the cutter 32 relative to the tree trunk according to the diameter of the tree trunk obtained by the sensing mechanism 4 during the process of the feeding wheel 22 feeding the tree trunk.

[0069] After the tree is cut by a chainsaw, the feeding wheel 22 is used to clamp the wood and drive the wood to move in a specified direction. The cutter 32 acts on the branches on the surface of the tree trunk during the process of the feeding wheel 22 driving the wood to feed, and the cutting edge of the cutter 32 contacts the tree trunk to cut off the branches.

[0070] The pruning mechanism 3 further includes a second oil cylinder 33. The second oil cylinder 33 is drivingly connected to the rotating shaft 31. The processor 5 is signal-connected to the second oil cylinder 33, and is configured to control the rotation of the cutter 32 by acting on the second oil cylinder 33, including but not limited to this.

[0071] The cutter 32 is fixedly connected to the rotating shaft 31 through a second pin 34, including but not limited to this. The second pin 34 is an elastic pin, enabling the cutter 32 to be in close contact with the rotating shaft 31 and reducing the diameter measurement error caused by the gap. One end of the second oil cylinder 33 is hinged to the cutter 32, and the other end is hinged to the frame 1.

[0072] The growth forms of trees in different regions and of different varieties are diverse, and there are also differences in the diameters at different height positions of the same tree. During the feeding process, the tree trunk moves along the length direction relative to the cutter 32 and the feeding wheel 22. The diameter of the tree trunk obtained by the sensing mechanism 4 includes but is not limited to the diameter of the tree trunk corresponding to the real-time position of the cutter 32 relative to the tree trunk during the feeding process.

[0073] The processor 5 adjusts the position of the cutter 32 relative to the tree trunk, including but not limited to the distance between the cutter 32 and the surface of the tree trunk and / or the distance between the cutter 32 and the center of the cross-section of the tree trunk corresponding to the position where the cutter 32 is located. The processor 5 and the hydraulic valve block are fixed to the frame 1 through threaded fasteners, including but not limited to this.

[0074] If the user needs to remove all the branches on the tree trunk, the cutter 32 can be made to always work close to the surface of the tree trunk. If the user needs to retain the residual branches at a preset height, the cutter 32 can be made to always maintain a preset height from the surface of the tree trunk.

[0075] In this embodiment, the diameter of the tree trunk is obtained by the sensing mechanism 4, and the position of the cutter 32 is adjusted in real time based on the tree trunk diameter information during the feeding process of the tree trunk. The cutter 32 can be actively and flexibly adjusted according to the change of the tree trunk diameter, so that the logging machine can perform precise pruning operations on different types of trees and different diameter positions of the same tree, reducing the risk of damaging the wood when the distance from the tree trunk surface is too close during pruning, which helps to improve the wood output.

[0076] Reference Figures 1 to 4 , in some embodiments, the feeding wheel 22 feeds the tree trunk in the first direction, and the feeding mechanism 2 and the pruning mechanism 3 are arranged at intervals in the first direction. The first direction is Figure 1 the A direction in

[0077] The sensing mechanism 4 includes a first sensing device 41 and a second sensing device 42. The first sensing device 41 is arranged on the feeding mechanism 2 and is configured to obtain a first diameter parameter, and the first diameter parameter is the diameter of the tree trunk at the feeding wheel 22. The second sensing device 42 is arranged on the pruning mechanism 3 and is configured to obtain a second diameter parameter, and the second diameter parameter is the diameter of the tree trunk at the pruning mechanism 3 when the feeding wheel 22 is at the initial feeding position.

[0078] The processor 5 is configured to obtain the first diameter parameter in real time through the first sensing device 41 during the entire feeding process, make the cutter 32 abut against the tree trunk when the feeding wheel 22 is at the initial feeding position and obtain the second diameter parameter through the second sensing device 42, and determine the target position of the cutter 32 in real time based on the first diameter parameter, the second diameter parameter and the preset residual branch height, and make the cutter 32 rotate to the target position.

[0079] The housing of the second sensing device 42 is fixed to the frame 1 through a threaded fastener, and the rotating shaft of the second sensing device 42 is fixed to the third pin 35 through a threaded fastener. The third pin 35 has a protrusion, and the third pin 35 is clamped at the end of the rotating shaft 31 through the protrusion position, so that the second sensing device 42 is driven to rotate with the cutter 32.

[0080] The first diameter parameter is the diameter of the cross-section of the tree trunk corresponding to the position where the feeding wheel 22 is located during the feeding process, the second diameter parameter is the diameter of the cross-section of the tree trunk corresponding to the position where the cutter 32 is located when the feeding wheel 22 is at the initial position during the feeding process, and the preset residual branch height is the length of the branch that the user needs to reserve.

[0081] When in the initial feeding position, both the feeding wheel 22 and the tool 32 are in contact with the surface of the tree trunk. The feeding wheel 22 will always hold the tree trunk during the feeding process and be in contact with the surface of the tree trunk. When the preset residual branch height is greater than zero, the tool 32 is not in contact with the surface of the tree trunk. By obtaining the first diameter parameter and the second diameter parameter at the initial feeding position and obtaining the first diameter parameter during the entire feeding process in real time, the position where the tool 32 should be relative to the tree trunk when trimming a residual branch of a preset length can be determined more accurately.

[0082] The target position includes but is not limited to the distance between the tool 32 and the tree trunk, or the distance between the center of the cross-section of the tree trunk at the position where the tool 32 is relative to the tree trunk and the tree trunk, or taking the center of the cross-section of the tree trunk at the position where the tool 32 is relative to the tree trunk as the base point, and the distance from the base point is the sum of the tree trunk radius and the preset residual branch height. An appropriate calculation method can be selected according to the shape of the tool 32.

[0083] The initial feeding position is the position of the feeding wheel 22 or the tool 32 relative to the tree trunk at the start of each feeding operation. Since the wood is usually cut by a chainsaw every specified length during the feeding process of the tree trunk, the processor 5 includes but is not limited to redefining the initial feeding position every specified length to make the obtained diameter information more accurate.

[0084] For example, the height of a tree is generally more than ten meters, and the wood is usually cut every two and a half meters during the feeding process of the tree trunk. Then, every time the feeding wheel 22 feeds a length of two and a half meters, the initial position is re-determined.

[0085] In this embodiment, during the feeding process, the position of the tool 32 is adjusted in real time so that the tool 32 rotates to the target position determined based on the first diameter parameter, the second diameter parameter, and the preset residual branch height. The position of the tool 32 can be accurately adjusted according to requirements, the wood for firewood can be harvested, the needs of users can be flexibly met, the wood output can be increased, and the damage to the wood surface can be reduced.

[0086] Reference Figure 2 , Figure 2 In, the B direction is the second direction. In some embodiments, the processor 5 is configured to obtain a calibration factor according to the first diameter parameter and the second diameter parameter when the feeding wheel 22 is in the initial feeding position, and obtain the target diameter corresponding to the real-time target position of the tool 32 according to the calibration factor, the real-time first diameter parameter during the feeding process, and the preset residual branch height.

[0087] X = D1 - D2, D t2 = D t1 -X + 2 * H, where X is the calibration factor, D1 is the first diameter parameter when the feeding wheel 22 is in the initial feeding position, D2 is the second diameter parameter when the feeding wheel 22 is in the initial feeding position, D t1is the real-time first diameter parameter D during the feeding process t2 is the real-time target diameter of the tool 32 during the feeding process, and H is the preset residual branch height.

[0088] The calibration factor is the difference between the first diameter parameter and the second diameter parameter at the initial feeding position. Considering the diameter of the tree trunk as changing at a fixed slope along the length direction, the difference between the diameter of the tree trunk at the feeding wheel 22 and the diameter of the tree trunk at the tool 32 during the feeding process is a fixed value. By subtracting the calibration factor from the real-time first diameter parameter obtained during the feeding process, the corresponding real-time second diameter parameter at the tool 32 can be obtained.

[0089] Assuming a fixed slope of the tree to determine the calibration factor, for trees in different regions and of different varieties, other parameters can also be added based on their respective growth laws to control the influence of different tree species and obtain a more accurate calculation method for the real-time target diameter of the tool 32.

[0090] Taking the center of the cross-section of the tree trunk corresponding to the position of the tool 32 as the center and the sum of the real-time second diameter parameter and twice the preset residual branch height as the diameter, a target circle can be defined, and the tool 32 needs to move to the circumferential trajectory of this target circle.

[0091] The tool 32 includes but is not limited to being arc-shaped, and the number includes but is not limited to two. The two tools 32 are arranged on both sides of the tree trunk at intervals in the second direction perpendicular to the first direction. The processor 5 moves both tools 32 to the circumferential trajectory of this target circle through the second oil cylinder 33, so that both tools 32 can reserve branches with the preset residual branch height.

[0092] Trees usually have thicker roots and thinner tops, and there are more branches near the top than near the roots. When the feeding direction is from the root to the top of the tree, and the feeding mechanism 2 is arranged on the side closer to the tree root while the pruning mechanism 3 is arranged on the side closer to the tree top, X = D1 - D2, D t2 = D t1 - X + 2 * H. If the feeding is in the opposite direction and the pruning mechanism 3 is arranged on the side closer to the tree trunk, then X = D2 - D1, D t2 = D t1 + X + 2 * H.

[0093] In this embodiment, obtaining the target diameter corresponding to the real-time target position of the tool 32 based on the calibration factor, the real-time first diameter parameter during the feeding process, and the preset residual branch height can more accurately and reliably control the position of the tool 32, making the quality of the harvested firewood higher.

[0094] Reference Figure 2 and Figure 3, in some embodiments, the second sensing device 42 is an angle sensor. The second sensing device 42 is connected to the rotating shaft 31 and is configured to rotate with the rotating shaft 31. The second sensing device 42 rotates with the rotating shaft 31 and the cutting tool 32, and acquires the angle signal of the cutting tool 32 in real time.

[0095] Determine the corresponding second diameter parameter according to the angle information detected by the second sensing device 42. The corresponding relationship between the angle and the second diameter parameter can be determined by calibrating the tree in advance. Trees of different species and in different regions include but are not limited to having different corresponding relationships.

[0096] The conversion between the angle information and the second diameter parameter includes but is not limited to being implemented by the sensing mechanism 4 or the processor 5. The processor 5 can also control the rotation of the cutting tool 32 with the rotating shaft 31 through the negative feedback of the second sensing device 42 until the cutting tool 32 is at the target position.

[0097] A three-point distance measurement is formed between the two cutting tools 32 and the frame 1. For a tree with an irregular shape and a cross-section that varies with length, the diameter is calculated through the three points of the two cutting tools 32 and the frame 1. Compared with a pressure sensor or a distance sensor, a more accurate detection result can be obtained.

[0098] In this embodiment, for a trunk with an irregular shape, the second sensing device 42 is selected as an angle sensor, which can obtain the diameter parameter more accurately and comprehensively, facilitating the processor 5 to actively control the working position of the cutting tool 32.

[0099] Reference Figure 1 and Figure 2 , in some embodiments, the feeding mechanism 2 further includes a transmission component. The first sensing device 41 is an angle sensor. The first sensing device 41 is connected to the feeding support 21 through the transmission component and is configured to rotate with the feeding support 21.

[0100] The transmission component includes but is not limited to a connecting rod, a connecting belt, etc. The processor 5 drives the feeding support 21 to rotate relative to the frame 1 through the first oil cylinder 23, and drives the feeding wheel 22 and the first sensing device 41 to follow. The rotation of the feeding support 21 is transmitted to the first sensing device 41 through the transmission component, allowing the first sensing device 41 to be set at a position slightly farther from the tree trunk, thereby reducing the interference caused by wood chips or the tree to the first sensing device 41 during the feeding process.

[0101] Determine the corresponding first diameter parameter according to the angle information detected by the first sensing device 41. The corresponding relationship between the angle and the first diameter parameter can be determined by calibrating the tree in advance. Trees of different species and in different regions include but are not limited to having different corresponding relationships.

[0102] The conversion between the angle information and the first diameter parameter is achieved by, including but not limited to, the sensing mechanism 4 or the processor 5. A three-point distance measurement is formed between the two feeding wheels 22 and the frame 1. For a tree with an irregular shape and a cross-section that varies with the length, the diameter is calculated through the three points of the two feeding wheels 22 and the frame 1, and more accurate detection results can be obtained compared with a pressure sensor or a distance sensor.

[0103] The first sensing device 41 can also be directly connected to the feeding support 21 and rotate with the feeding support 21 to detect the rotation angle of the feeding support 21. The first sensing device 41 can also obtain the first diameter parameter by detecting the length change of the first oil cylinder 23, and the second sensing device 42 can also obtain the second diameter parameter by detecting the length change of the second oil cylinder 33.

[0104] In this embodiment, the first sensing device 41 is selected as an angle sensor and linked with the feeding support 21 through a transmission component, which can improve the accuracy and reliability of the first diameter parameter, and further improve the accuracy of branch pruning.

[0105] Reference Figure 1 and Figure 2 In some embodiments, the number of the feeding supports 21 is two, which are arranged at intervals along a second direction perpendicular to the first direction. A feeding space for the tree trunk to move along the first direction is formed between the two feeding supports 21. The transmission component includes a connecting rod 61, and the connecting rod 61 is respectively connected to the two feeding supports 21 and is configured to make the two feeding supports 21 rotate synchronously. The first sensing device 41 is located on a side away from the feeding space with respect to the connecting rod 61.

[0106] The motor housing is installed on the feeding support 21, the shaft of the motor is fixed to the feeding wheel 22, the feeding support 21 and the frame 1 are hinged through a first pin 24, and the feeding supports 21, the connecting rod 61, and the first oil cylinder 23 on both sides are hinged to form a four-bar linkage mechanism. The processor 5 is signal-connected to the first oil cylinder 23 and drives the feeding wheel 22 to rotate through the first oil cylinder 23.

[0107] In this embodiment, the first sensing device 41 is arranged on a side away from the feeding space, reducing the influence of debris such as wood chips on the first sensing device 41 during the feeding process and making the detection result more accurate.

[0108] Reference Figure 2 In some embodiments, the first sensing device 41 has a sprocket. The transmission component further includes a chain 62, and the chain 62 is connected to the connecting rod 61 and meshed with the first sensing device 41. The sprocket includes, but is not limited to, being arranged on the outer periphery of the sensing end of the first sensing device 41. The chain 62 moves with the connecting rod 61 and drives the first sensing device 41 to rotate through the meshing transmission with the first sensing device 41. One end of the chain 62 is fixed to the middle position of the connecting rod 61 through a threaded fastener.

[0109] In this embodiment, the chain 62 provides a longer torque transmission path for the first sensing device 41, reducing the influence of debris such as wood chips on angle detection during the feeding process. The meshing transmission between the first sensing device 41 and the chain 62 is reliable, making the detection result more accurate.

[0110] Reference Figure 2 , in some embodiments, the feeding mechanism 2 further includes an elastic member 63, and the elastic member 63 is respectively connected to the frame 1 and the chain 62. In this embodiment, one end of the elastic member 63 is connected to the frame 1, keeping the chain 62 in a taut state, so that the meshing transmission between the chain and the first sensing device 41 is more reliable, which helps to improve the accuracy of the detection result.

[0111] Reference Figures 1 to 3 , on the other hand, in an embodiment of the present disclosure, a logging machine is provided, including a machine body and a logging tool. The machine body has a boom, and the logging tool further includes a tipping mechanism 7 hinged to the frame 1, and the top end of the tipping mechanism 7 is hinged to the boom through a pin shaft.

[0112] In this embodiment, the logging tool is connected to the boom as an attachment of the logging machine, enabling the logging machine to accurately trim branches for different types of trees, reducing the risk of damaging the wood when the branches are too close to the trunk surface during pruning, and helping to improve the wood output.

[0113] On the other hand, in an embodiment of the present disclosure, a control method for a logging tool based on any of the above-mentioned logging tools is provided, including: during the process of the feed wheel 22 feeding the tree trunk, adjusting the position of the tool 32 relative to the tree trunk according to the tree trunk diameter obtained by the sensing mechanism 4.

[0114] Adjusting the position of the tool 32 relative to the tree trunk includes, but is not limited to, adjusting the distance between the tool 32 and the tree trunk surface and / or the distance between the tool 32 and the center of the cross-section of the tree trunk corresponding to the position where the tool 32 is located.

[0115] If the user needs to remove all the branches on the tree trunk, the tool 32 can be made to always work close to the surface of the tree trunk. If the user needs to retain the residual branches at a preset height, the tool 32 can be made to always maintain a preset height from the tree trunk surface.

[0116] In this embodiment, by obtaining the tree trunk diameter through the sensing mechanism 4 and adjusting the position of the tool 32 in real time during the feeding process of the tree trunk based on the tree trunk diameter information, the tool 32 can be actively and flexibly adjusted to the pruning position as the tree trunk diameter changes, so that the logging tool can perform accurate pruning operations for different types of trees and different diameter positions of the same tree, reducing the risk of damaging the wood when the branches are too close to the tree trunk surface during pruning, and helping to improve the wood output.

[0117] Figure 5is a flowchart according to some embodiments of the logging tool control method of the present disclosure. Refer to Figures 1 to 3 and Figure 5 , in some embodiments, the operation of adjusting the position of the cutting tool 32 relative to the tree trunk according to the tree trunk diameter obtained by the sensing mechanism 4 specifically includes: steps S1 to S4.

[0118] In step S1, when the feed wheel 22 is at the initial feed position, the cutting tool 32 is made to abut against the tree trunk.

[0119] In step S2, the first diameter parameter during the entire feeding process is obtained in real time through the first sensing device 41, and the second diameter parameter when the feed wheel 22 is at the initial feed position is obtained through the second sensing device 42.

[0120] In step S3, based on the first diameter parameter, the second diameter parameter, and the preset residual branch height, the target position of the cutting tool 32 is determined in real time.

[0121] In step S4, the cutting tool 32 is rotated to the target position.

[0122] In this embodiment, during the feeding process, the position of the cutting tool 32 is adjusted in real time, and the cutting tool 32 is rotated to the target position determined based on the first diameter parameter, the second diameter parameter, and the preset residual branch height, which can accurately adjust the position of the cutting tool 32 according to requirements, cut the wood for firewood, flexibly meet the needs of users, increase the wood output, and reduce the damage to the wood surface.

[0123] In some embodiments, the operation of determining the target position of the cutting tool 32 in real time based on the first diameter parameter, the second diameter parameter, and the preset residual branch height specifically includes: obtaining a calibration factor according to the first diameter parameter and the second diameter parameter when the feed wheel 22 is at the initial feed position; obtaining the target diameter corresponding to the real-time target position of the cutting tool 32 according to the calibration factor, the real-time first diameter parameter during the feeding process, and the preset residual branch height.

[0124] X = D1 - D2, D t2 = D t1 - X + 2 * H, where X is the calibration factor, D1 is the first diameter parameter when the feed wheel 22 is at the initial feed position, D2 is the second diameter parameter when the feed wheel 22 is at the initial feed position, D t1 is the real-time first diameter parameter during the feeding process, D t2 is the real-time target diameter of the cutting tool 32 during the feeding process, and H is the preset residual branch height.

[0125] In this embodiment, obtaining the target diameter corresponding to the real-time target position of the cutting tool 32 according to the calibration factor, the real-time first diameter parameter during the feeding process, and the preset residual branch height can more accurately and reliably control the position of the cutting tool 32, making the quality of the firewood cut higher.

[0126] In some embodiments, the processor 5 includes a preset branch height value input module, a first sensor measurement data and first diameter parameter conversion module, a second sensor device measurement data and second diameter parameter conversion module, and a data recording and data calculation module. The preset branch height value input module is used to input the preset branch height value, the first sensor measurement data and first diameter parameter conversion module, and the second sensor device measurement data and second diameter parameter conversion module are used for signal conversion between the first sensor device 41 and the second sensor device 42, and the data recording and data calculation module is used for data processing and output of control signals.

[0127] Before felling trees, the maximum residual branch height allowed during the firewood felling process is set in the processor 5, that is, the preset residual branch height H. The processor 5 controls the hydraulic valve block to operate the first oil cylinder 23 and the second oil cylinder 33, so that the feed wheel 22 clamps the surface of the tree trunk, and the cutter 32 also clamps the tree trunk. The processor 5 obtains the first diameter parameter D1 at the feed wheel 22 and the second diameter parameter D2 at the cutter 32 by measuring the conversion relationship between the tree diameter and the diameter.

[0128] As the feed wheel 22 rotates and pushes the tree forward, the diameter value measured at the feed wheel 22 becomes D t1 The processor 5 calculates the diameter of the feed wheel 22 according to the preset residual branch height H, the first diameter parameter D1 at the feed wheel 22 at the initial feeding position, the second diameter parameter D2 at the tool 32 at the initial feeding position, and the real-time first diameter parameter D t1 , calculate the target diameter D corresponding to the target position to which the tool 32 needs to be adjusted t2 The processor 5 controls the hydraulic valve block to adjust the second oil cylinder 33 so that the tool 32 is at a diameter D t2 In this state, a certain height of residual branches is reserved on the surface of the trunk by actively controlling the tool 32, thereby increasing the wood output.

[0129] In another aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored. When the program is executed by the processor 5, any of the above-mentioned methods for controlling a felling machine is implemented.

[0130] In yet another aspect of the present disclosure, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor 5, implements any one of the above-described logging tool control methods. In one or more exemplary embodiments, the described functions may be implemented in hardware, software, firmware, or any combination thereof. If implemented as a computer program product in software, the functions may be stored on or transmitted via a computer-readable medium as one or more instructions or code. The computer-readable medium includes both computer storage media and communication media, including any medium that facilitates the transfer of a computer program from one place to another. The storage medium may be any available medium accessible by a computer. By way of example and not limitation, such computer-readable media may include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that is accessible by a computer. Any connection is properly termed a computer-readable medium. For example, if the software is transmitted from a web site, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of the medium. As used herein, disk and disc include compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk, and Blu-ray disc, where disk typically reproduces data magnetically, while disc reproduces data optically with a laser. Combinations of the above should also be included within the scope of computer-readable media. Thus far, the embodiments of the present disclosure have been described in detail. To avoid obscuring the concept of the present disclosure, some details well known in the art have not been described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein based on the above description.

[0131] Thus far, the embodiments of the present disclosure have been described in detail. To avoid obscuring the concept of the present disclosure, some details well known in the art have not been described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein based on the above description.

[0132] Although some specific embodiments of the present disclosure have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and not for limiting the scope of the present disclosure. Those skilled in the art should understand that the above embodiments may be modified or some technical features may be equivalently replaced without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. A logging tool, characterized in that, Including: A frame (1); A feeding mechanism (2), having a feeding support (21) hinged to the frame (1) and a feeding wheel (22) connected to the feeding support (21), the feeding wheel (22) being configured to feed a tree trunk; A pruning mechanism (3), having a rotating shaft (31) hinged to the frame (1) and a cutter (32) connected to the rotating shaft (31), the cutter (32) being configured to rotate relative to the frame (1) along with the rotating shaft (31); A sensing mechanism (4), configured to obtain the diameter of the tree trunk; And A processor (5), in signal connection with the feeding mechanism (2), the pruning mechanism (3) and the sensing mechanism (4), and configured to adjust the position of the cutter (32) relative to the tree trunk according to the diameter of the tree trunk obtained by the sensing mechanism (4) during the process of the feeding wheel (22) feeding the tree trunk.

2. The logging tool according to claim 1, wherein The feeding wheel (22) feeds the tree trunk in a first direction, and the feeding mechanism (2) and the pruning mechanism (3) are arranged at intervals along the first direction; Wherein, the sensing mechanism (4) includes: A first sensing device (41), arranged on the feeding mechanism (2), and configured to obtain a first diameter parameter, the first diameter parameter being the diameter of the tree trunk at the feeding wheel (22); A second sensing device (42), arranged on the pruning mechanism (3), and configured to obtain a second diameter parameter, the second diameter parameter being the diameter of the tree trunk at the pruning mechanism (3) when the feeding wheel (22) is at the initial feeding position; Wherein, the processor (5) is configured to obtain the first diameter parameter in real time during the entire feeding process through the first sensing device (41), make the cutter (32) abut against the tree trunk when the feeding wheel (22) is at the initial feeding position and obtain the second diameter parameter through the second sensing device (42), and determine the target position of the cutter (32) in real time based on the first diameter parameter, the second diameter parameter and a preset residual branch height, and make the cutter (32) rotate to the target position.

3. The logging tool according to claim 2, wherein, The processor (5) is configured to obtain a calibration factor according to the first diameter parameter and the second diameter parameter when the feeding wheel (22) is at the initial feeding position, and obtain the target diameter corresponding to the real-time target position of the cutter (32) according to the calibration factor, the real-time first diameter parameter during the feeding process and the preset residual branch height; Wherein, X = D1 - D2, D t2 = D t1 - X + 2 * H, where X is the calibration factor, D1 is the first diameter parameter of the feed wheel (22) when it is at the initial feed position, D2 is the second diameter parameter of the feed wheel (22) when it is at the initial feed position, D t1 is the real-time first diameter parameter during the feeding process, D t2 is the real-time target diameter of the cutting tool (32) during the feeding process, and H is the preset residual branch height.

4. The logging tool according to claim 2, characterized in that, The second sensing device (42) is an angle sensor, and the second sensing device (42) is connected to the rotating shaft (31) and configured to rotate along with the rotating shaft (31).

5. The logging tool according to claim 2, characterized in that, The feeding mechanism (2) further includes a transmission assembly; Wherein, the first sensing device (41) is an angle sensor, and the first sensing device (41) is connected to the feeding support (21) through the transmission assembly and configured to rotate along with the feeding support (21).

6. The logging tool according to claim 5, characterized in that, The number of the feeding supports (21) is two, and they are arranged at intervals in a second direction perpendicular to the first direction. A feeding space for the tree trunk to move in the first direction is formed between the two feeding supports (21); Wherein, the transmission assembly includes: The connecting rod (61), which is respectively connected to the two feeding supports (21), is configured to rotate the two feeding supports (21) synchronously; Wherein, the first sensing device (41) is located on a side away from the feeding space with respect to the connecting rod (61).

7. The logging tool according to claim 6, characterized in that, The first sensing device (41) has a sprocket; Wherein, the transmission assembly further includes a chain (62), and the chain (62) is connected to the connecting rod (61) and meshed with the first sensing device (41).

8. The logging tool according to claim 7, characterized in that, The feeding mechanism (2) further includes: Elastic members (63), which are respectively connected to the frame (1) and the chain (62).

9. A logging machine, characterized in that, Including: A machine body, which has a boom; And The logging machine according to any one of claims 1 to 8, further includes a tipping mechanism (7) hinged to the frame (1), and the tipping mechanism (7) is connected to the boom.

10. A logging machine control method for a logging machine according to any one of claims 1 to 8, characterized in that, Including: During the process of the feeding wheel (22) feeding the tree trunk, adjust the position of the cutter (32) relative to the tree trunk according to the tree trunk diameter obtained by the sensing mechanism (4).

11. The logging tool control method according to claim 10, characterized in that, The sensing mechanism (4) includes: a first sensing device (41) arranged on the feeding mechanism (2) and a second sensing device (42) arranged on the trimming mechanism (3). The first sensing device (41) is configured to obtain a first diameter parameter, and the second sensing device (42) is configured to obtain a second diameter parameter. The first diameter parameter is the tree trunk diameter at the feeding wheel (22), and the second diameter parameter is the tree trunk diameter at the trimming mechanism (3) when the feeding wheel (22) is at the initial feeding position; Wherein, the operation of adjusting the position of the cutter (32) relative to the tree trunk according to the tree trunk diameter obtained by the sensing mechanism (4) specifically includes: When the feeding wheel (22) is at the initial feeding position, make the cutter (32) abut against the tree trunk; Obtain the first diameter parameter in real time during the entire feeding process through the first sensing device (41), and obtain the second diameter parameter when the feeding wheel (22) is at the initial feeding position through the second sensing device (42); Based on the first diameter parameter, the second diameter parameter and a preset residual branch height, determine the target position of the cutter (32) in real time; Rotate the cutter (32) to the target position.

12. The logging tool control method according to claim 11, wherein, The operation of determining the target position of the cutter (32) in real time based on the first diameter parameter, the second diameter parameter and a preset residual branch height specifically includes: Obtain a calibration factor according to the first diameter parameter and the second diameter parameter when the feeding wheel (22) is at the initial feeding position; Obtain the target diameter corresponding to the real-time target position of the cutter (32) according to the calibration factor, the real-time first diameter parameter during the feeding process and the preset residual branch height; Wherein, X = D1 - D2, D t2 = D t1 - X + 2 * H, where X is a calibration factor, D1 is the first diameter parameter of the feeding wheel (22) when it is at the initial feeding position, D2 is the second diameter parameter of the feeding wheel (22) when it is at the initial feeding position, D t1 is the real-time first diameter parameter during the feeding process, D t2 is the real-time target diameter of the tool (32) during the feeding process, and H is the preset residual branch height.

13. A computer-readable storage medium having a computer program stored thereon, wherein, When the program is executed by the processor (5), it realizes the logging machine system control method according to any one of claims 10 to 12.

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