Logging implement, logging machine, logging implement control method, and medium

Abstract

This disclosure relates to a logging implement, a logging machine, a logging implement control method, and a medium. The logging implement includes 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 cutting tool (32) connected to the rotating shaft (31), the cutting tool (32) being configured to rotate relative to the frame (1) with the rotating shaft (31); a sensing mechanism (4) being configured to acquire the diameter of the tree trunk; and a processor (5) signal-connected to the feeding mechanism (2), the pruning mechanism (3), and the sensing mechanism (4), and configured to adjust the position of the cutting tool (32) relative to the tree trunk according to the tree trunk diameter acquired by the sensing mechanism (4) during the feeding of the tree trunk by the feeding wheel (22).

Description

Technical Field

[0001] This disclosure relates to the field of engineering machinery, and in particular to a logging implement, a logging machine, a logging implement control method, and a computer-readable storage medium. Background Technology

[0002] Logging equipment is a specialized device used in forestry harvesting, integrating functions such as felling, pruning, length sawing, and timber collection. When logging equipment harvests timber, it first clamps the timber with a pruning knife and a feed wheel clamping mechanism, then cuts it with a chainsaw and lays it down. Next, the feed wheel drives the timber to feed, and once it reaches the designated length, the chainsaw cuts the timber. This process is repeated to complete the felling of a tree.

[0003] The wood is moved by a feed wheel, and branches on the wood collide with the blades on both sides of the branching knife that holds the wood tightly, thus cutting the branches. However, in related technologies, the branching knife holds the wood with excessive force, leading to easy damage to the wood surface and increased energy consumption. Summary of the Invention

[0004] In view of this, the present disclosure provides a logging implement, a logging machine, a logging implement control method, and a computer-readable storage medium, which can improve timber output.

[0005] In one aspect of this disclosure, a logging implement is provided, comprising:

[0006] frame;

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

[0008] A trimming mechanism having a pivot hinged to a frame and a cutter connected to the pivot, the cutter being configured to rotate relative to the frame with the pivot;

[0009] The sensing mechanism is configured to acquire the diameter of the tree trunk; and

[0010] The processor, which is signal-connected to the feeding mechanism, pruning mechanism, and sensing mechanism, is configured to adjust the position of the cutter relative to the trunk based on the trunk diameter obtained by the sensing mechanism during the feeding of the trunk by the feed wheel.

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

[0012] The sensing mechanism includes:

[0013] A first sensing device is disposed on the feeding mechanism and configured to acquire a first diameter parameter, which is the trunk diameter at the feeding wheel;

[0014] A second sensing device, disposed in the pruning mechanism, is configured to acquire a second diameter parameter, which is the trunk diameter at the pruning mechanism when the feed wheel is in the initial feeding position;

[0015] The processor is configured to acquire the first diameter parameter in real time throughout the feeding process through the first sensor, make the cutter close to the tree trunk when the feed wheel is in the initial feeding position and acquire the second diameter parameter through the second sensor, and determine the target position of the cutter in real time based on the first diameter parameter, the second diameter parameter and the preset branch height, and make the cutter rotate to the target position.

[0016] In some embodiments, the processor is configured to obtain a calibration factor based on a first diameter parameter and a second diameter parameter when the feed wheel is in the initial feeding position, and to 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 a preset residual 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 in the initial feeding position, D2 is the second diameter parameter when the feed wheel is in the initial feeding position, and D... t1 D is the real-time first diameter parameter during the feed process. t2 H represents the real-time target diameter of the tool during the feeding process, and H represents the preset residual height.

[0018] In some embodiments, the second sensing device is an angle sensor, which 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] The first sensing device is an angle sensor, which is connected to the feed support through a transmission component and is configured to rotate with the feed support.

[0021] In some embodiments, there are two feeding supports, which are spaced apart along a second direction perpendicular to the first direction, and the two feeding supports form a feeding space for the trunk to move along the first direction.

[0022] The transmission components include:

[0023] The connecting rod is connected to two feed supports respectively and is configured to make the two feed supports rotate synchronously;

[0024] The first sensing device is located on the side away from the feed space relative to the connecting rod.

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

[0026] The transmission assembly also includes a chain, which is connected to a connecting rod and engages with the first sensing device.

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

[0028] The elastic components are connected to the frame and the chain, respectively.

[0029] In another aspect of this disclosure, a logging machine is provided, comprising:

[0030] The body, which has a boom; and

[0031] The logging equipment mentioned above also includes a tilting mechanism hinged to the frame, and the tilting mechanism is connected to the boom.

[0032] In another aspect of this disclosure, a logging machinery control method based on any of the above-described logging machinery is provided, comprising:

[0033] During the feeding process of the feed wheel into the tree trunk, the position of the cutter relative to the tree trunk is adjusted according to the trunk diameter obtained by the sensor mechanism.

[0034] In some embodiments, the sensing mechanism includes: a first sensing device disposed on the feeding mechanism and a second sensing device disposed on the pruning mechanism, the first sensing device being configured to acquire a first diameter parameter, and the second sensing device being configured to acquire a second diameter parameter, the first diameter parameter being the trunk diameter at the feeding wheel, and the second diameter parameter being the trunk diameter at the pruning mechanism when the feeding wheel is in the initial feeding position;

[0035] The operation of adjusting the position of the cutter relative to the tree trunk based on the trunk diameter obtained by the sensing mechanism specifically includes:

[0036] When the feed wheel is in the initial feed position, make the cutter close to the tree trunk;

[0037] The first diameter parameter is acquired in real time throughout the entire feeding process by the first sensor, and the second diameter parameter is acquired when the feed wheel is in the initial feeding position by the second sensor.

[0038] The target position of the tool is determined in real time based on the first diameter parameter, the second diameter parameter, and the preset residual height.

[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 height specifically includes:

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

[0042] The target diameter corresponding to the real-time target position of the tool is obtained based on the calibration factor, the real-time first diameter parameter during the feed process, and the preset residual 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 feeding position, D2 is the second diameter parameter when the feed wheel is in the initial feeding position, and D... t1 D is the real-time first diameter parameter during the feed process. t2 H represents the real-time target diameter of the tool during the feeding process, and H represents the preset residual height.

[0044] In another aspect of this disclosure, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements any of the above-described logging machinery system control methods.

[0045] Therefore, according to the embodiments of this disclosure, by obtaining the trunk diameter through the sensing mechanism 4 and adjusting the position of the cutter 32 in real time during the trunk feeding process based on the trunk diameter information, the cutter 32 can be actively and flexibly adjusted to adjust the pruning position as the trunk diameter changes. This allows the logging equipment to carry out precise pruning operations for different types of trees and different diameter positions of the same tree, reducing the risk of damaging the wood by being too close to the trunk surface during pruning and helping to improve the output of wood. Attached Figure Description

[0046] The accompanying drawings, which form part of this specification, illustrate embodiments of this disclosure and, together with the specification, serve to explain the principles of this disclosure.

[0047] This disclosure will become clearer with reference to the accompanying drawings and the following detailed description, wherein:

[0048] Figure 1 These are schematic diagrams of some embodiments of logging machinery according to this disclosure;

[0049] Figure 2 This is a schematic diagram of the structure of some embodiments of the feeding mechanism of logging equipment according to this disclosure;

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

[0051] Figure 4 This is a schematic diagram showing the connection relationships of some embodiments of logging equipment according to this disclosure;

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

[0053] In the picture:

[0054] 1. Frame; 2. Feeding mechanism; 21. Feeding support; 22. Feeding wheel; 23. First hydraulic cylinder; 24. First pin; 3. Trimming mechanism; 31. Rotating shaft; 32. Cutting tool; 33. Second hydraulic 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 element; 7. Tilting mechanism.

[0055] It should be understood that the dimensions of the various parts shown in the accompanying drawings are not drawn to actual scale. Furthermore, the same or similar reference numerals denote the same or similar components. Detailed Implementation

[0056] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The descriptions of the exemplary embodiments are merely illustrative and are in no way intended to limit the present disclosure or its application or use. The present disclosure may be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided so that the present disclosure will be thorough and complete, and will fully express the scope of the disclosure to those skilled in the art. It should be noted that, unless specifically stated otherwise, the relative arrangement of components and steps, the composition of materials, numerical expressions, and values ​​set forth in these embodiments should be interpreted as exemplary only and not as limiting.

[0057] The terms "first," "second," and similar words used in this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different parts. Words such as "including" or "contains" mean that the element preceding the word encompasses the element listed after it, and do not exclude the possibility of encompassing other elements as well. Terms such as "above," "below," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, this relative positional relationship may also change accordingly.

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

[0059] All terms used in this disclosure (including technical or scientific terms) have the same meaning as understood by one of ordinary skill in the art to which this disclosure pertains, unless otherwise specifically defined. It should also be understood that terms defined in a general dictionary, such as a dictionary, should be interpreted as having a meaning consistent with their meaning in the context of the relevant art, and not as having an idealized or highly formalized meaning, unless expressly defined herein.

[0060] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0061] Logging equipment is a specialized device used in forestry harvesting, integrating functions such as felling, pruning, length sawing, and timber collection. When logging equipment harvests timber, it first clamps the timber with a pruning knife and a feed wheel clamping mechanism, then cuts it with a chainsaw and lays it down. Next, the feed wheel drives the timber to feed, and once it reaches the designated length, the chainsaw cuts the timber. This process is repeated to complete the felling of a tree.

[0062] The wood is moved by a feed wheel, and branches on the wood collide with the blades on both sides of the branching knife that holds the wood tightly, thus cutting the branches. However, in related technologies, the branching knife holds the wood with excessive force, leading to easy damage to the wood surface and increased energy consumption.

[0063] In some related technologies, pressure sensors measure clamping force. However, when encountering irregularly bent trees, the sensors may fail to make contact with the tree surface, potentially leading to erroneous detection results. This can result in incorrect clamping force control and damage to the wood surface.

[0064] Furthermore, the relevant technology cannot actively and accurately adjust the position of the branch-cutting knife according to the needs, and cannot retain branches at a preset height when harvesting for firewood production, resulting in timber waste.

[0065] In view of this, in one aspect of the present disclosure, a logging implement is provided that can increase timber output.

[0066] Figure 1 These are schematic diagrams of the structure of some embodiments of logging machinery according to this disclosure. Figure 2 These are schematic diagrams illustrating the structure of some embodiments of the feeding mechanism of the logging equipment according to this disclosure. Figure 3 These are schematic diagrams of the pruning mechanism of logging equipment according to some embodiments of the present disclosure. Figure 4 This is a schematic diagram of the connection relationship according to some embodiments of logging machinery disclosed herein, with reference to... Figures 1-4 In some embodiments, the logging equipment includes a frame 1, a feeding mechanism 2, a trimming 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 being 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 being configured to rotate relative to the frame 1 with the rotating shaft 31.

[0068] The sensing mechanism 4 is configured to acquire 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 based on the trunk diameter acquired by the sensing mechanism 4 during the feeding of the tree trunk by the feeding wheel 22.

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

[0070] The trimming mechanism 3 also includes a second hydraulic cylinder 33, which is drivenly connected to the rotating shaft 31. The processor 5 is signal-connected to the second hydraulic cylinder 33, including but not limited to controlling the rotation of the cutter 32 by acting on the second hydraulic cylinder 33.

[0071] The cutting tool 32 is, but is not limited to, fixedly connected to the rotating shaft 31 via a second pin 34. The second pin 34 is an elastic pin, which allows the cutting tool 32 to make close contact with the rotating shaft 31, reducing the diameter measurement error caused by the gap. One end of the second hydraulic cylinder 33 is hinged to the cutting tool 32, and the other end is hinged to the frame 1.

[0072] The growth forms of trees vary in different regions and among different species, and the diameter of the same tree can also differ at different heights. During the feeding process, the trunk moves along its length relative to the cutter 32 and the feed wheel 22. The trunk diameter obtained by the sensing mechanism 4 includes, but is not limited to, the trunk diameter corresponding to the real-time position of the cutter 32 relative to the 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 of the cutter 32. The processor 5 and the hydraulic valve block are fixed to the frame 1 by means of threaded fasteners, including but not limited to.

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

[0075] In this embodiment, the trunk diameter is obtained through the sensing mechanism 4, and the position of the cutter 32 is adjusted in real time during the trunk feeding process based on the trunk diameter information. This allows the cutter 32 to actively adjust the pruning position as the trunk diameter changes, enabling the logging equipment to carry out precise pruning operations for different types of trees and different diameter positions of the same tree. This reduces the risk of damaging the wood by being too close to the trunk surface during pruning and helps to increase the output of wood.

[0076] refer to Figures 1-4 In some embodiments, the feed wheel 22 feeds the tree trunk along a first direction, and the feeding mechanism 2 and the pruning mechanism 3 are spaced apart along the first direction. The first direction is... Figure 1 In direction A.

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

[0078] The processor 5 is configured to acquire the first diameter parameter in real time throughout the feeding process via the first sensor 41, make the cutter 32 close to the tree trunk when the feed wheel 22 is in the initial feeding position and acquire the second diameter parameter via the second sensor 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 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 by threaded fasteners. The rotating shaft of the second sensing device 42 is fixed to the third pin 35 by threaded fasteners. The third pin 35 has a protrusion. The third pin 35 is engaged with the end of the rotating shaft 31 through the protrusion, so that the second sensing device 42 rotates with the tool 32.

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

[0081] At the initial feeding position, both the feed wheel 22 and the cutter 32 are in contact with the tree trunk surface. The feed wheel 22 will always clamp the tree trunk and be in contact with the tree trunk surface during the feeding process. However, when the preset branch height is greater than zero, the cutter 32 will not be in contact with the tree trunk surface. By obtaining the first diameter parameter and the second diameter parameter at the initial feeding position and obtaining the first diameter parameter in real time throughout the entire feeding process, the position of the cutter 32 relative to the tree trunk when it trims the branch of the preset length can be determined more accurately.

[0082] The target location 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 location of the tool 32 relative to the tree trunk and the tree trunk, or the distance from the center of the cross-section of the tree trunk at the location of the tool 32 relative to the tree trunk as the base point, which is the sum of the tree trunk radius and the preset height of the remaining branch. The appropriate calculation method can be selected according to the shape of the tool 32.

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

[0084] For example, the height of a tree is usually more than ten meters. During the trunk feeding process, the wood is usually cut every two and a half meters. Then, the feed wheel 22 will re-determine its initial position every two and a half meters of feeding.

[0085] In this embodiment, the position of the cutting tool 32 is adjusted in real time during the feeding process, so that the cutting tool 32 rotates to the target position determined based on the first diameter parameter, the second diameter parameter and the preset residual height. The position of the cutting tool 32 can be precisely adjusted according to the needs to harvest wood for firewood, flexibly meet the needs of users, increase wood output and reduce damage to the wood surface.

[0086] refer to Figure 2 , Figure 2 In the second direction, direction B is the second direction. In some embodiments, the processor 5 is configured to obtain a calibration factor based on the first diameter parameter and the second diameter parameter when the feed wheel 22 is in the initial feeding position, and to obtain 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 height.

[0087] 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 in the initial feeding position, and D2 is the second diameter parameter of the feed wheel 22 when it is in the initial feeding position. t1D is the real-time first diameter parameter during the feed process. t2 H represents the real-time target diameter of the tool 32 during the feeding process, and H represents the preset residual height.

[0088] The calibration factor is the difference between the first diameter parameter and the second diameter parameter at the initial feed position. If the diameter of the trunk is considered to change along the length direction at a fixed slope, then the difference between the trunk diameter at the feed wheel 22 and the trunk diameter at the cutter 32 during the feed process is a constant. By obtaining the difference between the real-time first diameter parameter and the calibration factor during the feed process, the real-time second diameter parameter corresponding to the cutter 32 can be obtained.

[0089] In addition to assuming a fixed slope for determining the calibration factor, other parameters can be added based on the growth patterns of trees in different regions and of different species to control the influence of different tree species and obtain a more accurate method for calculating the real-time target diameter of the tool 32.

[0090] Using the center of the cross-section of the tree trunk corresponding to the location of the tool 32 as the center, and the sum of the real-time second diameter parameter and twice the preset height of the residual branch as the diameter, a target circle can be defined. The tool 32 then needs to move to the circumference of the target circle.

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

[0092] Trees are typically thicker at the base and thinner at the top, with more branches near the top than near the base. When the feeding direction is from the base to the top of the tree, and the feeding mechanism 2 is positioned closer to the roots while the pruning mechanism 3 is positioned closer to the treetop, X = D1 - D2, where D... t2 =D t1 -X+2*H. If the feed is in the opposite direction and the pruning mechanism 3 is positioned closer to the trunk, then X=D2-D1, D t2 =D t1 +X+2*H.

[0093] In this embodiment, the target diameter corresponding to the real-time target position of the tool 32 is obtained based on the calibration factor, the real-time first diameter parameter during the feeding process, and the preset residual height. This enables more accurate and reliable control of the position of the tool 32, resulting in higher quality firewood harvested.

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

[0095] The corresponding second diameter parameter is determined based on the angle information detected by the second sensor 42. The correspondence between the angle and the second diameter parameter can be determined in advance by calibrating the trees. Different types and different regions of trees have different correspondences, including but not limited to.

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

[0097] The two cutters 32 form a three-point distance measurement between the frame 1 and the frame. For trees with irregular shapes and varying cross-sections and lengths, the diameter can be calculated by comparing the three points between the two cutters 32 and the frame 1. This provides a more accurate detection result compared to pressure sensors or distance sensors.

[0098] In this embodiment, for tree trunks with irregular shapes, the second sensing device 42 is selected as an angle sensor, which can obtain diameter parameters more accurately and comprehensively, making it easier for the processor 5 to actively control the working position of the tool 32.

[0099] refer to Figure 1 and Figure 2 In some embodiments, the feeding mechanism 2 further includes a transmission assembly. The first sensing device 41 is an angle sensor, which is connected to the feeding support 21 via the transmission assembly and is configured to rotate with the feeding support 21.

[0100] The transmission components include, but are not limited to, connecting rods, connecting belts, etc. The processor 5 drives the feeding support 21 to rotate relative to the frame 1 through the first hydraulic 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 components, allowing the first sensing device 41 to be set at a position slightly away from the tree trunk, thereby reducing the interference of sawdust or trees on the first sensing device 41 during the feeding process.

[0101] The first diameter parameter is determined based on the angle information detected by the first sensing device 41. The correspondence between the angle and the first diameter parameter can be determined in advance by calibrating the trees. Different types and different regions of trees have different correspondences, including but not limited to.

[0102] The conversion between angle information and the first diameter parameter is achieved, but is not limited to, through the sensing mechanism 4 or the processor 5. The two feed rollers 22 form a three-point distance measurement with the frame 1. For trees with irregular shapes and varying cross-sections and lengths, the diameter can be calculated through the three points between the two feed rollers 22 and the frame 1, which can obtain more accurate detection results compared to pressure sensors or distance sensors.

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

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

[0105] refer to Figure 1 and Figure 2 In some embodiments, there are two feed supports 21, spaced apart along a second direction perpendicular to the first direction, forming a feed space between the two feed supports 21 for the trunk to move along the first direction. The transmission assembly includes a connecting rod 61, which is connected to each of the two feed supports 21 and configured to rotate the two feed supports 21 synchronously. A first sensing device 41 is located on the side furthest from the feed space relative to the connecting rod 61.

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

[0107] In this embodiment, the first sensing device 41 is positioned on the side away from the feed space to reduce the influence of sawdust and other debris on the first sensing device 41 during the feeding process, thereby making the detection results more accurate.

[0108] refer to Figure 2 In some embodiments, the first sensing device 41 has a sprocket. The transmission assembly also includes a chain 62, which is connected to a connecting rod 61 and meshes with the first sensing device 41. The sprocket includes, but is not limited to, being disposed 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 meshing with it. The middle position of the connecting rod 61 is fixed to one end of the chain 62 by 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 sawdust and other debris 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 results more accurate.

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

[0111] refer to Figures 1-3 In another aspect of the embodiments of this disclosure, a logging machine is provided, including a body and logging implements. The body has a boom, and the logging implements further include a tilting mechanism 7 hinged to the frame 1, the top end of the tilting mechanism 7 being hinged to the boom via a pin.

[0112] In this embodiment, the logging attachment is connected to the boom as an attachment of the logging machine, enabling the logging machine to accurately prune branches for different types of trees, reducing the risk of damaging the wood by being too close to the trunk surface during pruning, and helping to increase timber production.

[0113] In another aspect of the present disclosure, a logging implement control method based on any of the above-mentioned logging implements is provided, comprising: adjusting the position of the cutter 32 relative to the trunk according to the trunk diameter obtained by the sensing mechanism 4 during the feeding of the feed wheel 22 to the trunk.

[0114] Adjusting the position of the cutter 32 relative to the tree trunk includes, but is not limited to, adjusting 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 of the cutter 32.

[0115] If the user needs to remove all branches from the tree trunk, the cutter 32 can always be kept close to the surface of the tree trunk. If the user needs to retain branches at a preset height, the cutter 32 can always be kept at a preset height from the surface of the tree trunk.

[0116] In this embodiment, the trunk diameter is obtained through the sensing mechanism 4, and the position of the cutter 32 is adjusted in real time during the trunk feeding process based on the trunk diameter information. This allows the cutter 32 to actively adjust the pruning position as the trunk diameter changes, enabling the logging equipment to carry out precise pruning operations for different types of trees and different diameter positions of the same tree. This reduces the risk of damaging the wood by being too close to the trunk surface during pruning and helps to increase the output of wood.

[0117] Figure 5This is a flowchart of some embodiments of the logging machinery control method disclosed herein, with reference to... Figures 1-3 and Figure 5 In some embodiments, the operation of adjusting the position of the cutting tool 32 relative to the trunk based on the trunk diameter obtained by the sensing mechanism 4 specifically includes steps S1 to S4.

[0118] In step S1, when the feed wheel 22 is in the initial feed position, the cutter 32 is brought into contact with the tree trunk.

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

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

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

[0122] In this embodiment, the position of the cutting tool 32 is adjusted in real time during the feeding process, so that the cutting tool 32 rotates to the target position based on the first diameter parameter, the second diameter parameter and the preset twig height. The position of the cutting tool 32 can be precisely adjusted according to the needs to harvest wood for firewood, flexibly meet the needs of users, increase wood output and reduce damage to the wood surface.

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

[0124] 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 in the initial feeding position, and D2 is the second diameter parameter of the feed wheel 22 when it is in the initial feeding position. t1 D is the real-time first diameter parameter during the feed process. t2 H represents the real-time target diameter of the tool 32 during the feeding process, and H represents the preset residual height.

[0125] In this embodiment, the target diameter corresponding to the real-time target position of the tool 32 is obtained based on the calibration factor, the real-time first diameter parameter during the feeding process, and the preset residual height. This enables more accurate and reliable control of the position of the tool 32, resulting in higher quality firewood harvested.

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

[0127] Before felling trees, the processor 5 sets the maximum allowable height of residual branches during the firewood felling process, i.e., the preset residual branch height H. The processor 5 controls the hydraulic valve block to actuate the first cylinder 23 and the second cylinder 33, causing the feed wheel 22 to clamp the trunk surface, while the cutter 32 also clamps the 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 tree diameter and trunk diameter.

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

[0129] In another aspect of this disclosure, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor 5, implements the logging machinery control method described above.

[0130] In another aspect of this disclosure, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor 5, implements any of the logging machinery control methods described above. 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 as one or more instructions or codes on or transmitted via the computer-readable medium. A computer-readable medium includes both computer storage media and communication media, including any medium that facilitates the transfer of a computer program from one location to another. A storage medium may be any available medium accessible to a computer. By way of example and not limitation, such a computer-readable medium 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 is accessible to a computer. Any connection is also legitimately referred to as a computer-readable medium. For example, if the software is transmitted from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave, then such coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of media. As used herein, disk and disc include compact discs (CDs), laser discs, optical discs, digital multi-purpose discs (DVDs), floppy disks, and Blu-ray discs, where disks typically reproduce data magnetically, and discs reproduce data optically using lasers. Combinations of the above should also be included within the scope of computer-readable media. The various embodiments of this disclosure have now been described in detail. To avoid obscuring the concept of this disclosure, some details known in the art have not been described. Those skilled in the art will fully understand how to implement the technical solutions disclosed herein based on the above description.

[0131] The embodiments of this disclosure have now been described in detail. To avoid obscuring the concept of this disclosure, some details 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] While specific embodiments of this disclosure have been described in detail by way of examples, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of this disclosure. Those skilled in the art should understand that modifications can be made to the above embodiments or equivalent substitutions can be made to some technical features without departing from the scope and spirit of this disclosure. The scope of this disclosure is defined by the appended claims.

Claims

1. A logging implement, characterized in that, include: Rack (1); 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) being configured to feed the trunk in a first direction; The trimming mechanism (3), which is spaced apart from the feeding mechanism (2) along the first direction, has a pivot (31) hinged to the frame (1) and a cutter (32) connected to the pivot (31), the cutter (32) being configured to rotate relative to the frame (1) with the pivot (31); The sensing mechanism (4) includes a first sensing device (41) disposed on the feeding mechanism (2) and a second sensing device (42) disposed on the pruning mechanism (3). The first sensing device (41) is configured to acquire a first diameter parameter, which is the trunk diameter at the feeding wheel (22). The second sensing device (42) is configured to acquire a second diameter parameter, which is the trunk diameter at the pruning mechanism (3) when the feeding wheel (22) is in the initial feeding position. and The processor (5), which is signal-connected to the feeding mechanism (2), the pruning mechanism (3) and the sensing mechanism (4), is configured to, during the feeding process of the feeding wheel (22) feeding the trunk, acquire the first diameter parameter in real time through the first sensing device (41) during the entire feeding process, make the cutter (32) close to the trunk when the feeding wheel (22) is in the initial feeding position and acquire 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 relative to the trunk.

2. The logging equipment as described in claim 1, characterized in that, The processor (5) is configured to obtain a calibration factor based on the first diameter parameter and the second diameter parameter when the feed wheel (22) is in the initial feeding position, and to obtain 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 height; Where 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 in the initial feeding position, and D2 is the second diameter parameter of the feed wheel (22) when it is in the initial feeding position. t1 D is the real-time first diameter parameter during the feed process. t2 H is the real-time target diameter of the tool (32) during the feeding process, and H is the preset residual height.

3. The logging equipment as described in claim 1, characterized in that, 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).

4. The logging equipment as described in claim 1, characterized in that, The feeding mechanism (2) also includes a transmission assembly; The first sensing device (41) is an angle sensor. The first sensing device (41) is connected to the feed support (21) through the transmission assembly and is configured to rotate with the feed support (21).

5. The logging equipment as described in claim 4, characterized in that, The number of the feeding supports (21) is two, which are spaced apart along a second direction perpendicular to the first direction, and the two feeding supports (21) form a feeding space for the trunk to move along the first direction; The transmission assembly includes: The connecting rod (61) is connected to the two feed supports (21) respectively and is configured to make the two feed supports (21) rotate synchronously; The first sensing device (41) is located on the side away from the feed space relative to the connecting rod (61).

6. The logging equipment as described in claim 5, characterized in that, The first sensing device (41) has a sprocket; The transmission assembly further includes a chain (62), which is connected to the connecting rod (61) and engages with the first sensing device (41).

7. The logging equipment as described in claim 6, characterized in that, The feeding mechanism (2) further includes: The elastic element (63) is connected to the frame (1) and the chain (62) respectively.

8. A logging machine, characterized in that, include: The body, which has a boom; and The logging implement as described in any one of claims 1 to 7 further includes a tilting mechanism (7) hinged to the frame (1), and the tilting mechanism (7) is connected to the boom.

9. A logging implement control method based on the logging implement according to any one of claims 1 to 7, characterized in that, include: During the feeding process of the feed wheel (22) into the tree trunk, the position of the cutter (32) relative to the tree trunk is adjusted according to the trunk diameter obtained by the sensing mechanism (4).

10. The logging machinery control method as described in claim 9, characterized in that, The sensing mechanism (4) includes: a first sensing device (41) disposed on the feeding mechanism (2) and a second sensing device (42) disposed on the pruning mechanism (3). The first sensing device (41) is configured to acquire a first diameter parameter, and the second sensing device (42) is configured to acquire a second diameter parameter. The first diameter parameter is the trunk diameter at the feeding wheel (22), and the second diameter parameter is the trunk diameter at the pruning mechanism (3) when the feeding wheel (22) is in the initial feeding position. The operation of adjusting the position of the cutter (32) relative to the tree trunk based on the trunk diameter obtained by the sensing mechanism (4) specifically includes: When the feed wheel (22) is in the initial feeding position, the cutter (32) is brought into contact with the tree trunk; The first diameter parameter is obtained in real time during the entire feeding process by the first sensor (41), and the second diameter parameter is obtained when the feed wheel (22) is located at the initial feeding position by the second sensor (42). Based on the first diameter parameter, the second diameter parameter, and the preset residual height, the target position of the tool (32) is determined in real time; Rotate the cutting tool (32) to the target position.

11. The logging machinery control method as described in claim 10, characterized in that, The operation of determining the target position of the tool (32) in real time based on the first diameter parameter, the second diameter parameter, and the preset residual height specifically includes: The calibration factor is obtained based on the first diameter parameter and the second diameter parameter when the feed wheel (22) is in the initial feeding position; The target diameter corresponding to the real-time target position of the tool (32) is obtained based on the calibration factor, the real-time first diameter parameter during the feeding process, and the preset residual height; Where 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 in the initial feeding position, and D2 is the second diameter parameter of the feed wheel (22) when it is in the initial feeding position. t1 D is the real-time first diameter parameter during the feed process. t2 H is the real-time target diameter of the tool (32) during the feeding process, and H is the preset residual height.

12. A computer-readable storage medium having a computer program stored thereon, wherein, When the program is executed by the processor (5), it implements the logging machinery control method according to any one of claims 9 to 11.

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