Method for treating wood and control system for controlling operation of harvester head of forestry work machine

Abstract

A method for treating wood by means of a harvester head (10) of a forestry work machine (1), in which method a trunk of a cut tree (9) is transected into parts by means of a transecting device (16) of the harvester head, which transecting device comprises at least one mobile transecting knife (17a, 17b). In the method, the thickness of the trunk of the tree is determined, and based on the determined thickness of the trunk of the tree, at least one mobile crosscutting cutter is controlled to a standby position different from the original position of the crosscutting cutter to crosscutting the tree. Furthermore, a control system for controlling the operation of a harvester head of a forestry work machine and a harvester head.

Description

Technical Field

[0001] The present invention relates to timber harvesting and, in particular, to a method, a control system and a harvester head for cross-cutting trees processed by a harvester head into parts. Background Art

[0002] When harvesting timber by a harvester, the timber is processed by the harvester head of the harvester. The timber processing generally includes felling a tree, removing branches from the felled tree, i.e., delimbing, and cross-cutting the trunk of the felled tree into parts of a desired length. In order to delimb the felled tree and to cross-cut the tree, the felled tree is fed through the harvester head by a feeding device of the harvester head by means of a feeding member, and at the same time, in order to delimb the tree trunk, a delimbing member of a delimbing device for removing branches is pressed against the tree trunk fed through the harvester head. After that, the section of the tree trunk that has been delimbed and fed through the harvester head is cross-cut into parts of a desired length.

[0003] The processing of timber by the harvester head of the harvester may also include removing the bark from the surface of the tree. Generally, the bark is removed from the trunk by the combined action of a feeding device and a mobile debarking / delimbing cutter and a fixed delimbing member arranged in the body of the harvester head. Generally, in order to remove the bark, the felled tree has to be fed through the harvester head several times so as to remove the bark and possible branches from the tree, but without cross-cutting the processed tree into parts.

[0004] Some cross-cutting devices used in the harvester head may include, for example, one or two mobile cutters, whereby the cutter or the plurality of cutters, when moving, exert a compressive or scissor-type cutting effect on the tree trunk to cross-cut the trunk. Compared with a cross-cutting device equipped with a chainsaw-type cross-cut saw, the advantage of a cross-cutting device including one or more cutters is its lower operation and maintenance costs. The operation and maintenance costs of a cross-cutting device equipped with a cross-cut saw are increased due to the lubrication generally continuously required by the cross-cut saw and the replacement of the chain and the saw flange. Compared with a cross-cutting device equipped with a chainsaw-type cross-cut saw, the problem with a cross-cutting device including the cutter or the plurality of cutters is still the slower operation speed of the cross-cutting device. Therefore, the hourly production capacity of a harvester head equipped with the type of cross-cutting device is generally less than the hourly production capacity of a cross-cutting device equipped with a cross-cut saw. Summary of the Invention

[0005] The object of the present invention is to provide a novel method for processing timber, a novel control system for controlling the operation of a harvester head of a forestry machine, and a novel harvester head of a forestry machine.

[0006] The features of the solution according to the present invention are disclosed in the independent claims.

[0007] In the solution according to the invention, the thickness of the trunk of the felled tree is determined, and in order to cross-cut the tree, at least one mobile cross-cutting tool of the cross-cutting device of the harvester head is controlled to a standby position different from the original position of the cross-cutting tool based on the determined thickness of the tree trunk.

[0008] Due to the solution according to the invention, when the intention is to cross-cut the trunk of the felled tree into parts by means of a cross-cutting device of the harvester head comprising at least one mobile tool, at least one mobile cross-cutting tool of the cross-cutting device can be controlled to a position different from the original position of the cross-cutting tool to wait for the upcoming cross-cutting measure of the tree trunk. In other words, due to the solution according to the invention, the cross-cutting tool can be controlled to such a position that, for the upcoming cross-cutting measure of the tree trunk, the cross-cutting tool is closer to the tree trunk to be cross-cut than its original position where it was before the feeding of the tree in the harvester head had stopped, for carrying out the cross-cutting of the tree. Thus, before the tree has stopped for cross-cutting, during the feeding of the tree, or even immediately after a cross-cutting measure carried out before continuing to feed the tree in the harvester head for the next cross-cutting measure, the at least one mobile cross-cutting tool may have been controlled to be closer to the tree for carrying out the cross-cutting of the tree, whereby the at least one mobile cross-cutting tool can be controlled to a standby position different from its original position without returning the cross-cutting tool to its original position between consecutive cross-cutting measures. This makes the tree cross-cutting phase faster and thus increases the production capacity of the harvester head equipped with the cross-cutting tool without increasing the energy consumption used in production, and even reduces the energy consumption used in production, since it is not necessary to return the cross-cutting tool to its original position after each cross-cutting measure in order to continue feeding the tree in the harvester head.

[0009] Some embodiments of the invention are presented in the dependent claims. Description of the Drawings

[0010] The invention will now be described in more detail by means of preferred embodiments and with reference to the drawings, in which:

[0011] Figure 1 is a schematic view of a harvester,

[0012] Figure 2 is a schematic view of the harvester head of the harvester, which harvester head is rotated to a substantially horizontal position,

[0013] Figure 3 is Figure 2 a schematic view of the harvester head of

[0014] Figure 4 as seen from the rear and partially opened Figure 2 schematic view of a harvester head

[0015] Figure 5 schematic view of a method for controlling the operation of a cross-cutting device of a harvester head, the cross-cutting device of the harvester head being adapted to cross-cut felled trees processed by the harvester head into parts, and

[0016] Figures 6a to 6d schematic view of the use of a harvester head as seen from the rear and a cross-cutting device of the harvester head for cross-cutting trees

[0017] For clarity, some embodiments of the present invention are shown in the figures in simplified form. In the drawings, like reference numerals identify like elements. Detailed Description

[0018] Figure 1 is a schematic view of a harvester 1 in which the above arrangement can be applied. The harvester 1 includes a chassis 2 which forms at least a part of the frame structure of the harvester 1 and to which a moving device 3 is arranged to be connected. By means of the moving device 3, the harvester 1 can move relative to its working surface or working environment. The moving device 3 is Figure 1 a wheel in, but generally the moving device may include at least one of the following: wheels arranged on an axle, wheels arranged on a bogie, a track system, or some other device known for providing the movement of the harvester and possibly changing the direction of movement of the harvester relative to its working surface or working environment. The moving device may also include one or more braking devices for decelerating the traveling speed of the harvester 1 or bringing the traveling of the harvester to a complete stop.

[0019] The harvester 1 further includes a power source 4. The power source 4 may include, for example, an internal combustion engine, one or more electric motors and battery packs and / or generators or different combinations thereof for generating the power required to provide the movement of the harvester, increase the movement speed of the harvester, and operate the devices arranged in the harvester.

[0020] The harvester 1 further includes a cab 5. The cab 5 may be arranged in a manner that can be folded and / or rotated relative to the chassis 2. The cab 5 includes the required control devices 6 by means of which the operator of the harvester can control the traveling of the harvester and the devices arranged on the harvester. The control devices 6 are in Figure 1is shown very schematically, and the control device 6 can include, for example, one or more manually controllable control devices, such as, for example, a joystick, and / or one or more foot-controllable control devices, such as, for example, pedals. The control device 6 can also include a pre-designed harvester operation plan in the form of a runnable program, which can be run by, for example, one or more harvester control units 7 shown very schematically in Figure 1 to control the travel of the harvester and the devices arranged in the harvester. The control unit 7 can be, for example, a computer obvious to a person skilled in the art or some other device or component including a microprocessor or some other microcontroller.

[0021] The harvester 1 also includes a boom 8. The boom 8 can be supported, for example, on the chassis 2 or a separate inclined base or some other part of the harvester frame or a part connected to the frame. The boom 8 can be arranged in a manner capable of being folded and / or rotated relative to the chassis 2. The outermost end of the boom 8 includes the harvester head 10 of the harvester 1, and the outermost end of the boom 8 and the harvester head 10 arranged at the outermost end constitute the tip of the boom 8.

[0022] Figure 1 The harvester 1 in constitutes a mobile forestry machine equipped with a harvester head, which is designed to perform tree felling, remove branches and / or bark from the felled trees, and cross-cut the trunks of the felled trees into parts of a desired length. Alternatively, the mobile forestry machine equipped with a harvester head can also be a combination of a conveyor and a harvester, whereby the forestry machine under discussion also includes a load space for receiving the load to be transported by the forestry machine, which is usually the parts of the tree trunks cross-cut into certain dimensions. In addition, the mobile forestry machine equipped with a harvester head can also be some other forestry machine suitable for felling trees and / or processing the felled trees, such as, for example, an excavator with a harvester head fixed to the boom of the excavator.

[0023] Figure 1Forestry machines are usually operated based on the active control of the operator of the forestry machine. However, the solutions proposed herein can also be applied to both semi-autonomous forestry machines and substantially fully autonomous forestry machines. In semi-autonomous forestry machines, the forestry machine can thus operate for at least some time without the active control of the operator. In substantially fully autonomous forestry machines, the operator thus does not actively participate in the control of the operation of the forestry machine without special reasons. Regarding both the semi-autonomous forestry machine and the fully autonomous forestry machine, the device for controlling the forestry machine can be located separately from the forestry machine. Thus, the forestry machine does not necessarily include an actual cab, and the control of the forestry machine is achieved by remote control or automatically.

[0024] Figure 2 Schematically shows the harvester head 10 of a harvester, which is rotated to a substantially horizontal position, i.e., the position where the harvester head 10 is usually located when processing the felled trees by the harvester head. Figure 3 Schematically shows Figure 2 the harvester head 10, which is rotated to a substantially vertical position, i.e., the position where the harvester head 10 is located when felling trees. Figure 4 Schematically shows the harvester head 10 as seen from the rear and partially opened Figure 2 of. Figure 2 , Figure 3 and Figure 4 also schematically shows a part of the trunk of the tree 9 supported by the harvester head 10 and processed by the harvester head 10. For clarity, the tree 9 has no branches and the tree is not shown in its original length.

[0025] When the felled trees are processed in the harvester head, the felled trees are fed in one direction or fed back and forth in the harvester head, and the branches and / or bark are removed from the tree trunk, and the tree trunk is cross-cut into at least two separate parts from each other, so that at least the crown of the tree is separated from the other parts of the tree trunk. Figure 2 , Figure 3 and Figure 4The harvester head 10 is suitable for performing the felling of trees, removing branches and / or bark from the felled trees, and cross-cutting the trunks of the felled trees into parts of a desired length. However, the solution proposed herein is also applicable to a harvester head that is only suitable for removing branches and / or bark from the felled trees and cross-cutting the tree trunks in question or only suitable for cross-cutting the tree trunks that have already been debranched and / or debarked, and this harvester head is sometimes also referred to as a processing head of a forestry machine to distinguish it from a harvester head that is also suitable for tree felling.

[0026] Figures 2 to 4 The harvester head 10 includes a frame structure 11, and devices that are arranged to be connected to the frame structure 11 and are intended for felling trees and processing the felled trees are fitted to the harvester head 10. The devices intended for felling and processing trees generally include a feeding device 12, a debranching device 14, and a cross-cutting device 16. Among them, the feeding device 12 is used to support the tree during tree felling and to feed the tree through the harvester head 1 when processing the felled tree in the harvester head 1. The debranching device 14 is used to support the tree during tree felling and to remove the branches of the felled tree, that is, to debranch the tree fed through the harvester head 10 by the feeding device 12. And the cross-cutting device 16 is used to cross-cut the felled tree and to cross-cut the trunk of the tree 9 fed through the harvester head 1 by the feeding device 12 into parts of a desired length.

[0027] The feeding device of the feeding device 12 and the debranching device of the debranching device 14 can also be used to debark the tree, that is, to remove the bark from the surface of the tree. Generally, in order to remove the bark, the felled tree must be fed through the harvester head 10 multiple times so as to remove the bark and possible branches from the tree, but the processed tree has not yet been cross-cut into parts. The debarking of the tree is achieved by the combined action of the feeding device of the feeding device 12 and the debranching device of the debranching device 14 applied to the bark of the tree and the stationary debarking device arranged on the frame of the harvester head in a manner known to those skilled in the art. During the movement of the tree, the debarking can also be enhanced by rotating the tree trunk around its central axis by means of the feeding device 12, such as by forming a suitable surface pattern on the feeding rollers that may be the feeding device of the feeding device 12.

[0028] Typically, the feeding device 12, the branch removal device 14, and the cross-cutting device 16 are hydraulic operating devices, which include actuators operated by means of a substantially incompressible fluid pressure medium for controlling the operation of the feeding device of the feeding device 12, the branch removal device of the branch removal device 14, and the cross-cutting device of the cross-cutting device 16 by affecting the pressure and / or flow direction of the pressure medium supplied to the actuator in a manner known to those skilled in the art. The actuator can be, for example, various cylinders, valves, motors or pumps, or some other pressure source.

[0029] The tree 9 processed by the harvester head 10 is fed forward from the direction of the front part 10a of the harvester head 10 to the direction of the rear part 10b of the harvester head 10 by the feeding device 12. If necessary, the tree 9 can also be fed backward from the direction of the rear part 10b of the harvester head 10 to the direction of the front part 10a of the harvester head 10. During the feeding of the tree 9, the branches are removed from the trunk of the tree 9 by the branch removal device 14. The part of the trunk of the tree 9 from which the branches have been removed is cross-cut into parts of a desired length by the cross-cutting device 16 arranged in the rear part 10b of the harvester head 10. Therefore, the cross-cutting device 16 is the last device in the typical traveling direction of the tree 9 through the harvester head 10, and the cross-cutting device 16 applies the processing measures for the parts of the harvester head 10 to the tree 9 fed through the harvester head 10. Before cross-cutting the trunk of the tree 9, the trunk of the tree 9 can also be peeled when the tree 9 is fed forward through the harvester head 10. Alternatively, after possible branch removal, the trunk of the tree 9 can also be fed back and forth through the harvester head 10 by means of the feeding device 12 in order to peel the tree 9 before cross-cutting the trunk of the tree 9 into parts, as described above.

[0030] The feeding device 12 of the harvester head 10 includes a feeding device that presses against the tree trunk both for supporting the tree to be cut during felling and for feeding the felled tree 9 processed by the harvester head 10 by using the feeding device in the harvester head 10. In Figures 2 to 4 the harvester head 10, the feeding device includes a feeding roller 13, which is a wheel provided with outwardly directed teeth. By using one or more actuators associated with the feeding roller 13, the feeding roller 13 is pressed against the surface of the trunk of the tree 9 and rotated to feed the tree 9 processed by the harvester head 10. Instead of the feeding roller 12, the feeding device can be, for example, a continuous feeding belt or a feeding chain of a track type.

[0031] The branch removal device 14 of the harvester head 10 includes a branch removal device which presses against the tree trunk both for supporting the tree to be cut during cutting and for removing branches from the cut tree 9 processed by the harvester head 10 when the cut tree 9 is fed through the harvester head 10 by the feeding device 12. In Figures 2 to 4 In the harvester head 10 of

[0032] The cross-cutting device 16 of the harvester head 10 includes a cross-cutting device through which the cut tree 9 is cross-cut at a desired point and cut into parts of a desired length when the cut tree 9 is fed through the harvester head 10 by the feeding device 12. In Figures 2 to 4In the cross-cutting device 16, the cross-cutting means includes two movable cross-cutting tools 17a, 17b, namely a first cross-cutting tool 17a and a second cross-cutting tool 17. These two cross-cutting tools are pressed through the trunk of the tree 9 between the tools by moving towards each other, so as to cross-cut the tree 9. The cross-cutting tools 17a, 17b are fastened to corresponding tool holders 18a, 18b, that is, the first cross-cutting tool 17a is fastened to the corresponding first tool holder 18a and the second cross-cutting tool 17b is fastened to the corresponding second tool holder 18b. Thus, by moving the tool holders 18a, 18b, the cross-cutting tools 17a, 17b can move towards each other and move back away from each other. The fastening can be, for example, bolt and nut fastening, whereby the worn tools 17a, 17b can be easily replaced with new tools. The cross-cutting device 16 also includes a first actuating cylinder 19a connected to the first tool holder 18a and a second actuating cylinder 19b connected to the second tool holder 18b. Thus, the first actuating cylinder 19a is configured to move the first cross-cutting tool 17a towards the felled tree 9 via the first tool holder 18a, that is, by affecting the position or attitude of the first tool holder 18a, and move through the tree 9 or move away from the tree 9, and correspondingly, the second actuating cylinder 19b is configured to move the second cross-cutting tool 17b towards the felled tree 9 via the second tool holder 18b, that is, by affecting the position or attitude of the second tool holder 18b, and move through the tree 9 or move away from the tree 9.

[0033] As shown below in Figures 6a to 6d shown, Figures 2 to 4 In the cross-cutting tools 17a, 17b in, the cross-cutting of the tree is achieved by cutting, so that in the final stage of cross-cutting, the cross-cutting tools 17a, 17b finally slightly overlap each other. Alternatively, two movable cross-cutting tools can achieve a scissor-type cross-cutting of the tree, whereby during cross-cutting, the cross-cutting tools cross each other. The cross-cutting device equipped with two movable cross-cutting tools can also achieve a press-cut type cross-cutting of the tree, whereby in the final stage of cross-cutting, the cross-cutting tools 17a, 17b finally abut against each other.

[0034] As an alternative to the embodiment of the drawings, the cross-cutting device 16 can include only one movable cross-cutting tool. With the help of the only one movable cross-cutting tool, the cross-cutting of the tree can be achieved by both a scissor-type solution and a press-cut type solution. In the scissor-type solution, the cross-cutting tool passes through the edge formed by the mating part in the final stage of cross-cutting. In the press-cut type solution, the cross-cutting tool finally abuts against the fixed mating part in the final stage of cross-cutting.

[0035] Figure 5 Schematically shows a control system 20 for controlling the operation of the harvester head 10 to process the tree 9.Figure 5 The control system 20 of the header 10 includes a control unit 21 which, according to the present specification, is configured to specifically control the operation of the cross-cutting device 16, but the control unit 21 may also control the operation of the feeding device 12 and / or the debarking device 14. The control unit 21 of the header 10 may be implemented as part of the control unit 7 of the harvester 1, or the control unit 21 of the header 10 may be a control unit that is physically separated from the control unit 7 of the harvester 1 but is functionally configured to work with the control unit 7 of the harvester 1.

[0036] In the solution proposed herein, the control system 20 is specifically configured to control at least one movable cross-cutting tool of the cross-cutting device 16 of the header 10 to cross-cut the tree 9 into parts such that the control system 20 is configured to determine the thickness MT of the trunk of the processed tree 9 and to control at least one cross-cutting tool to a standby position based on the determined thickness MT of the trunk of the tree 9 for cross-cutting the tree 9, which standby position may also be referred to as the standby position of the cross-cutting tool and which standby position or attitude is different from the original position of the cross-cutting tool, the position or attitude in which the cross-cutting tools 17a, 17b are located when not in use and in which the cross-cutting tools are in their original position. In the said original position, the cross-cutting tools 17a, 17b are typically in such extreme positions or attitudes in which the cross-cutting tools 17a, 17b are as far away as possible from the trunk of the tree 9 passing through the header 10 or are at least located inside the housing that may be arranged for the cross-cutting tools 17a, 17b.

[0037] Specifically with reference to Figures 2 to 5, according to this solution, based on the determined thickness MT of the trunk of the tree 9, at least one cross-cutting tool 17a, 17b is controlled to such a standby position during the processing of the tree 9, i.e., when the harvester head 10 grasps the felled tree 9 for processing the tree 9 by the harvester head 10, and this standby position is different from the original position of the cross-cutting tools 17a, 17b. Then, the feeding of the tree 9 is stopped for cross-cutting the tree 9, and the cross-cutting tools 17a, 17b are thus closer to the tree 9 fed through the harvester head 10 compared to when they are in their original positions, for cross-cutting the trunk of the tree 9. According to this solution, when the tree 9 is being processed by the harvester head 10, the position of at least one cross-cutting tool 17a, 17b is thus deflected from its original position such that the cross-cutting tools 17a, 17b are pre-shifted to such a standby position for cross-cutting the tree 9, i.e., when the feeding of the tree 9 forward through the harvester head 10 is stopped for cross-cutting the tree 9, the cross-cutting tools 17a, 17b are closer to the trunk of the tree 9 compared to their original positions for cross-cutting the tree 9. Controlling the cross-cutting tools 17a, 17b to the above-mentioned standby position may include, for example, when the position of the cross-cutting tools 17a, 17b in their original positions and the determined thickness MT of the trunk of the tree 9 are known, controlling the cross-cutting tools 17a, 17b at a predetermined constant distance SD from the surface of the trunk of the tree 9. Alternatively, as described in more detail below, controlling the cross-cutting tools 17a, 17b to the above-mentioned standby position may include controlling the cross-cutting tools 17a, 17b at a distance D from the surface of the trunk of the tree 9 when the position of the cross-cutting tools 17a, 17b in their original positions and the determined thickness MT of the trunk of the tree 9 are known, and this distance D is determined in some other way based on the determined thickness MT of the tree trunk.

[0038] According to this solution, when the at least one cross-cutting tool 17a, 17b is controlled to face the tree 9 fed through the harvester head 10 and away from the original position before stopping the feeding of the tree 9 for cross-cutting the tree 9, the cross-cutting phase of the tree 9 can be made faster, and thus the production capacity of the harvester head 10 equipped with at least one cross-cutting tool is increased without increasing the energy consumption used in production, and even the energy consumption used in production is reduced, because it is not necessary to return the cross-cutting tools 17a, 17b to their original positions after each cross-cutting measure in order to continue feeding the tree 9 through the harvester head 10. The at least one movable cross-cutting tool can be pre-controlled to be closer to the tree during the feeding of the tree before the tree stops for cross-cutting in order to cross-cut the tree. Alternatively, the at least one movable cross-cutting tool can be pre-controlled to be closer to the tree immediately after the cross-cutting measure is completed and before continuing to feed the tree in the harvester head for the next cross-cutting measure, whereby the at least one movable cross-cutting tool can be controlled to a standby position different from its original position without returning the cross-cutting tool to its original position between successive cross-cutting measures.

[0039] Figure 5 The control unit 21 of the control system 20 is configured according to the solution to control, in particular by means of the control connection CO-17, the operation of the cross-cutting device 16, i.e., the cross-cutting tools 17a, 17b. In addition, the control unit 21 can be configured to control the operation of the feeding device 12 by means of the control connection CO-12 and to control the operation of the debarking device 14 by means of the control connection CO-14. Data describing the operation of the feeding device 12, the debarking device 14 and the cross-cutting device 16, or measurements performed in each of the feeding device 12, the debarking device 14 and the cross-cutting device 16, can be transmitted to the control unit 21 by means of the corresponding data transmission connections MI-12, MI-14 and MI-17.

[0040] The control unit 21 can be, for example, a computer or some other device or component that is obvious to a person skilled in the art and includes a microprocessor or some other microcontroller, which is configured to execute control measures that particularly affect the operation of the cross-cutting knives 17a, 17b of the cross-cutting device 16 based on the measurement data received by the control unit 21 and / or based on data further determined by the control unit 21, via a program stored in the control unit 21. However, it may also execute control measures that affect the operation of the feeding device 12 and the branch removal device 14. In practice, the control measures executed by the control unit 21 provide a desired change in the operation of the feeding device 12, the branch removal device 14, and / or the cross-cutting device 16 in a manner known to a person skilled in the art in response to a change in the pressure and / or volume flow rate and / or flow direction of the pressure medium related to the feeding device 12, the branch removal device 14, and / or the cross-cutting device 16 with respect to each other, and the pressure medium is fed to one or more actuators.

[0041] According to an embodiment, the control system 20 includes at least one sensor P12 arranged in the feeding device 12 and / or at least one sensor P14 arranged in the branch removal device 14. These sensors are configured to determine the thickness MT of the trunk of the tree 9 fed through the harvester head 10 by determining the position of the feeding device of the feeding device 12 and / or the branch removal device of the branch removal device 14, and the feeding device or the branch removal device presses against the trunk of the tree 9. The thickness data MT of the trunk of the processed tree 9 is transmitted to the control unit 21 of the harvester head 10, and the control unit controls at least one of the cross-cutting knives 17a, 17b of the cross-cutting device 16 to a position closer to the trunk of the tree 9 different from its original position based on the thickness data MT to cross-cut the tree 9 when the feeding of the tree 9 is stopped for cross-cutting. In the feeding device 12, the at least one sensor P12 is thus configured to determine the thickness MT of the tree trunk at the point of the feeding roller 13. In the branch removal device 14, the at least one sensor P14 is thus configured to determine the thickness MT of the tree trunk at the front branch removal knife 15a and / or the rear branch removal knife 15b.

[0042] After the trunk of the tree 9 has been cross-cut, in order to continue to feed the tree 9 forward through the harvester head 10, the cross-cutting tools 17a, 17b can be transferred backward towards the original position, for example, to a standby position corresponding to the just-executed cross-cutting measure, or to a position that is slightly closer to the original position than the standby position corresponding to the just-executed cross-cut but does not reach the original position. From this position, before the tree has stopped for the next cross-cutting measure and during the feeding of the tree, the cross-cutting tools in question can be pre-controlled to be closer to the tree again and enter a standby position corresponding to the next tree cross-cutting measure. Alternatively, before continuing to feed the tree in the harvester head for the next cross-cutting measure of the tree trunk, the cross-cutting tools in question can be controlled immediately after the executed cross-cutting measure into a new standby position for the next cross-cutting measure of the tree trunk. As long as the harvester head 10 is processing the same tree, the cross-cutting tools 17a, 17b do not need to be transferred back to the original position after each cross-cutting measure, but only need to be located at a sufficient distance from the tree 9 so that the tree 9 fed forward through the harvester head 10 does not touch the cross-cutting tools 17a, 17b.

[0043] If the processing of the trunk of the tree 9 by the harvester head 10 starts from the thick end of the tree 9, as usually happens when the harvester head 10 processes the tree 9, as the processing of the tree 9 progresses, the thickness of the trunk of the tree 9 generally remains roughly constant or decreases. Therefore, according to an embodiment related to wood processing, after cross-cutting the trunk of the tree 9, the cross-cutting tools 17a, 17b can be transferred back to the standby position of the cross-cutting tools 17a, 17b, where the cross-cutting tools 17a, 17b were in the standby position before the start of the most recently executed cross-cutting measure.

[0044] According to an embodiment, the control system 20 includes at least one sensor P17a, P17b arranged to the cross-cutting device 16, and the at least one sensor P17a, P17b is used to determine the positions MP17a, MP17b of the at least one cross-cutting tool 17a, 17b, for example, the positions relative to the original positions of the cross-cutting tools 17a, 17b. The at least one sensor P17a, P17b generates accurate feedback data regarding the actual positions MP17a, MP17b of the cross-cutting tools 17a, 17b for controlling the positions of the cross-cutting tools 17a, 17b based on the determined thickness MT of the trunk of the tree 9 so that the tree fed forward through the harvester head 10 does not touch the cross-cutting tools 17a, 17b.

[0045] According to an embodiment, the actuating cylinders 19a, 19b of the tool holders 18a, 18b of the cross-cutting device 16 include at least one sensor P17a, P17b for detecting the operating position of the actuating cylinders 19a, 19b and for detecting the positions MP17a, MP17b of the cross-cutting tools 17a, 17b in the cross-cutting device 16, e.g., the positions relative to the original positions of the cross-cutting tools 17a, 17b, via the operating positions of the actuating cylinders 19a, 19b. The positions of the cross-cutting tools 17a, 17b can be determined, for example, based on the pulse data generated by the respective sensors P17a, P17b. Figure 4 Also schematically shown are the sensors P17a, P17b connected to the actuating cylinders 19a, 19b.

[0046] According to an embodiment, the control system 20 is configured to determine the distance S between the at least one cross-cutting tool 17a, 17b and the measurement point of the thickness of the trunk of the tree 9, to determine substantially continuously the thickness MT of the trunk of the processed tree, to determine substantially continuously the tree feed speed MS and / or the tree feed acceleration MA, and to control substantially continuously the position of the at least one cross-cutting tool 17a, 17b based on the determined thickness MT of the trunk of the tree, the distance S between the at least one cross-cutting tool 17a, 17b and the measurement point of the thickness of the trunk of the tree 9, and the tree feed speed MS and / or the tree feed acceleration MA.

[0047] The distance S between the at least one cross-cutting tool 17a, 17b and the measurement point of the thickness of the trunk of the tree 9 is a constant specific to the harvester head, whereby the determination of the distance between the at least one cross-cutting tool 17a, 17b and the measurement point of the thickness of the trunk of the tree 9 actually includes setting the constant distance S as a parameter of the control unit 21.

[0048] When substantially continuously determining the thickness of the trunk of the processed tree 9, at least one sensor P12 is arranged on the feeding device 12 and / or at least one sensor P14 is arranged on the debarking device 14 so as to substantially continuously measure the thickness MT of the trunk of the tree 9 fed forward through the harvester head 10 in the above-described manner. The tree feed speed MS and / or the feed acceleration MA of the tree 9 can be determined substantially continuously, for example, by at least one sensor S12 arranged in the feeding device 12, which sensors are configured to measure, for example, the rotational speed and / or acceleration of the feed rollers 13. The tree feed speed MS and / or the feed acceleration MA of the tree 9 determine the longitudinal offset of the trunk of the tree 9 relative to the measurement point of the thickness of the trunk of the tree 9 and the cross-cutting tools 17a, 17b of the cross-cutting device 16.

[0049] The substantially continuous determination of the thickness of the trunk of the tree 9 and the substantially continuous determination of the feed speed and / or feed acceleration of the tree 9 clearly aligns the specifically individually determined thickness MT of the trunk of the tree 9 with a specific point on the tree 9 in its longitudinal direction, whereby the position of the at least one cross-cutting tool 17a, 17b is substantially continuously based on the determined thickness MT of the trunk of the tree 9, the distance S between the at least one cross-cutting tool 17a, 17b and the measuring point of the thickness of the trunk of the tree 9, and the feed speed MS and / or feed acceleration MA of the tree 9.

[0050] According to an embodiment, the determined thickness MT of the tree 9 is the thickness of the thick end of the tree 9. Since the treatment of the trunk of the tree 9 by the harvester head 10 usually starts from the thick end of the tree 9, the thickness of the trunk of the tree 9 generally remains substantially constant or decreases as the treatment of the tree 9 progresses. Thus, it can be considered that the thickness of the thick end of the tree 9 represents the maximum thickness of the trunk of the tree 9, which maximum thickness can be used as the thickness MT of the tree trunk specifically determined for the entire length of the trunk of the tree 9 for pre-controlling the cross-cutting tools 17a, 17b of the cross-cutting device 16 to a standby position closer to the trunk of the tree 9 for cross-cutting the tree 9. Thus, the determination of the thickness of the trunk of the tree 9 does not necessarily have to be continuous. However, compared with the above-described continuous determination of the thickness of the tree trunk and the continuous control of the position of at least one cross-cutting tool based on this determination, the increase in productivity provided by this embodiment is still small, because as the treatment of the tree 9 progresses, the thickness of the trunk of the tree 9 usually decreases, and the cross-cutting tools 17a, 17b may unnecessarily remain away from the surface of the trunk of the tree 9 waiting for the next cross-cutting.

[0051] According to an embodiment, the control system 20 is configured to determine a measured value corresponding to a predetermined percentage PP of the determined thickness MT of the trunk of the tree 9 and to control the at least one cross-cutting tool 17a, 17b to a standby position for cross-cutting the tree 9, wherein the cross-cutting tools 17a, 17b are located at a distance D substantially corresponding to the determined distance from the trunk of the tree 9. The percentage PP can be, for example, 10% to 20% of the determined thickness MT of the tree. When the cross-cutting tools 17a, 17b are not controlled to be closer to the trunk of the tree 9 compared to the distance D corresponding to the discussed percentage PP for cross-cutting the tree 9, it can be ensured that the tree 9 fed through the harvester head 10 does not hit the cross-cutting tools 17a, 17b. At the same time, the cross-cutting tools 17a, 17b can still be controlled to be quite close to the tree 9 when waiting for the tree 9 to stop for cross-cutting compared to when the cross-cutting tools 17a, 17b are in their original positions, which significantly speeds up the cross-cutting measures for the tree 9 and thus increases the productivity of the harvester head 10 equipped with at least one mobile cross-cutting tool.

[0052] According to an embodiment, the above percentage PP can also vary such that the greater the percentage PP, the smaller the thickness of the trunk of the measured tree 9.

[0053] According to an embodiment, the distance of the cross-cutting tool in the standby position from the tree is determined based on the diameter of the tree using a fixed or variable percentage or some other formula as described above, but the distance is additionally provided with a fixed minimum value and / or maximum value, and the cross-cutting tools 17a, 17b will not be controlled in the standby position when approaching or moving away from the tree 9. These measures can ensure that, in addition, when processing the top of the tree 9, the cross-cutting tools 17a, 17b will not be controlled too close to the trunk of the tree 9 such that the tree 9 fed forward through the harvester head 10 will hit the cross-cutting tools 17a, 17b controlled in the standby position, but the cross-cutting tools 17a, 17b will not be controlled too far from the tree 9 such that a significant enhancement of the operation of the cross-cutting device 16 cannot be achieved.

[0054] According to an embodiment, the control system 20 is configured to determine, via the used harvester head 10, the thickness MT of the trunk of the tree 9 starting from the thick end of the tree 9 or as close as possible to the thick end of the trunk of the tree 9, and an estimated value of the change in the thickness of the trunk near the top of the trunk based on the determined thickness MT and a tree-species-specific trunk diagram stored previously for the tree species being processed. Based on the estimated value, the control unit 21 of the control system 20 can determine an estimated value of the thickness of the cross-cut point / points of the trunk of the tree 9, and further determine, based on this estimated value, the distance D to which the cross-cutting tools 17a, 17b can be controlled in the standby position for cross-cutting the trunk of the tree 9.

[0055] According to an embodiment, the control system 20 is configured to control the at least one cross-cutting tool 17a, 17b to the original position in response to feeding the tree backward through the harvester head 10, so as to ensure that the tree 9 fed backward through the harvester head 10 does not hit the cross-cutting tools 17a, 17b. Alternatively, the cross-cutting tools 17a, 17b can also be controlled to a determined standby position or some other standby position, for example, based on the thickness of the thick end of the tree, and these other standby positions should also be sufficient to prevent the tree fed backward in the harvester head 10 from hitting the cross-cutting tools 17a, 17b.

[0056] When the felled tree 9 is completely processed by the harvester head 10, the at least one cross-cutting tool 17a, 17b is controlled back to the original position to wait for the next tree to be processed.

[0057] Figures 6a to 6dThe harvester head 10 is shown schematically from the rear, and the crosscutting device 16 of the harvester head 10 for crosscutting the felled trees. Figure 6a In FIG, the crosscutting device 16 is shown in a state of use, wherein the felled tree 9 has been gripped by the feed means of the feed device 12 and / or the delimbing means of the delimbing device 14 and wherein the crosscutting knives 17a, 17b of the crosscutting device 16 are still in their original position. Figures 6a to 6d The feeding device 12 and the feeding means therein as well as the delimbing device 14 and the delimbing means therein are not shown.

[0058] exist Figure 6b , the crosscutting device 16 is shown in use, wherein, in order to crosscut the tree 9, the crosscutting knives 17a, 17b have been controlled based on the determined thickness MT of the tree 9 to move away from their original position and toward the trunk of the tree 9 to a standby position different from the original position for crosscutting the tree 9. Figure 6b In FIG, the crosscut knives 17a, 17b have thus been slightly offset from their original position towards the trunk of the tree 9 to a certain distance from the trunk of the tree 9. Said distance may be the above-mentioned predetermined constant distance SD or some above-mentioned distance D determined, for example, based on the determined thickness MT of the trunk of the tree 9. Figure 6b In the case of use, the thickness of the trunk of the tree 9 is still large, that is, Figure 6b In the case of use, the cross-sectional measure of the tree 9 will be oriented close to the thick end of the tree 9.

[0059] exist Figure 6c In FIG, the crosscutting device 16 is shown in a use situation, wherein the tree 9 has been crosscut so that the thickness of the tree 9 to be crosscut is already small, i.e. Figure 6c In the case of use, the crosscutting measures of the trees 9 will be clearly oriented compared to Figure 6b The situation in is closer to the top of the tree. Figure 6c In the case of use, the crosscut knives 17a, 17b have therefore been displaced to a greater extent from their original position towards the trunk of the tree 9 to a certain distance from the trunk of the tree 9. Said distance may thus be the aforementioned predetermined constant distance SD or some aforementioned distance D determined, for example, based on the determined thickness MT of the trunk of the tree 9.

[0060] exist Figure 6d In FIG, the crosscutting device 16 is shown in a situation of use in which a crosscut of a tree 9 has been carried out, wherein the crosscutting knives 17a, 17b slightly overlap with respect to one another at the end of the crosscut of the tree 9.

[0061] Figures 2 to 4 as well as Figures 6a to 6dThe embodiments basically include two cross-cutting tools, which have substantially the same shape and size and are configured to move in a substantially mirror image along their paths. Alternatively, an embodiment including two movable cross-cutting tools may also include cross-cutting tools that are different with respect to their size or shape or the paths, whereby, before cross-cutting the tree 9, the standby position or standby attitude of the cross-cutting tools that is different from their original positions is not symmetric with respect to the tree 9, or after the cross-cutting of the tree 9 is completed, the position or attitude of the cross-cutting tools is not symmetric with respect to the tree 9.

[0062] Those skilled in the art will find it obvious that, with the progress of technology, the basic concept of the present invention can be implemented in many different ways. Therefore, the present invention and its embodiments are not limited to the examples described above, but may vary within the scope of the claims.

Claims

1. A method for processing wood by a harvester head of a forestry work machine, in which method: The trunk of the felled tree is cross-cut into parts by a cross-cutting device of the harvester head, the cross-cutting device including at least one mobile cross-cutting tool, characterized in that the thickness of the tree trunk is determined, and at least one mobile cross-cutting tool is controlled to a standby position different from the original position of the cross-cutting tool based on the determined thickness of the tree trunk for cross-cutting the tree.

2. The method according to claim 1, characterized in that after cross-cutting the tree trunk, at least one mobile cross-cutting tool is controlled to a standby position different from the original position of the cross-cutting tool without returning the cross-cutting tool to the original position of the cross-cutting tool.

3. The method according to claim 1 or 2, characterized in that, The felled tree is fed in the harvester head by a feeding device of the harvester head, and before cross-cutting the tree trunk, the felled tree is processed in at least one of the following ways in the harvester head: the tree is debranched by a debranching device of the harvester head, or the tree is debarked by the combined action of the feeding device and the debranching device directed at the bark of the tree.

4. The method according to any one of the preceding claims, characterized in that, The cross-cutting device of the harvester head includes two mobile cross-cutting tools, and based on the determined thickness of the tree trunk, two of the cross-cutting tools are controlled to standby positions different from the original positions of the cross-cutting tools for cross-cutting the tree.

5. The method according to any one of the preceding claims, characterized in that, The thickness of the tree trunk is determined by at least one of the following ways: determining the position of a feeding member of the feeding device that presses against the tree trunk; or determining the position of a debranching member of the debranching device that presses against the tree trunk.

6. The method according to any one of the preceding claims, characterized in that the distance between the at least one cross-cutting tool and the measurement point of the thickness of the tree trunk is determined, the thickness of the tree is determined substantially continuously, the tree feeding speed and / or the tree feeding acceleration are determined substantially continuously, and the at least one cross-cutting tool is controlled substantially continuously based on the determined thickness of the tree trunk, the distance between the at least one cross-cutting tool and the measurement point of the thickness of the tree trunk, and the tree feeding speed and / or the tree feeding acceleration.

7. The method according to any one of the preceding claims, characterized in that, The at least one mobile cross-cutting tool is controlled to the standby position by controlling the cross-cutting tool at a determined distance from the surface of the tree, the determined distance being one of the following: a predetermined constant distance, or a distance determined based on at least one thickness of the tree.

8. A control system for controlling the operation of a harvester head of a forestry work machine, the harvester head including a cross-cutting device equipped with at least one mobile cross-cutting tool, and the control system being configured to control the cross-cutting device for cross-cutting a felled tree into parts, It is characterized in that the control system being configured to: determine the thickness of the tree trunk, and Based on the determined thickness of the tree trunk, at least one mobile cross-cutting tool is controlled to a standby position different from the original position of the cross-cutting tool to cross-cut the tree.

9. The control system according to claim 8, wherein The control system is configured to control the at least one mobile cross-cutting tool to a standby position different from the original position of the cross-cutting tool after cross-cutting the tree trunk without returning the cross-cutting tool to the original position of the cross-cutting tool.

10. The control system according to claim 8 or 9, characterized in that, The harvester head includes a feeding device and a debarking device, and the control system is configured to control the feeding device to feed the felled tree in the harvester head and control the processing of the felled tree in the harvester head in at least one of the following ways before cross-cutting the tree trunk: controlling the debarking device to debark the tree; or controlling the feeding device and the debarking device to debark the tree by the combined action of the feeding device and the debarking device directed at the bark of the tree.

11. The control system according to any one of claims 8 to 10, characterized in that, The cross-cutting device of the harvester head includes two mobile cross-cutting tools, and the control system is configured to control two of the cross-cutting tools to a standby position different from the original position of the cross-cutting tool based on the determined thickness of the tree trunk to cross-cut the tree.

12. The control system according to any one of claims 8 to 11, characterized in that, The control system includes at least one of the following: at least one sensor arranged in the feeding device, the at least one sensor being used to determine the thickness of the tree trunk by determining the position of the feeding component of the feeding device, the feeding component pressing against the tree trunk; or at least one sensor arranged in the debarking device, the at least one sensor being used to determine the thickness of the tree trunk by determining the position of the debarking component of the debarking device, the debarking component pressing against the tree trunk.

13. The control system according to any one of claims 8 to 12, characterized in that, The control system includes at least one sensor arranged in the cross-cutting device, the at least one sensor being used to determine the position of the at least one cross-cutting tool relative to the original position of the at least one cross-cutting tool.

14. The control system according to claim 13, characterized in that, The sensor is arranged to an actuator for controlling the position of the cross-cutting tool.

15. The control system according to any one of claims 8 to 14, characterized in that The control system is configured to: determine the distance between the at least one cross-cutting tool and the measurement point of the thickness of the tree trunk, substantially continuously determine the thickness of the tree, substantially continuously determine the tree feeding speed and / or the tree feeding acceleration, and substantially continuously control the position of the at least one cross-cutting tool based on the determined thickness of the tree trunk, the distance between the at least one cross-cutting tool and the measurement point of the thickness of the tree trunk, and the tree feeding speed and / or the tree feeding acceleration.

16. The control system according to any one of claims 8 to 15, characterized in that, The control system is configured to control the at least one mobile cross-cutting tool to the standby position by controlling the cross-cutting tool at a determined distance from the surface of the tree, the determined distance being one of the following: a predetermined constant distance, or a distance determined based on at least one thickness of the tree.

17. The harvester head of a forestry operation machine, the harvester head comprising a cross-cutting device, the cross-cutting device comprising at least one mobile cross-cutting tool for cross-cutting a tree trunk. Characterized in that, the cross-cutting device comprises at least one actuator for changing the position of the at least one cross-cutting tool by using the actuator, and the at least one actuator is provided with at least one sensor for indicating the position of the cross-cutting tool in the cross-cutting device for controlling the cross-cutting tool to a standby position different from the original position of the cross-cutting tool for cross-cutting a tree trunk.

18. The header of a harvester according to claim 17, wherein, The cross-cutting device comprises two mobile cross-cutting tools, and the cross-cutting device comprises at least two actuators for changing the positions of the two cross-cutting tools by at least one actuator corresponding to each cross-cutting tool, and at least one actuator corresponding to each cross-cutting tool comprises at least one sensor for indicating the position of the cross-cutting tool in the cross-cutting device for controlling the cross-cutting tool to a standby position different from the original position of the cross-cutting tool for cross-cutting a tree trunk.

19. The header of a harvester according to claim 17 or 18, characterized in that, The cross-cutting device comprises a tool holder for fastening the cross-cutting tool to the cross-cutting device and an actuator cylinder connected to the tool holder, the actuator cylinder constituting an actuator for changing the position of the cross-cutting tool in the cross-cutting device, and the actuator cylinder comprises at least one sensor for indicating the operating position of the actuator cylinder and indicating the position of the cross-cutting tool in the cross-cutting device via the operating position of the actuator cylinder.

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