Device for determining the optimum position of a wood transporter in relation to a storage destination

Abstract

The invention relates to a device (10) for determining the optimum position of a wood transporter (30) having a gripper arm (32), which has an adjustable length and which can be rotated about an axis of rotation (34), for transferring a wood load (36) relative to a storage destination (48) for the wood, comprising an input interface (14) for receiving storage information relating to the storage destination (48) for the wood and for receiving gripping point data relating to a gripping point (40) on the wood load (36) for the gripper arm (32); an evaluation unit (12) for determining the position of the storage destination (48) based on the storage information for the wood and for establishing an optimum gripper arm length (44) based on the gripping point data, wherein the evaluation unit (12) is designed such that, from the storage information and the gripper arm length (44), it determines a gripper arm position value for an optimum gripper arm position (56) of the axis of rotation (34) of the gripper arm (32) in relation to the position of the storage destination (48), and an output interface (16) for transmitting the gripper arm position value to a further processing unit (26).

Description

[0001] Device for determining the optimal position of a timber transporter in relation to a storage destination

[0002] The present invention relates to a device for determining the optimal position of a timber transporter with a length-adjustable gripper arm rotatable about a rotation axis for transferring a timber load relative to a storage destination for the timber, as well as to a system comprising such a device, a sensor, and a further processing unit. Furthermore, the invention relates to a method for determining the optimal position of a timber transporter relative to a storage destination.

[0003] In the timber industry, logs are often transferred from one means of transport to another. This requires that the two means of transport be positioned relative to each other so that the logs can be moved from one means of transport to the other. Typically, one of the means of transport, often a timber truck or log-carrying truck, has a grab arm to enable loading and unloading of the timber truck. Transfer often takes place either between two trucks or between a truck and a railway wagon designed to accommodate logs. When transferring from a truck to a wagon, the truck must be positioned so that the transfer process is possible, allowing the timber to be gripped by the truck's grab arm and placed on the wagon.

[0004] Sometimes the wood is also placed by a timber transporter on a designated area on the ground, for example in a sawmill or for temporary storage, so that it can later be picked up and transported further by the same or another timber transporter.

[0005] When unloading or transferring wood from a timber transporter to a surface on the ground, automated unloading can occur. DE 10 2020 205 627 A1 proposes using a camera to detect round timber on a transport system and handling it autonomously by controlling a gripper arm. Furthermore, it is proposed to define the storage area and detect it with a sensor. Based on this, a sequence for handling the round timber or logs transferred on the transport system is determined. This enables automated unloading of a transport system.

[0006] EP 3 333 113 A1 proposes equipping a vehicle for loading objects with a detection device that can detect the surroundings of the vehicle and display them in an overview image. Furthermore, a target image can be generated, which includes a target marker and is displayed in a display unit of the vehicle, where it is superimposed on the overview image. When the vehicle is in a position where a target shown in the overview image coincides with the target marker, an optimal vehicle position is detected.

[0007] US 2014 / 0261152 A1 discloses a system for indicating the parking position and direction of a dump truck, which enables the operator of an excavator to specify the parking position and direction to the dump truck in order to enable easy loading.

[0008] Overall, when transferring logs from one vehicle to another, there is still a need to be able to carry out the transfer process as efficiently, quickly and safely as possible.

[0009] To achieve this object, the present invention relates, in a first aspect, to a device for determining the optimal position of a timber transporter with a gripper arm that is adjustable in length and rotatable about a rotation axis for reloading a timber load in relation to a storage destination for the timber, comprising: an input interface for receiving storage information relating to the storage destination for the timber and for receiving gripping point data relating to a gripping point on the timber load for the gripper arm; an evaluation unit for determining the position of the storage destination based on the storage information for the timber and for setting an optimal gripper arm length based on the gripping point data, wherein the evaluation unit is designed to determine a gripper arm position value for an optimal gripper arm position of the rotation axis of the gripper arm in relation to the position of the storage destination from the storage information and the gripper arm length;an output interface for sending the gripper arm position value to a further processing unit.;

[0010] In a further aspect, the invention relates to a system for determining the optimal position of a timber transporter with a gripper arm that is adjustable in length and rotatable about a rotation axis for reloading a timber load with respect to a storage destination for the timber, comprising the device described above, a sensor for detecting storage information relating to the storage destination for the timber and a further processing unit for processing the gripper arm position value.

[0011] Further aspects of the invention relate to a timber transporter and a method designed according to the device, as well as a computer program product with program code for carrying out the steps of the method when the program code is executed on a computer, as well as a storage medium on which a computer program is stored which, when executed on a computer, effects execution of the methods described therein.

[0012] Preferred embodiments of the invention are described in the dependent claims. It is understood that the method and the computer program product can be implemented according to the embodiments defined for the device and the system.

[0013] It is intended that the device can be used to determine the optimal position of the timber transporter based on an optimal gripper arm length. The gripper arm length is based on the gripping point data for the load stored on the transporter, which can consist of round timber, wooden sticks, or logs. This gripping position is usually in the middle of the length. The gripping position usually reflects the center of gravity of the logs or rod-like timber. The present invention therefore has the advantage that the timber transporter is positioned in relation to the storage destination for the timber such that the gripper arm length can be maintained for the entire reloading process, loading and unloading. Thus, adjusting the length of the gripper arm is not necessary. The gripper arm merely rotates to transfer the load from one transport system to the other.

[0014] Since the gripper arm length doesn't need to be varied during reloading, loading and unloading is faster. Furthermore, safe work is ensured, as the position of the load and gripper arm is always predictable.

[0015] To determine the optimal position of the timber transporter, in addition to the gripper arm length, which results from the load and the gripping point data for a gripping point on the load, storage information regarding the storage destination for the timber is necessary. The storage destination is the location to which unloading takes place or from which loading of the timber transporter takes place. The storage destination can be determined and specified by a single point or, if the storage destination is known, by its external shape and / or dimensions. If the storage destination is a railway wagon, for example, its external dimensions and contour can represent the storage destination. The storage destination can also represent the location where the center of gravity of the timber or the gripping position of the gripper arm is at the destination.

[0016] By determining the optimal storage destination and using the specified gripper arm length, an optimal gripper arm position for the gripper arm's rotation axis can be determined. This makes it possible to carry out reloading processes or loading and unloading with only one rotational movement each. This allows for faster reloading. This is particularly important because logs or round timber are usually loaded individually or in small quantities. Therefore, frequent repetition of the gripper arm movement is necessary. Since the gripper arm length does not need to be changed due to the optimal gripper arm position, the reloading, loading, or unloading process can be significantly accelerated.

[0017] Thus, to determine the storage target and its position, storage information received from the input interface is evaluated. This storage information can be provided by a central control center and transmitted to the device. Transmission can preferably be wireless, for example, via WLAN, mobile communications, or other wireless signal transmission methods.

[0018] In a preferred embodiment, the input interface is designed to receive sensor signals from an optical sensor. The sensor signals comprise the storage information regarding the storage destination for the timber. In this case, a central control center is not required. Instead, the sensor signals from the optical sensor are evaluated. The optical sensor is preferably a camera that captures an image of the surroundings. The camera can preferably be mounted on the timber transporter. Likewise, the camera can preferably be part of the environmental monitoring system of the timber transporter. The camera can be integrated into the vehicle.

[0019] Image analysis can be performed to extract the storage information from the surrounding image. For example, the image can be analyzed using a KL approach to identify and detect potential targets for unloading or picking up logs. It is also possible to use estimation algorithms or other known estimators to infer the storage target for the timber and its location from the image data and the storage information.

[0020] The optical sensor is therefore preferably an imaging sensor, which is a camera and generates an image of the storage target. The storage target position can be determined using image analysis and estimation.

[0021] In a preferred embodiment, the evaluation unit is designed and configured to categorize the storage destination from the received storage information. Different categories of storage destinations can be used here. For example, one category can include railway wagons, another category timber transporters or trucks with trailers that can transport logs. A further category could relate to designated storage locations on the ground. An approach based on artificial intelligence (Kl) can also be used for recognition and categorization. By means of categorization, it is possible to recognize storage destinations suitable for timber transport. For example, it is possible to distinguish whether a wagon is suitable for receiving logs or long timber or whether it is, for example, a closed wagon. The categorization therefore also serves to recognize storage destinations suitable for timber transport, such as wagons.

[0022] In a preferred embodiment, the evaluation unit is capable of detecting the storage capacity of a storage destination. In particular, the storage capacity of categorized storage destinations is detected. Different classes can be used here. For example, a wagon or trailer capable of transporting timber can have different states, such as empty, partially occupied, or fully occupied. If the wagon or trailer is fully occupied, no further timber can be placed in the wagon or on the trailer. This state can be taken into account when determining the optimal position for the timber transporter.

[0023] Storage targets can be displayed in a display unit. The category or storage capacity can be displayed as an absolute value, a percentage, an estimated value, or classified into predefined ranges.

[0024] In a preferred embodiment, the position of the storage target is determined or estimated by the evaluation unit relative to the gripper arm position of the gripper arm. The gripper arm position is preferably processed in longitudinal and lateral coordinates. On this basis, relationships to the other positions can be easily established. Processing is simple and requires little computational effort.

[0025] In a preferred embodiment, the area around the timber transporter or the vehicle as well as the storage destination can be shown on a display unit, such as a screen. A display already present in the vehicle can also be used for this purpose. In addition, it is possible to display the categorization in the form of graphic elements. For example, an empty or only partially loaded wagon or trailer can be enclosed by a frame, for example a green frame in a color display. An occupied wagon or trailer can be crossed out on the display or surrounded by a frame of a different color, for example red. In this way, a non-existent storage destination can be identified.

[0026] In a preferred embodiment, a timber transporter position is determined from the determined gripper arm position using the evaluation unit. The timber transporter position can be used as a target for a timber transporter movement. For example, it is possible to also display a calculated or determined timber transporter position on a vehicle display. This position then becomes the target of a movement to which the transporter must be moved. With a "surround view," the driver can be shown when the vehicle has reached the determined timber transporter position. This makes it significantly easier for the driver to assume the optimal position for an optimal reloading or loading / unloading process. Automated, semi-autonomous, autonomous, or assisted driving of the vehicle to the optimal timber transporter position can also be provided.When moving autonomously or semi-autonomously to the optimal timber transporter position, driver confirmation may be required before starting the driving or shunting operation. Especially when the vehicle's environmental monitoring is present, an autonomous or semi-autonomous journey to the destination near the storage destination is preferred. GPS data can optionally be available and used to support this. The timber transporter's position can also be shown on a vehicle display. The driver can then visually monitor the shunting operation, especially if the vehicle is also shown in surround view, for example. Connectivity to a central control center is also possible, allowing further monitoring of a shunting operation.

[0027] In a preferred embodiment, the evaluation unit can be configured to take into account a predetermined or to-be-determined minimum distance from the storage target position when determining the timber transporter position. The minimum distance between the storage position and the timber transporter position can be determined, for example, for occupational safety reasons. This is intended to prevent the timber transporter from colliding with the storage target, resulting in damage or dangerous situations.

[0028] A preferred embodiment provides that the position of the storage destination and / or the timber transporter position are transmitted to a display unit and displayed there. This allows monitoring by the driver, especially if the display unit is located in the driver's cab, for example, on the dashboard. The driver then has the option of selecting from several drop-off or storage destinations, for example, if several empty or partially occupied wagons are present.

[0029] Alternatively or optionally, the position of the storage destination and / or the timber transporter position can be output to a processing unit for further processing of the position data. The processing unit can be, for example, a navigation system or a system for autonomous or semi-autonomous driving of the vehicle. The route can be calculated from the determined positions, and an autonomous journey can be initiated.

[0030] When determining the timber transporter position, the relative position of the gripper arm and the pivot point of the gripper arm to the timber transporter is preferably taken into account.

[0031] For example, the gripper arm can be positioned centrally between the two sides of the vehicle. It is also possible for the gripper arm to be positioned on one side of the vehicle. The position of the timber transporter is then determined by the gripper arm's position relative to the timber transporter.

[0032] With regard to the system according to the invention, it is preferably provided that a monitoring device for monitoring the surroundings of the vehicle or the timber transporter is included. The monitoring device can receive position values ​​of the sensors from the device. The monitoring device can be integrated into the vehicle or timber transporter. Preferably, the monitoring device can include collision monitoring to avoid collisions with other vehicles or persons in the vicinity of the timber transporter. The monitoring device can also use image-based vehicle recognition, such as is used, for example, in systems for avoiding rear-end collisions. A safety distance to other vehicles that are not an unloading target can also be stored.

[0033] Storage targets can be recorded and evaluated using optical sensors, such as cameras. Storage targets can also be specified by a central control center. The specification can be based on other processes or inventory management programs. Overarching optimization goals can influence the selection of storage targets.

[0034] The evaluation unit is preferably designed to further process the sensor signals from the imaging sensor and to determine the position of the storage destination for the timber load from the sensor signals containing the storage information. Camera images can be evaluated.

[0035] If multiple storage destinations are detected, the first available destination is chosen preferentially, or the driver can select a storage destination individually. Additional selection criteria are conceivable. These can be specified, e.g., by a central control center.

[0036] The present invention is particularly suitable for the timber industry, where long wooden poles or round logs are reloaded. This typically involves reloading from a timber transporter or truck with a trailer capable of transporting timber, or a semi-trailer truck, to another vehicle or to railway wagons suitable for timber transport. In principle, however, the invention is also suitable and applicable for other elongated, rod-shaped, or tubular objects or loads that are loaded individually or in small quantities. The invention is particularly suitable for vehicles equipped with a gripper arm.

[0037] The invention is described and explained in more detail below using selected exemplary embodiments in conjunction with the accompanying drawings. Figure 1 shows a schematic representation of the device according to the invention;

[0038] Fig. 2 shows a system with the device from Fig. 1;

[0039] Fig. 3 a timber transporter before reloading timber;

[0040] Fig. 4 a reloading situation with a timber transporter when reloading timber onto a railway wagon;

[0041] Fig. 5 a reloading situation with a timber transporter for selecting the optimal timber transporter position;

[0042] Fig. 6 a reloading situation with a timber transporter with a gripper arm and a transporter without a gripper arm; and

[0043] Fig. 7 is a schematic representation of the method according to the invention for determining the optimal position of a timber transporter.

[0044] Fig. 1 shows a device 10 for determining the optimal position of a timber transporter 30. The device 10 comprises an evaluation unit 12, an input interface 14 connected to the evaluation unit, and an output interface 16. The input interface 14 serves to receive storage information concerning a storage destination for timber and to receive gripping point data concerning a gripping point on a timber load for a gripper arm. The output interface 16 is designed to transmit gripper arm position values ​​to a further processing unit, wherein the gripper arm position values ​​are determined by the evaluation unit 12 based on the storage information and the gripping point data, as well as a gripper arm length.

[0045] Fig. 2 shows a system 20 comprising the device 10 with the evaluation unit 12, the input interface 14, and the output interface 16. A sensor 22 is connected to the input interface 14, which is preferably an optical sensor and, in the embodiment shown here, is a camera 24 that can be integrated, for example, in a vehicle. The sensor 22 supplies sensor signals with storage information relating to the storage destination for the wood to be loaded. A further processing unit 26 is connected to the output interface 16, which can be, for example, an ECU (Electronic Computing Unit) of a vehicle. The further processing unit 26 can comprise a navigation unit or a navigation system, as well as a system for autonomous or semi-autonomous driving, and other vehicle systems that further process gripper arm position values ​​for the gripper arm position of the gripper arm's rotation axis.In addition to gripper arm position values, values ​​relating to the position of a vehicle, for example a timber transporter, can also be transmitted to the further processing unit 26 via the output interface 16. The timber transporter position data can, for example, be fed to a navigation system in order to drive the vehicle autonomously to a desired destination position or to assist the driver in locating this position. For example, the optimal position of the timber transporter can be displayed graphically on a display, for example a display of a navigation system. It is also possible to use a surround view display of the vehicle including its surroundings to indicate the destination, i.e. the optimal position of the timber transporter, for reloading timber. An optimal route can be calculated and displayed on a display.

[0046] The system 20 may also include a monitoring device 28 connected to the device 10 via an optional monitoring interface 18.

[0047] The system 20 can be part of a vehicle or timber transporter 30, whereby parts of the system 20 can also be integrated into existing electronic units of the vehicle or timber transporter 30. For example, the typical ECU of a vehicle can calculate and process the processing of image data, the recognition of unloading destinations, and the calculation of the optimal position or final position of the timber transporter, particularly with respect to the storage destination. The calculation of display information regarding the optimal final position of the vehicle at a selected or preferred storage destination can also take place in the ECU. A display of the timber transporter 30 can, for example, display recognized or possible storage destinations as well as possible final positions of the vehicle.It is also possible to offer options for confirming or selecting storage destinations or autonomous or semi-autonomous driving or shunting operations via a user interface or a combination of display and control unit, such as a touchscreen. Optionally, GPS data from the timber transporter can be used to calculate the destinations or positions. It is also possible to establish connectivity or a connection, such as a wireless connection, to a central control center, for example, to obtain storage information for the storage destination or to select one of several storage destinations.

[0048] Fig. 3 shows a timber transporter 30 with a length-adjustable gripper arm 32 that can rotate about a pivot axis 34. A timber load 36 comprising individual logs 38 is supported on the timber transporter 30. A gripping point 40 of the logs 38 results from the center of gravity of the logs 38, which is located in the middle of the longitudinal extent of the logs 38. A distance 42 between the pivot axis 34 and the gripping point 40 forms the gripper arm length 44, which is set for the gripper arm 32 so that it can grip and reload a log 38. In this case, the reloading is to take place from the timber transporter 30 to a wagon 46 of a train.

[0049] Fig. 3 shows two wagons 46a and 46b capable of transporting timber. Wagon 46a is loaded with only one log 38 and thus has free transport capacity. Wagon 46b, on the other hand, is loaded with a full load of timber 36 and cannot accommodate any additional logs. It therefore has no further transport capacity and is therefore classified as occupied.

[0050] To reload the timber load 36 from the timber transporter 30 to one of the wagons 46, a storage destination must first be identified. This storage destination 48 is formed by the wagon 46a, since it is only partially occupied. For the reloading process, the timber transporter 30 must be moved to an optimal timber transporter position 50. This is the optimal position for reloading the timber load 36 from the timber transporter 30 to a wagon 46, whereby the gripper arm length 44 can remain constant. The timber transporter 30 is moved along a trajectory 52 to the timber transporter position 50.

[0051] After the target position has been calculated as the timber transporter position 50, it can be displayed in the camera image on a display in the timber transporter 30. Alternatively, additional images from other cameras can be used, for example, to show a surround view image into which the target position is projected. The path to the target position, i.e., the trajectory 52 to the timber transporter position 50, is continuously calculated by a navigation system. The closer the timber transporter 30 is to the destination, the more accurately the trajectory 52 can be calculated, so that the vehicle, i.e., the timber transporter 30, reaches the timber transporter position 50 as the desired destination and in the desired orientation. Steering assistance can preferably be displayed or executed at any time; for example, a correction angle for the timber transporter 30 can be determined and specified. It is also possible to display the track taken by the vehicle.It is also conceivable to show the trajectory as an overlay in the direction of travel as long as the target position is still in the field of vision. Alternatively, a surround view can be used if the vehicle is already very close (less than 20 m) to the target position. Advantageously, a warning can be issued if the vehicle is positioned in such a way that, taking into account a vehicle model, the timber transporter position 50 can no longer be reached in forward gear alone. The driver can then be prompted to either maneuver or change the steering angle. When maneuvering, a minimum length for reversing can be recommended in order to be able to make a successful new attempt to reach the timber transporter position 50 in relation to the storage target 48.

[0052] To identify the storage destination 48 in the form of a wagon 46, a camera 24 of the timber transporter 30 is used. The camera 24 provides sensor signals containing storage information about the storage destination 48. The image of the camera 24 is scanned, for example, using a K1 approach, for suitable storage destinations 48, such as wagons 46, other timber transporters 30, or storage locations such as piles of wood. The identification of a wagon 46 as a storage destination 48 can be carried out, for example, using known image recognition methods. Preferably, the device according to the invention, which is integrated into the timber transporter, is configured to distinguish between wagons 46 capable of transporting timber and other wagons, such as containers or closed wagons, and to perform a corresponding categorization.

[0053] Also using a K1 system, the analysis of the images from camera 24 can not only categorize the detected storage destinations 48, but also classify them according to occupancy capacity. By classifying the storage destinations 48 as free, partially occupied, or occupied, it can be guaranteed that the driver is only offered storage destinations 48 that are free or partially occupied, i.e., have a wood storage capacity.

[0054] Preferably, the camera 24 can also capture images of the vehicle's surroundings, allowing other vehicles in the vicinity of the timber transporter 30 to be detected. This makes it possible to perform image-based vehicle detection to avoid collisions. For example, a safety distance can be implemented for other vehicles that are not unloading targets.

[0055] Fig. 4 shows a situation in which the timber transporter 30 is arranged in the optimal timber transporter position 50. To transfer logs 38 from the timber transporter 30 to the wagon 46 categorized as partially loaded, it is sufficient for the gripper arm 32 to simply perform a rotational movement in the direction of arrow 54. In this way, it is possible to place logs 38 on the wagon 46 without changing the gripper arm length 44. This allows for fast and safe unloading.

[0056] Using Fig. 5, we will now explain how the optimal timber transporter position 50 is determined. The optimal timber transporter position 50 depends on the optimal gripper arm position and the rotation axis 34 of the gripper arm 32. Depending on the position of the gripper arm 32 on the timber transporter 30, the timber transporter position 50 is determined from the gripper arm position 56. In the present case, the gripper arm 32 and its rotation axis 34 are arranged centrally between the two sides of the timber transporter 30. From stored vehicle data and the relative position of the rotation axis 34 to the timber transporter 30, the timber transporter position 50 can be deduced from the gripper arm position 56.

[0057] To determine the optimal gripper arm position 56 or timber transporter position 50, it has proven advantageous in practice if the timber transporter 30 is arranged parallel to the wagons 46. A minimum distance 58 must be maintained, which is defined here between the left outer side of the timber transporter 30 and the outside of the wagon. This minimum distance 58 is also shown in Fig. 3.

[0058] A position is now sought for the gripper arm 32 or its axis of rotation 34, which forms a circle 60 whose radius is the gripper arm length 44. The center of the circle 60 is the axis of rotation 34. The timber transporter 30 is now to be positioned so that a storage target 48 lies on the circle 60. The storage target 48 is preferably formed by the center of gravity of the logs 38, wherein the center of gravity corresponds to the gripping point 40. Thus, according to Fig. 5, two storage targets 48 result, one storage target 48a lying on the wagon 46a and the other (48b) on the wagon 46b. In this case, the storage target 48a on the wagon 46a is selected because the angle of rotation a of the gripper arm 32 is smaller and thus timber can be loaded more quickly from the timber transporter 30 to the wagon 46.

[0059] A preferred embodiment provides that free unloading destinations, i.e., storage destinations 48, are first detected by means of the camera 24. The first free storage destination 48 or a storage destination selected by the driver of the timber transporter 30 is then used for the reloading process. The position of the storage destination 48 relative to the timber transporter 30 is preferably estimated using the lateral and longitudinal coordinates relative to the timber transporter 30. The estimation can be made, for example, based on the size of the storage destination or of the wagon 46, assuming that the wagon 46 has a known standard size. Alternatively, the position of the storage destination 48 can be estimated using image-based 3D reconstructions. It is also possible to infer the distance by detecting the railroad tracks 62 on which the wagon 46 is positioned. This assumes a standard track size and a standard distance.By means of a detected position in the image of an extrinsically and / or intrinsically calibrated camera 24, the position in the 3D image can be determined.

[0060] Taking into account a minimum distance 58 to a possible timber transporter position 50, a lateral distance is calculated along the longitudinal axis to the storage destination 48. This minimum distance 58 can be defined based on occupational safety requirements. Using the minimum distance 58, the left side of a target track for the timber transporter 30 or the vehicle can be defined. Based on the known track width, the right line of the target track is also calculated, as is the center on which the rotation axis 34 of the gripper arm 32 lies, at least when the gripper arm is centrally positioned. Using the known optimal gripper arm length 44 of the gripper arm 32, a circle 60 with radius R can alternatively be defined around the detected storage destination 48 of the wagon 46a as the selected storage destination, where the radius corresponds to the gripper arm length 44. The timber transporter is now brought into a position in which the rotation axis 34 lies on the circle 60.The position on the circle is selected at which the angle of rotation a of the gripper arm 32 is as small as possible.

[0061] Alternatively, the storage destination 48a on the wagon 46a can be selected as the center of a circle 60 with a radius corresponding to the gripper arm length. The timber transporter position 50 should then be selected such that the rotation axis 34 of the gripper arm 32 is located on the circle.

[0062] Fig. 6 shows a situation in which a timber transporter 30 is positioned in the optimal timber transporter position 50 relative to the storage destination and the railcars 46. An unloading process for unloading the timber load 36 from the timber transporter 30 can begin.

[0063] In order to enable a transfer or unloading process of a timber load from a vehicle 64 that does not have a gripper arm itself, the timber transporter 30 with gripper arm 32 can be used for the transfer process. To do this, the vehicle 64 must be brought into an optimal target position 66 so that optimal transfer of the timber load 36 from the vehicle 64 to the wagon 46 can take place without changing the gripper arm length 44. To find the optimal target position 66 for the vehicle 64, a circle 60 with a radius that corresponds to the gripper arm length 44 is drawn around the axis of rotation 34 of the gripper arm 32 of the timber transporter 30. The gripping point 40 of the logs 38 on the vehicle 64 must now also lie on the circle 60. Here, too, a target position is used in which the vehicle 64 is positioned as close as possible to the timber transporter 30 in order to keep the angle of rotation for the gripper arm 32 as small as possible. A minimum distance of 58 can also be taken into account.

[0064] In addition to manual reloading, which can be initiated and controlled by a driver of the timber transporter 30, it is also possible to perform assisted or autonomous reloading. This generally requires additional cameras, which can be arranged, for example, at the free end of the gripper arm 32. In this way, the storage destination 48 and the deposit location for the timber load 36 can be observed and evaluated. For semi-autonomous unloading or reloading of a timber load 36, unknown methods can be used.

[0065] In addition to detecting the unloading destination, i.e., a storage destination 48, using a camera 24, it is also possible for the position of the storage destination 48 to be defined by a central control center and transmitted to the device 10 of the timber transporter 30. The position can be available, for example, in the form of GPS data. Deposit destinations and storage destinations 48 therefore no longer need to be detected, but are predefined. Here, too, the unloading destination or storage destination 48 that is closest to the current position of the timber transporter 30 is selected. Optionally, a strategy can also be used here to load partially filled wagons 46 first and then free wagons 46.

[0066] It is conceivable to support the loading process by detecting the free timber transport capacity. This way, storage destinations in a wagon or sub-areas or sub-sections that still have storage capacity can be selected. Areas that are already fully filled can be excluded. It can be provided that wagons that are partially filled are filled first before empty wagons are loaded. The detection of the fill level or the free storage capacity of a wagon 46 can be detected by a camera on the gripper arm 32. It is conceivable that after the completion of a reloading process, the fill level of a wagon is transmitted to a central control center. This may require an input from the driver of a timber transporter, for example. It is also possible to evaluate the final status of an autonomously executed reloading process. This way, work orders can be distributed between vehicles and timber transporters.Since the storage targets 48 are determined in the camera image and from the camera's sensor data, the currently transmitted position and the GPS receiver used do not have to be very accurate in order to still enable precise travel to the storage targets.

[0067] Fig. 7 shows a schematic representation of the method according to the invention for determining the optimal position of a timber transporter with a length-adjustable gripper arm 32 rotatable about a rotation axis 34 for reloading a timber load 36 relative to a timber storage destination 48. The method comprises the following steps:

[0068] In a first step S10 of receiving storage information relating to the storage destination 48 for wood, either sensor data from a sensor 22 is evaluated or storage information from a control center is used. In a step S12 of receiving gripping point data, data relating to a gripping point 40 on the wood load 36 for the gripper arm 32 is used. A further determining step S14 concerns determining the position of the storage destination 48 based on the storage information for the wood. The method comprises a further step S16 of determining an optimal gripper arm length 44 based on gripping point data of the gripping point 40 and a step S18 of determining a gripper arm position value for an optimal gripper arm position 56 of the rotation axis 34 of the gripper arm 32 with respect to the position of the storage destination 48 from the storage information and the gripper arm length 44.A further method step involves sending S20 the gripper arm position value to a further processing unit 26 of the system according to the invention. Optionally, the method can be expanded by further steps. An optional step of determining S22 a timber transporter position 50 is performed from the gripper arm position 56. A step of considering S24 a minimum distance 58 to the position of the storage target 48 when determining the timber transporter position 50 follows, as does a step of using S26 the timber transporter position 50 as a target for a movement of the timber transporter 30. A step of outputting S28 the timber transporter position 50 for further processing or for a visual display concludes the optional method.

[0069] The invention has been comprehensively described and explained with reference to the drawings and the description. The description and explanation are to be understood as exemplary and not restrictive. The invention is not limited to the disclosed embodiments. Other embodiments or variations will become apparent to those skilled in the art upon use of the present invention and upon careful analysis of the drawings, the disclosure, and the following claims.

[0070] In the patent claims, the words "comprising" and "having" do not exclude the presence of further elements or steps. The undefined article "a" or "an" does not exclude the presence of a plurality. A single element or unit can perform the functions of several of the units recited in the patent claims. An element, unit, interface, device, and system can be partially or completely implemented in hardware and / or software. The mere mention of some measures in several different dependent patent claims should not be understood to mean that a combination of these measures cannot also be used advantageously. A computer program can be stored / distributed on a non-volatile data carrier, for example on an optical memory or on a solid-state drive (SSD).A computer program can be distributed together with hardware and / or as part of hardware, for example, via the Internet or via wired or wireless communication systems. Reference symbols in the patent claims are not to be construed as limiting.

[0071] device

[0072] Evaluation unit

[0073] Input interface

[0074] Output interface

[0075] Monitoring interfaces

[0076] system

[0077] sensor

[0078] camera

[0079] Further processing unit

[0080] monitoring device

[0081] Timber transporter

[0082] gripper arm

[0083] axis of rotation

[0084] Timber cargo

[0085] log

[0086] Gripping point

[0087] Distance

[0088] Gripper arm length

[0089] wagon

[0090] Storage destination

[0091] Timber transporter position

[0092] Trajectory

[0093] Arrow direction

[0094] Gripper arm position

[0095] Minimum distance

[0096] Circle

[0097] Railway track

[0098] vehicle

[0099] Target position

Claims

Patent claims 1. Device (10) for determining the optimal position of a timber transporter (30) with a length-adjustable gripper arm (32) rotatable about a pivot axis (34) for transferring a timber load (36) with respect to a storage destination (48) for the timber, comprising: an input interface (14) for receiving storage information concerning the storage destination (48) for the timber and for receiving gripping point data concerning a gripping point (40) on the timber load (36) for the gripper arm (32); an evaluation unit (12) for determining the position of the storage target (48) based on the storage information for the wood and for determining an optimal gripper arm length based on the gripping point data, wherein the evaluation unit (12) is configured to determine from the storage information and the gripper arm length (44) a gripper arm position value for an optimal gripper arm position (56) of the axis of rotation (34) of the gripper arm (32) with respect to the position of the storage target (48);an output interface (16) for sending the gripper arm position value to a further processing unit (26).; 2. Device (10) according to claim 1, wherein the input interface (14) is designed and configured to receive sensor signals from an optical sensor (22), wherein the sensor signals include storage information relating to the storage target (48) for the wood.

3. Device (10) according to one of the preceding claims, wherein the evaluation unit (12) is configured to categorize the storage target (48) from the storage information and to identify storage targets (48) suitable for transporting wood.

4. Device (10) according to one of the preceding claims, wherein the evaluation unit (12) is configured to detect whether the storage destination (48) has free storage capacity.

5. Device (10) according to one of the preceding claims, wherein the evaluation unit (12) is configured to determine the position of the storage target (48) relative to to determine or estimate the gripper arm position (56) of the gripper arm (32), wherein the gripper arm position (56) of the gripper arm (32) is processed in longitudinal and lateral coordinates.

6. Device (10) according to one of the preceding claims, wherein the evaluation unit (12) is configured to determine a wood transporter position (50) from the gripper arm position (56), which is used as a target for a movement of the wood transporter (30).

7. Device (10) according to the preceding claim, wherein the evaluation unit (12) is configured to take into account a predetermined or to be determined minimum distance (58) to the position of the storage destination (48) when determining the position of the timber transporter (50).

8. Device (10) according to one of the preceding claims, wherein the evaluation unit (12) is configured to output the position of the storage target (48) and / or a timber transporter position (50) to a display unit and / or the further processing unit (26) in order to optically display the position of the storage target (48) and / or the timber transporter position (50) on the display unit and / or to process it further in the further processing unit (26).

9. System (20) for determining the optimal position of a timber transporter (30) with a length-adjustable and rotatable gripper arm (32) about a pivot axis (34) for transferring a timber load (36) with respect to a storage destination (48) for the timber, with a device (10) according to one of the preceding claims and with a sensor (22) for acquiring storage information relating to the storage destination (48) for the timber and comprising a processing unit (26) for processing the gripper arm position value.

10. System (20) according to claim 9, comprising a monitoring device (28) for monitoring the environment of the timber transporter (30), wherein the monitoring device (28) receives the determined position values ​​from the device (10).

11. System (20) according to one of claims 9 or 10, wherein the sensor (22) is an optical sensor or an imaging sensor or a camera (24).

12. Timber transporter (30) with a length-adjustable gripper arm (32) rotatable about a pivot axis (34) for transferring a timber load (36) with respect to a storage destination (48) for the timber, with a system (20) according to one of claims 9 to 11 or with a device (10) according to one of claims 1 to 8, a further processing unit (26) and with a sensor (22) for capturing storage information relating to the storage destination (48) for the timber.

13. Method for determining the optimal position of a timber transporter (30) with a length-adjustable and rotatable gripper arm (32) about a pivot axis (34) for transferring a timber load (36) with respect to a storage destination (48) for the timber, comprising the following steps: Receiving warehouse information regarding the storage destination (48) for the timber; Receiving gripping point data relating to a gripping point (40) on the wood load (36) for the gripper arm (32); Determining the position of the storage target (48) based on the storage information for the wood; Determining an optimal gripper arm length (44) based on the gripping point data; Determining a gripper arm position value for an optimal gripper arm position (56) of the rotation axis (34) of the gripper arm (32) in relation to the position of the storage target (48) from the storage information and the gripper arm length (44); Sending the gripper arm position value to a processing unit (26).

14. The method according to the preceding claim, comprising the following further steps: Determining a timber transporter position (50) from the grab arm position (56); Taking into account a minimum distance (58) to the position of the storage destination (48) when determining the position of the timber transporter (50); Using the timber transporter position (50) as the target for a movement of the timber transporter (30); Output of the timber transporter position (50) for further processing or for optical display.

15. Computer program product comprising program code for performing the steps of the method according to claim 13 or 14, when the program code is executed on a computer.

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