Forest Machine Track Recognition for Real-Time Steering
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Solution Overview
Problem
Existing methods for forming a database of a forest machine's surroundings are complex, requiring separate equipment and operators, and result in delayed and inaccurate data usage for machine operation, leading to inefficiencies and potential tree damage.
Innovation Solution
A method where sensors, such as cameras, radar, or lidar, observe the forest machine's surroundings in real-time, forming a database directly within the machine, which is then used to automatically or semi-automatically steer and operate the machine, reducing the need for external equipment and operators.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a detailed 3D point cloud database is created using separate equipment and operators, then measurement precision of trees is improved, but device complexity and loss of time increase
Solution Approach 1:
The patent combines the database creation function directly into the forest machine itself, merging previously separate equipment (laser scanners, cameras) and operators into the machine's integrated system. This allows the machine to create and utilize its own surroundings database without external support, resolving the contradiction between measurement precision and device complexity.
Solution Approach 2:
The forest machine performs its own environment mapping and database creation using its built-in sensors, eliminating the need for separate surveying equipment and operators. The machine serves its own navigation and operation needs by generating its own spatial database, thereby reducing external dependencies while maintaining high measurement precision.
2Loss of information
If a comprehensive database is created with separate equipment, then data completeness is improved, but loss of time and productivity decrease
Solution Approach 1:
The forest machine continuously creates and updates its surroundings database during normal operation without interruption. The database formation is not a separate pre-operation but occurs continuously as the machine moves through the forest, ensuring data completeness while maintaining uninterrupted productivity.
Solution Approach 2:
The machine performs preliminary environment mapping and database creation as it initially enters a forest area, preparing navigation and operation data before actual timber processing begins. This preliminary action ensures comprehensive data is available when needed, without requiring separate time-consuming surveying operations.
3Productivity
If real-time database formation is implemented, then productivity is improved, but use of energy increases
Solution Approach 1:
The forest machine performs database updates at periodic intervals or at key navigation points rather than continuously at maximum resolution. Sensors capture surroundings data at optimized frequencies, processing only necessary changes to the database, thereby maintaining real-time operational capability while reducing energy consumption compared to continuous high-rate scanning.
4Ease of operation
If the driver manually operates the forest machine without automated guidance, then ease of operation is maintained, but loss of time and productivity decrease
Solution Approach 1:
The system provides real-time feedback to the driver through the database, displaying recognized tracks, navigation routes, and location information on screens or through audio signals. This feedback enables the driver to operate the machine more efficiently by seeing the machine's position relative to the recognized track and receiving guidance, reducing time loss while maintaining driver control and ease of operation.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach simplifies the formation and utilization of the database, enabling real-time operation and improved efficiency, reduced tree damage, and enhanced productivity in forest operations.
Implementation Method 1
sensors, such as cameras, radar, or lidar, observe the forest machine's surroundings in real-time
Implementation Method 2
sensors, such as cameras, radar, or lidar, observe the forest machine's surroundings in real-time
Data Source
Figure 1
Figure 2a~2b
Figure 3
AI summary
The invention relates to a method in a forest machine. In the method the surroundings of the forest machine (10) are observed using one or more sensors (15). The observations are assembled to form a database (12) of the surroundings, and the database (12) is utilized in the operation of the forest machine (10). In the method observations of a limited area are used. In addition, a database (12) is formed in real time in the forest machine (10). Further, a view (19) is formed from the database (12) of selected observations, from which a track (13) in the surroundings is recognized. The forest machine (10) is then oriented in the direction of the track (13), once the forest machine's (10) direction of travel (14) relative to the recognized track (13) has been recognized. The invention also relates to a system in a forest machine.