Forwarder Boom Path Control for Safer Log Transfer
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Solution Overview
Problem
Operators of forwarders face challenges in controlling the articulated boom to move logs from outside to inside and vice versa within the loading space safely and efficiently, due to the difficulty in navigating obstacles and maintaining precise control, which has hindered automation of boom movements.
Innovation Solution
A method is introduced where predetermined paths for the boom or grapple are stored in a control unit, allowing for automatic transfer along these paths, initiated and controlled manually by the operator, with the ability to adapt the path to include target positions around the loading space, ensuring safe and efficient movement of logs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual control of the boom is used to navigate obstacles and maintain precise control, then safety and precision are improved, but operator effort and stress increase
Solution Approach 1:
The control process is segmented into automatic path following and manual obstacle avoidance. The control unit automatically executes predetermined paths for routine operations, reducing operator effort, while manual intervention is reserved for handling obstacles and unexpected situations, maintaining safety without requiring continuous full manual control
Solution Approach 2:
The control unit acts as an intermediary between the operator and the boom control system. It receives predetermined paths and automatically executes them, translating high-level operator intentions into precise boom movements, thereby reducing the cognitive load and physical effort required while maintaining control precision
2Ease of operation
If full automation of boom movements is implemented, then operator effort is reduced, but the ability to adapt to obstacles and unexpected conditions deteriorates
Solution Approach 1:
The control system is designed to be dynamic, allowing the operator to switch between automatic path following and manual control modes as needed. This enables the system to adapt to changing conditions - using automation for routine operations and manual control when obstacles or unexpected situations arise
Solution Approach 2:
The system incorporates feedback mechanisms that allow the operator to monitor automatic operations and intervene when necessary. The operator can observe the automated path execution and take control when obstacles are detected, ensuring adaptability while maintaining the benefits of automation
3Productivity
If predetermined paths are used for automatic transfer, then productivity and speed are improved, but the complexity of the control system increases
Solution Approach 1:
Predetermined paths are prepared in advance and stored in the control unit. These paths are created offline based on typical operating conditions and obstacles, allowing the automatic transfer to execute routine operations quickly without requiring complex real-time decision-making algorithms
Solution Approach 2:
The system uses predetermined path copies for repeated operations. Instead of calculating new paths in real-time, the control unit retrieves and executes stored path copies, significantly reducing computational complexity while maintaining high productivity for routine tasks
4Reliability
If the operator must maintain constant attention for precise boom control, then safety is improved, but productivity and speed deteriorate
Solution Approach 1:
The control task is segmented into automatic execution of predetermined paths for routine operations and manual monitoring for safety-critical decisions. This allows the operator to maintain safety through selective attention rather than constant focus, thereby enabling faster operation speeds without compromising safety
Solution Approach 2:
The control system provides self-service through automatic path following and execution. The predetermined paths contain embedded safety logic and obstacle avoidance strategies, allowing the system to manage its own routine safety requirements while the operator focuses on higher-level monitoring and intervention when needed
Data Source
AI summary
The method for controlling a forwarder comprises storing in a control unit of the forwarder one or more predetermined paths of a head of an articulated boom of the forwarder or a grapple suspended from the head; enabling an automatic transfer of the head or the grapple along one of the paths. The enabling is carried out manually by an operator with the help of a control device; setting off the automatic transfer with the help of a predetermined motion or sequence of motions carried out manually. The method further comprises automatically transferring the head or the grapple under control of the control unit, from a current position of the head or the grapple representing a starting position of the path, along the path, and to an end of the path; stopping the head or the grapple at the end of the path; and automatically disabling the automatic transfer of the head or the grapple after reaching the stopping position.