Forwarder Boom Auto-Transfer Along Stored Grapple Paths
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Solution Overview
Problem
Operators of forwarders face challenges in safely and efficiently moving the articulated boom and grapple within the loading space due to the need for precise control and the risk of collisions with obstacles, as existing systems lack automation for these repetitive tasks.
Innovation Solution
A method is introduced where predetermined paths for the boom and grapple are stored in a control unit, allowing for automatic transfer along these paths, which can be manually initiated and controlled by the operator, reducing the risk of collisions and improving operational efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual control of the boom and grapple is used, then the operator can respond to changing conditions, but the operator experiences high stress and risk of collision due to difficulty in judging grapple position
Solution Approach 1:
The patent replaces manual mechanical control with an automated control system that uses sensors to detect the grapple's position and automatically adjusts the boom and grapple movements. This substitution eliminates the operator's difficulty in judging positions and reduces collision risk while maintaining operational flexibility.
Solution Approach 2:
The patent implements a feedback mechanism where sensors continuously monitor the grapple's position and provide real-time data to the control system. This feedback loop enables automatic adjustment of the boom and grapple to maintain safe distances from obstacles, directly addressing the collision avoidance problem.
2Reliability
If automated control is implemented, then collision risk is reduced, but the system complexity increases
Solution Approach 1:
The patent introduces a control unit as an intermediary between the sensors and the boom/grapple actuators. This intermediary processes sensor data and generates appropriate control commands, simplifying the overall system architecture while achieving automated collision avoidance functionality.
Solution Approach 2:
The control system automatically monitors and adjusts the boom and grapple positions without requiring continuous manual intervention. The system serves itself by detecting potential collisions and autonomously correcting the position, reducing the need for complex manual control mechanisms.
3Productivity
If the grapple is moved quickly to improve productivity, then the work efficiency increases, but the risk of collision with obstacles increases
Solution Approach 1:
The patent implements dynamic speed control where the grapple's movement speed is automatically adjusted based on real-time obstacle detection. When obstacles are detected in the path, the system automatically reduces speed or stops movement, allowing high productivity during safe operations while preventing collisions when obstacles are present.
Data Source
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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.