Patent Publication Number: US-2021176926-A1

Title: Method and System in Mechanical Timber Harvesting

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application claims benefit of PCT/FI2019/050620 filed Aug. 30, 2019, which claims benefit of Finnish Patent Application No. FI 20185724, filed Aug. 30, 2018, each of which is incorporated by reference in its entirety. 
    
    
     FIELD OF THE INVENTION 
     The invention relates to a method in mechanical timber harvesting, in which method a data system is utilized, in a display device in connection with which previously collected data on a forest machine and/or the surroundings of the forest machine are displayed as visual elements. The invention also relates to a system in mechanical timber harvesting. 
     BACKGROUND OF THE INVENTION 
     In a known system, the stand to be felled is planned beforehand and the location of the future logging trail is determined with a rough accuracy on an existing map base, as are the boundaries of the stand. The logging trail is an access track opened in the forest for transporting timber, which is used by both the felling machine and the forwarder or a combination of these. The logging trail winds through the area of the felling stand. The map base and the markings made on it are then transferred to the forest machine&#39;s map software. During planning, the number and location of the logging trails are optimized to avoid excessive tree felling, but also to ensure that the felling machine can reach the trees to be felled. In practice, due to landform and local obstacles, such as large stones, the real logging trail is formed only when felling the trees. When the felling machine is working, the locations where a tree was felled and cut into different grades of timber remain in the system&#39;s memory. In addition to the locations and grades of timber the amount of timber is also recorded in the system. The recorded data are then available in the forwarder, the driver of which finds the stacks on the basis of the map software. In addition, the driver can plan the number and routes of the drives, for example according to the timber grades, thus minimizing the trips. At the same time, the planning and implementation of local transportation and the monitoring of the situations of roadside stores are nearly real-time. 
     On the other hand, the system can be used to monitor the productivity and work stages of an individual forest machine. The application gives the driver easily understandable and utilizable information on the forest machine&#39;s operation. The system monitors, through the forest machine&#39;s control system, for example the forest machine&#39;s loading and fuel consumption operation-specifically, for example the operation of the loader when loading and unloading, as well as driving empty or loaded. With the aid of the application, momentary productivity can be compared with the productivity of the whole work shift. Work-stage-specific meters can be used to develop work methods to be more productive and economical and to ensure the operability of control measures. The guiding system gives the driver measured feedback on working to help develop it. On the other hand, the system can be used, for example, to measure the effect of maintenance on the forest machine&#39;s productivity. 
     Despite the system and its diverse functions, it is difficult for a forest-machine driver to analyse his previous work at the end of a work shift, making it difficult to develop operations. The system&#39;s analysis is based on numerous individual measurements, which are compared with accepted good values. In practice the driver repeats the same work stages, so that the success or failure of a single work stage is lost in a mass of measurement data. In addition, it is difficult for the driver to remember his own actions, even though the analysis is made immediately after a shift. 
     SUMMARY OF THE INVENTION 
     The invention is intended to create a new type of method for mechanical timber harvesting, with the aid of which timber harvesting is facilitated and improved, as is forest management. In addition, the invention is intended to create a new type of system for mechanical timber harvesting, which is simple and easy to introduce, but which provides more useful feedback than before. The characteristic features of the method according to the present invention are stated in the accompanying claim  1 . Correspondingly, the characteristic features of the system according to the invention are stated in the accompanying claim  15 . A data system, for example a map program, is utilized in the method according to the invention in a new and surprising way. For example, information, which can be exploited later, can be included in the map software, more specifically in a map view. Timber harvesting is then facilitated and at the same time problem situations can be avoided. In addition, information on felling stands remain in the system, which can be utilized afterwards, for example to show felling results/felling traces, or, for example, to show thinning density or ground damage, and also to examine the actions of the driver and thus to develop operations. 
     In the following, the invention is described in detail with reference to the accompanying drawings showing some embodiments of the invention, in which 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  shows a forest machine and the display device in the cab of the forest machine, which shows a map view, 
         FIG. 2  shows a map view according to the invention, 
         FIG. 3  shows schematically logging trails and timber stacks formed alongside them, 
         FIG. 4 a    shows an enlarged visual element according to the invention, 
         FIG. 4 b    shows a second embodiment of an enlarged visual element according to the invention, 
         FIG. 5  shows a schematic diagram of the system according to the invention, 
         FIG. 6  shows a variation of the visual element according to the invention. 
     
    
    
     DETAILED DESCRIPTION OF THE DRAWINGS 
       FIG. 1  shows a side view of a forest machine  10 . As the matter here is of thinning, the forest machine  10  is a harvester. The harvester fells and cuts trees, which are then collected by a forwarder as a forest machine, utilizing the same logging trails. Generally, the forest machine  10  includes a cab  11 , a hoist  13  pivoted to a chassis  12 , and a harvester head  14  suspended from the hoist  13  for processing trees  15 . The forest machine  10  also includes a data system  41  with data input and processing devices  16  connected to a display device  17  for showing as visual elements  25  information previously collected of the forest machine  10  and/or the surroundings of the forest machine  10 . The data input and processing devices  16  include, for example, a computation unit  18 , a memory  19 , and data-transmission means. The data-transmission means include, for example, cabling  20 , and wireless links  21 . One task of the display device  17  is to show the logging trail  22  in a map view  23  ( FIG. 2 ). The map view will be described later in greater detail. 
     The invention relates to a method in mechanical timber harvesting. In the method, a data system  41  is utilized, in the display device  17  connected to which previously collected information on the forest machine  10  and/or the surroundings of the forest machine  10  are shown as visual elements  25 . In general, the surroundings of the said forest machine  10  are observed using one or more optical devices  28 . In addition the observations are recorded in a time-linked manner as a view  42  in the data system  41  to be shown in the display device  17  for later utilization. In a first embodiment, a map view  23  is arranged as a view  42 , in which the logging trail  22  is defined for the forest machine  10 . In addition as a visual element  25 , the real properties of the logging trail  22  and/or of a specific location  27  in the felling area are shown. Map software is used to show the map view. The map software is part of the equipment in the forest machine that records the forest machine&#39;s operations and guides the driver. For example, the map software guides the driver to the correct felling stand and shows the boundaries of the stand. The same map software and at least position data can be utilized, for example, when transporting the forest machine on a carriage, and also in a timber truck ( FIG. 5 ). The planned logging trails are also shown in the map view.  FIG. 2  shows a map view  23  according to the invention. In practice, the logging trail  22  in the map view  23  shown in the map software is defined for the forest machine  10  already before the forest machine arrives  10  at the felling stand. In the situation in  FIG. 2 , the forest machine has already driven through the stand. In the map view there can also be symbols, for example for the positions and timber grades of the stacks. In this map view  23  is an info-window  24  as a pop-up window, which shows the felled trees in the felling stand as timber grades and species and their numbers. This can also be shown as an illustration according to  FIG. 3 . With a single glance the driver sees where and how much timber there is. The planning of the logging trails can be done beforehand, for example bases on satellite images and landform maps. According to the invention, a visual element  25  is added to the map view  23 , which is used to show the real properties of the logging trail  22  and/or a specific location  27  in the felling area  26 , for later utilization. The element shows the situation exactly as it is at that location. At the same time information on the situation remains in the system. In other words, the system further includes one or more optical device  28  for adding a visual element  25  to the map view  23 . In addition, the visual element  25  is arranged to include the real properties of the logging trail  22  and/or a specific location  27  in the felling area  26 , to be utilized later.  FIG. 2  shows two visual elements  25  added to a map view  23 . By selecting a visual element  25  from the display device  17 , the relevant element is shown enlarged ( FIGS. 4 a  and 4 b   ). Zooming is then also possible. 
     In the invention a visual element  25  is added to the map view  23  by the forest machine&#39;s  10  driver when at each location  27 . In other words, the driver can, if necessary, add a visual element at a location that is important in terms of later use or the situation of the felling stand, or some other property. The location can be, for example, a soft point or boulder in the line of the planned logging trail, which must be avoided. On the other hand, the element shows the situation of the trees and ground, which is useful information for both the forest company and the forest owner. 
     In mechanical timber harvesting, the first work using a forest machine is thinning, in which some of the trees are removed. The visual element  25  is in fact added to the map view  23  for the first time in the forest machine  10  formed by a felling machine  29  and, if necessary, a second time in the forest machine  10  formed by a forwarder  30 . Using the felling machine, the situation is then charted before thinning and at the same time the observations by the felling machine&#39;s driver are transmitted to the forwarder&#39;s driver. Correspondingly, the forwarder&#39;s driver can add elements of the situation after thinning. For example, the condition of the trees near the logging trails and the logging trails and their possible depressions can be recorded in the system. 
     The visual element shows the real situation, an overall impression of which can be seen at a glance. Thus the forest machine&#39;s driver can ascertain the situation easily and quickly. On the other hand, the element can be examined more closely to determine the state of an interesting or otherwise important point. Further, the element&#39;s information can be analysed by software to determine the properties of the logging trail and its surroundings. In the invention, a record  31 , which is a photograph, animation, and/or video, is formed as the visual element  25 . All in all, the basic element is an image, which is taken of an object chosen by the driver. The number of records then remains limited and the hardware demands remain reasonable. However, essential data is forwarded and, once formed, the record remains in the system for later use.  FIG. 4 a    shows an image of a logging trail and its surroundings. 
     The record  31  is preferably formed using a camera  32  belonging to the forest machine  10 . The camera can be, for example, an existing reversing camera. On the other hand, a camera that can be oriented more freely can be added to the forest machine. On the other hand, the record  31  can be formed using a mobile device  33 , which includes a camera  34  and means  35  for connecting the mobile device  33  to the map software ( FIG. 5 ). Even small details can then be added as a record. On the other hand, wider shots can be taken independently of the forest machine. 
     An extremely wide and comprehensive shot can be taken by forming the record  31  using a 360-camera  36 . The 360-camera can be a mobile device, or it can be installed in the forest machine. For example, a 360-camera  36  arranged on the roof of the cab  11  is at an excellent height for taking a comprehensive record. 
     A record taken using a 360-camera is comprehensive and the view of the logging trail and its surroundings extends in all directions. In other words, the record contains much information, the software utilization of which is small. Preferably the record  31  is formed as a 3D image, from which distances are determined, on the basis of which the properties of the ground and/or trees are calculated. For example, the number and quality of the trees both before and after thinning can be determined by software. In  FIG. 5 , the record  31  is already in the server  37 , where the information is stored and processed. The server  37  is connected to a cloud service  38 , to which the various machines, devices, and users are connected. 
     The map view  23  together with the visual elements  25  is stored in a database  39 , to which access is arranged for third parties. The records can then be exploited for many purposes. For example, the realized thinning efficiency can be determined from a 3D model.  FIG. 4 b    shows a 3D model formed of trees. Correspondingly, depressions in logging trails can be examined afterwards, if for example landowners demand additional investigation of depressions and possible damage to the ground and trees. The system can be further utilized by adding new records with the aid of a mobile device. In other words, if the situation requires a return to the felling stand after thinning, a record is taken at the desired location and added to the system. 
     The optical device  28  is a camera  32 ,  34 , video camera, 360-camera  36 , stereocamera, or 3D-laser scanner  40 . Preferably a Lidar scanner is used, where the laser is also used to determine distances. A 3D image is thus formed by combining a camera&#39;s image and Lidar&#39;s distance data. Using the system described, so sufficient accuracy is achieved that the formation obtained can be used in thinning felling to estimate the thinning density and even to determine the volume and species of the trees. Correspondingly, in final felling the state of the environment, such as the form of the ground, ground damage, and the limits of the felling area can be easily recorded and later ascertained. 
     In the invention, the logging-road and map software is utilized so that during the drawing of the logging trail, for example, data on the ground-form, trees, storage locations, thinning effect, forest type and undergrowth, straightness of trunks, branch limits, logging trail, and other properties requiring observations along the logging trail such a narrows, rut depths, rut widths a stack co-ordinates can be added to the map view. In practice the data is a record, which is formed visually as an element. The element is illustrative and with suitable means the element can be interpreted by software. 
     Using the method according to the invention, comprehensive information about an area is recorded. The start-up of the system according to the invention is easy, because related information can be input already while drawing the logging trail. At the same time, the method facilitates working in the area and possibly assists in preventing problem situations, because the driver can see area-specific information beforehand from the map. The situation can also be ascertained afterwards from the recorded information. 
     In one embodiment of the invention the driver can add additional information at a desired point in the map view. The additional information is preferably a visual element. At its simplest, the visual element is an image, which at a glance shows the situation at the relevant location. For example, the image tells the forwarder driver of a large stone or soft spot, so that the driver can predict the coming situation. Problems such as becoming stuck can then be avoided. At the same time, the location of the element is then certainly correct, compared to a free-form verbal warning. 
     At its simplest, the record is a digital image, which is taken by a camera in the harvester. Thus the method can be utilized after a software update. In other words, the existing apparatus can be easily utilized. 
     On the other hand, a mobile device&#39;s camera can be used. In modem telephones there is a high-grade camera, positioning feature, and a data link. A high-quality image and its position data can then be immediately transmitted to the harvester&#39;s system. On the other hand images can be downloaded to a database, from where they are connected to the map software and displayed in its map view. Besides individual images, image series or videos can be taken. 
     The operation of a camera demands aiming and taking images takes time. By using a 360-camera the harvester needs to be stationary for only a moment, and an image of a full rotation is recorded. Later the desired direction can be chosen and, if necessary, a detail can be focused on. In practice, the driver only stops at the desired location and starts imaging from the map program. Here it is assumed that the harvester is equipped with a 360-camera. A mobile camera, which is located outside the harvester, can also be used. The driver must then leave the cab for a moment. 
     The image and other visual elements contain much information, which can be utilized when working. Using advanced technology can further increase the importance of the information. Using a 3D camera or laser sounding real dimensions are also obtained for the element, on the basis of which distances and volumes can be determined. In practice, a dimensionally accurate 3D model forms the information. Then, for example the properties of the trees can be defined with sufficient accuracy. Then for example the thinning intensity and the amount of branches and straightness of the trees can be defined using software. In addition sounding and imaging in general can be done prior to felling trees, when the system records the situation before and after thinning. 
     An image and its derivatives video, a 360 image, and a 3D model give much more information on the logging trail and its surroundings than the map program&#39;s text inputs. For example, ground damage and the felling impression can be recorded in the system. In addition, the state of the felling stand before and after thinning can be shown to the forest owner before and after. Special natural objects can be recorded and correspondingly the effect of mechanical timber harvesting on the undergrowth can be ascertained. On the other hand, for example, also showing rut depressions will assist in resolving possible disputes and promote the restoration of the state of the felling stand. 
     In a second embodiment, a real image  43  of the surroundings of the forest machine  10  is arranged as the view  42 , in which measurement data and/or an analysis formed from the measurement data is shown as a visual element  25 . The display device  17  of  FIG. 6  can be, for example, a display device in the forest machine or some other display device that is connected to the data system. The driver can then analyse their work also after their shift. A driver trainer too can analyse the work of the driver better than previously. In addition to measurement the work of the driver is preferably imaged and an image of the working area and the driver&#39;s work is further recorded for later analysis. The data system can be in the forest machine itself or as part of a larger totality. 
     In  FIG. 6 , the image  43  is in the upper part of the display device  17 . Here analyses of the driver&#39;s work have been added as part of the image. The analyses and image are preferably joined together on the basis of time. The attachment can also be made on the basis of place. The image and the data presented will then correspond to the same real situation. From the combined view the driver sees their work in two ways.  FIG. 6  shows an example view, in the lower edge of which are several graphs  44 ,  45 , and  46 . Each graph shows some measurement data relative to time. The measurement data can be, for example, fuel consumption. Similarly, the analysis can show work productivity. At a quick glance the driver then sees the analysis and particularly deviations in the measurement results are clearly distinguished. A specific point can then be analysed in greater detail and the time data helps to remember the situation. Another way is the image itself, which shows the real situation. The image can be, for example, a composite camera image or a video. In addition, the images are set to form a series, in which images can be browsed back and forth. The image preferably cover at least the working area, but the surroundings can also be images, because deviations in the surroundings can affect the driver&#39;s working. 
     To facilitate analysis, for example the deviations observed by the embodiment can be emphasized in the view. In  FIG. 6 , this is implemented using icons  47 , which are attached to the image  43 . A specific icon shows trees which have gone well on the basis of the analysis. Correspondingly, another kind of icon shows trees that could have been harvested more effectively. Here the trees that went well are emphasized by a circle and those that went worse than normal by a circle with a cross in it. In the image and somewhere else in the view there can also be an icon at a point where the settings were changed and other possible traceable matters that affect performance, such as the changing of the saw chain. Here a video is shown when the variable measured in the graph is a function of time. The variables and the video are mutually time linked, so that the real situation is easy to ascertain. Monitoring is further facilitated by a time window  48  emphasized by broken lines. The image can also be wound forwards and backwards, in slow motion or speeded up. Stopping is also possible. 
     Measurement data and/or an analysis formed from measurement data can also be shown as a visual element in the map view. Then for example, a quick look at the map view after a shift will show where in the stand working went well and where it could perhaps be improved. By selecting the desired visual element, it is then possible to access the data on the point in question in greater detail or the image according to the invention, from which working can be monitored and analysed. Two icons  47  according to the invention are located in the map view  23  of  FIG. 2 , which show that there is something special or out of the ordinary at the point in question. 
     The method and system according to the invention make it possible for the driver to go through their work later at their leisure. In addition, the driver can concentrate on the emphasized points, when analysis will take less time than before. The view, image, and other data collected and analysied by the system are recorded in the data system, to which the driver trainer also has access. The driver and driver trainer can then review the material at their own speed. Similarly, the driver and the driver trainer can review working together, even though they are in different places. There can also be a link from the view formed to the map view, when the location of the shift and its surroundings can be examined as part of the analysis.