Patent Description:
It is known from <CIT> and <CIT> to compute the number and the mass of logs by using a camera. The documents <CIT> and <CIT> disclose load handling devices with reference data for limit in size or volume.

The problem this invention is based on is seen in the little use of the data captured.

This problem is solved in an innovative way by means of the teaching of claims <NUM> and <NUM>, whereas advantageous features further developing the invention are given in the claims related to the independent claims.

By means of this teaching data obtained from the handled objects of load are additionally used to alert an operator in a certain instance, which alert causes the load control device to react in a predefined way. Objects of load may be harvested trees, logs, but also tubes, bags, etc. The load handling device in a simple version may be a grapple with or without a saw, but it could also be a tree harvesting head. Reference data is provided in a memory in the form of a permanent database, or of a short term memory, which receives data for doing a certain job and deleting these data afterwards or even online, i.e. in any kind of data source. The computer may be a simple controller, as well as a highly sophisticated CPU on a vehicle, on the load handling device, remote from either of them or potentially even in the cloud. The load control device itself is seen as the totality of components needed to perform the method below, which components may change depending on the design of the individual components. "Conflict" does not necessarily mean a problem between data, but stands for a difference between data, which difference calls for an alert. The camera may be of any useful kind with one or more lenses, which with the computer can measure the diameter, the edge lengths, the longitudinal length etc. of an object of load, like the dimensions of a log.

The camera may be provided at different locations, like on a boom, a cab, a chassis or a structure of a machine handling the objects of load. Such machine could be a vehicle in general, like a forestry machine, in particular a forwarder, a construction machine, a crane or the like; but it could also be a stationary machine like a knuckleboom loader or any other kind of crane or loader. The camera is attached such, that it always has a good view to the object of load to measure dimensions or properties, like color, texture, shape, or indicators. It could be possible to use different cameras. If the camera is used to generate data about the filling grade or distribution of logs in a load space, the camera may be best positioned on a chassis or structure in general. The location of the cameras will be chosen by the man skilled in the art depending on the kind of the camera and its application.

While a fixed camera may be sufficient in a case, where the objects of load are easy to see and measure under all or most circumstances, a moveable camera may orient itself or may get oriented by an operator such, that it gets the best view of the object of load.

Reference data mean data, which are given as a target, threshold, and comprise data received from a forest harvester. Such data could be the number, the size, location, kind, etc. of logs derived from felled trees stored in the forest. Such data may be entered into a memory wireless and online or by a memory stick, etc., but they could also be received online from a remote data source. The load data are those generated from the objects of load handled with the load handling device, which again could be the number, size, location, kind of logs. These data could deviate from each other, e.g. a forest harvester may have dropped <NUM> logs on a given spot, but a forwarder only found <NUM>. If an acceptable deviation would be <NUM> %, the load control device would generate a signal for an alert, when the load data do not reach <NUM> logs.

Another kind of reference data could comprise data about a maximum load or load distribution of objects of load in a load space, of a forwarder, whereas a signal is generated, when the load data and the reference data deviate more than a predefined extent. In this case the load control device would alert the operator via any useful kind of output device, that instead of <NUM> permissible logs, <NUM> logs have been loaded, which is not allowed, when the maximum deviation could be <NUM> %. It could also be recognized, when too many logs are loaded on one side compared to another, or that in some places two logs have been placed behind each other, in other places not, etc..

In addition to alerting an operator or a device about a mis-match between reference and load data, properties of the load, in particular specific density, origin, etc. could be computed by using data from a memory used or another memory or online and provided to the operator or a database of the machine or forest owner.

Beyond of capturing dimensions of the load, like diameter, length, etc. it could also be appropriate using a camera, which detects an indicator on the object of load, like a color marking at the cut surface of the log. By recognizing respective color dots it is possible to count the logs as well as to identify their kind, origin, etc. In the case of objects of load other than logs, but e.g. huge bags, the indicator could also be a bar code telling something about the content of the bags. If tubes are the objects of load, the indicator could stand for certain properties, like max. allowable pressure, material, length, diameter, etc. Depending on the findings, the load control device could give an alert, when the reference data expect a certain amount, kind, etc. of objects, whereas the handled load does not meet these expectations.

A method of generating a signal indicative of a conflict between load data and reference data by means of a load control device functions in a way analogous to the load control device described. The method is executed by a computer - soft or hardwired.

The calculation of the mass and/or number and/or the variations of handled objects of load, in particular of logs, gives an operator even more information beyond the alerting function.

The information obtained under this method can be forwarded to a subsequent truck, a saw mill, a pipe layer, a construction firm etc. for scheduling subsequent operations.

While the alert can be given in any useful way, emitting a signal by the computer to an output device like a monitor, a buzzer, a strobe light, a warning light, and/or to any other sensory alarm assures, that the difference between reference data and load data is understood to exist and maybe even to be critical. Such critical situation could be an overload.

An even higher effect beyond an alert is achieved, when the signal emitted by the computer is provided to a control for a crane, disabling further handling objects of load, once a threshold value of divergences between load data and reference data is exceeded.

In the following one embodiment of the invention is described in more detail and in relation to the drawing. The only figure of the drawing shows a machine comprising a load control device.

A machine <NUM> has a structure <NUM>, front ground engaging means <NUM>, rear ground engaging means <NUM>, an engine <NUM>, a cab <NUM>, a load space <NUM>, a boom <NUM>, a load handling device <NUM> and a load control device <NUM>.

The machine <NUM> is shown in the form of a forwarder transporting logs in a forest. Forest harvesters, trucks with loading devices, knuckle-boom loaders, etc. could be other types of machines <NUM>. In the case of a forwarder the machine <NUM> would pick up objects of load <NUM>, here in the form of logs deposited on the ground, e.g. by a forest harvester, thereby capturing data of the objects of load <NUM>, and transport them to another place, like a road side. While a forwarder, etc. is a vehicle, the machine <NUM> could also be stationary, like a crane.

The structure <NUM> in this case is formed as an articulated frame, the front part of which carries the engine <NUM> and the cab <NUM> and is supported on the ground by the front ground engaging means <NUM>, and the rear part of which carries the load space <NUM> and the boom <NUM> and is supported on the ground by the rear ground engaging means <NUM>.

The front and rear ground engaging means <NUM>, <NUM> may be single or tandem axles with wheels or tracks, single suspended wheels etc..

The engine <NUM> provides all the power for the machine <NUM>, be it to move it over the ground, operate the boom <NUM> and the load handling device <NUM> or to provide the electric energy for the load control device <NUM>, etc..

The cab <NUM> in this application is attached to the structure <NUM> such, that it can pivot about a vertical or substantially vertical axis, in order to follow the movement of the boom <NUM>. In other applications only part of the cab <NUM>, like a seat, may pivot. But the cab <NUM> could also be stationary on the structure <NUM>. The cab <NUM> is provided in a usual way with a frame <NUM> and windows <NUM> between. The location of the cab <NUM> is such, that it always has a good view onto the objects of load <NUM> in the load handling device <NUM> and to the load space <NUM>.

The load space <NUM> is formed as a huge cage with a bottom <NUM>, a head board <NUM> at the front and bunks <NUM> at the side. This load space <NUM> can be filled by objects of load <NUM>, like logs, oriented along the longitudinal axis of the load space <NUM>, which in straight forward drive direction is also the longitudinal direction of the machine <NUM>. While it is not shown, it is known to subdivide the load space <NUM> into sub-spaces for different species, diameters, quality, etc. Objects of load <NUM> may extend over the entire length of the load space <NUM> or only over a part of it and - depending on their length - more than one may be deposited in the load space <NUM> in the longitudinal direction. The head board <NUM> as well as the bunks <NUM> have a certain height, above which no objects of load <NUM> should be located, because this could result in objects of load <NUM> falling off the load space <NUM> during transport and creating damages or injuries. Furthermore, the load space <NUM> and the structure <NUM> have a certain strength, which should not be exceeded by loading too many objects of load <NUM>.

The boom <NUM> is of a well-known three part design with a post <NUM>, a jib boom <NUM> and an extension <NUM>, linked to another in joints and movable with respect to each other by means of actuators. The boom <NUM>, in particular its post <NUM>, may pivot about a vertical or substantially vertical axis on the structure <NUM>, such that its jib boom <NUM> and its extension <NUM> move above the load space <NUM>, which is possible due to the post <NUM> being higher than the head board <NUM>.

The load handling device <NUM> is in the form of a grapple rotating about a vertical axis at the free end region of the extension <NUM>. The load handling device <NUM> is able to grab one or more objects of load <NUM>, depending on their cross section, whereas the objects of load <NUM> generally are hold in their lengthwise center area. The load handling device <NUM> can be rotated about its vertical axis by means of a so-called power actuated rotator.

The load control device <NUM> is an assembly of components including a camera <NUM>, an output device <NUM>, a computer <NUM> and a data source <NUM>, which components may be combined in a single unit or distributed all over the machine <NUM>. The load control device <NUM> is designed to receive and calculate data from the handled objects of load <NUM>, compare them against data in the data source <NUM> and send a signal to the output device <NUM>.

The objects of load <NUM> may be logs, i.e. pieces cut from a harvested tree, of a certain species, length, diameter, density, quality etc. Other objects of load could be pipes for pipelines, bags, etc. each with own characteristics. In some cases objects of load have a color marking on their face side, which color markings may stand for the place where the objects of load <NUM> come from, which criteria they meet, etc. as this is known in the art.

The camera <NUM> may have one or more lenses and/or may even exist several times, i.e. more than one camera is used. The camera <NUM> may be provided at any place, where it is directed to the objects of load <NUM>, i.e. its face side to recognize the cross section and to the long side, such that it can recognize the length of the object of load <NUM>. It is possible that the face side and the long side are recognized by different lenses <NUM>. The camera <NUM> is connect wireless or by wire to the computer <NUM>. The camera <NUM> in this application is connected to the upper region of the cab <NUM> - internally or externally, as the cab <NUM> in this case rotates with the boom <NUM> with or without delay. In a case, in which the cab <NUM> is stationary on the structure <NUM>, but a seat inside the cab <NUM> rotates, the camera <NUM> could be connected to the seat or even on the helmet of an operator. Finally the camera could be attached to boom <NUM>, like to the underside of the jib boom <NUM>.

The output device <NUM> in this case is formed as a monitor with a display, but it can also be provided with an audible alarm. The output device <NUM> is likewise connected to the computer <NUM> and is preferably located in the cab <NUM> close to a seat for the operator. However, the output device <NUM> could also be arranged in a control center remote from the machine <NUM>, where several machines <NUM> are monitored.

The computer <NUM> may be an onboard central procession unit arranged preferably somewhere on the structure <NUM> or at the cab <NUM>. The computer <NUM> is powered by an engine driven generator. It has programs installed or connected with, which are able to receive the data captured by the camera(s) <NUM> and calculate therefrom the size or volume of the objects of load <NUM> handled by the load handling device <NUM>. The computer <NUM> may or may not be connect through radar to other computers on other machines, in a control center, etc..

The data source <NUM> could be provided in the computer <NUM> or is connected to the computer <NUM> and has reference data, like the maximum allowed weight, height or number of objects of load <NUM> in the load space <NUM>. Other reference data may be the number or characteristics of objects of load <NUM> to be found in a defined area. If the data source <NUM> is not implemented in the computer <NUM> it is connected through wire or wireless to it.

Based on the above described structural composition the load control device functions as follows.

Claim 1:
Load control device (<NUM>) including:
a) a load handling device (<NUM>) for picking and releasing objects of load (<NUM>);
b) at least one camera (<NUM>) adapted to capture the length and the cross section of one or more objects of load (<NUM>) being grabbed in the load handling device (<NUM>);
c) reference data representing size, volume or indicator;
d) a computer (<NUM>) adapted to generate and emit load data representing size, volume or indicator from the length and cross section based on the visual information obtained from the at least one camera (<NUM>); whereas
e) the computer (<NUM>) is adapted to generate and emit a signal indicative of a gap between the load data and the reference data; whereas
f) the reference data comprise data received from a first handling device, in form of a forest harvester, and that a signal is generated, when the load data and the reference data deviate more than a predefined extent related to a common basis;
and/or
g) the reference data comprise data about a maximum load or load distribution of a load space (<NUM>) of a forwarder, and that a signal is generated, when the load data and the reference data deviate more than a predefined extent.