Method in control of forest machine and control arrangement
AssigneePonsse Oyj
InventorsJanne Loponen, Markku Savolainen
Life of this patent
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Abstract
In the present arrangement, a forest machine is controlled, which forest machine includes a body (2), a boom (3) in connection with the body (2) and a tool (4) at the end of the boom (3). A sensor (9) arrangement determines in advance the size of utilizable free space (1 1A, 1 1B) starting from the end of the boom (3). This determination includes determining a direction and a length of the free space (11B). The operation of the tool (4) is allowed into the direction and for the length of the utilizable free space (1 1A, 1 1B) determined in advance.
Claims20
A method of controlling a forest machine, the forest machine including a body, a boom in connection with the body, and a tool at the end of the boom, the method comprising:
- determining by a sensor arrangement in advance the size of utilizable free space starting from the end of the boom, the determination comprising determining a direction and a length of the free space, and
- operating the tool into the direction and within the length of the utilizable free space determined in advance.
A control arrangement configured for use in a forestry machine, the forestry machine comprising a body, a boom in connection with the body, and a tool at the end of the boom, the arrangement comprising:
- a sensor arrangement configured to determine in advance the size of utilizable free space from the end of the boom, therein the determination comprises determining a direction and a length of the free space, and
- a controller configured, as a response to a control request for the operation of the tool, to operate the tool into the direction and within the length of the utilizable free space determined in advance.
A forestry machine, comprising;
- a body, a boom in connection with the body, a tool at the end of the boom, and a control arrangement, wherein the control arrangement includes:
- a sensor arrangement configured to determine in advance the size of utilizable free space from the end of the boom, therein the determination comprises determining a direction and a length of the free space, and
- a controller configured, as a response to a control request for the operation of the tool, operate the tool into the direction and within the length of the utilizable free space determined in advance.
A non-transitory computer-readable storage medium comprising computer-readable program code that, when executed, is configured to perform operations comprising:
- determining by a sensor arrangement in advance the size of utilizable free space starting from the end of the boom, the determination comprising determining a direction and a length of the free space, and
- operating the tool into the direction and within the length of the utilizable free space determined in advance.
Dependencies are inferred from the claim text.