WO2011067456A1 - A method and a system for a work machine with a boom - Google Patents
A method and a system for a work machine with a boom Download PDFInfo
- Publication number
- WO2011067456A1 WO2011067456A1 PCT/FI2009/050975 FI2009050975W WO2011067456A1 WO 2011067456 A1 WO2011067456 A1 WO 2011067456A1 FI 2009050975 W FI2009050975 W FI 2009050975W WO 2011067456 A1 WO2011067456 A1 WO 2011067456A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- working area
- machine
- work machine
- indicator
- boom
- Prior art date
Links
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G23/00—Forestry
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/12—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time in graphical form
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B19/00—Teaching not covered by other main groups of this subclass
- G09B19/003—Repetitive work cycles; Sequence of movements
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B19/00—Teaching not covered by other main groups of this subclass
- G09B19/24—Use of tools
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
- G09B9/042—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles providing simulation in a real vehicle
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
- G09B9/05—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles the view from a vehicle being simulated
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F2300/00—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game
- A63F2300/80—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game specially adapted for executing a specific type of game
- A63F2300/8017—Driving on land or water; Flying
Definitions
- the simulator of a forest machine aims to help the user of the simulator by adding visual cues to the simulated environment.
- the simulator may, for example, add a grid indicating a working area of the simulated forest machine so that the user can see the proper working area on the landscape.
- the grid or other indicator may have a shape that is descriptive of the reach of the forest machine, for example a cone or a rectangle, and it may be attached to the forest machine so that it is able to move with the machine in the simulated environment.
- the grid may be arranged to be shown on top of the terrain or ground objects of the environment through arrangements in computer graphics.
- the arrangement according to the invention may help the user to learn proper working methods, e.g. to operate the forest machine so that the working area is on the side of the machine if such operation provides for a better reach and stability.
- the apparatus for controlling a forest machine is a work machine or a forest machine simulator
- the method further comprises modeling the work machine or forest machine by a computer so that at least one part of the forest machine is a computer-modeled part, and displaying movement of the computer-modeled part of the work machine or forest machine to a user of the apparatus.
- the method further com- prises electronically modeling the terrain around the machine with a terrain form, and electronically indicating the working area of the forest machine on top of the terrain form, and electronically indicating the working area with the help of a texture.
- the indication of the working area comprises at least one of the group of indicator for movement track of the machine, indicator for closest reach of working means or the boom, indicator for furthest reach of working means or the boom, positive working area indicator, negative working area indicator, a working cone indicator and a working square indicator, and an asymmetric working area indicator based on attitude and position of the work machine.
- the control means are configured to be used with a simulated machine or a real-world machine.
- the work machine is a real-world work machine such as a forestry machine or a loader having a mechanical boom.
- the method further comprises indicating the working area using a head-up display.
- an apparatus com- prising a processor, memory including computer program code, the memory and the computer program code configured to, with the processor, cause the apparatus to electronically determine a dimension of at least part of the working area of a boom pivotally mounted on a work machine or a forest machine, and electronically indicate the working area of the machine so that the indication of the working area is at least partly visible on top of a terrain adjacent to the machine.
- the apparatus further comprises computer program code configured to, with the processor, cause the appa- ratus to model the forest machine by a computer so that at least one part of the forest machine is a computer-modeled part, and to display movement of the computer-modeled part of the forest machine to a user of the apparatus.
- the apparatus further comprises computer program code configured to, with the pro- cessor, cause the apparatus to electronically model the terrain around the machine with a terrain form, and electronically indicate the working area of the forest or work machine on top of the terrain form, and electronically indicate the working area with the help of a texture.
- the apparatus further comprises com- puter program code configured to, with the processor, cause the apparatus to align the orientation of the indication of the working area to one of the orientation of the whole machine, the orientation of a part of the machine, the orientation of the cabin or to the orientation of the working means such as the boom pivot.
- the apparatus further comprises computer program code configured to, with the processor, cause the apparatus to determine information on the forestry task being performed by the user, and electronically indicate the working area of the forest machine based on said information on the forestry task.
- the indication of the working area comprises at least one of the group of indicator for movement track of the machine, indicator for closest reach of working means, indicator for furthest reach of working means, positive working area indicator, negative working area indicator, a working cone indicator and a working square indicator, and an asymmetric working area indicator based on attitude and position of the work machine.
- the control means are configured to be used with a simulated machine or a real-world machine.
- the work machine is a real-world work machine such as a forestry machine or a loader having a mechanical boom.
- the apparatus further comprises a head-up display for indicating the working area.
- an apparatus comprising a processor, memory including computer program code, the memory and the computer program code configured to, with the processor, cause the apparatus to perform the method as described in the first aspect.
- the work machine is a real-world work machine such as a forestry machine or a loader having a mechanical boom.
- the apparatus further comprises a head-up display for indicating the working area.
- a computer program product stored on a computer readable medium and executable in a data processing device, wherein the computer program product comprises a computer program code section for determining a dimension of at least part of the working area of a boom pivotally mounted on a work or a forest machine, and a computer program code section for indicating the working area of the machine so that the indication of the working area is at least partly visible on top of a terrain adjacent to the machine.
- a computer program product stored on a computer readable medium and executable in a data processing device, wherein the computer program product comprises computer program code sections for carrying out the method as described in the first aspect.
- an apparatus comprising control means of a forest machine or a boom pivotally mounted on a work machine or a forest machine for receiving control input from a user and producing control signals for controlling the apparatus, means for processing said control signals from the control unit, means for determining a dimension of at least part of the working area of the forest or work machine, and means for indicating the working area of the machine so that the indication of the working area is at least partly visible on top of a terrain adjacent to the forest machine.
- the apparatus further comprises means for modeling the machine by a computer so that at least one part of the machine is a computer-modeled part, and means for displaying movement of the computer-modeled part of the forest machine to a user of the apparatus.
- a system comprising at least a first apparatus and a second apparatus according to the first, second and/or fifth aspect, wherein the first apparatus and the second apparatus are connected with a data connection, and the first apparatus and the second apparatus are configured to show information indicative of the operation of the second apparatus at the first apparatus.
- the first apparatus is configured to display the graphical form of the second apparatus in the virtual scenery of the first apparatus.
- a system comprising at least a first apparatus and a second apparatus according to the second aspect, wherein the first apparatus and the second apparatus are connected with a data connection, and the first apparatus and the second apparatus are configured to show information indicative of the operation of the second apparatus at the first apparatus.
- the work machine is configured to indicate the working area in response to operating the boom, and to remove the working area indicator when the boom is not being operated.
- the work machine further comprises a head-up display for indicating the working area.
- a work machine such as a forestry machine comprising a movable boom, a display, a processor, memory including computer program code, the memory and the computer program code configured to, with the processor, cause the work machine to electronically indicate a working area of the boom on the display.
- the work machine is configured to indicate the working area in response to operating the boom, and to remove the working area indicator when the boom is not being operated.
- the work machine comprises a head-up display for indicating the working area.
- Fig. 1 shows a flow chart of the operation of a forest machine according to an embodiment of the invention
- Fig. 2 shows a flow chart of the operation of a forest machine according to an embodiment of the invention
- Fig. 4 shows a block diagram of a forest machine simulator according to an embodiment of the invention
- Fig. 5 shows a simulated view of the forest machine simulator according to an embodiment of the invention
- FIG. 7 shows a view of the forest machine in training mode according to an embodiment of the invention
- Fig. 8 shows a view of editing a simulated terrain in the forest machine for the training mode according to an embodiment of the invention.
- Fig. 1 0 shows an example of displaying a working area of a work machine on a display inside the working machine.
- Fig. 1 1 shows an example of using a head-up display for indicating the working area of a work machine in the real world.
- Different methods of working may also define different optimal ways of working with the boom and the saw head. For example, it may be advantageous and efficient to cut trees from the side of the machine, and not cutting trees from the front. The trees in the front will come to the optimal range of operation and the optimal direction of working (to the side of the machine) when the machine moves forward. Therefore, a working method may also define an optimal area of working. The working area indicators may help to learn how to position the machine correctly in relation to the trees or cut trunks, as explained later in more detail. For example, a loading machine may be positioned appropriately to the side of a pile of cut trunks.
- the dimensions (or at least one dimension) of the working area are first determined in step 1 1 0. This may happen so that a computer has predefined information about the working area in numeric format, or has a predefined working area pattern stored in its memory. When the dimensions of the working area are known, the working area can be indicated on top of the terrain surrounding the forest machine in step 1 20. This may happen e.g. by projecting a graphical pattern comprising lines and shapes onto the terrain by using graphical abilities of the computer. The projection may happen inside the virtual world of the computer, or projection means such as a head- up display may be used in a real world.
- Fig. 2 shows a flow chart of the operation of a forest machine according to an embodiment of the invention.
- the working area is aligned with the forest machine so that the working area corresponds to the situation in the real world.
- the working area may also depend on the position, attitude and/or tilt of the work machine so that work areas on different sides of the machine are of different size and/or shape.
- the working area below the machine on a side of a hill may be smaller than the working area above the machine. This may be done e.g. to increase the stability of the machine.
- Modeling the terrain with a terrain form in step 270 is one example of how the working area can be displayed on the terrain.
- the terrain form may e.g. be a triangle mesh or another shape that is able to lay on top of the terrain in the model.
- the terrain form may be adjusted to be slightly on top of the terrain so that an opaque terrain form would mask the underlying terrain.
- a texture or other graphical element may be determined, e.g. loaded from a file or generated by an algorithm.
- the texture or graphical element indicates the working area and may contain e.g. a shape of a cone or a rectangle, as well as color or hash fill.
- the texture may then be mapped to the terrain form for showing the working area.
- Figs. 3a and 3b show a forest or work machine simulator according to an embodiment of the invention.
- the simulator is used to teach a person the operation and work methods of a real forest machine.
- Real forest machines are expensive, and operating them needs to be done in a proper environment, i.e. forest.
- the teaching use of these expensive machines takes them away from productive work of forest harvesting.
- the conditions in a forest may often be harsh and impede learning. Due to safety requirements, only one learner can be instructed at a time in real world forest machine.
- simulators like the one in Fig. 3 have been built for teaching purposes.
- a forest machine simulator comprises controls 31 0 and 31 2 that can be operated by the user.
- Fig. 4 shows a block diagram of a forest machine simulator according to an embodiment of the invention.
- the controller 41 0 of the simulator may comprise e.g. the controls 41 5 and some control logic 41 8 for creating control signals to the machine.
- the controls 41 5 may be similar to the controls of a real forest machine, they may be a simplified version of the real controls, or e.g. regular computer controls may be used.
- the control logic may include circuitry and/or software on a processor like a microcontroller for generating signals according to the controls operated by the user.
- the interface to the simulator 440 from the controller 41 0 may be the same or highly similar to the interface between a real forest machine and its controller.
- the simulator 440 is connected to the controller 41 0 via signal lines.
- the simulator comprises I/O circuitry 441 .
- the simulator may also comprise an input block 442 for accepting input from the user e.g. through a keyboard and a mouse.
- the simulator comprises a processor 445 and memory 446 for running and storing computer program code for the simulator operations.
- There may be multiple processors e.g. a general purpose processor and a graphics processor and/or multiple different memories e.g. volatile memory for storing data and programs at run-time and nonvolatile memory like a hard disk for permanently storing data and programs.
- the simulator may also include a video controller 448 and an audio controller 449 for generating signals that can be produced to the user with computer accessories.
- a first simulator and a second simulator may be connected with a data connection so that the second apparatus can send information to the first apparatus, and the first apparatus may show this information to the user or use it in the modeling of the scenery.
- performance data of the second apparatus may be shown at the first apparatus.
- the second apparatus may appear as a graphical form in the virtual scenery of the first apparatus. This may give a view to the user that there is another machine working in the same area, and the user may see this other machine moving and working.
- Such a system may also be used in a teaching purpose where a teacher or a supervisor is able to observe any single machine or multiple machines working in the environment. Practically, the first machine may be a harvester machine and the second machine may be a loader machine.
- the simulator produces output to the user through output means 470.
- the video controller 448 may be connected to a display 475.
- the display may be e.g. a flat panel display or a projector for producing a larger image.
- the display may also be adapted to wearable video goggles.
- the audio controller 449 may be connected to a sound source 478 such as loudspeakers or earphones.
- Fig. 5 shows a simulated view of the forest machine simulator according to an embodiment of the invention.
- the terrain may have shapes e.g. ditches like those next to the road 51 6 and elevation variations like hills.
- the forest machine itself may comprise two main parts 520 (rear body) and 522 (front body), with the boom 524 attached e.g. to the front part and having a saw head 526.
- the forest machine may run on wheels 528.
- the working area indicators 530, 532 and 536 are projected around the forest machine.
- the working area indicators 530 and 532 show optimal working areas on the side of the machine, and the working area indicator 536 shows a sub-optimal working area in the front.
- the working area indicators may comprise elements 540 and 542 to indicate the furthest and closest reach of the boom, respectively.
- the movement track of the forest machine may also be indicated with the working area indicators with track signs 544 for showing the width of the needed track when the forest machine moves forward.
- the working area indicators are assigned or otherwise moving with the machine, i.e. at least somewhat attached to the machine coordinate system.
- the working area indicator center point may be attached to the boom pole center point i.e. the axis of the pole bearing of the boom 524.
- the orientation of the working area indicators may be aligned with the front body 522 of the harvester machine i.e. the same body where the boom 524 is attached or to the boom pivot point (the bearing housing).
- the working area indicators may be aligned with the back body of the machine, since the pole is mounted to the back body in a loader machine.
- the center point of the working area indicators may be arranged to shift e.g. when the machine is tilted or some other conditions are present.
- the alignment of the working area indicators may also be done in a flexible manner with reference to multiple elements, like the front body 522 and the rear body 520 together, or the alignment may change with the tilting of the machine, ground shapes and so on.
- the working area indicators may comprise different radiuses, different shapes, circular cones, elliptic cones, squares, and zones of any kind. Colors can be used to indicate a positive or optimal working area and a negative or sub-optimal working area.
- the working area indicators or parts of the indicators may be labeled with letters, numbers, words, icons or other labels. For example, squares of the working area indicator may receive labels like "AT, "A2", ... , "A1 2", “ ⁇ , "B2" "L1 1 " and "L1 2".
- the tasks at hand may then refer to these labels to guide the student.
- the boom has a better reach from the side of the machine, and with the help of the working area indicators, this can be now taught at the simulator.
- the right working methods and work order can be taught with the help of the working area indicators, as well.
- the working area indicator may helping to operate the loader in a stable way so that the danger of tipping the machine is smaller.
- the harvester may guide to place the left-over branches to a certain area.
- the guide may also help to position the harvester or the loading machine correctly, or the guide may indicate an area for loading.
- the working area indicator may turn to green or may blink when the machine has been positioned correctly according to a given task.
- textures may be used in showing the working area.
- the texture may be attached on a terrain form, or it may be attached to the ground object directly.
- the terrain form is a floating intermediary object following the ground on top of which the texture is attached.
- the terrain form is placed upwards in z-direction from the ground or towards the viewer in line of sight.
- the terrain form may "dive" inside objects on terrain, or it may be shown on top of the objects.
- the terrain object may follow the ground carefully, as seen in context of the ditch next to the road in Fig. 5.
- Figs. 6a and 6b show schematic representations of different working area indicators for the forest machines according to an embodiment of the invention.
- the reach of the boom 603 may be shown with a cone-shaped indicator 610, 612 (side working areas) and 630 (front working area).
- the furthest reach of the boom 603 may be shown with arcs 614 and 626, as well as the closest reach with 616 and 622.
- There may be other indicators for showing an optimal range of the boom such as the area between arcs 618 and the arc 624.
- the track of the machine for moving forward may be shown with the front working area.
- There may also be a negative working area shown such as the back working area 640 where the boom cannot or should not reach.
- the different working area indicators may have sub-areas, and these sub areas may be labeled.
- the left working area may be divided to sections L1 , L2, L3, L4 and L5
- the right working area may be divided to sections R1 , R2, R3, R4 and R5
- the front working area may be divided to sections F1 , F2 and F3
- the back working area may be divided to sections B1 , B2 and B3.
- These labels may then be used in e.g. guiding the task at hand by referring in the instructions or scoring to these labels.
- An asymmetric working area indicator based on attitude and position of the work machine may also be used.
- Fig. 7 shows a view of the forest machine in training mode according to an embodiment of the invention.
- the training mode provides a clear scoring system that can be defined to follow the student's progress.
- working area indicators may provide advantages for learning. For example, a good working method can be trained by the simulator. The trees are removed from the side, not from the front. The trees in the front will come to optimal working area (side) when the machine moves forward. As another example, the needed driving track (width) can be shown, and minimum and maximum reach of the boom, as well as an optimal operating range are shown.
- the use of working area indicator makes it possible to continue the learning in a simulator for a longer time without the need to move to a real machine, since less "false learning" happens. This may provide cost savings and accelerate learning.
- the working area indicator may also help to learn the reach of the boom so that this knowledge is then usable in real world.
- the working area indicator helps to understand the effect of the boom to machine stability - in a simulator, this is otherwise challenging to understand for a student. Visible information on widths and radiuses helps to learn proper positioning of the harvester machine and proper use of boom in a loader machine.
- Fig. 8 shows a view of editing a simulated terrain in the forest machine for the training mode according to an embodiment of the invention.
- the simulator software may comprise, for example, the following three modes that can be implemented as separate, interconnected programs or different views in a single program, or any combination of the same.
- the first mode may include editors for the surrounding terrain, trees, roads and other objects in the scenery - it may be called a scenery editor.
- the scenery editor allows to shape the terrain in terms of surface elevation, and it allows to position different objects onto the terrain (or possibly into the terrain).
- the different objects may be positioned either automatically or manually, or semi-automatically as a group.
- the scenery editor may allow loading a pre-created scenery from a file, and it may allow storing a part of the scenery or the whole scenery to a file for later use.
- the second mode may be a scoring editor, where points for different operations can be defined.
- the third mode may be the simulation mode, as shown e.g. in Fig. 5.
- Figs 9a and 9b show two types of forest machines whose operation can be modeled in the simulator according to an embodiment of the invention.
- a harvester is shown, comprising two main parts, the engine part 910 and the cabin part, connected with a swivel 925.
- the harvester may have wheels 930 to run on the terrain, or other means of supporting it on the ground.
- the harvester has a boom with a saw head for cutting the trees and delimbing them.
- a loader machine for transporting the trunks from the forest is shown.
- the loader machine has two parts, the cabin part 950 and the cage part 960.
- the loader machine has a boom and a grabber head attached to the boom for collecting the trunks to the cage 980.
- the loader machine may also run on wheels 990.
- Other types of machines are also possible in the simulator.
- Fig. 10 shows an example of displaying a working area of a work machine on a display inside the working machine.
- the display is arranged to show to the operator of the work machine information on the work machine status 1030 as well as information on the task at hand 1040, 1 050 and 1055.
- the display may show the engine and battery status of a forest machine or a harvester, and it may indicate to the operator the dimensions of the tree being cut and the kind of tree being cut (e.g. here "KUUSI" or "SPRUCE”).
- the display may be adapted to show the working area indicators on the screen.
- There may also be information like the operator's name (here "Pekka"), and the machine may record the produced output related to the person operating the machine, allowing multiple persons to successively operate the machine.
- the display may show the position and attitude of the machine 1010, as well as the direction, length and movement of the boom 1 095.
- the left working area 1025, the right working area 1020 as well as the front working area 1022 may be indicated, with the respective sub-areas and the sub-area labels. Showing the working area indicators on the screen may help the operator to operate the machine optimally.
- the terrain may be shown in the work area indicator on the screen with the help of camera or scanner means, e.g. attached to the boom.
- the working area indicator may also be shown on the real controller screen in a simulator, in addition to showing the working area indicators in the simulated world.
- the working area indicator may also be brought to the screen at times when the boom is being moved by the operator, and removed from screen at other times. This helps to use the display space optimally and allows the operator to observe only the most important matters on the screen. For example, when the tree is being cut, and the boom is not moving, the operator may appreciate to see the data related to the cutting. Therefore, at times when the tree is being cut, indicators like the length of the trunk and volume of prepared logs may be shown. At times of other operations, other data may be shown, and the working area indicator may be removed from the screen or minimized to occupu less screen area.
- the working area indicator When the operator is moving the boom, the working area indicator may be brought onto the screen, or it may be enlarged from a small indicator to a larger indicator to be better visible, or the working area indicators may fill essentially the entire screen. Showing the boom movement and position may require sensors on the boom for sensing the direction, length (extension) and movement of the boom.
- Fig. 1 1 shows an example of using a head-up display for indicating the working area of a work machine in the real world.
- the operator of the work machine may have been trained in a simulator by showing the working area indicators in the simulated world, and possibly at the same time on the real controller screen as explained with reference to Fig. 1 0.
- the real work machine like a forest machine or a harvester or a loader machine, may be fitted with a head-up display for showing the working area indicators familiar from the training indicator.
- the real work machine has a cabin with windows 1 1 1 0 (right window), 1 1 20 (left window) and 1 1 30 (front window).
- the work machine may have the same controls 1 1 40, 1 1 45, and 1 1 50 as in the simulator, and the control screen 1 1 45 may show the same working area indicators as in the simulator. To even further improve the usefulness of the working area indicators, they may be shown projected onto the windows with the help of head-up displays. There may be multiple head-up displays, for example three or four or more, or just one.
- the right working area indicator 1 1 18 is projected onto the right window 1 1 1 0 with the help of a head-up display 1 1 15.
- the left working area indicator 1 128 is projected onto the left window 1 120 with the help of a head-up display 1 125.
- the front working area indicator 1 138 is projected onto the front window 1 130 with the help of a head-up display 1 135.
- the head-up displays may be adapted to take into account the height of the operator so that the working area indicators are seen at the right place on top of the terrain.
- the head-up displays may also be able to adapt to the movement of the operator's head, and they may adapt to the tilt of the machine by changing the projection onto the window.
- a terminal device may comprise circuitry and electronics for handling, receiving and transmitting data, computer program code in a memory, and a processor that, when running the computer program code, causes the terminal device to carry out the features of an embodiment.
- a network device may comprise circuitry and electronics for handling, receiving and transmitting data, computer program code in a memory, and a processor that, when running the computer program code, causes the network device to carry out the features of an embodiment.
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE1250574A SE1250574A1 (en) | 2009-12-03 | 2009-12-03 | Procedure and system for a working machine with a boom |
BR112012013204A BR112012013204A2 (en) | 2009-12-03 | 2009-12-03 | method for displaying a desktop, device, computer program product stored in a computer readable medium and executable on a data processing device, system and forest machine |
PCT/FI2009/050975 WO2011067456A1 (en) | 2009-12-03 | 2009-12-03 | A method and a system for a work machine with a boom |
RU2012127569/11A RU2524737C2 (en) | 2009-12-03 | 2009-12-03 | Method and system for working machine with boom |
FI20125702A FI129431B (en) | 2009-12-03 | 2009-12-03 | Method, apparatus and system for a simulated forest machine with a boom |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/FI2009/050975 WO2011067456A1 (en) | 2009-12-03 | 2009-12-03 | A method and a system for a work machine with a boom |
Publications (1)
Publication Number | Publication Date |
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PCT/FI2009/050975 WO2011067456A1 (en) | 2009-12-03 | 2009-12-03 | A method and a system for a work machine with a boom |
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BR (1) | BR112012013204A2 (en) |
FI (1) | FI129431B (en) |
RU (1) | RU2524737C2 (en) |
SE (1) | SE1250574A1 (en) |
WO (1) | WO2011067456A1 (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2015042155A1 (en) * | 2013-09-17 | 2015-03-26 | Caterpillar Inc. | Training apparatus |
EP2799630A4 (en) * | 2011-12-26 | 2015-07-29 | Sumitomo Heavy Industries | Image display device for backhoe |
WO2020043948A1 (en) * | 2018-08-30 | 2020-03-05 | Ponsse Oyj | Method and arrangement for assisting control of forest work machine |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102016000353A1 (en) * | 2016-01-14 | 2017-07-20 | Liebherr-Components Biberach Gmbh | Crane, construction machine or industrial truck simulator |
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- 2009-12-03 RU RU2012127569/11A patent/RU2524737C2/en active
- 2009-12-03 BR BR112012013204A patent/BR112012013204A2/en not_active IP Right Cessation
- 2009-12-03 FI FI20125702A patent/FI129431B/en active IP Right Grant
- 2009-12-03 WO PCT/FI2009/050975 patent/WO2011067456A1/en active Application Filing
- 2009-12-03 SE SE1250574A patent/SE1250574A1/en not_active Application Discontinuation
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Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2799630A4 (en) * | 2011-12-26 | 2015-07-29 | Sumitomo Heavy Industries | Image display device for backhoe |
US9909283B2 (en) | 2011-12-26 | 2018-03-06 | Sumitomo Heavy Industries, Ltd. | Image display apparatus for shovel |
US11072911B2 (en) | 2011-12-26 | 2021-07-27 | Sumitomo Heavy Industries, Ltd. | Image display apparatus for shovel |
WO2015042155A1 (en) * | 2013-09-17 | 2015-03-26 | Caterpillar Inc. | Training apparatus |
US10056009B2 (en) | 2013-09-17 | 2018-08-21 | Caterpillar Inc. | Training apparatus |
WO2020043948A1 (en) * | 2018-08-30 | 2020-03-05 | Ponsse Oyj | Method and arrangement for assisting control of forest work machine |
US11357157B2 (en) | 2018-08-30 | 2022-06-14 | Ponsse Oyj | Method and arrangement for assisting control of forest work machine |
Also Published As
Publication number | Publication date |
---|---|
BR112012013204A2 (en) | 2016-03-01 |
SE1250574A1 (en) | 2012-07-03 |
FI129431B (en) | 2022-02-15 |
RU2012127569A (en) | 2014-01-10 |
FI20125702A (en) | 2012-06-25 |
RU2524737C2 (en) | 2014-08-10 |
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