CA2851706A1 - Multi-stem processing harvester - Google Patents
Multi-stem processing harvester Download PDFInfo
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- CA2851706A1 CA2851706A1 CA2851706A CA2851706A CA2851706A1 CA 2851706 A1 CA2851706 A1 CA 2851706A1 CA 2851706 A CA2851706 A CA 2851706A CA 2851706 A CA2851706 A CA 2851706A CA 2851706 A1 CA2851706 A1 CA 2851706A1
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Abstract
A multi-stem processing harvester is provided for processing one or more stems simultaneously. The harvester comprises a frame, a first feed system adapted to drive one or more first stems comprising: a first drive wheel, a first drive motor coupled to said first drive wheel, wherein said first drive motor drives said first drive wheel in at least a first direction and a first speed relative to said frame and a second feed system adapted to drive one or more second stems comprising: a second drive wheel, a second drive motor coupled to said second drive wheel, wherein said second drive motor drives said second drive wheel in at least a second direction and a second speed relative to said frame, wherein said first feed system is adapted to operate independently of said second feed system. A method is further provided of harvesting one or more stems.
Description
MULTI-STEM PROCESSING HARVESTER
Field of the Invention This application relates in general to a log (otherwise referred to as a -stem") processing or harvesting head for removing the limbs and branches from a stem and cutting the stem into logs of a particular length, and in particular, to a stem processing or harvesting head adapted for de-limbing and cutting multiple stems simultaneously.
Background of the Invention In the logging industry, trees are typically harvested using motorized equipment attached to the boom of a wheeled or tracked vehicle, whereby the motorized equipment is adapted to grab a felled tree, otherwise referred to as a "stem", and drive the stem through the motorized equipment referred to as a processing head, which thereby processes the stern by stripping the branches and limbs from the stern. The removal of branches and limbs results in a more uniformly-shaped stern, making it easier to load the stems on a truck for transportation to a plant for further processing. At the same time, the processing head is also used to cut the stem into logs of a pre-determined length, such procedure referred to as "bucking-.
It is preferable if the processing procedure described above can be performed on multiple stems at the same time in order to increase the overall speed and efficiency of logging operations.
However, conventional harvesting and processing equipment is only capable of efficiently processing one stem at a time. Typically, such harvesting and processing equipment utilizes wheels, tracks, belts or other means to drive a stem past one or more blades, which cut the branches or limbs off of the stem as the stem passes by the blades. Often, the stem will need to be driven back and forth past the blades for at least more than one cycle in order to satisfactorily remove all of the branches and limbs from the stem and create a substantially smooth and uniform cylinder.
E2017365.DOC;1 It is well known in the prior art for harvesting and processing equipment to utilize two or three wheels, or rollers, to drive the stem through a harvesting and processing head. More specifically, a two wheel configuration will typically provide two drive wheels driven by two drive motors. A
three wheel configuration will add a center feeding wheel, which assists with positioning and traction of the stem near the blades as the stem passes through the harvesting head. The prior art also includes the use of a four wheel or roller design, whereby there are two outer drive wheels and two center feed wheels. Each of the two, three and four wheel systems known in the prior art can only process stems in either the forward or reverse direction, by controlling both outer drive wheels simultaneously in the same direction. Such harvesting and processing heads known in the prior art may be capable of processing more than one stem at a time; however, the harvesting and processing heads known in the prior art do not provide the ability to process one or more stems independently of the other stems within a particular bundle.
While each of the two, three and four wheeled systems known in the prior art and described above may be capable of driving more than one stem through the processing head at the same time, there are several problems which prevent the efficient processing of multiple stems through the prior art processing heads. One problem with processing multiple stems in the processing heads known in the prior art is that all of the wheels or rollers are designed to rotate in the same direction at the same time, whereby all two, three or four wheels are only capable of being driven in either the forward or the reverse direction simultaneously. Such configurations mean that it is only possible to drive each of the stems within a bundle of stems through the harvesting and processing equipment at the same speed and in the same direction, making it difficult or nearly impossible for the provided blades to strip the entire circumference of each stern within the bundle.
Field of the Invention This application relates in general to a log (otherwise referred to as a -stem") processing or harvesting head for removing the limbs and branches from a stem and cutting the stem into logs of a particular length, and in particular, to a stem processing or harvesting head adapted for de-limbing and cutting multiple stems simultaneously.
Background of the Invention In the logging industry, trees are typically harvested using motorized equipment attached to the boom of a wheeled or tracked vehicle, whereby the motorized equipment is adapted to grab a felled tree, otherwise referred to as a "stem", and drive the stem through the motorized equipment referred to as a processing head, which thereby processes the stern by stripping the branches and limbs from the stern. The removal of branches and limbs results in a more uniformly-shaped stern, making it easier to load the stems on a truck for transportation to a plant for further processing. At the same time, the processing head is also used to cut the stem into logs of a pre-determined length, such procedure referred to as "bucking-.
It is preferable if the processing procedure described above can be performed on multiple stems at the same time in order to increase the overall speed and efficiency of logging operations.
However, conventional harvesting and processing equipment is only capable of efficiently processing one stem at a time. Typically, such harvesting and processing equipment utilizes wheels, tracks, belts or other means to drive a stem past one or more blades, which cut the branches or limbs off of the stem as the stem passes by the blades. Often, the stem will need to be driven back and forth past the blades for at least more than one cycle in order to satisfactorily remove all of the branches and limbs from the stem and create a substantially smooth and uniform cylinder.
E2017365.DOC;1 It is well known in the prior art for harvesting and processing equipment to utilize two or three wheels, or rollers, to drive the stem through a harvesting and processing head. More specifically, a two wheel configuration will typically provide two drive wheels driven by two drive motors. A
three wheel configuration will add a center feeding wheel, which assists with positioning and traction of the stem near the blades as the stem passes through the harvesting head. The prior art also includes the use of a four wheel or roller design, whereby there are two outer drive wheels and two center feed wheels. Each of the two, three and four wheel systems known in the prior art can only process stems in either the forward or reverse direction, by controlling both outer drive wheels simultaneously in the same direction. Such harvesting and processing heads known in the prior art may be capable of processing more than one stem at a time; however, the harvesting and processing heads known in the prior art do not provide the ability to process one or more stems independently of the other stems within a particular bundle.
While each of the two, three and four wheeled systems known in the prior art and described above may be capable of driving more than one stem through the processing head at the same time, there are several problems which prevent the efficient processing of multiple stems through the prior art processing heads. One problem with processing multiple stems in the processing heads known in the prior art is that all of the wheels or rollers are designed to rotate in the same direction at the same time, whereby all two, three or four wheels are only capable of being driven in either the forward or the reverse direction simultaneously. Such configurations mean that it is only possible to drive each of the stems within a bundle of stems through the harvesting and processing equipment at the same speed and in the same direction, making it difficult or nearly impossible for the provided blades to strip the entire circumference of each stern within the bundle.
2 5 Stems may have defects, for example areas of rot, odd growths, cat faces, spiral checks, broken trunks and/or bends, which if they are included in the length of a particular log will devalue the log. Therefore, during processing, it is desirable to provide the operator of the harvester head with the ability to cut an observed defect out of a stem before continuing with the bucking procedure, in order to ensure the processed logs do not contain such defects. Upon detecting such a defect in E2017365.DOC;1 one or more stems within a bundle that is being processed in a processing head, the processing heads known in the prior art do not provide the operator with the ability to move the stem containing the defect independently of the other stems in order to cut out the portion of the stem containing the defect, before continuing with the bucking procedure on the bundle of stems.
Therefore, when a defect is encountered in one or more stems within a bundle of sterns being processed in a processing head, the operator must drop the bundle and then process each of the stems containing a defect individually in order to remove the defect from the stem before proceeding with the bucking procedure.
Another characteristic of sterns is that the sterns may be of different lengths and diameters upon entering the harvesting and processing head. A cut list for a given harvesting contract may require logs of various lengths, depending on the diameter and species of the stem.
Therefore, when a given bundle of sterns contains stems of varying diameters or tree species, the operator may need to cut each stern into different lengths in accordance with the cutting list, which would require the ability of moving one of the sterns in the bundle independently of the other sterns. While some of the harvesting processing heads described above include a blade that is capable of shortening the length of a single stem or a bundle of stems as they are driven through the processing harvesting head, the harvesting processing heads known in the prior art do not provide the ability to accurately re-position one stern relative to the other stems within the bundle in order to cut all of 2 0 the sterns within the bundle at a uniform length or to otherwise cut a particular stem to different lengths apart from the other sterns, because the sterns within a bundle of sterns are only capable of being driven in either the forward or reverse directions at the same speed and at the same time.
Accordingly, the need has arisen for a processing head that provides a greater degree of control over the manipulation and movement of each individual stern within a bundle through the processing head, in order to increase the efficiency of the processing and bucking of the sterns.
Therefore, when a defect is encountered in one or more stems within a bundle of sterns being processed in a processing head, the operator must drop the bundle and then process each of the stems containing a defect individually in order to remove the defect from the stem before proceeding with the bucking procedure.
Another characteristic of sterns is that the sterns may be of different lengths and diameters upon entering the harvesting and processing head. A cut list for a given harvesting contract may require logs of various lengths, depending on the diameter and species of the stem.
Therefore, when a given bundle of sterns contains stems of varying diameters or tree species, the operator may need to cut each stern into different lengths in accordance with the cutting list, which would require the ability of moving one of the sterns in the bundle independently of the other sterns. While some of the harvesting processing heads described above include a blade that is capable of shortening the length of a single stem or a bundle of stems as they are driven through the processing harvesting head, the harvesting processing heads known in the prior art do not provide the ability to accurately re-position one stern relative to the other stems within the bundle in order to cut all of 2 0 the sterns within the bundle at a uniform length or to otherwise cut a particular stem to different lengths apart from the other sterns, because the sterns within a bundle of sterns are only capable of being driven in either the forward or reverse directions at the same speed and at the same time.
Accordingly, the need has arisen for a processing head that provides a greater degree of control over the manipulation and movement of each individual stern within a bundle through the processing head, in order to increase the efficiency of the processing and bucking of the sterns.
3 E2017365.DOC;1 Summary of the Invention A multi-stem processing harvester is provided for processing one or more stems simultaneously. The harvester comprises a frame, a first feed system coupled to said frame and adapted to drive one or more first stems comprising: a first drive wheel, a first drive motor coupled to said first drive wheel, wherein said first drive motor drives said first drive wheel in at least a first direction and a first speed relative to said frame and a second feed system coupled to said frame and adapted to drive one or more second stems comprising: a second drive wheel, a second drive motor coupled to said second drive wheel, wherein said second drive motor drives said second drive wheel in at least a second direction and a second speed relative to said frame, wherein said first feed system is adapted to operate independently of said second feed system.
A method is further provided of harvesting one or more stems comprising gripping one or more stems into a harvesting head of a harvester; and driving one or more first stems of said one or more stems through the harvester at an independent speed and in an independent direction from said remaining one or more stems.
Brief Description of the Drawings FIG. IA is a perspective view of a preferred embodiment of a multi-stem processing harvester configured to process one or more stems in accordance with the present invention;
FIG. I B is the perspective view of the multi-stem processing harvester shown in FIG. IA, with a bundle of stems being driven through a processing head;
FIG. 2 is a cross-sectional front elevation view of the multi-stem processing harvester shown in FIG. I B, with a bundle of stems being driven through a processing head;
FIG. 3 is a schematic diagram illustrating a configuration of the hydraulic motors and control valves of a preferred embodiment of a multi-stern processing harvester wherein each control valve controls a center feed motor and a drive motor in accordance with the present invention;
A method is further provided of harvesting one or more stems comprising gripping one or more stems into a harvesting head of a harvester; and driving one or more first stems of said one or more stems through the harvester at an independent speed and in an independent direction from said remaining one or more stems.
Brief Description of the Drawings FIG. IA is a perspective view of a preferred embodiment of a multi-stem processing harvester configured to process one or more stems in accordance with the present invention;
FIG. I B is the perspective view of the multi-stem processing harvester shown in FIG. IA, with a bundle of stems being driven through a processing head;
FIG. 2 is a cross-sectional front elevation view of the multi-stem processing harvester shown in FIG. I B, with a bundle of stems being driven through a processing head;
FIG. 3 is a schematic diagram illustrating a configuration of the hydraulic motors and control valves of a preferred embodiment of a multi-stern processing harvester wherein each control valve controls a center feed motor and a drive motor in accordance with the present invention;
4 E2017365.DOC;1 FIG. 4 is a schematic diagram illustrating a configuration of the hydraulic motors and control valves of a preferred embodiment of a multi-stem processing harvester wherein each of two drive motors and two center feed motors are individually controlled by a control valve in accordance with the present invention;
FIG. 5 is a schematic diagram illustrating a configuration of two hydraulic motors and two control valves of a preferred embodiment of a multi-stem processing harvester wherein each of the two drive motors are individually controlled by the two separate control valves in accordance with the present invention;
FIG. 6 is a schematic diagram illustrating a configuration of two drive motors and 1 0 two control valves of a preferred embodiment of a multi-stem processing harvester wherein each of the two drive motors are individually controlled by separate control valves in accordance with the present invention;
FIG. 7 is a front elevation view of the multi-stem processing harvester shown in FIG. IA;
FIG. 8 is a bottom perspective view of the multi-stem processing harvester shown in FIG. IA;
FIG. 9 is a schematic diagram illustrating a configuration of one embodiment of the controllers and the computer utilized to control the multi-stem processing harvester; and FIG. 10 is a schematic diagram illustrating the steps in a method for processing more than one stem through a processing head in accordance with the present invention.
Detailed Description of Embodiments of the Invention Referring to FIG. IA and FIG. 2, the multi-stem processing harvester 10 discussed herein is adapted to provide a tree logging harvester that is capable of processing multiple trees or stems at the same time. The multi-stem processing harvester 10 is comprised of a harvesting head 20 supported on a mechanical frame assembly 30 and provided with a harvesting head adaptor 35 adapted to connect the harvesting head to the boom of a front loader, bobcat, or some other type of motorized vehicle driven wheels or tracks (not shown). The harvesting head 20 is further comprised of a right feed system 40 and a left feed system 60, and preferably comprises a main
FIG. 5 is a schematic diagram illustrating a configuration of two hydraulic motors and two control valves of a preferred embodiment of a multi-stem processing harvester wherein each of the two drive motors are individually controlled by the two separate control valves in accordance with the present invention;
FIG. 6 is a schematic diagram illustrating a configuration of two drive motors and 1 0 two control valves of a preferred embodiment of a multi-stem processing harvester wherein each of the two drive motors are individually controlled by separate control valves in accordance with the present invention;
FIG. 7 is a front elevation view of the multi-stem processing harvester shown in FIG. IA;
FIG. 8 is a bottom perspective view of the multi-stem processing harvester shown in FIG. IA;
FIG. 9 is a schematic diagram illustrating a configuration of one embodiment of the controllers and the computer utilized to control the multi-stem processing harvester; and FIG. 10 is a schematic diagram illustrating the steps in a method for processing more than one stem through a processing head in accordance with the present invention.
Detailed Description of Embodiments of the Invention Referring to FIG. IA and FIG. 2, the multi-stem processing harvester 10 discussed herein is adapted to provide a tree logging harvester that is capable of processing multiple trees or stems at the same time. The multi-stem processing harvester 10 is comprised of a harvesting head 20 supported on a mechanical frame assembly 30 and provided with a harvesting head adaptor 35 adapted to connect the harvesting head to the boom of a front loader, bobcat, or some other type of motorized vehicle driven wheels or tracks (not shown). The harvesting head 20 is further comprised of a right feed system 40 and a left feed system 60, and preferably comprises a main
5 E2017365.DOC;1 saw box 33 containing a main saw on an actuator (not shown), and further preferably comprising a top saw box 34 containing a top saw on an actuator (not shown).
The right feed system 40 preferably comprises a right center feed wheel 41, a right drive wheel 43 and a right drive motor 44, which drives the right drive wheel 43. Similarly, in a preferred embodiment of the harvesting head 20, the left feed system 60 comprises a left center feed wheel 61 and, a left drive wheel 63 which is driven by a left drive motor 64. A
center area 15, where the stems pass through the harvesting head 20, is defined as the space between the right and left drive wheels 43, 63 and the right and left center feed wheels 41, 61. In a preferred embodiment of the present invention, as illustrated in FIG. 2, a right center feed motor 42 may be used to drive the right center feed wheel 41 and a left center feed motor 62 may also be provided to drive the left center feed wheel 61. Preferably, the drive motors 44, 64 and the center feed motors 42, 62 are hydraulic motors, but it will be well understood by a person ordinarily skilled in the art that other types of motors may be used, such as electric motors. Additionally, it will be well understood by a person ordinarily skilled in the art that other configurations of wheels and motors may be used that are included within the scope of this invention. For example, not intending to be limiting in any way, a two motor, four wheel configuration may be utilized wherein the right drive motor 44 drives both the right drive wheel 43 and the right center feed wheel 41 and the left drive motor 64 drives both the left drive wheel 63 and the left center feed wheel 61.
In a preferred embodiment of the present invention (as illustrated in FIG. 8), each of the center feed wheels 41 and 61, and each of the drive wheels 63 and 43 may be provided with gripping means, for example sharp protrusions 51 preferably arranged into rows 50, thereby providing a surface 53 for the wheels 41, 61, 43 and 63 that is capable of gripping a bundle of stems in order to drive those stems through the multi-stem processing harvester 10. This invention is not limited to utilizing wheels provided with sharp protrusions 51 to grip and drive the stems through the harvester 10, as other means to grip and drive the stems through the harvester 10 may include wheels provided with chains, protrusions, rubber or other gripping means.
Furthermore, other types of driving means may be provided in place of the drive wheels 43, 63 and the center feed
The right feed system 40 preferably comprises a right center feed wheel 41, a right drive wheel 43 and a right drive motor 44, which drives the right drive wheel 43. Similarly, in a preferred embodiment of the harvesting head 20, the left feed system 60 comprises a left center feed wheel 61 and, a left drive wheel 63 which is driven by a left drive motor 64. A
center area 15, where the stems pass through the harvesting head 20, is defined as the space between the right and left drive wheels 43, 63 and the right and left center feed wheels 41, 61. In a preferred embodiment of the present invention, as illustrated in FIG. 2, a right center feed motor 42 may be used to drive the right center feed wheel 41 and a left center feed motor 62 may also be provided to drive the left center feed wheel 61. Preferably, the drive motors 44, 64 and the center feed motors 42, 62 are hydraulic motors, but it will be well understood by a person ordinarily skilled in the art that other types of motors may be used, such as electric motors. Additionally, it will be well understood by a person ordinarily skilled in the art that other configurations of wheels and motors may be used that are included within the scope of this invention. For example, not intending to be limiting in any way, a two motor, four wheel configuration may be utilized wherein the right drive motor 44 drives both the right drive wheel 43 and the right center feed wheel 41 and the left drive motor 64 drives both the left drive wheel 63 and the left center feed wheel 61.
In a preferred embodiment of the present invention (as illustrated in FIG. 8), each of the center feed wheels 41 and 61, and each of the drive wheels 63 and 43 may be provided with gripping means, for example sharp protrusions 51 preferably arranged into rows 50, thereby providing a surface 53 for the wheels 41, 61, 43 and 63 that is capable of gripping a bundle of stems in order to drive those stems through the multi-stem processing harvester 10. This invention is not limited to utilizing wheels provided with sharp protrusions 51 to grip and drive the stems through the harvester 10, as other means to grip and drive the stems through the harvester 10 may include wheels provided with chains, protrusions, rubber or other gripping means.
Furthermore, other types of driving means may be provided in place of the drive wheels 43, 63 and the center feed
6 E2017365.00C;1 wheels 41, 61 such as for example tracks or belts used to drive one or more stems through the harvester 10.
The operation of the multi-stern processing harvester 10 is preferably controlled by the operator utilizing an electronic control system. In a preferred embodiment, the electronic control system 200 as illustrated in FIG. 9 consists of a computer 210 and computer peripherals 212 that enable an operator to input data into the computer 210 to control the harvester 10 and also to view information and data received by the computer 210 from various sensors employed by the harvester 10, further described below. The computer peripherals 212 may include any type of computer peripherals that enable the operator to control the computer 210 and view data, including but not limited to CRT screens, LED screens, visual displays, keyboards, key pads, mouse, touch pads. The computer peripherals 212 may preferably include a touch screen that provides means for viewing information about, and inputting commands to control, the operations of the multi-stem processing harvester 10; the computer peripherals 212 may also preferably include one or more joysticks. The computer 210, which may be located in the cab 205 of the multi-stern processing harvester 10, is in communication with a main controller 220 by means of a network cable, such as, for an example only, an Ethernet cable 215. The main controller 220 controls traffic over a first controller area network (CAN) bus 222 and a second CAN
bus 224, which first and second CAN buses 222, 224 are in communication with various different input/output 2 0 controller units that control various functions of the multi-stem processing harvester 10, as further described below.
In a preferred embodiment, the second CAN bus 224 may be in communication with a machine controller unit 230, which machine controller unit 230 is utilized to receive and process input signals provided to the computer 220 by the operator using the one or more computer peripheral devices 212 in the cab 205 to control the physical movement of the multi-stem processing harvester 10. The machine controller unit 230 may also be in communication with a first input/output device 235, which input/output device 235 may control other aspects of the harvester 10 such as automated oiling pumps.
The operation of the multi-stern processing harvester 10 is preferably controlled by the operator utilizing an electronic control system. In a preferred embodiment, the electronic control system 200 as illustrated in FIG. 9 consists of a computer 210 and computer peripherals 212 that enable an operator to input data into the computer 210 to control the harvester 10 and also to view information and data received by the computer 210 from various sensors employed by the harvester 10, further described below. The computer peripherals 212 may include any type of computer peripherals that enable the operator to control the computer 210 and view data, including but not limited to CRT screens, LED screens, visual displays, keyboards, key pads, mouse, touch pads. The computer peripherals 212 may preferably include a touch screen that provides means for viewing information about, and inputting commands to control, the operations of the multi-stem processing harvester 10; the computer peripherals 212 may also preferably include one or more joysticks. The computer 210, which may be located in the cab 205 of the multi-stern processing harvester 10, is in communication with a main controller 220 by means of a network cable, such as, for an example only, an Ethernet cable 215. The main controller 220 controls traffic over a first controller area network (CAN) bus 222 and a second CAN
bus 224, which first and second CAN buses 222, 224 are in communication with various different input/output 2 0 controller units that control various functions of the multi-stem processing harvester 10, as further described below.
In a preferred embodiment, the second CAN bus 224 may be in communication with a machine controller unit 230, which machine controller unit 230 is utilized to receive and process input signals provided to the computer 220 by the operator using the one or more computer peripheral devices 212 in the cab 205 to control the physical movement of the multi-stem processing harvester 10. The machine controller unit 230 may also be in communication with a first input/output device 235, which input/output device 235 may control other aspects of the harvester 10 such as automated oiling pumps.
7 E2017365.DOC;1 The first CAN bus 222 may be routed from the cab 205 to the harvesting head 20 through the crane cable 240 and is in communication with a bucking controller input unit 242, which bucking controller input unit 242 is utilized to read the input signals received from one or more right diameter sensors 46 and one or more left diameter sensors 66, one or more length measuring encoders 22, one or more find end sensors 25, all of which are illustrated in FIGS. IA, 7 and 8, as well as other sensors including the main saw home sensors and top saw home sensors. The first CAN bus 222 is also in communication with a second input/output device 244, which device controls the clamping motion of a right delimb arm assembly 45, a left delimb arm assembly 65, as well as the clamping motion of the right feed system 40 and left feed system 60.
As well, the first CAN bus 222 is in communication with a third input/output device 246, which device controls optional hydraulic control valves 70, 80 illustrated in FIGS.
3, 5 and 6, that control the left drive wheel 63 and right drive wheel 43. Additionally, the first CAN
bus 222 may be in further communication with additional input/output relay devices, such as for example the input/output device 248, which may control additional functions on the harvesting head 20. It will be appreciated by a person skilled in the art that a number of different configurations of electronic controllers may be used to control the various functions of the multi-stem processing harvester 10 and that the invention described herein is not limited to the specific configuration of electronic controllers and input/output devices described above.
In a preferred embodiment, the drive motors 44 and 64 may be hydraulic motors, whereby the right feed system 40 and the left feed system 60 respectively either share a common hydraulic supply line, or otherwise have separate hydraulic supply lines to each of the right and left feed systems 40, 60. In a preferred embodiment of this invention, as illustrated in FIG. 3, hydraulic pressure is supplied through a common supply line 90, which supplies hydraulic pressure to each of the right and left feed systems 40, 60 on the harvester head 20. The supply line 90 is coupled to the supply port 71 of control valve 70. Hydraulic pressure exits a left A port 72 and is supplied by a hydraulic line 73 coupled to an inlet port 74 of the left drive motor 64. Hydraulic fluid then exits from the
As well, the first CAN bus 222 is in communication with a third input/output device 246, which device controls optional hydraulic control valves 70, 80 illustrated in FIGS.
3, 5 and 6, that control the left drive wheel 63 and right drive wheel 43. Additionally, the first CAN
bus 222 may be in further communication with additional input/output relay devices, such as for example the input/output device 248, which may control additional functions on the harvesting head 20. It will be appreciated by a person skilled in the art that a number of different configurations of electronic controllers may be used to control the various functions of the multi-stem processing harvester 10 and that the invention described herein is not limited to the specific configuration of electronic controllers and input/output devices described above.
In a preferred embodiment, the drive motors 44 and 64 may be hydraulic motors, whereby the right feed system 40 and the left feed system 60 respectively either share a common hydraulic supply line, or otherwise have separate hydraulic supply lines to each of the right and left feed systems 40, 60. In a preferred embodiment of this invention, as illustrated in FIG. 3, hydraulic pressure is supplied through a common supply line 90, which supplies hydraulic pressure to each of the right and left feed systems 40, 60 on the harvester head 20. The supply line 90 is coupled to the supply port 71 of control valve 70. Hydraulic pressure exits a left A port 72 and is supplied by a hydraulic line 73 coupled to an inlet port 74 of the left drive motor 64. Hydraulic fluid then exits from the
8 E2017365.DOC;1 left drive motor 64 through a second hydraulic line 76 that is coupled to the outlet port 75 of the left drive motor 64 and the other end of the hydraulic line 76 being coupled to the inlet port 77 of the left center feed motor 62. A third hydraulic line 79 is coupled to the outlet port 78 of the left center feed motor 62 at one end and the other end of the hydraulic line 79 is coupled to the left B
port 69 of the directional left control valve 70. The left return port 96 of the directional left control valve 70 is coupled to the common return line 95.
The directional left control valve 70 may also be used to reverse the direction of the flow of the hydraulic fluid through the left feed system 60, resulting in a reversal of the direction of the left drive motor 64 and left center feed motor 62, wherein hydraulic pressure exits the left B port 69 and is supplied by a hydraulic line 73 to the outlet port 78 of the left center feed motor 62.
Hydraulic pressure is then supplied from the inlet port 77 of the left center feed motor 62 to the outlet port 75 of the left drive motor 64 through the second hydraulic line 76. Hydraulic fluid flows through the inlet port 74 of the left drive motor 64 and enters the directional left control valve 70 through the left A port 72, and proceeds through the left return port 96 to the tank 100 through the return line 95.
The same pressure line 90 coupled to the directional left control valve 70 is also coupled to the directional right control valve 80 through the supply port 81 of the directional right control valve 80. The right A port 82 of the directional right control valve 80 is connected by a fourth hydraulic line 83 to the inlet port 84 of the right drive motor 44 of the right feed system 40. The right drive motor 44 is connected to the right center feed motor 42 by a fifth hydraulic line 86 which is coupled at one end to the outlet port 85 of the right drive motor 44, and the other end of the hydraulic line 86 is coupled to the inlet port 87 of the right center feed motor 42. The right center feed motor 42 is then connected to the directional right control valve 80 by a sixth hydraulic line 89 which is connected at a first end to the outlet port 88 of the right center feed motor 42 and at a second end of the sixth hydraulic line 89 to the B port 68 of the directional right control valve 80.
port 69 of the directional left control valve 70. The left return port 96 of the directional left control valve 70 is coupled to the common return line 95.
The directional left control valve 70 may also be used to reverse the direction of the flow of the hydraulic fluid through the left feed system 60, resulting in a reversal of the direction of the left drive motor 64 and left center feed motor 62, wherein hydraulic pressure exits the left B port 69 and is supplied by a hydraulic line 73 to the outlet port 78 of the left center feed motor 62.
Hydraulic pressure is then supplied from the inlet port 77 of the left center feed motor 62 to the outlet port 75 of the left drive motor 64 through the second hydraulic line 76. Hydraulic fluid flows through the inlet port 74 of the left drive motor 64 and enters the directional left control valve 70 through the left A port 72, and proceeds through the left return port 96 to the tank 100 through the return line 95.
The same pressure line 90 coupled to the directional left control valve 70 is also coupled to the directional right control valve 80 through the supply port 81 of the directional right control valve 80. The right A port 82 of the directional right control valve 80 is connected by a fourth hydraulic line 83 to the inlet port 84 of the right drive motor 44 of the right feed system 40. The right drive motor 44 is connected to the right center feed motor 42 by a fifth hydraulic line 86 which is coupled at one end to the outlet port 85 of the right drive motor 44, and the other end of the hydraulic line 86 is coupled to the inlet port 87 of the right center feed motor 42. The right center feed motor 42 is then connected to the directional right control valve 80 by a sixth hydraulic line 89 which is connected at a first end to the outlet port 88 of the right center feed motor 42 and at a second end of the sixth hydraulic line 89 to the B port 68 of the directional right control valve 80.
9 E2017365.DOC;1 The directional right control valve 80 may also be used to reverse the direction of the flow of the hydraulic fluid through the right feed system 40, resulting in a reversal of the direction of the right drive motor 44 and the right center feed motor 42, wherein the hydraulic fluid flows out of the directional right control valve 80 through the B port 68 and travels through the sixth hydraulic line 89 to the outlet port 88 of the right center feed motor 42. The hydraulic pressure exits the right center feed motor 42 through the inlet port 87 and travels through the fifth hydraulic line 86 to the outlet port 85 of the right drive motor 44, and flows through the inlet port 84 to the fourth hydraulic line 83, entering the directional right control valve 80 through the A port 82. The hydraulic fluid returns to the tank 100 by exiting the right return port 97 and flowing through the return line 95.
The foregoing is a description of the general arrangement of a set of motors consisting of the right feed system 40 and left feed system 60. It will be appreciated by a person ordinarily skilled in art that the A and B ports of each of the directional left and right control valves 70, 80, may be swapped around for the sake of making the hydraulic hosing arrangement easier and neater during installation. Furthermore, it will be appreciated by a person ordinarily skilled in the art that it is possible to utilize multiple hydraulic supply lines to supply hydraulic fluid to each ofthe hydraulic motors utilized in a harvesting head 20 and multiple hydraulic return lines to return the hydraulic fluid to the tank 100, and the scope of the invention described herein is therefore not limited to a configuration utilizing one hydraulic supply line 90 and one hydraulic return line 95. It will also be appreciated by a person ordinarily skilled in the art that other configurations for the control of the hydraulic motors utilized in a harvesting head 20 may be possible and are included within the scope of the present invention.
As illustrated in FIG. 3, an embodiment of the present invention includes four motors. A right feed system 40 may be controlled using the right center feed motor 42 and the right drive motor 44 by means of a directional control valve, such as for example the directional right control valve 80. Furthermore, a left feed system 60 may be controlled using the left center feed motor 62 and the left drive motor 64 by means of another directional control valve, such as a directional left E2017365.DOC;1 control valve 70. The system may also contain other valves, such as flow control valves, relief valves to protect the system, and other components such as pressure compensators, so that the above described control valves 70 and 80 should not be seen as the only components that drive or control the drive system of the present invention.
The directional right control valve 80 may be actuated to either allow hydraulic fluid to flow through the right drive motor 44 first, with the flow of the hydraulic pressure proceeding to the center feed motor 42 and then returning through the directional right control valve 80 to a tank 100; or the directional right control valve 80 may allow the hydraulic fluid to flow through the right center feed motor 42 first, with the flow of the hydraulic pressure proceeding to the right drive motor 44 and then returning through the directional right control valve 80 to the tank 100.
This arrangement provides for control of both motors 42, 44 in either the forward or reverse directions. Each of the left and right feed systems 40, 60 are controlled in a similar manner with each respective system using its own specific control valve 70, 80 and set of motors, as described above.
Furthermore, as illustrated in FIG. 7, the left drive wheel 63 and left drive motor 64 may preferably be coupled to the right drive wheel 43 and the left drive motor 44 by means of a drive wheel link 32, enabling the drive wheels 63, 43 to be associated with each other for timing purposes. A drive wheel link 32 may be a rigid link, or it may preferably be a spring link. The embodiment described above allows for each control valve 70, 80 to be actuated independently in either direction, allowing the right motors 42, 44 to rotate in directions and at speeds independent of the directions and speeds of the left motors 62, 64, or to stay in a stationary state, or in the alternative allowing each of the center feed motors and the drive motors to rotate in the same direction, or in opposing directions, thereby giving the operator of the multi-stem harvesting processor 10 substantially unlimited degrees of control over each of the stems being processed at the same time. Furthermore, in this preferred embodiment there is also provided the ability to have either the right feed system 40 or the left feed system 60 to remain completely stationary or to be controlled at varying speeds while the opposite feed system may be driven in either the forward E2017365.DOC;1 or the reverse directions at varying speeds, providing the ability to hold a stem that is adjacent to one of the feed systems 40, 60 to be held in a substantially stationary position while one or more stems that are adjacent to and in contact with the opposite feed system 40, 60 are driven in either the forward or reverse directions.
In a further embodiment as illustrated in FIG. 4, a harvesting head 20 is provided with a left and right drive motor 64, 44, which drive motors are controlled by a left drive control valve 101 and a right drive control valve 122 respectively. The left center feed motor 62 and right center feed motor 42 are separately controlled by a left center feed control valve 112 and a right center feed control valve 117 respectively. A common pressure line 90 is coupled to the supply port 102 ofthe left drive control valve 101. Hydraulic pressure is supplied to the left drive motor 64 by a first hydraulic line 130 with one end of the hydraulic line 130 coupled to the left drive control valve A
port 104 and the other end of the second hydraulic line 130 is coupled to the inlet port 107 of the left drive motor 64. Hydraulic fluid is then returned to the left drive control valve 101 by means of a second hydraulic line 131 that is coupled to the outlet port 108 of the left drive motor 64 and the other end of the hydraulic line 131 is coupled to the B port 110 of the left drive control valve 101.
Hydraulic fluid is then returned to the tank 100 by exiting through the left drive control return port 111 and flowing through the return line 95.
The left center feed motor 62 is controlled by the left center feed control valve 112, which is coupled to the pressure line 90 through the supply port 113 of the left center feed control valve 112. Hydraulic pressure is supplied to the left center feed motor 62 by means of a third hydraulic line 132 that is coupled at a first end to the A port 114 of the left center feed control valve 112 and a second end of the hydraulic line 132 is coupled to the inlet port 107 of the left center feed motor 62. Hydraulic fluid passes through the left center feed motor 62 to the outlet port 108 and flows through a fourth hydraulic line 133 that is coupled at a first end to the outlet port 108 of center feed motor 62 and at a second end to the B port 115 of the left center feed control valve 112.
Hydraulic fluid exits the left center feed control valve 112 through the return port 116 and flows through the return line 95 to the tank 100.
E2017365.DOC;1 Similarly, the right center feed motor 42 is controlled by means of the right center feed control valve 117 by the supply of the hydraulic fluid through the common supply line 90. Hydraulic fluid enters the right center feed control valve 117 through a connection between the supply line 90 and the supply port 118 of the right center feed control valve 117. Hydraulic pressure is supplied to the right center feed motor 42 by means of a fifth hydraulic line 134 which is coupled at a first end to the A port 119 of the right center feed control valve 117 and at a second end to the inlet port 107 of the right center feed motor 42. Hydraulic fluid may exit the right center feed motor 42 through the outlet port 108 of the right center feed motor 42. Hydraulic fluid is then carried back through the right center feed control valve 117 by means of a sixth hydraulic line 135 wherein hydraulic line 135 is coupled at a first end to the outlet port 108 at the right center feed motor 42 and at a second end to the B port 120 of the right center feed control valve 117.
Hydraulic fluid is carried back to the tank 100 through the return line 95 by exiting the right center feed control valve 117 through a return port 121.
The right drive control valve 122 controls the right drive motor 44 by means of hydraulic fluid supplied to the right drive control valve 122 through the supply port 123 of the right drive control valve 122. Hydraulic pressure is then supplied through the right drive control valve 122 to the right drive motor 44 by a seventh hydraulic line 136 that is coupled at a first end to an A port 124 of the right drive control valve 122 and a second end of the hydraulic line 136 is coupled to the inlet port 107 of the right drive motor 44. Hydraulic fluid then exits from the right drive motor 44 by means of an eighth hydraulic line 137 that is coupled at a first end to an outlet port 108 of the right drive motor 44 and at a second end to a B port 125 of right drive control valve 122. Hydraulic fluid exits the right drive control valve 122 and returns to the tank 100 through the return line 95 that is coupled to the return port 126 of the right drive control valve 122.
In the embodiment described herein and illustrated in FIG. 4, the flow of the hydraulic fluid may be reversed by any of the drive control valves 101, 122 and the center feed control valves 112, 117, resulting in the reversal of the direction of the drive motors 64, 44 and the center feed motors E2017365.DOC;1 42, 42 respectively. The embodiment illustrated in FIG. 4 provides the ability to control each of the four motors 42, 44, 62 and 64 independently through its own control valves 101, 112, 117 and 122, respectively, in order to maintain control over the direction and speed of one or more selected stems within a bundle of stems in either the forward or reverse directions, and also provides the ability to maintain one or more of the selected stems in a stationary position relative to the other stems.
In a further embodiment of this invention illustrated in FIG. 5, two drive wheels 43, 63 are driven by two hydraulic motors while the center feed wheels 41, 61 are not coupled to any motors and are thus free to rotate on their respective axes when the surfaces of the center feed wheels 41, 61 come into contact with the surfaces of stems being driven by the drive wheels 43, 63. In this embodiment of the invention, the speed and direction of the left drive motor 64 is controlled by the directional left control valve 70 and the speed and direction of the right drive motor 44 is controlled by the directional right control valve 80. The left drive motor 64 drives the left drive wheel 63 and the right drive motor 44 drives the right drive wheel 43. When the harvesting head is in motion the left drive wheel 63 and the right drive wheel 43 are used to drive either a single stem or a plurality of stems through the processing head 20 (not shown in FIG.
5). In this embodiment the left center feed wheel 61 and the right center feed wheel 41 are not coupled to any motors. The left center feed wheel 61 and the right center feed wheel 41 are left to rotate freely 20 about their respective axes and are positioned to guide the stems through the harvesting head 20.
Similar to other embodiments of this invention described above, in this embodiment illustrated in FIG. 5 the left drive motor 64 is driven by means of hydraulic pressure supplied through a supply line 90 to the directional left control valve 70 by connection of the supply line 90 to the supply port 71 of the directional left control valve 70. Hydraulic pressure is then supplied to the left drive motor 64 by means of a hydraulic line 73 that is coupled at a first end to the A port 72 of the directional left control valve 70 and a second end of the hydraulic line 73 is coupled to the supply port 74 of the left drive motor 64. Hydraulic pressure exits the left drive motor 64 through the outlet port 75 to a second hydraulic line 76 that is coupled to the B port 69 of the directional left E2017365.DOC;1 control valve 70. Hydraulic fluid then flows back to a return line 95 to the tank 100 through the left return port 96 of the directional left control valve 70.
Similarly, the speed and direction of the right drive motor 44 is controlled by the directional right control valve 80 whereby hydraulic fluid is supplied through the supply line 90 to the directional right control valve 80 through the supply port 81 of the directional right control valve 80.
Hydraulic pressure is then supplied to the right drive motor 44 by means of a hydraulic line 79 that is connected at a first end to the A port 82 of the directional right control valve 80 and at a second end of the hydraulic line 79 coupled to the inlet port 84 of the right drive motor 44. Hydraulic fluid flows back to the directional right control valve 80 by means of another hydraulic line 83 coupled at a first end of the hydraulic line 76 to the outlet port 75 of the right drive motor 44 and at a second end of the hydraulic line 76 coupled to the B port 68 of the directional right control valve 80. Hydraulic fluid is returned to the tank 100 through the return line 95 by flowing to the return line 95 through the return port 97 of the directional right control valve 80.
In this embodiment, in addition to allowing the left center feed wheel 61 and the right center feed wheel 41 to rotate freely about their axes, it is also possible to include other hydraulic or non-hydraulic means to either hold stationary the left center feed wheel 61 and/or the right center feed wheel 41, when needed. The direction of the left drive motor 64 or the right drive motor 44 may be reversed by using the directional left control valve 70 or the directional right control valve 80 to reverse the flow of hydraulic pressure through the left drive motor 64 or the right drive motor 44, respectively.
In another embodiment of this invention, as illustrated in FIG. 6, there is a left drive motor 64 which drives a left drive wheel 63 and a right drive motor 44 which drives a right drive wheel 43.
In this embodiment of the invention each drive motor can be driven individually and independently of the other drive motor, in the same or opposing directions -either forward or backward, relative to the frame 30 of the harvesting head 20 - and at the same or differing speeds;
and additionally, one drive motor may be held stationary while the other drive motor is being driven in either the forward or reverse directions relative to the frame, to align multiple stems when processing multiple stems at the same time in the harvesting head 20.
This feature, referred E2017365.DOC;1 to as stepping, aligning, shuffle and indexing, enables the operator to achieve an equal length amongst all of the stems being simultaneously processed at the same time.
The ability to drive each motor independently of the other motors provides the benefit of being able to process more than one stem at a time wherein the more than one stems may have varying diameters and lengths. In this embodiment and in other embodiments described herein that provide for various motors to be controlled independently of the other motors by their own individual control valves, there is an added benefit of drive power as, for example, a left center feed motor 62 may be synchronized with respect to the speed and power provided by the left drive motor 64, enabling the combined drive power of both motors 62, 64 to be used effectively when driving a single stem or a plurality of stems through the harvesting head 20, with minimal loss in power caused by slippage of one or more stems which may result in damage to the surface of the stem engaged by the wheels. This feature additionally allows for trees of varying lengths and diameters to be processed through the harvesting head 20 at the same speed, which results in logs being cut to the same length.
In a preferred embodiment, each of the functions of the multi-stem processing harvester 10 may be automatically controlled by the computer 210 of the electronic control system 200, whereby various sensors employed throughout the harvesting head 20 and further described in detail below are utilized to provide inputs to the electronic control system 200 which are processed by the computer 210 to implement various output signals to control the operation of the various motors and actuators employed throughout the harvesting head 20. Furthermore, the electronic control system 200 may also provide the operator with a means to both visually monitor the stems for defects and monitor the sensor data on the stems as they are being processed, and the ability to partially override the electronic control system 200 and manually control sonic functions of the multi-stem processing harvester 10, when manual intervention by the operator is required.
With reference to FIG. 8, a cylindrical length measuring encoder 22 may be positioned above the center area 15 located laterally between the right drive wheel 43 and the left drive wheel 63. As a E2017365.DOC;1 particular stem (not shown) is driven through the harvesting head 20 by means of the right and left hand drive wheels 43, 63, the surface 26 of the cylindrical length measuring encoder 22 comes into contact with the surface of the stem, and the frictional force between the surface of the stem and the surface 26 of the cylindrical length measuring encoder 22 causes the cylindrical length measuring encoder 22 to rotate as the stem is driven through the harvesting head 20. The cylindrical length measuring encoder 22 records the number of revolutions, or "pulses", that it undergoes as it is in contact with the stem, and the number of pulses is communicated to the computer 210 of the electronic control system 200, which data is interpreted by the computer 210 to measure the length of the stem that is in contact with the length measuring encoder 22.
While only one length measuring encoder 22 is depicted in FIG. 8, it will be appreciated by a person skilled in the art that more than one length measuring encoder 22 may be employed within the harvesting head to measure different stems that are passing through the harvesting head 20 at the same time. Furthermore, it will be appreciated by a person ordinarily skilled in the art that a length measuring encoder 22 does not necessarily have to be a separate cylindrical device employed within the harvesting head 20; for example, the length measuring encoder 22 may be integrated into other cylindrically-shaped components within the harvesting head. As illustrated in FIG. 7, for example, possible locations 23 on the left feed system 60 of the harvesting head 20 for integrating a length measuring encoder 22 include: within the hub of the left center feed wheel 6 I ;
the hub of the left center feed motor 62; the hub of the left drive wheel 63;
and the hub of the left drive motor 64. Possible locations 21 on the right feed system 40 of the harvesting head 20 for integrating a length measuring encoder 22 include: within the hub of the right center feed wheel 41; the hub of the right center feed motor 42; the hub of the right drive wheel 43; and the hub of the right drive motor 44. Length measuring encoder 22 may also take the form of any known 2 5 sensor in the art used to detect length, distance or speed of a moving object relative to a fixed object.
As illustrated in FIG. IA, one or more find end sensors 25 may be located on a rear underside portion 31 of a main saw box 33. The one or more find end sensors 25 are utilized to detect that E2017365.DOC;1 the end of a stem has passed through the harvesting head 20. In a preferred embodiment, the one or more find end sensors 25 may be used to align the butt ends of each stem of a bundle of stems being fed through the harvesting head 20, such that the stems may be cut to a desired length at the same time. A find end sensor 25 may comprise of various different types of sensors, which include but are not limited to a photo cell, a laser, a sonic sensor and a camera.
As illustrated in FIG. 7, a right diameter sensor 46 and a left diameter sensor 66 are employed to measure the diameter of one or more stems X, Y as they are being fed through the harvesting head 20. The right diameter sensor 46 operates by measuring the lateral distance inward that the right feed system 40 has travelled from its starting position before coming into contact with the surface of the stem Y. Similarly, the left diameter sensor 66 operates by measuring the lateral distance inward that the left feed system 60 has travelled from its starting position before coming into contact with the surface of the stem X. The measurement data from the diameter sensors 46, 66 is communicated to the computer 210 of the electronic control system 200, which uses that data to calculate the diameter of each of the stems X and Y respectively.
The multi-stem processing harvester 10, described above, may be utilized to process one or more stems at the same time. The following method may be used to process two or more stems at the same time during a bucking procedure, whereby each stem is cut to desired lengths in accordance 2 0 with a pre-determined cut list, where the desired lengths may depend on the species and on the diameter of a given stem, and whereby any defects within a given stem are avoided such that defects are largely excluded from the logs that have been cut.
The method is as follows: first, the operator uses the touch screen 212 to enter the cut list for a particular processing job, which cut list provides the desired lengths for the logs depending on the diameter and/or the tree species of a given stem. The operator then controls the multi-stem processing harvester 10 to pick up for example two stems X, Y in the harvesting head 20 of a multi-stern processing harvester 10, such that the cross sections of the two stems X, Y are located within the center area 15 and the surfaces of the stems X, Y are in contact with the center feed E2017365.DOC;1 wheels 41, 61 and drive wheels 43, 63. It would be well understood by a person ordinarily skilled in the art that the processing of one stem or more than two stems are also possible.
The diameter sensors 46, 66 measure the lateral distances by which each of the drive wheels 43, 63 had to travel to come into contact with the surfaces of the stems X, Y and transmit said distances to the bucking controller input unit 242. Furthermore, the lengths of the stems X, Y are continuously monitored by one or more length measuring encoders 22, which said one or more length encoders 22 transmit a pulse for each revolution of said length measuring encoder 22 to the bucking controller input unit 242. The said pulse and the said distance data are received by the bucking controller input unit 242, which input unit 242 transmits the said pulse and said distance data through the first CAN bus 222 to the main controller 220, which said main controller 220 transmits the said pulse and said distance data to the computer 210. The computer 210 translates the said pulse data to the measured length of the stems X, Y, translates the said distance data to the measured diameter of the stems X, Y, and displays both the measured length and measured diameter for stems X, Y, alongside the cut list information, for viewing by the operator on a computer peripheral device 212, for example, preferably a touch screen or an LCD monitor. The diameter sensors 46, 66 and the length measuring encoders 22 preferably continuously measure and transmit the said distance and pulse data, such that the lengths and diameters of sterns X, Y are preferably continuously monitored by the electronic control system 200 as each of stem X, Y are fed through the harvesting head 20. Optionally, the operator may manually enter data to identify the species of each stem X, Y being presently processed in the harvesting head 20.
At this step in the bucking method, preferably if one or more find end sensors 25 detects that the end of stem X or stem Y or both stem X and stem Y are not aligned with the location on the rear 2 5 underside portion 31 of the main saw box 33 where the one or more find end sensors 25 are affixed, then the operator may use the controls to drive either the right drive motor 44 or the left drive motor 64 to move either stem X or stem Y relative to the other stem until the ends of both stems X and Y are aligned with the location of the find end sensor 25.
E2017365.DOC;1 Once the ends of stems X and Y are aligned to the satisfaction of the operator, the operator may enable the automated bucking mode of the electronic control system 200, whereby each of the stems X, Y are cut to the desired lengths in accordance with the previously entered cut list, whereby the lengths of each log depend on the diameter and species of the stem being processed.
When set to the manual control mode, the machine controller 230 controls the speed of the left and right center feed motors 62, 42 and the left and right drive motors 64, 44 in accordance with pre-determined parameters, which parameters include the maximum manual forward and reverse speeds for the right and left drive motors 44, 64; the amount of acceleration time for the right and left drive motors 44, 64 to reach the maximum manual forward or reverse speeds; and the amount 1 0 of deceleration time for the right and left drive motors 44, 64 to go from the maximum manual forward and reverse speeds to a speed of zero.
Optionally, the operator may select the manual mode of operation for the bucking procedure, whereby the operator may use the controls provided within the cab 205 to manipulate the right feed system 40 and control the speed and direction of stem X as it is fed through the harvesting head 20, independently of the speed and direction of stem Y, which speed and direction of stem Y
may also be optionally manually controlled by the operator utilizing the left feed system 60. When set to the automated control mode, the machine controller 230 controls the speed of the left and right center feed motors 62, 42 and the left and right drive motors 64, 44 in accordance with pre-determined parameters, which parameters, in addition to setting automatic maximum speeds for the forward and reverse directions, as well as acceleration times, also include brake distances which define the deceleration time, which said deceleration time may optionally be dependent on the diameter or the species of a particular stem.
As the stems X, Y are being fed through and processed by the harvesting head 20, if the operator visually detects a defect such as an area of rot in one of the stems, for example stem X, the operator may initiate a feed cancel function whereby the automated operation of the left center feed motor 62 and the left drive motor 64 is halted while the right feed system 40 continues to operate in automated mode to feed stem Y through the right feed system 40, enabling the operator E2017365.DOC;1 to Utilize the controls provided in the cab 205 to manually control the left center feed motor 62 and left center drive motor 64 to manually feed stem X through the harvester head 20 until the area of rot on stem X has passed through the harvester head 20. At that point, the operator may optionally choose to operate either the main saw located in the main saw box 33 or the top saw located in the top saw box 34 and cut off the portion of stem X containing the rot. The operator may then choose to either continue manually bucking stem X through the harvesting head, or optionally, the operator may choose to re-enable the automated bucking function to complete the bucking of stem X.
As will be apparent to those skilled in the art in the light of the foregoing disclosure, many alterations and modifications are possible in the practice of this invention without departing from the spirit or scope thereof. Accordingly, the scope of the invention is to be construed in accordance with the substance defined by the following claims.
E2017365.DOC;1
The foregoing is a description of the general arrangement of a set of motors consisting of the right feed system 40 and left feed system 60. It will be appreciated by a person ordinarily skilled in art that the A and B ports of each of the directional left and right control valves 70, 80, may be swapped around for the sake of making the hydraulic hosing arrangement easier and neater during installation. Furthermore, it will be appreciated by a person ordinarily skilled in the art that it is possible to utilize multiple hydraulic supply lines to supply hydraulic fluid to each ofthe hydraulic motors utilized in a harvesting head 20 and multiple hydraulic return lines to return the hydraulic fluid to the tank 100, and the scope of the invention described herein is therefore not limited to a configuration utilizing one hydraulic supply line 90 and one hydraulic return line 95. It will also be appreciated by a person ordinarily skilled in the art that other configurations for the control of the hydraulic motors utilized in a harvesting head 20 may be possible and are included within the scope of the present invention.
As illustrated in FIG. 3, an embodiment of the present invention includes four motors. A right feed system 40 may be controlled using the right center feed motor 42 and the right drive motor 44 by means of a directional control valve, such as for example the directional right control valve 80. Furthermore, a left feed system 60 may be controlled using the left center feed motor 62 and the left drive motor 64 by means of another directional control valve, such as a directional left E2017365.DOC;1 control valve 70. The system may also contain other valves, such as flow control valves, relief valves to protect the system, and other components such as pressure compensators, so that the above described control valves 70 and 80 should not be seen as the only components that drive or control the drive system of the present invention.
The directional right control valve 80 may be actuated to either allow hydraulic fluid to flow through the right drive motor 44 first, with the flow of the hydraulic pressure proceeding to the center feed motor 42 and then returning through the directional right control valve 80 to a tank 100; or the directional right control valve 80 may allow the hydraulic fluid to flow through the right center feed motor 42 first, with the flow of the hydraulic pressure proceeding to the right drive motor 44 and then returning through the directional right control valve 80 to the tank 100.
This arrangement provides for control of both motors 42, 44 in either the forward or reverse directions. Each of the left and right feed systems 40, 60 are controlled in a similar manner with each respective system using its own specific control valve 70, 80 and set of motors, as described above.
Furthermore, as illustrated in FIG. 7, the left drive wheel 63 and left drive motor 64 may preferably be coupled to the right drive wheel 43 and the left drive motor 44 by means of a drive wheel link 32, enabling the drive wheels 63, 43 to be associated with each other for timing purposes. A drive wheel link 32 may be a rigid link, or it may preferably be a spring link. The embodiment described above allows for each control valve 70, 80 to be actuated independently in either direction, allowing the right motors 42, 44 to rotate in directions and at speeds independent of the directions and speeds of the left motors 62, 64, or to stay in a stationary state, or in the alternative allowing each of the center feed motors and the drive motors to rotate in the same direction, or in opposing directions, thereby giving the operator of the multi-stem harvesting processor 10 substantially unlimited degrees of control over each of the stems being processed at the same time. Furthermore, in this preferred embodiment there is also provided the ability to have either the right feed system 40 or the left feed system 60 to remain completely stationary or to be controlled at varying speeds while the opposite feed system may be driven in either the forward E2017365.DOC;1 or the reverse directions at varying speeds, providing the ability to hold a stem that is adjacent to one of the feed systems 40, 60 to be held in a substantially stationary position while one or more stems that are adjacent to and in contact with the opposite feed system 40, 60 are driven in either the forward or reverse directions.
In a further embodiment as illustrated in FIG. 4, a harvesting head 20 is provided with a left and right drive motor 64, 44, which drive motors are controlled by a left drive control valve 101 and a right drive control valve 122 respectively. The left center feed motor 62 and right center feed motor 42 are separately controlled by a left center feed control valve 112 and a right center feed control valve 117 respectively. A common pressure line 90 is coupled to the supply port 102 ofthe left drive control valve 101. Hydraulic pressure is supplied to the left drive motor 64 by a first hydraulic line 130 with one end of the hydraulic line 130 coupled to the left drive control valve A
port 104 and the other end of the second hydraulic line 130 is coupled to the inlet port 107 of the left drive motor 64. Hydraulic fluid is then returned to the left drive control valve 101 by means of a second hydraulic line 131 that is coupled to the outlet port 108 of the left drive motor 64 and the other end of the hydraulic line 131 is coupled to the B port 110 of the left drive control valve 101.
Hydraulic fluid is then returned to the tank 100 by exiting through the left drive control return port 111 and flowing through the return line 95.
The left center feed motor 62 is controlled by the left center feed control valve 112, which is coupled to the pressure line 90 through the supply port 113 of the left center feed control valve 112. Hydraulic pressure is supplied to the left center feed motor 62 by means of a third hydraulic line 132 that is coupled at a first end to the A port 114 of the left center feed control valve 112 and a second end of the hydraulic line 132 is coupled to the inlet port 107 of the left center feed motor 62. Hydraulic fluid passes through the left center feed motor 62 to the outlet port 108 and flows through a fourth hydraulic line 133 that is coupled at a first end to the outlet port 108 of center feed motor 62 and at a second end to the B port 115 of the left center feed control valve 112.
Hydraulic fluid exits the left center feed control valve 112 through the return port 116 and flows through the return line 95 to the tank 100.
E2017365.DOC;1 Similarly, the right center feed motor 42 is controlled by means of the right center feed control valve 117 by the supply of the hydraulic fluid through the common supply line 90. Hydraulic fluid enters the right center feed control valve 117 through a connection between the supply line 90 and the supply port 118 of the right center feed control valve 117. Hydraulic pressure is supplied to the right center feed motor 42 by means of a fifth hydraulic line 134 which is coupled at a first end to the A port 119 of the right center feed control valve 117 and at a second end to the inlet port 107 of the right center feed motor 42. Hydraulic fluid may exit the right center feed motor 42 through the outlet port 108 of the right center feed motor 42. Hydraulic fluid is then carried back through the right center feed control valve 117 by means of a sixth hydraulic line 135 wherein hydraulic line 135 is coupled at a first end to the outlet port 108 at the right center feed motor 42 and at a second end to the B port 120 of the right center feed control valve 117.
Hydraulic fluid is carried back to the tank 100 through the return line 95 by exiting the right center feed control valve 117 through a return port 121.
The right drive control valve 122 controls the right drive motor 44 by means of hydraulic fluid supplied to the right drive control valve 122 through the supply port 123 of the right drive control valve 122. Hydraulic pressure is then supplied through the right drive control valve 122 to the right drive motor 44 by a seventh hydraulic line 136 that is coupled at a first end to an A port 124 of the right drive control valve 122 and a second end of the hydraulic line 136 is coupled to the inlet port 107 of the right drive motor 44. Hydraulic fluid then exits from the right drive motor 44 by means of an eighth hydraulic line 137 that is coupled at a first end to an outlet port 108 of the right drive motor 44 and at a second end to a B port 125 of right drive control valve 122. Hydraulic fluid exits the right drive control valve 122 and returns to the tank 100 through the return line 95 that is coupled to the return port 126 of the right drive control valve 122.
In the embodiment described herein and illustrated in FIG. 4, the flow of the hydraulic fluid may be reversed by any of the drive control valves 101, 122 and the center feed control valves 112, 117, resulting in the reversal of the direction of the drive motors 64, 44 and the center feed motors E2017365.DOC;1 42, 42 respectively. The embodiment illustrated in FIG. 4 provides the ability to control each of the four motors 42, 44, 62 and 64 independently through its own control valves 101, 112, 117 and 122, respectively, in order to maintain control over the direction and speed of one or more selected stems within a bundle of stems in either the forward or reverse directions, and also provides the ability to maintain one or more of the selected stems in a stationary position relative to the other stems.
In a further embodiment of this invention illustrated in FIG. 5, two drive wheels 43, 63 are driven by two hydraulic motors while the center feed wheels 41, 61 are not coupled to any motors and are thus free to rotate on their respective axes when the surfaces of the center feed wheels 41, 61 come into contact with the surfaces of stems being driven by the drive wheels 43, 63. In this embodiment of the invention, the speed and direction of the left drive motor 64 is controlled by the directional left control valve 70 and the speed and direction of the right drive motor 44 is controlled by the directional right control valve 80. The left drive motor 64 drives the left drive wheel 63 and the right drive motor 44 drives the right drive wheel 43. When the harvesting head is in motion the left drive wheel 63 and the right drive wheel 43 are used to drive either a single stem or a plurality of stems through the processing head 20 (not shown in FIG.
5). In this embodiment the left center feed wheel 61 and the right center feed wheel 41 are not coupled to any motors. The left center feed wheel 61 and the right center feed wheel 41 are left to rotate freely 20 about their respective axes and are positioned to guide the stems through the harvesting head 20.
Similar to other embodiments of this invention described above, in this embodiment illustrated in FIG. 5 the left drive motor 64 is driven by means of hydraulic pressure supplied through a supply line 90 to the directional left control valve 70 by connection of the supply line 90 to the supply port 71 of the directional left control valve 70. Hydraulic pressure is then supplied to the left drive motor 64 by means of a hydraulic line 73 that is coupled at a first end to the A port 72 of the directional left control valve 70 and a second end of the hydraulic line 73 is coupled to the supply port 74 of the left drive motor 64. Hydraulic pressure exits the left drive motor 64 through the outlet port 75 to a second hydraulic line 76 that is coupled to the B port 69 of the directional left E2017365.DOC;1 control valve 70. Hydraulic fluid then flows back to a return line 95 to the tank 100 through the left return port 96 of the directional left control valve 70.
Similarly, the speed and direction of the right drive motor 44 is controlled by the directional right control valve 80 whereby hydraulic fluid is supplied through the supply line 90 to the directional right control valve 80 through the supply port 81 of the directional right control valve 80.
Hydraulic pressure is then supplied to the right drive motor 44 by means of a hydraulic line 79 that is connected at a first end to the A port 82 of the directional right control valve 80 and at a second end of the hydraulic line 79 coupled to the inlet port 84 of the right drive motor 44. Hydraulic fluid flows back to the directional right control valve 80 by means of another hydraulic line 83 coupled at a first end of the hydraulic line 76 to the outlet port 75 of the right drive motor 44 and at a second end of the hydraulic line 76 coupled to the B port 68 of the directional right control valve 80. Hydraulic fluid is returned to the tank 100 through the return line 95 by flowing to the return line 95 through the return port 97 of the directional right control valve 80.
In this embodiment, in addition to allowing the left center feed wheel 61 and the right center feed wheel 41 to rotate freely about their axes, it is also possible to include other hydraulic or non-hydraulic means to either hold stationary the left center feed wheel 61 and/or the right center feed wheel 41, when needed. The direction of the left drive motor 64 or the right drive motor 44 may be reversed by using the directional left control valve 70 or the directional right control valve 80 to reverse the flow of hydraulic pressure through the left drive motor 64 or the right drive motor 44, respectively.
In another embodiment of this invention, as illustrated in FIG. 6, there is a left drive motor 64 which drives a left drive wheel 63 and a right drive motor 44 which drives a right drive wheel 43.
In this embodiment of the invention each drive motor can be driven individually and independently of the other drive motor, in the same or opposing directions -either forward or backward, relative to the frame 30 of the harvesting head 20 - and at the same or differing speeds;
and additionally, one drive motor may be held stationary while the other drive motor is being driven in either the forward or reverse directions relative to the frame, to align multiple stems when processing multiple stems at the same time in the harvesting head 20.
This feature, referred E2017365.DOC;1 to as stepping, aligning, shuffle and indexing, enables the operator to achieve an equal length amongst all of the stems being simultaneously processed at the same time.
The ability to drive each motor independently of the other motors provides the benefit of being able to process more than one stem at a time wherein the more than one stems may have varying diameters and lengths. In this embodiment and in other embodiments described herein that provide for various motors to be controlled independently of the other motors by their own individual control valves, there is an added benefit of drive power as, for example, a left center feed motor 62 may be synchronized with respect to the speed and power provided by the left drive motor 64, enabling the combined drive power of both motors 62, 64 to be used effectively when driving a single stem or a plurality of stems through the harvesting head 20, with minimal loss in power caused by slippage of one or more stems which may result in damage to the surface of the stem engaged by the wheels. This feature additionally allows for trees of varying lengths and diameters to be processed through the harvesting head 20 at the same speed, which results in logs being cut to the same length.
In a preferred embodiment, each of the functions of the multi-stem processing harvester 10 may be automatically controlled by the computer 210 of the electronic control system 200, whereby various sensors employed throughout the harvesting head 20 and further described in detail below are utilized to provide inputs to the electronic control system 200 which are processed by the computer 210 to implement various output signals to control the operation of the various motors and actuators employed throughout the harvesting head 20. Furthermore, the electronic control system 200 may also provide the operator with a means to both visually monitor the stems for defects and monitor the sensor data on the stems as they are being processed, and the ability to partially override the electronic control system 200 and manually control sonic functions of the multi-stem processing harvester 10, when manual intervention by the operator is required.
With reference to FIG. 8, a cylindrical length measuring encoder 22 may be positioned above the center area 15 located laterally between the right drive wheel 43 and the left drive wheel 63. As a E2017365.DOC;1 particular stem (not shown) is driven through the harvesting head 20 by means of the right and left hand drive wheels 43, 63, the surface 26 of the cylindrical length measuring encoder 22 comes into contact with the surface of the stem, and the frictional force between the surface of the stem and the surface 26 of the cylindrical length measuring encoder 22 causes the cylindrical length measuring encoder 22 to rotate as the stem is driven through the harvesting head 20. The cylindrical length measuring encoder 22 records the number of revolutions, or "pulses", that it undergoes as it is in contact with the stem, and the number of pulses is communicated to the computer 210 of the electronic control system 200, which data is interpreted by the computer 210 to measure the length of the stem that is in contact with the length measuring encoder 22.
While only one length measuring encoder 22 is depicted in FIG. 8, it will be appreciated by a person skilled in the art that more than one length measuring encoder 22 may be employed within the harvesting head to measure different stems that are passing through the harvesting head 20 at the same time. Furthermore, it will be appreciated by a person ordinarily skilled in the art that a length measuring encoder 22 does not necessarily have to be a separate cylindrical device employed within the harvesting head 20; for example, the length measuring encoder 22 may be integrated into other cylindrically-shaped components within the harvesting head. As illustrated in FIG. 7, for example, possible locations 23 on the left feed system 60 of the harvesting head 20 for integrating a length measuring encoder 22 include: within the hub of the left center feed wheel 6 I ;
the hub of the left center feed motor 62; the hub of the left drive wheel 63;
and the hub of the left drive motor 64. Possible locations 21 on the right feed system 40 of the harvesting head 20 for integrating a length measuring encoder 22 include: within the hub of the right center feed wheel 41; the hub of the right center feed motor 42; the hub of the right drive wheel 43; and the hub of the right drive motor 44. Length measuring encoder 22 may also take the form of any known 2 5 sensor in the art used to detect length, distance or speed of a moving object relative to a fixed object.
As illustrated in FIG. IA, one or more find end sensors 25 may be located on a rear underside portion 31 of a main saw box 33. The one or more find end sensors 25 are utilized to detect that E2017365.DOC;1 the end of a stem has passed through the harvesting head 20. In a preferred embodiment, the one or more find end sensors 25 may be used to align the butt ends of each stem of a bundle of stems being fed through the harvesting head 20, such that the stems may be cut to a desired length at the same time. A find end sensor 25 may comprise of various different types of sensors, which include but are not limited to a photo cell, a laser, a sonic sensor and a camera.
As illustrated in FIG. 7, a right diameter sensor 46 and a left diameter sensor 66 are employed to measure the diameter of one or more stems X, Y as they are being fed through the harvesting head 20. The right diameter sensor 46 operates by measuring the lateral distance inward that the right feed system 40 has travelled from its starting position before coming into contact with the surface of the stem Y. Similarly, the left diameter sensor 66 operates by measuring the lateral distance inward that the left feed system 60 has travelled from its starting position before coming into contact with the surface of the stem X. The measurement data from the diameter sensors 46, 66 is communicated to the computer 210 of the electronic control system 200, which uses that data to calculate the diameter of each of the stems X and Y respectively.
The multi-stem processing harvester 10, described above, may be utilized to process one or more stems at the same time. The following method may be used to process two or more stems at the same time during a bucking procedure, whereby each stem is cut to desired lengths in accordance 2 0 with a pre-determined cut list, where the desired lengths may depend on the species and on the diameter of a given stem, and whereby any defects within a given stem are avoided such that defects are largely excluded from the logs that have been cut.
The method is as follows: first, the operator uses the touch screen 212 to enter the cut list for a particular processing job, which cut list provides the desired lengths for the logs depending on the diameter and/or the tree species of a given stem. The operator then controls the multi-stem processing harvester 10 to pick up for example two stems X, Y in the harvesting head 20 of a multi-stern processing harvester 10, such that the cross sections of the two stems X, Y are located within the center area 15 and the surfaces of the stems X, Y are in contact with the center feed E2017365.DOC;1 wheels 41, 61 and drive wheels 43, 63. It would be well understood by a person ordinarily skilled in the art that the processing of one stem or more than two stems are also possible.
The diameter sensors 46, 66 measure the lateral distances by which each of the drive wheels 43, 63 had to travel to come into contact with the surfaces of the stems X, Y and transmit said distances to the bucking controller input unit 242. Furthermore, the lengths of the stems X, Y are continuously monitored by one or more length measuring encoders 22, which said one or more length encoders 22 transmit a pulse for each revolution of said length measuring encoder 22 to the bucking controller input unit 242. The said pulse and the said distance data are received by the bucking controller input unit 242, which input unit 242 transmits the said pulse and said distance data through the first CAN bus 222 to the main controller 220, which said main controller 220 transmits the said pulse and said distance data to the computer 210. The computer 210 translates the said pulse data to the measured length of the stems X, Y, translates the said distance data to the measured diameter of the stems X, Y, and displays both the measured length and measured diameter for stems X, Y, alongside the cut list information, for viewing by the operator on a computer peripheral device 212, for example, preferably a touch screen or an LCD monitor. The diameter sensors 46, 66 and the length measuring encoders 22 preferably continuously measure and transmit the said distance and pulse data, such that the lengths and diameters of sterns X, Y are preferably continuously monitored by the electronic control system 200 as each of stem X, Y are fed through the harvesting head 20. Optionally, the operator may manually enter data to identify the species of each stem X, Y being presently processed in the harvesting head 20.
At this step in the bucking method, preferably if one or more find end sensors 25 detects that the end of stem X or stem Y or both stem X and stem Y are not aligned with the location on the rear 2 5 underside portion 31 of the main saw box 33 where the one or more find end sensors 25 are affixed, then the operator may use the controls to drive either the right drive motor 44 or the left drive motor 64 to move either stem X or stem Y relative to the other stem until the ends of both stems X and Y are aligned with the location of the find end sensor 25.
E2017365.DOC;1 Once the ends of stems X and Y are aligned to the satisfaction of the operator, the operator may enable the automated bucking mode of the electronic control system 200, whereby each of the stems X, Y are cut to the desired lengths in accordance with the previously entered cut list, whereby the lengths of each log depend on the diameter and species of the stem being processed.
When set to the manual control mode, the machine controller 230 controls the speed of the left and right center feed motors 62, 42 and the left and right drive motors 64, 44 in accordance with pre-determined parameters, which parameters include the maximum manual forward and reverse speeds for the right and left drive motors 44, 64; the amount of acceleration time for the right and left drive motors 44, 64 to reach the maximum manual forward or reverse speeds; and the amount 1 0 of deceleration time for the right and left drive motors 44, 64 to go from the maximum manual forward and reverse speeds to a speed of zero.
Optionally, the operator may select the manual mode of operation for the bucking procedure, whereby the operator may use the controls provided within the cab 205 to manipulate the right feed system 40 and control the speed and direction of stem X as it is fed through the harvesting head 20, independently of the speed and direction of stem Y, which speed and direction of stem Y
may also be optionally manually controlled by the operator utilizing the left feed system 60. When set to the automated control mode, the machine controller 230 controls the speed of the left and right center feed motors 62, 42 and the left and right drive motors 64, 44 in accordance with pre-determined parameters, which parameters, in addition to setting automatic maximum speeds for the forward and reverse directions, as well as acceleration times, also include brake distances which define the deceleration time, which said deceleration time may optionally be dependent on the diameter or the species of a particular stem.
As the stems X, Y are being fed through and processed by the harvesting head 20, if the operator visually detects a defect such as an area of rot in one of the stems, for example stem X, the operator may initiate a feed cancel function whereby the automated operation of the left center feed motor 62 and the left drive motor 64 is halted while the right feed system 40 continues to operate in automated mode to feed stem Y through the right feed system 40, enabling the operator E2017365.DOC;1 to Utilize the controls provided in the cab 205 to manually control the left center feed motor 62 and left center drive motor 64 to manually feed stem X through the harvester head 20 until the area of rot on stem X has passed through the harvester head 20. At that point, the operator may optionally choose to operate either the main saw located in the main saw box 33 or the top saw located in the top saw box 34 and cut off the portion of stem X containing the rot. The operator may then choose to either continue manually bucking stem X through the harvesting head, or optionally, the operator may choose to re-enable the automated bucking function to complete the bucking of stem X.
As will be apparent to those skilled in the art in the light of the foregoing disclosure, many alterations and modifications are possible in the practice of this invention without departing from the spirit or scope thereof. Accordingly, the scope of the invention is to be construed in accordance with the substance defined by the following claims.
E2017365.DOC;1
Claims (43)
1. A multi-stem processing harvester for processing one or more stems simultaneously comprising:
a frame;
a first feed system coupled to said frame and adapted to drive one or more first stems comprising: a first drive wheel, a first drive motor coupled to said first drive wheel, wherein said first drive motor drives said first drive wheel in at least a first direction and a first speed relative to said frame; and a second feed system coupled to said frame and adapted to drive one or more second sterns comprising: a second drive wheel, a second drive motor coupled to said second drive wheel, wherein said second drive motor drives said second drive wheel in at least a second direction and a second speed relative to said frame;
wherein said first feed system is adapted to operate independently of said second feed system.
a frame;
a first feed system coupled to said frame and adapted to drive one or more first stems comprising: a first drive wheel, a first drive motor coupled to said first drive wheel, wherein said first drive motor drives said first drive wheel in at least a first direction and a first speed relative to said frame; and a second feed system coupled to said frame and adapted to drive one or more second sterns comprising: a second drive wheel, a second drive motor coupled to said second drive wheel, wherein said second drive motor drives said second drive wheel in at least a second direction and a second speed relative to said frame;
wherein said first feed system is adapted to operate independently of said second feed system.
2. The multi-stem processing harvester of claim 1, wherein said first direction is the same as said second direction.
3. The multi-stem processing harvester of claim 1, wherein said first direction is the opposite of said second direction.
4. The multi-stem processing harvester of claim 1, wherein said first speed is selected from the group consisting of equal to, faster than and slower than said second speed.
5. The multi-stem processing harvester of claim 1, wherein any one of said first drive wheel and said second drive wheel are maintainable at a stationary position.
6. The multi-stem processing harvester of claim 1, wherein at least said first drive motor is a hydraulic motor.
7. The multi-stem processing harvester of claim 6, wherein said at least first drive motor is controlled by at least one hydraulic control valve.
8. The multi-stem processing harvester of claim 1, wherein said first direction of said first drive motor and said first drive wheel includes at least two directions.
9. The multi-stem processing harvester of claim 1, wherein said second direction of said second drive motor and said second drive wheel includes at least two directions.
10. The multi-stem processing harvester of claim 1 further comprising means coupled to said frame for separating one or more protrusions from the one or more first and second stems.
11. The multi-stem processing harvester of claim 10, wherein said means for separating said one or more protrusion from said one or more first and second stems includes at least one blade.
12. The multi-stem processing harvester of claim 1, further comprising means connected to the frame for cutting one or more of said one or more first stems and one or more second stems into lengths.
13. The multi-stem processing harvester of claim 1, further comprising one or more center feed wheels.
14. The multi-step processing harvester of claim 13, wherein one or more of said one or more center feed wheels are free rotating wheels.
15. The multi-stem processing harvester of claim 13, wherein one or more of said one or more center feed wheels are each coupled to a center feed motor, each of said center feed motors adapted to drive the coupled center feed wheel in an independent direction relative to said frame and at an independent speed.
16. The multi-stem processing harvester of claim 15, wherein one or more of said center feed wheels are drivable in a direction that is selected from the group consisting of the same as any one or more other of said center feed wheels, the same as said first direction and the same as said second direction.
17. The multi-stem processing harvester of claim 15, wherein one or more of said center feed wheels are drivable in a direction that is selected from the group consisting of the opposite of any one or more other of said center feed wheels, the opposite of said first direction and the opposite of said second direction..
18. The multi-stem processing harvester of claim 15, wherein one or more of said center feed wheels are drivable at a speed that is selected from the group consisting of equal to, faster than and slower than any one of said first speed and said second speed.
19. The multi-stem processing harvester of claim 15, wherein said any one of said center feed wheels are maintainable in a stationary position.
20. The multi-stem processing harvester of claim 15, wherein at least one of said a center feed motors is a hydraulic motor.
21. The multi-stem processing harvester of claim 20, wherein said at least one hydraulic center feed motor is controlled by at least one hydraulic control valve.
22. The multi-stem processing harvester of claim 15, wherein said independent direction of any one of said one or more center feed wheels includes at least two directions.
23. The multi-stem processing harvester of claim 1, further comprising a control system comprising:
a. one or more sensors associated with the harvester for sensing stem parameters;
b. a main controller to collect sensor data from the one or more sensors;
c. one or more input/output devices connected to said main controller, said one or more input/output devices receiving sensor data from said main controller and producing commands to control operation of one or more parts of the multi-stem processing harvester.
a. one or more sensors associated with the harvester for sensing stem parameters;
b. a main controller to collect sensor data from the one or more sensors;
c. one or more input/output devices connected to said main controller, said one or more input/output devices receiving sensor data from said main controller and producing commands to control operation of one or more parts of the multi-stem processing harvester.
24. The multi-stem processing harvester of claim 23, wherein the main controller further comprises means for operator viewing of sensor data.
25. The multi-stem processing harvester of claim 24, wherein said one or more sensors are selected from the group consisting of one or more stem length measuring encoders.
one or more find end sensors, one or more diameter sensors, one or more wheel speed sensors and any combination thereof.
one or more find end sensors, one or more diameter sensors, one or more wheel speed sensors and any combination thereof.
26. The multi-stem processing harvester of claim 25, further comprising a machine controller unit adapted for manual operator input to control one or more parts of the multi-stem processing harvester, said machine controller unit adapted to override said one or more input/output devices when the control system is run in a manual mode.
27. The multi-stem processing harvester of claim 26, wherein said one or more input/output devices are adapted to produce commands to control operation any one of said first feed system, said second feed system, a means coupled to said frame for separating one or more protrusions from the one or more first and second stems, a means connected to the frame for cutting one or more of said one or more first stems and one or more second stems and any combination thereof.
28. A method of harvesting one or more stems comprising:
a. gripping one or more stems into a harvesting head of a harvester; and b. driving one or more first stems of said one or more stems through the harvester at an independent speed and in an independent direction from said remaining one or more stems.
a. gripping one or more stems into a harvesting head of a harvester; and b. driving one or more first stems of said one or more stems through the harvester at an independent speed and in an independent direction from said remaining one or more stems.
29. The method of claim 28, wherein the independent speed of said one or more first stems includes maintaining said one or more stems in a stationary position.
30. The method of claim 28, wherein the independent direction of each of one or more first stems includes at least two directions.
31. The method of claim 28, further comprising:
c. separating one or more protrusions from said one or more stems.
c. separating one or more protrusions from said one or more stems.
32. The method of claim 28 further comprising:
d. cutting one or more stems into predetermined lengths.
d. cutting one or more stems into predetermined lengths.
33. The method of claim 28, wherein driving of one or more first stems of said one or more stems through the harvester at an independent speed and in independent directions is controlled manually by an operator.
34. The method of claim 32, wherein cutting of said one or more stems into predetermined lengths is controlled manually by an operator
35. The method of claim 34, further comprising visually assessing each of the one or more first stems before controlling the independent speed and independent direction of driving each of said one or more first stems.
36. The method of claim 35, further comprising receiving sensor data on stem parameters before controlling the independent speed and independent direction of driving each of said one or more stems.
37. The method of claim 36, wherein sensor data is selected from the group consisting of stem length, stem end location, stem diameter, wheel speed and any combination thereof, for one or more of said stems.
38. The method of claim 28, wherein driving one or more of said one or more stems through the harvester at an independent speed and in independent directions is controlled automatically by a control system.
39. The method of claim 32, wherein cutting one or more of said one or more stems into predetermined lengths is controlled automatically by a control system.
40. The method of claim 39, further comprising visually assessing each of the one or more stems before controlling the independent speed and independent direction of driving each of said one or more stems.
41. The method of claim 40, further comprising inputting predetermined cut length settings into the control system prior to driving of each of said one or more stems through the harvester at an independent speed and in independent directions.
42. The method of claim 41, further comprising receiving sensor data on stem parameters before controlling the independent speed and independent direction of driving each of said one or more stems.
43. The method of claim 42, wherein sensor data is selected from the group consisting of stem length, stem end location, stem diameter, wheel speed and any combination thereof, for one or more of said stems.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201461927880P | 2014-01-15 | 2014-01-15 | |
| US61/927,880 | 2014-01-15 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA2851706A1 true CA2851706A1 (en) | 2015-07-15 |
Family
ID=53546312
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2851706A Abandoned CA2851706A1 (en) | 2014-01-15 | 2014-05-09 | Multi-stem processing harvester |
Country Status (1)
| Country | Link |
|---|---|
| CA (1) | CA2851706A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105794503A (en) * | 2016-04-13 | 2016-07-27 | 山东农业大学 | Rapid pruning robot for fast-growing forest and control method of robot |
-
2014
- 2014-05-09 CA CA2851706A patent/CA2851706A1/en not_active Abandoned
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105794503A (en) * | 2016-04-13 | 2016-07-27 | 山东农业大学 | Rapid pruning robot for fast-growing forest and control method of robot |
| CN105794503B (en) * | 2016-04-13 | 2019-01-08 | 山东农业大学 | A kind of fast-growing woods quickly pruning robot and its control method |
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