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CN-118591284-B - Seat control device for forestry machine

CN118591284BCN 118591284 BCN118591284 BCN 118591284BCN-118591284-B

Abstract

A seat (104) control arrangement for a forest machine, the seat control arrangement comprising a rotary seat (104), the rotary seat (104) having a seat (104) actuator configured to rotate (360) the seat (104), means for determining at least a position of the seat (104) of the forest machine and a position of a tip (112) of a cantilever (110, 112), and a processing circuit (114), the processing circuit (114) being configured to provide a control signal to the seat (104) actuator to rotate (360) based on the determination of the means such that when the position of the tip (112) of the cantilever (110, 112) deviates from a basal centre line of the forest machine, the position of the seat (104) follows the position of the tip (112) of the cantilever (110, 112) with a predetermined deviation, and wherein the predetermined deviation is from the position of the tip (112) of the cantilever towards the basal centre line of the forest machine.

Inventors

  • Mika Ahopelto
  • KIVI ALEKSI

Assignees

  • 蓬塞有限公司

Dates

Publication Date
20260512
Application Date
20230119
Priority Date
20220126

Claims (20)

  1. 1. A seat control device (100) of a forest machine (102), the seat control device (100) comprising: a swivel seat (104), the seat (104) having a seat actuator configured to swivel the seat; Means (108), said means (108) being arranged to determine at least the position of the seat (104) and the position of the cantilever tip (112) of the forest machine (102), and -A processing circuit (114), the processing circuit (114) being configured to provide a control signal to the seat actuator to rotate the seat (104) based on a determination of the device (108) such that when the position of the cantilever tip (112) deviates from a base centre line of the forest machine (102), the position of the seat (104) follows the position of the cantilever tip (112) with a predetermined deviation (RA), and wherein the predetermined deviation (RA) is directed from the position of the cantilever tip towards the base centre line of the forest machine (102).
  2. 2. A seat control device (100) according to claim 1, wherein the base centre line is determined based on the position and/or operation of the forest machine (102).
  3. 3. The seat control device (100) according to claim 1 or 2, wherein the base center line is manually determined.
  4. 4. The seat control device (100) of claim 1 or 2, wherein the base center line is automatically determined by the processing circuit (114).
  5. 5. A seat control device (100) according to claim 1 or 2, wherein the means (108) for determining the position of the seat (104) of the forest machine and the position of the tip (112) of the cantilever comprise at least one or more sensors and/or control data of the forest machine (102).
  6. 6. A seat control device (100) according to claim 1 or 2, wherein the processing circuit (114) is configured to provide the control signal to align the position of the seat (104) with the position of the tip (112) of the cantilever when the position of the tip (112) of the cantilever is on a base centre line of the forest machine (102).
  7. 7. A seat control device (100) according to claim 1 or 2, wherein the predetermined deviation (RA) is part of an actual deviation (A3) between the tip (112) of the cantilever and a base centre line of the forest machine (102).
  8. 8. The seat control device (100) according to claim 7, wherein the predetermined deviation (RA) is variable.
  9. 9. The seat control device (100) according to claim 1 or 2, wherein the processing circuit (114) is configured to provide the control signal when an angular change between a position of the tip (112) of the cantilever and a position of the seat (104) exceeds a predetermined value.
  10. 10. The seat control device (100) according to claim 9, wherein the predetermined value comprises an angle and/or a time.
  11. 11. The seat control device (100) according to claim 1 or 2, wherein the processing circuit (114) is further configured to enable and/or disable the seat control device (100), wherein the processing circuit (114) is configured to provide the control signal when the seat control device (100) is enabled.
  12. 12. The seat control device (100) of claim 11, wherein the seat control device (100) further comprises a switch coupled with the processing circuit (114), the switch configured to activate and/or deactivate the seat control device (100).
  13. 13. The seat control device (100) of claim 11, wherein the processing circuit (114) is configured to determine the position of the seat (104) based on the device (108) prior to enabling the seat control device (100).
  14. 14. The seat control device (100) of claim 11, wherein the seat (104) further comprises a seat belt and one or more sensors are configured to detect a state of the seat belt, and the processing circuit (114) is configured to activate and/or deactivate the seat control device (100) based on the state of the seat belt.
  15. 15. A seat control device (100) according to claim 14, wherein the one or more sensors are further configured to detect a status of a door of the forest machine (102), and the processing circuit (114) is configured to activate and/or deactivate the seat control device (100) based on the status of the door.
  16. 16. The seat control device (100) according to claim 1 or 2, wherein the rotational speed provided by the seat actuator is slower at the end of the rotational movement.
  17. 17. The seat control device (100) according to claim 1 or 2, wherein the rotational speed provided by the seat actuator is slower at the beginning of the rotational movement.
  18. 18. The seat control device (100) according to claim 1 or 2, wherein the rotational speed of the seat is adjustable.
  19. 19. The seat control device (100) according to claim 1 or 2, wherein the operating range of the seat is adjustable.
  20. 20. A method for controlling a seat of a forest machine, the method comprising: Determining at least the position of the seat of the forest machine and the position of the tip of the cantilever by means of a device for determining at least the position of the seat of the forest machine and the position of the tip of the cantilever, and Providing, by a processing circuit, a control signal to a seat actuator based on the determination of the device to rotate the seat such that when the position of the tip of the cantilever deviates from the fundamental centre line of the forest machine, the position of the seat follows the position of the tip of the cantilever with a predetermined deviation, and wherein the predetermined deviation is from the position of the tip of the cantilever towards the fundamental centre line of the forest machine.

Description

Seat control device for forestry machine Technical Field The present invention relates to the field of forestry machines, and in particular to control of a seat of a forestry machine. Background From an ergonomic point of view, the control of the seat is very important in forestry machines. In particular the movable boom of a forest machine poses many challenges for seat control and ergonomics, as the operator of the forest machine should be able to follow and control the boom in each case. In known solutions, the seat is configured to follow the movement of the tip of the cantilever with the tool. However, the known solutions have a number of drawbacks, especially from an ergonomic point of view. These drawbacks may relate to, for example, the direction of view of the operator when operating with the cantilever. Another aspect affecting economy is how the movement of the seat is achieved. In other words, it is not sufficient that the seat follows the cantilever, and the movement of the seat should be implemented such that the ergonomics are optimal for the operator. The known solutions also have a number of drawbacks in this respect. Drawbacks may relate to, for example, jerky, rapid, large and unnecessary movements of the seat. For example, publication FI110502 discloses a solution in which the operating range of the cantilever is divided into sectors and the seat is aligned with these sectors such that the seat follows the movement when the cantilever moves from a first sector to a second sector. The viewing direction of the seat is thus in the sector where the cantilever is located. In many cases of forest machines, this may not be sufficient from an ergonomic point of view to coincide the movement of the seat with the movement of the cantilever. Thus, there is a need for a complex solution for improving the seat control and ergonomics of the operator in the forest machine. Disclosure of Invention The invention is defined by the subject matter of the independent claims. Embodiments are defined in the dependent claims. The embodiments and features (if any) described in this specification that do not fall within the scope of the independent claims should be construed as examples that facilitate an understanding of the various embodiments of the invention. Drawings Example embodiments of the invention will now be described, by way of example only, with reference to the accompanying drawings, in which: Fig. 1,2, 3A, 3B, 4, 6A, 6B and 10 illustrate a seat control device according to an embodiment of the present invention, and Fig. 5, 7, 8 and 9 illustrate flowcharts according to embodiments of the present invention. Detailed Description The following embodiments are merely examples. Although the specification may refer to "an" embodiment in several locations, this does not necessarily mean that each such reference is to the same embodiment, or that the feature is applicable to only a single embodiment. Individual features of different embodiments may also be combined to provide further embodiments. Furthermore, the words "comprise" and "comprising" should be understood as not limiting the described embodiments to consist of only those features already mentioned, and such embodiments may also contain features/structures not specifically mentioned. All combinations of embodiments are considered possible if they do not result in structural or logical contradictions. For example, the invention may be applied to a forest machine in which the cantilever is controlled by tip control. Data relating to tip control may be used in the present invention. In tip control, an operator issues a command to the tip of the cantilever assembly, in other words, requests movement in a particular direction at a particular speed, through a control device. The required movement speed is calculated for each actuator of the cantilever assembly such that the desired movement of the tip of the cantilever assembly is achieved by the co-action of the different actuators of the cantilever assembly. Nevertheless, it is important to realize that the invention can also be applied to forest machines without a tip control or where the tip control is turned off. In a forest machine in which the invention is applied, the tip control may not be mandatory. The forest machine referred to in the present application may comprise a frame steering device. A forest machine with frame steering means typically comprises a front frame and a rear frame coupled together by means of a hinge allowing movement between the frames and steering of the forest machine. In some cases, the forestry machine may include three or more frame components coupled together by hinges. In the present application a forest machine with a front frame and a rear frame is used as an example, but the application can still be applied to a forest machine with three or more frame parts. A cantilever and a cab may be fitted on at least one of the frame members. For example in a forest mac