[go: up one dir, main page]
More Web Proxy on the site http://driver.im/

WO2020014719A1 - Dispositif et procédé de récolte sélective de bois - Google Patents

Dispositif et procédé de récolte sélective de bois Download PDF

Info

Publication number
WO2020014719A1
WO2020014719A1 PCT/AT2019/060234 AT2019060234W WO2020014719A1 WO 2020014719 A1 WO2020014719 A1 WO 2020014719A1 AT 2019060234 W AT2019060234 W AT 2019060234W WO 2020014719 A1 WO2020014719 A1 WO 2020014719A1
Authority
WO
WIPO (PCT)
Prior art keywords
tree
recording module
vehicle
module
controller
Prior art date
Application number
PCT/AT2019/060234
Other languages
German (de)
English (en)
Inventor
Günther BRONNER
Original Assignee
Umweltdata G.M.B.H.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Umweltdata G.M.B.H. filed Critical Umweltdata G.M.B.H.
Publication of WO2020014719A1 publication Critical patent/WO2020014719A1/fr

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B79/00—Methods for working soil
    • A01B79/005—Precision agriculture
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G23/00—Forestry
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G23/00—Forestry
    • A01G23/003—Collecting felled trees
    • A01G23/006—Log skidders

Definitions

  • the invention relates to a method for selective timber harvesting in a forest and a device for felling and pruning, which comprises a vehicle, as well as a recording module and a controller that can access data, and the vehicle is moved through the forest and selectively falls and branches, and the recording module records the inventory to support the navigation of the vehicle.
  • Selective timber harvesting can pursue different goals, which may be several decades in the future, such as optimizing the timber yield, increasing the stability or biodiversity of the forest stand.
  • vehicle In addition to classic vehicles, vehicle here also means machines that are suitable for locomotion, such as spider-like walking machines.
  • Such devices and methods for selective wood harvesting in a forest stand are known, for example, from self-propelled wood harvesting machines, which are also called “harvesters” in the German-speaking countries.
  • These wood harvesting machines can find a tree from the forest stock that is destined for felling, manned or unmanned on the basis of recorded data for navigation. For example, this tree can be marked beforehand with an iron-containing color in a simple manner and the wood-harvesting machine recognizes this, moves to it and falls.
  • At least two measurements are carried out at different times of the diameter of at least one tree, the most relevant conditions for the growth of the tree are known.
  • a future growth diameter is calculated using a forest growth model. The decision to fell is based on this model. This is done in order to be able to target the trees that are to be felled on the day of the felling.
  • This method is very susceptible to errors, since various influencing factors can no longer be taken into account after the last measurement point and the diameters of the trees generally vary greatly from the diameters determined using the model. Another possibility is if measurements are carried out immediately or shortly before the precipitation, and the precipitation decision is made on the basis of this one-time measurement. However, this method does not allow for a forecast or optimization with regard to a specific time horizon, as would be possible using the forest growth model given above, for example economic optimization for a time window of twenty years.
  • US 2006/0096667 A1 discloses a device for precipitation, namely a harester. The device is moved through the forest and falls.
  • Growth is estimated on the basis of growth models, which are also optimized using feedback from the harvesters as stated above.
  • the difference in the procedure lies in the immediate utilization of the data and the departure from a fixed plan before harvesting. In contrast to all known methods for this, no plan is drawn up.
  • the harvester starts picking up and decides on the spot in real time whether the tree is felled or not, or whether it is branched or not.
  • US 2009/0278839 A1 serves the purpose of monitoring work in the forest or on a piece of land and quickly recording changes in the circumstances on a map. So she deals with "land management operations" and also with the management of harvesters. Sizes recorded by sensors are compared with the information about the land on the map and either confirmed or updated by the new recordings. Only the process of a harvest is recorded and documented, and only data for display is collected. Unfortunately, no method for harvesting wood is specified in it.
  • the object of the present invention is to specify a method and a device which allow a good optimization of the selective timber harvest in a forest stand and which minimize errors.
  • the recording module detects at least one decision parameter, and the controller thus makes a decision in real time for selective felling and pruning, and that the recording module has a unit for annual ring detection , and the number of tree rings and / or tree ring thicknesses of the individual trees in the forest stand can be measured by this unit of the recording module - preferably during the felling.
  • a device achieves this task with the above-mentioned advantages according to the invention in that the control is connected to the recording module and the vehicle in a signal-conducting manner and has computing power, so that a decision to make a decision - preferably using at least one model - is made in real time , and that the recording module has a unit for annual ring detection, and the number of annual rings and / or annual ring thicknesses of the individual trees of the forest stand are measured by this unit of the recording module.
  • the control is connected to the recording module and the vehicle in a signal-conducting manner and has computing power, so that a decision to make a decision - preferably using at least one model - is made in real time
  • the recording module has a unit for annual ring detection, and the number of annual rings and / or annual ring thicknesses of the individual trees of the forest stand are measured by this unit of the recording module.
  • the device for tree ring detection can be formed by a small camera on the harvester or on the cutting device, which takes a picture of the tree rings of the tree under consideration from a short distance after the actual felling process.
  • the diameter of at least one tree which has not yet been harvested is determined at least at one point in its trunk by means of a laser scanner, the diameter being recorded as at least one decision parameter by the recording module.
  • the height of at least one tree that has not yet been harvested is recorded as a decision parameter by the recording module.
  • a special variant of the method provides that at least one size of a crown of a tree is recorded as a decision parameter by the recording module.
  • the distance of each tree to the neighboring trees is recorded as a decision parameter by the recording module, because this enables the competitive situation with regard to light, water and nutrients to be better estimated.
  • the control In order to be able to determine the value of the tree, it is favorable if at least the tree type is determined by the control as a decision parameter from recordings of the recording module.
  • the unit for tree ring detection is coupled to at least one sawing device and has at least one optical sensor.
  • the unit for tree ring detection comprises a sawing tool, such as a chain saw, which is combined with at least one optical sensor.
  • the optical sensor can be integrated in the sword of the chainsaw, or it can be in the form of a small camera that takes a picture of the cut surface after the trunk has been cut. Past annual growth can be calculated from this and future growth derived.
  • the recording module has a unit for taking and analyzing soil samples, and that when the recordings are processed by the recording module, data from previous recordings - preferably recordings made by the device - uses the forest stand become.
  • control is arranged on the vehicle and the felling decisions are made in the control on the vehicle during the harvesting process.
  • the controls are arranged stationary in an ideal environment with regard to cooling and cleanliness and thus outside of the vehicle. This enables the high computing power to be outsourced, with the vehicle being connected to the control for signal transmission, so that a decision to make a precipitation can be made in real time and transmitted to the vehicle.
  • GNSS global navigation satellite system
  • the recording module has a laser module and that the geometry and / or the position of tree surfaces are recorded in high resolution.
  • the recording module comprises at least one camera, preferably a digital camera, and the camera is preferably equipped with at least one laser projector, the camera being particularly preferably a stereo camera, and if so, with this Camera - preferably while driving - and / or with a stereo camera, in several directions - preferably in any orientation - images of the forest stand are recorded.
  • the recording module has a radar module and / or an ultrasound module and with these the geometry and / or the position of the tree surfaces of the forest stand are recorded.
  • Recordings of the forest stand are particularly advantageous and accurate if the recording module has a hyperspectral sensor for the visual and automatic detection of tree species, tree vitality or tree damage and the vehicle automatically recognizes tree species and / or tree vitality and / or tree damage with the aid of them.
  • the recorded data - preferably by means of annual ring detection - is used to improve a forest growth model, with this being particularly preferably carried out in real time
  • a device 1 for felling and branching which moves through a forest stand, which is symbolically represented by a single tree.
  • the device 1 comprises a vehicle F, and this has a gripping arm 2 and a receiving module 3.
  • the recording module 3 is used to record data from the forest stand.
  • the recording module 3 comprises a unit for tree ring detection J, a laser module, a stereo camera, an ultrasound module, a hyperspectral sensor and a laser projector for image matching with the images of the stereo camera.
  • a device for branching A which is designed as a saw, is also arranged on the gripping arm 2. This is used to carry out a keying on trees that are still alive.
  • the controller 4 is arranged permanently outside the vehicle F, and sends it to the vehicle F and receives the information from the vehicle F via a signal connection S, which is indicated by a radio symbol.
  • the controller 4 is installed on the vehicle F. This is particularly practical in remote areas because there the connection between a remote control 4 and the vehicle F may be less easy due to the particular circumstances.
  • This controller 4 takes over the evaluation of the measured values and data recorded by the recording module. In addition, the controller 4 calculates a growth forecast using forest growth models using known data that originate from previous recordings and forest inventories, and makes adjustments to the forest growth model.
  • the method looks like this, for example:
  • the vehicle F approaches a first tree and uses the laser module of the recording module 3 to determine the height and diameter of the tree by measuring the distance. Furthermore, the surroundings of the tree are considered, so its distance to the neighboring trees and the size of its crown are recorded by the recording module.
  • the tree of type A is recognized by the hyperspectral sensor and on the basis of the data stored in a database. It is also known or the recordings are used to determine the use for which the tree trunk can be used, such as firewood or construction timber, and what its current monetary value is. Now, during and after the acquisition of this tree data, a calculation takes place in the controller 4 as to how this tree will develop in the future and whether it makes more sense to branch or cut this first tree now or in the future or whether it makes more sense is to give this treatment to a neighboring tree.
  • This decision on the precipitation can be made in such a way that the economic benefit should be at a maximum for a certain period, for example the next fifty years.
  • the calculation can be done in an alternative version can also be optimized with regard to a different size, for example the stability of the forest stand against storm damage.
  • the tree rings J can be used to take a picture of the tree rings.
  • the number of annual rings and the thickness of the individual annual rings are determined by an optical sensor.
  • measurements are carried out at a time t and at an earlier time (t-1) with the vehicle F of the device 1 before the time of travel (t + 1) and are stored in a database.
  • the diameter d t and d ti at time t and at the earlier time (t-1) or the height H t and H ti and the size G t and G ti of the crown of the tree are recorded.
  • the conditions of the weather and other factors for the growth w t and w ti at the time t and at the earlier time (t-1) are known. The known values are used to adapt a suitable forest growth model.
  • the measurement of the values at the time of travel (t + 1) is carried out on the vehicle F:
  • the Greek letters a, ß, g and d denote parameters that can be adjusted on the basis of the measurements and which indicate the properties of the forest stand.
  • AI artificial intelligence
  • the device according to the invention provides support for decisions regarding the harvesting of timber, in particular for the thinning display.
  • TLS terrestrial laser scanning
  • Airborne Laserscanning is used in many regions of the world to record and map the properties of forests.
  • the tree heights and the density of the trees can be determined very precisely in this way.
  • laser scanning is also used from a tripod or from vehicles to determine the properties of trees.
  • the tree positions and diameter of the trunks can be determined very precisely, including changes in the diameter including the tree heights. In this way, it is possible to break down standing trees into roundwood assortments and to estimate their sales value before any timber is harvested.
  • Laser scanners are increasingly being used by the automotive industry to support autonomous driving and to recognize other road users in a high temporal and spatial resolution and to derive their approach speeds and directions. As a result, smaller, more powerful and more cost-effective laser scanners are coming onto the market.
  • this value-determining activity is left to the harvester driver, who does not have the necessary overview of his position in the control cabin and therefore makes a suboptimal selection.
  • the invention is intended to remedy this deficiency and relates to an expert system based on sensors which is integrated in the harvester and which, in real time, takes over the decision on felling based on the harvest.
  • the growth forecast for each individual tree in the forest population, including its expected response to a thinning intervention, is derived.
  • the tree species is identified by image recognition from the bark pattern and color. Existing geodesics for the description of soil properties, geology, precipitation, temperature and solar radiation are taken into account. Tree ring widths are measured on the felled trees in order to obtain information about previous growth. In addition, soil samples are taken and analyzed. These are taken from different depths and analyzed. The results of the measurements of the recording module are taken into account for the calculation and the growth modeling. Because of the abundance of input data, the data are processed using neural networks (deep learning algorithms).
  • the width of its tree rings can be analyzed, from which volume growth is derived.
  • the cut surface that is created when a trunk is cut into individual pieces of wood (bloche) is photographed and the tree ring width on the images is evaluated. This process can already be carried out by automatic analysis of the image.
  • a possible additional device for an expert system includes a camera that photographs the cut surface immediately after a separating cut and subjects the image to an analysis of the tree ring widths.
  • the sensor data described above are processed in real time and the device calibrates itself continuously during the selective harvesting of wood, so that in forest development after thinning intervention the optimum value increase, the highest biodiversity as well as the best stability and risk minimization against forest damage is guaranteed. As an additional result are after the Thinning intervention, the selective timber harvesting, detailed detailed tree data available.
  • control of the device also accesses climate and / or tree ring databases for its calculations during the implementation of the method according to the invention.
  • Laser scanning data from the harvester can be evaluated according to further criteria.
  • One possibility is the interpretation of the terrain relief. Nutrients and water collect in hollows and quickly evaporate from crests or steep slopes. It can therefore be predicted to a certain extent whether a single tree grows in a favored or less favored small location compared to the trees in its immediate vicinity. This information can be compared with the tree ring widths when cutting and can be used in the display decision algorithms.
  • the extent of the tree tops and the mutual shading of the tree tops at different positions of the sun can also be estimated using the laser scanning data and compared with the tree ring widths.
  • the growth forecast models serve to optimize the display of the logs to be felled in real time in such a way that the future growth in the value of the forest is maximized.
  • a useful additional device for such precision forestry applications can additionally include a device which takes soil samples at different depths of the forest soil by means of drilling probes, as a result of which the nutrient supply of the mineral soil can be analyzed over a small area.
  • the interplay of the stored geodesics, the accumulated knowledge that has arisen from the comparison of previous sensor data and the current measured values of the sensors enable the harvesting decision for the individual tree to be optimized for maximum yield and / or a minimized failure risk, provided the corresponding computing power is available .
  • the system After harvesting, the system also provides a data set that contains all remaining trees and their growth forecast and is available to forest management for further management issues.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Ecology (AREA)
  • Forests & Forestry (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Image Processing (AREA)
  • Road Paving Structures (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé de récolte sélective de bois dans un peuplement forestier, et un dispositif (1) associé destiné à l'abattage et/ou l'élagage, ledit dispositif comprenant un véhicule (F), un module de réception (3) et un élément de commande (4) apte à accéder à des données, et le véhicule (F) circulant dans le peuplement forestier et assurant un abattage et un élagage sélectifs, et le module de réception (3) assurant la détection du peuplement afin d'assister à la navigation du véhicule (F). Le module de réception (3) détecte au moins un paramètre décisionnel et l'élément de commande (4) prend ainsi en temps réel une décision liée à l'abattage et à l'élagage sélectifs.
PCT/AT2019/060234 2018-07-16 2019-07-15 Dispositif et procédé de récolte sélective de bois WO2020014719A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ATA50607/2018 2018-07-16
ATA50607/2018A AT520253A3 (de) 2018-07-16 2018-07-16 Verfahren zur selektiven Holzernte

Publications (1)

Publication Number Publication Date
WO2020014719A1 true WO2020014719A1 (fr) 2020-01-23

Family

ID=65359426

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/AT2019/060234 WO2020014719A1 (fr) 2018-07-16 2019-07-15 Dispositif et procédé de récolte sélective de bois

Country Status (2)

Country Link
AT (1) AT520253A3 (fr)
WO (1) WO2020014719A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112434429A (zh) * 2020-11-27 2021-03-02 广东电网有限责任公司肇庆供电局 一种林分生长模型建立方法及系统
US20220022388A1 (en) * 2020-07-27 2022-01-27 Georgia Southern University Research And Service Foundation, Inc. Autonomous robotic forest rover for automated resin collection

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102020209864A1 (de) 2020-08-05 2022-02-10 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren und Vorrichtung zum Betreiben eines Baumfällgeräts und Baumfällgerät
DE102021209036A1 (de) 2021-08-18 2023-02-23 Zf Friedrichshafen Ag Verfahren und System zum Betreiben einer Arbeitsmaschine in der Forstwirtschaft

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6182725B1 (en) * 1996-10-23 2001-02-06 Soervik Bengt Method for timber harvesting and system for forestry
WO2002013597A1 (fr) * 2000-08-15 2002-02-21 Soervik Bengt Dispositif et procede d'exploitation forestiere
US20060096667A1 (en) 2004-11-09 2006-05-11 Ray Stevens Integrated mill
US20090278839A1 (en) 2008-05-09 2009-11-12 Genesis Industries, Llc Managing landbases and machine operations performed thereon
WO2016075641A1 (fr) * 2014-11-12 2016-05-19 Fibre Gen Holdings Limited Évaluation d'arbres et de branches d'arbres et/ou de grumes
US9924642B2 (en) * 2013-10-31 2018-03-27 Elwha Llc Harvesting and grafting of trees

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5894323A (en) * 1996-03-22 1999-04-13 Tasc, Inc, Airborne imaging system using global positioning system (GPS) and inertial measurement unit (IMU) data
FI122885B (fi) * 2005-05-30 2012-08-31 John Deere Forestry Oy Metsäkoneen suorituskyvyn mittausjärjestelmä
FI20090447A (fi) * 2009-11-26 2011-05-27 Ponsse Oyj Menetelmä ja laite metsäkoneen yhteydessä
ES2762607T3 (es) * 2015-09-14 2020-05-25 Deere & Co Método y disposición para monitorizar la recogida de material vegetal

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6182725B1 (en) * 1996-10-23 2001-02-06 Soervik Bengt Method for timber harvesting and system for forestry
WO2002013597A1 (fr) * 2000-08-15 2002-02-21 Soervik Bengt Dispositif et procede d'exploitation forestiere
US20060096667A1 (en) 2004-11-09 2006-05-11 Ray Stevens Integrated mill
US20090278839A1 (en) 2008-05-09 2009-11-12 Genesis Industries, Llc Managing landbases and machine operations performed thereon
US9924642B2 (en) * 2013-10-31 2018-03-27 Elwha Llc Harvesting and grafting of trees
WO2016075641A1 (fr) * 2014-11-12 2016-05-19 Fibre Gen Holdings Limited Évaluation d'arbres et de branches d'arbres et/ou de grumes

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20220022388A1 (en) * 2020-07-27 2022-01-27 Georgia Southern University Research And Service Foundation, Inc. Autonomous robotic forest rover for automated resin collection
CN112434429A (zh) * 2020-11-27 2021-03-02 广东电网有限责任公司肇庆供电局 一种林分生长模型建立方法及系统

Also Published As

Publication number Publication date
AT520253A2 (de) 2019-02-15
AT520253A3 (de) 2019-04-15

Similar Documents

Publication Publication Date Title
Escolà et al. Mobile terrestrial laser scanner applications in precision fruticulture/horticulture and tools to extract information from canopy point clouds
WO2020014719A1 (fr) Dispositif et procédé de récolte sélective de bois
DE102020204363A1 (de) Bildauswahl für maschinensteuerung
EP3412130B1 (fr) Procédé de fonctionnement d'un robot tondeur mobile et autonome et système de tondeuse
EP3299996B1 (fr) Machines agricoles dotées d'un système de traitement d'images
EP3701449A1 (fr) Estimation du rendement de production de plantes cultivées
DE102011120858A1 (de) Verfahren und Vorrichtung zum berührungslosen Bestimmen von Pflanzenparametern und zum Verarbeiten dieser Informationen
EP2405258A2 (fr) Procédé de formation pour un algorithme adaptatif d'évaluation, un appareil d'hyperspectroscopie, ainsi que dispositif de distribution de moyens de production
DE102019211642A1 (de) Verfahren zum Identifizieren von Beikräutern innerhalb einer definierten Pflanzenreihe einer landwirtschaftlichen Fläche
EP3369037A1 (fr) Procédé et système d'information pour détecter au moins une plante plantée dans un champ
EP3150037B1 (fr) Procédé et système de gestion d'un terrain agricole utilisant des capteurs
Ozdemir et al. Precision Viticulture tools to production of high quality grapes.
Qiao et al. AI, sensors and robotics in plant phenotyping and precision agriculture
WO2020161176A1 (fr) Procédé et dispositif pour l'analyse de plantes
EP3424305B1 (fr) Procédé et système d'assistance lors de l'abattage d'un arbre
DE102019218192A1 (de) Verfahren zum Bearbeiten von Pflanzen auf einem Feld
WO2021105017A1 (fr) Procédé de traitement de plantes dans un champ
Scalisi et al. Detecting, mapping and digitising canopy geometry, fruit number and peel colour in pear trees with different architecture
DE102018120756A1 (de) Mobile Analyse- und Bearbeitungsvorrichtung, Verfahren und Trägersystem
EP4064819B1 (fr) Procédé de traitement de plantes dans un champ, de génération de données d'apprentissage et d'entraînement d'un réseau de neurones
DE102014226291A1 (de) Vorrichtung und Verfahren zum Warnen vor Oberflächenschäden an Fahrzeugen
Svoikin et al. Stem segmentation for sustainable forest management task
EP4064818B1 (fr) Procédé de traitement de plantes dans un champ
EP4220530A1 (fr) Procédé d'aide à la classification de données d'environnement d'une machine de travail agricole
Petukhov et al. Remote sensing of forest stand parameters for automated selection of trees in real-time mode in the process of selective cutting

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19745030

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19745030

Country of ref document: EP

Kind code of ref document: A1