US 12,259,089 B2
Control arrangement and method for controlling a forestry machine
Markku Savolainen, Vieremä (FI)
Assigned to PONSSE OYJ, Vieremä (FI)
Appl. No. 17/271,955
Filed by PONSSE OYJ, Vieremä (FI)
PCT Filed Aug. 28, 2019, PCT No. PCT/FI2019/050609
§ 371(c)(1), (2) Date Feb. 26, 2021,
PCT Pub. No. WO2020/043946, PCT Pub. Date Mar. 5, 2020.
Claims priority of application No. 20185712 (FI), filed on Aug. 29, 2018.
Prior Publication US 2021/0324998 A1, Oct. 21, 2021
Int. Cl. F16P 3/14 (2006.01); A01G 23/00 (2006.01); A01G 23/06 (2006.01); A01G 23/083 (2006.01)
CPC F16P 3/142 (2013.01) [A01G 23/083 (2013.01); F16P 3/141 (2013.01); F16P 3/147 (2013.01)] 22 Claims
OG exemplary drawing
 
1. A control arrangement in a forestry machine, the forestry machine comprising at least one cabin and at least one boom, the arrangement comprising:
one or more sensors configured to detect at least one object in an area of at least one sector, the at least one sector being focused in an area between the cabin and boom end, the one or more sensors being further configured to detect at least one of: location data of said detected object for at least two different times, and a speed of said detected object, wherein the detected object is a tree trunk held by a tool of the forestry machine at the boom end, and
at least one controller configured to determine at least a direction of travel of said detected object in relation to the cabin at two different times, at least, based on the detected location data and/or the detected speed of the object, check a need to cause a change in the control of the forestry machine by checking at least one control criterion in response to the determined direction of travel of the detected object being directed towards the cabin in the area of said at least one sector, and cause a change in the control of the forestry machine in response to the determined direction of travel of the detected object being directed towards the cabin in the area of the at least one sector and in fulfilling the at least one control criterion.