slope final conference - intelligent machines
TRANSCRIPT
This project has received funding from the European Union’s Seventh Framework Programme for research, technological development and demostration under grant agreement no 604129
www.slopeproject.eu
SLOPEIntelligent machines
Diego Graifenberg - Stefano Marrazza - Jakub Sandak
SLOPE Final Conference10th November, EIMA 2016, Bologna – Notturno Hall
This project has received funding from the European Union’s Seventh Framework Programme for research, technological development and demostration under grant agreement no 604129
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Sensorized harvester headStarting point
• Simple structures• Low request of power• Smaller prime mover required• As first prototype, looks more suitable for SLOPE pur-
poses• Furthermore it looks easier to extract branch para-
meter, working on variation of pressure on the stroke hydraulic cylinder
ARBRO 1000S
This project has received funding from the European Union’s Seventh Framework Programme for research, technological development and demostration under grant agreement no 604129
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Sensorized harvester headStarting point
ARBRO 1000S
Features ARBRO 1000S
Weight [kg] 500Maximum opening of delimbing knives [mm] 450Number of delimbing knives 4 (3 + 1)Feed force [kN] 35Oil flow request [l/min] 80 ÷ 120Nominal oil pressure [bar] 180Delimbing speed [m/s] 0,3 ÷ 0,5Prime mover weight [ton] 8 ÷ 12Stroke [mm] 660
This project has received funding from the European Union’s Seventh Framework Programme for research, technological development and demostration under grant agreement no 604129
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Sensorized harvester headReverse engineering activities
Reconstruction of a 3D model of the whole processor head and related partsof prime mover
KONICA MINOLTA Range7
FARO Focus3D 120
This project has received funding from the European Union’s Seventh Framework Programme for research, technological development and demostration under grant agreement no 604129
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Sensorized harvester headReverse engineering activities
Mechanical 3D modelling
This project has received funding from the European Union’s Seventh Framework Programme for research, technological development and demostration under grant agreement no 604129
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Sensorized harvester headReverse engineering activities
Mechanical 3D modelling
This project has received funding from the European Union’s Seventh Framework Programme for research, technological development and demostration under grant agreement no 604129
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Sensorized harvester headDesign of the novel subsystem
Scan bar for NIR camera and hyperspectral imaging
Hyperspectral and NIR sensors will be positioned on a lifting/lowering bar (so called scan bar) parallel to the chainsaw bar and placed in a separated carter for
protection from dirty, lubricating oil and chipping
Sensors need specific and very small distance (~ 3 mm) from log surface
Velocity profile of scan bar need to be defined
This project has received funding from the European Union’s Seventh Framework Programme for research, technological development and demostration under grant agreement no 604129
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Sensorized harvester headDesign of the novel subsystem
Scan bar for NIR camera and hyperspectral imaging
This project has received funding from the European Union’s Seventh Framework Programme for research, technological development and demostration under grant agreement no 604129
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Sensorized harvester headDesign of the novel subsystem
Cutting forces evaluation system
Cross cutting forces Debranching forces
Pressure sensors for continuous measurements of oil pressure in:
• hydraulic chainsaw motor• chainsaw feeding hydraulic cylinder
Oil flow meter for continuous measurements the amount of hydraulic oil through chainsaw motor
Encoder on chainsaw bar (linear potentiometer parallel to the feeding piston)
Pressure sensors for continuous measurements of oil pressure in:
• stroke hydraulic cylinder• kives hydraulic cylinder• gripper hydraulic cylinder
Load cells for continuous measurements of exerted forces on the knives
This project has received funding from the European Union’s Seventh Framework Programme for research, technological development and demostration under grant agreement no 604129
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Sensorized harvester headDesign of the novel subsystem
Cross cutting forces
Pressure sensors for continuous measurements of oil pressure in:
• chainsaw feeding hydraulic cylinder• hydraulic chainsaw motor
Oil flow meter for continuous measurements the amount of hydraulic oil through chainsaw motor
Encoder on chainsaw bar (linear potentiometer parallel to the feeding piston)
This project has received funding from the European Union’s Seventh Framework Programme for research, technological development and demostration under grant agreement no 604129
11
Sensorized harvester headDesign of the novel subsystem
Cross cutting forces
Pressure sensors for continuous measurements of oil pressure in:
• hydraulic chainsaw motor• chainsaw feeding hydraulic cylinder
Oil flow meter for continuous measurements the amount of hydraulic oil through chainsaw motor
Encoder on chainsaw bar (linear potentiometer parallel to the feeding piston)
This project has received funding from the European Union’s Seventh Framework Programme for research, technological development and demostration under grant agreement no 604129
12
Sensorized harvester headDesign of the novel subsystem
Debranching forces
Pressure sensors for continuous measurements of oil pressure in:
• stroke hydraulic cylinder• kives hydraulic cylinder• gripper hydraulic cylinder
Load cells for continuous measurements of exerted forces on the knives
This project has received funding from the European Union’s Seventh Framework Programme for research, technological development and demostration under grant agreement no 604129
13
Sensorized harvester headDesign of the novel subsystem
Debranching forces
Pressure sensors for continuous measurements of oil pressure in:
• stroke hydraulic cylinder• kives hydraulic cylinder• gripper hydraulic cylinder
Load cells for continuous measurements of exerted forces on the knives
This project has received funding from the European Union’s Seventh Framework Programme for research, technological development and demostration under grant agreement no 604129
14
Sensorized harvester headDesign of the novel subsystem
Debranching forces
Pressure sensors for continuous measurements of oil pressure in:
• stroke hydraulic cylinder• kives hydraulic cylinder• gripper hydraulic cylinder
Load cells for continuous measurements of exerted forces on the knives
This project has received funding from the European Union’s Seventh Framework Programme for research, technological development and demostration under grant agreement no 604129
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Sensorized harvester headDesign of the novel subsystem
Stress wave evaluation system
Accelerometers measurement system Laser measurement system
Longitudinal axial modes analysis with resonance method
Composed by:• laser triangulation sensor•sensorized hammer that provides the mechanical stimulus and trigger signal
Wave pressure time of flight measurements in the processed wood
Composed by:• two accelerometers•sensorized hammer that provides the mechanical stimulus and trigger signal
This project has received funding from the European Union’s Seventh Framework Programme for research, technological development and demostration under grant agreement no 604129
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Sensorized harvester headDesign of the novel subsystem
Stress wave evaluation system
Accelerometers measurement system
Wave pressure time of flight measurements in the processed wood
Composed by:• two accelerometers•sensorized hammer that provides the mechanical stimulus and trigger signal
This project has received funding from the European Union’s Seventh Framework Programme for research, technological development and demostration under grant agreement no 604129
17
Sensorized harvester headDesign of the novel subsystem
Stress wave evaluation system
Accelerometers measurement system
Wave pressure time of flight measurements in the processed wood
Composed by:• two accelerometers•sensorized hammer that provides the mechanical stimulus and trigger signal
This project has received funding from the European Union’s Seventh Framework Programme for research, technological development and demostration under grant agreement no 604129
18
Sensorized harvester headDesign of the novel subsystem
Stress wave evaluation system
Laser measurement system
Longitudinal axial modes analysis with resonance method
Composed by:• laser triangulation sensor•sensorized hammer that provides the mechanical stimulus and trigger signal
This project has received funding from the European Union’s Seventh Framework Programme for research, technological development and demostration under grant agreement no 604129
19
Sensorized harvester headDesign of the novel subsystem
Stress wave evaluation system
Laser measurement system
Longitudinal axial modes analysis with resonance method
Composed by:• laser triangulation sensor•sensorized hammer that provides the mechanical stimulus and trigger signal
This project has received funding from the European Union’s Seventh Framework Programme for research, technological development and demostration under grant agreement no 604129
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Sensorized harvester headDesign of the novel subsystem
RFID labellerRFID tags are placed by staples on the cross section of each logSystem is placed on a movable bar and it is composed by:
• roll of RFID tags
• stapler
• loading system
• RFID antenna
• RFID reader
This project has received funding from the European Union’s Seventh Framework Programme for research, technological development and demostration under grant agreement no 604129
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Sensorized harvester headDesign of the novel subsystem
RFID labellerRFID tags are placed by staples on the cross section of each logSystem is placed on a movable bar and it is composed by:
• roll of RFID tags
• stapler
• loading system
• RFID antenna
• RFID reader
This project has received funding from the European Union’s Seventh Framework Programme for research, technological development and demostration under grant agreement no 604129
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Sensorized harvester headDesign of the novel subsystem
This project has received funding from the European Union’s Seventh Framework Programme for research, technological development and demostration under grant agreement no 604129
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Sensorized harvester headHardware for machine control
This project has received funding from the European Union’s Seventh Framework Programme for research, technological development and demostration under grant agreement no 604129
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Video
www.slopeproject.eu
This project has received funding from the European Union’s Seventh Framework Programme for research, technological development and demostration under grant agreement no 604129
25
Thanks for your attention
Contacts
Diego Graifenberg (Greifenberg Teleferiche): [email protected]
Jakub Sandak (CNR-IVALSA): [email protected]
Stefano Marrazza (Compolab): [email protected]