Automatic recognition of work phases in cable yarding supported by sensor fusion

摘要

Cable yarding is a semi-mechanized timber harvesting system that relies on human machine interaction where a considerable share of the work is done by forest workers. The system is used in mountain forests around the world- Automation of one or more functions could contribute to increased productivity, reduced physical workloads and improved safety conditions. This paper presents a method for sensor data fusion in order to automatically distinguish work phases using Partial Least Squares DiscriminantAnalysis (PLS-DA). The Robot Operation System (ROS) is implemented to allow for realtime data processing with a maximum latency of 0.16 s. Global Positioning System (GPS), Inertial Measurement Unit (IMU) and camera integration provided a robust solutionfor 78 correct process segmentation. These results provide a basis for further development from which there is a possibility of expanding this approach for semi-automation, remote control, and autonomous operation.