Long distance Remote Control Operation enhanced by Sensor Fusion in Skyline Cable Carriage Forest Harvesting

We present a remote control operation system enhanced by sensor fusion applied to a newly developed skyline grapple carriage to improve the reliability, and productivity of the timber harvesting process in very steep terrains in Chile. We show that a model-based approach allows this using a minimal sensor configuration. The operation is done completely by remote control without line of sight and with no direct human intervention as opposed to the previous methods which required intensive manpower (timber faller operators and choke setters). The operation of the Carriage for Manipulation by Gripper (CMG) is enhanced with real time information given to the operator from a set of sensors and by processing the measured data. This real time feedback is applied to monitor oil temperature, torque and power of the diesel motor, and productivity.