CN104122836A - Semi-physical simulation system for operation track planning and control of forestry felling and cultivation machine - Google Patents
Semi-physical simulation system for operation track planning and control of forestry felling and cultivation machine Download PDFInfo
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- CN104122836A CN104122836A CN201410397587.4A CN201410397587A CN104122836A CN 104122836 A CN104122836 A CN 104122836A CN 201410397587 A CN201410397587 A CN 201410397587A CN 104122836 A CN104122836 A CN 104122836A
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Abstract
The invention discloses a semi-physical simulation system for operation track planning and control of a forestry felling and cultivation machine. The semi-physical simulation system comprises an industrial control computer, an on-board embedded computer and an on-board PLC (programmable logic controller), wherein the on-board embedded computer is connected with a laser measurement system and comprises a control input acquisition module, an output parameter display module, a stumpage laser measurement algorithm module and a track planning and control algorithm module; the on-board PLC is connected with a joystick, a steering wheel, a brake pedal and an accelerator pedal and is used for acquiring and processing control input quantity of the joystick, the steering wheel, the brake pedal and the accelerator pedal and outputting hydraulic cylinder control signals of the physical forestry felling and cultivation machine; the industrial control computer is used for completing real-time and dynamic virtual display of independent felling operation tasks of the forestry felling and cultivation machine. The semi-physical simulation system has the advantages that an operation track planning and intelligent control method for the forestry felling and cultivation machine can be verified, and the semi-physical simulation system is high in data volume processing capacity, high in interactivity and low in cost.
Description
Technical field
The present invention relates to a kind of forestry Caiyu equipment intelligent control technology, relate in particular to a kind of forest associating Caiyu machine operation trajectory planning and control semi-matter simulating system.
Background technology
Forest associating Caiyu machine is a kind of high performance modern forestry equipment, can under manual intervention, complete felling, delimbing, peeling, producing material etc. and work continuously.In the time that this large-scale and complex electromechanical systems of forest associating Caiyu machine is tested, due to dangerous property and the problem such as cost is high, need to carry out simulating, verifying to key control technology in the development phase.Pure software emulation is difficult to the characteristic of the actual forest associating of real simulation Caiyu machine.For guarantee forest associating Caiyu machine is in security and the economy at prototype experiment initial stage, need the experiment porch that builds hardware-in-the-loop simulation to test.
In prior art, also do not have a kind ofly can verify forest associating Caiyu machine operation trajectory planning and intelligent control method, the experiment porch that data volume processing power is large, interaction capabilities is high, cost is low.
Summary of the invention
The object of this invention is to provide and a kind ofly can verify that forest associating Caiyu machine operation trajectory planning and intelligent control method, the forest that data volume processing power is large, interaction capabilities is high, cost is low combine Caiyu machine operation trajectory planning and control semi-matter simulating system.
The object of the invention is to be achieved through the following technical solutions:
Forest associating Caiyu machine operation trajectory planning of the present invention and control semi-matter simulating system, comprise industrial control computer, vehicle-mounted embedded type computing machine, vehicle-mounted PLC controller, described vehicle-mounted embedded type computing machine is connected with laser measurement system, and described vehicle-mounted PLC controller is connected with control handle, bearing circle, brake pedal, gas pedal;
The real-time dynamic virtual that described industrial control computer has been used for the autonomous logging operation task of forest associating Caiyu machine shows, comprises virtual forest associating Caiyu machine, virtual standing tree and ground, virtual dynamic display module, experimental data preservation module, human-computer interaction module;
Described vehicle-mounted embedded type computing machine comprises control inputs acquisition module, output parameter display module, standing tree laser measurement algoritic module and trajectory planning and control algolithm module;
Described vehicle-mounted PLC controller, for control handle, bearing circle, brake pedal, gas pedal control inputs amount described in acquisition process, is exported the hydraulic jack control signal of entity forest associating Caiyu machine simultaneously.
As seen from the above technical solution provided by the invention, forest associating Caiyu machine operation trajectory planning and control semi-matter simulating system that the embodiment of the present invention provides, owing to comprising industrial control computer, vehicle-mounted embedded type computing machine, vehicle-mounted PLC controller, described vehicle-mounted embedded type computing machine is connected with laser measurement system, described vehicle-mounted PLC controller is connected with control handle, bearing circle, brake pedal, gas pedal, can verify forest associating Caiyu machine operation trajectory planning and intelligent control method, can complete the kinematic calculation of forest associating Caiyu machine AUTONOMOUS TASK, the complex task such as trajectory planning and communication, can complete Real time dynamic display and the man-machine interaction of forest associating Caiyu machine operation task simultaneously, there is big data quantity processing power, the feature of high interaction capabilities and lower cost.
Brief description of the drawings
Fig. 1 is the embodiment of the present invention forest associating Caiyu machine operation trajectory planning providing and the structured flowchart of controlling semi-matter simulating system;
Fig. 2 is the FB(flow block) that in the embodiment of the present invention, forest is combined Caiyu machine operation trajectory planning and control algolithm.
Embodiment
To be described in further detail the embodiment of the present invention below.
Forest of the present invention associating Caiyu machine operation trajectory planning with control semi-matter simulating system, its preferably embodiment be:
Comprise industrial control computer, vehicle-mounted embedded type computing machine, vehicle-mounted PLC controller, described vehicle-mounted embedded type computing machine is connected with laser measurement system, and described vehicle-mounted PLC controller is connected with control handle, bearing circle, brake pedal, gas pedal;
The real-time dynamic virtual that described industrial control computer has been used for the autonomous logging operation task of forest associating Caiyu machine shows, comprises virtual forest associating Caiyu machine, virtual standing tree and ground, virtual dynamic display module, experimental data preservation module, human-computer interaction module;
Described vehicle-mounted embedded type computing machine comprises control inputs acquisition module, output parameter display module, standing tree laser measurement algoritic module and trajectory planning and control algolithm module;
Described vehicle-mounted PLC controller, for control handle, bearing circle, brake pedal, gas pedal control inputs amount described in acquisition process, is exported the hydraulic jack control signal of entity forest associating Caiyu machine simultaneously.
Described virtual forest associating Caiyu machine comprises virtual felling arm, virtual felling head and virtual vehicle body, described virtual dynamic display module can be shown to Working motion and the standing tree three-dimensional model information of virtual forest associating Caiyu machine in liquid crystal display in real time, described experimental data is preserved module can preserve the exercise data that virtual forest is combined felling arm, car body and the felling head of Caiyu machine in real time, and described human-computer interaction module can complete the control parameter input of AUTONOMOUS TASK task.
Described control inputs acquisition module is for the treatment of the input quantity of vehicle-mounted PLC controller, described output parameter display module completes the output display of the working status parameter of felling head and the diameter of a cross-section of a tree trunk 1.3 meters above the ground of standing tree, orientation, spacing parameter, described standing tree laser measurement algoritic module is for gathering the data of laser scanning, obtain the diameter of a cross-section of a tree trunk 1.3 meters above the ground, orientation and the spacing parameter of standing tree, described trajectory planning can complete operation track planning and the control algolithm that virtual forest is combined Caiyu machine based on laser measurement data with control algolithm module.
Described control handle has been used for virtual felling arm and the cephalomotor manual control amount input of virtual lumbering.
Described laser measurement system can obtain the laser point cloud data of felling target standing tree, standing tree laser measurement algoritic module on vehicle-mounted embedded type computing machine calculates the diameter of a cross-section of a tree trunk 1.3 meters above the ground, orientation and the spacing parameter that obtain standing tree, for felling the trajectory planning of arm and controlling the measurement feedback data that provides basic.
Described bearing circle has been used for the direction control inputs of virtual forest associating Caiyu railcar body.
Described brake pedal has been used for deceleration and the braking control inputs of virtual forest associating Caiyu railcar body.
Described gas pedal has been used for the accelerated motion control inputs of virtual forest associating Caiyu railcar body.
Between described industrial control computer and vehicle-mounted embedded type computing machine, be connected by the outside CAN bus of two redundancies, between described vehicle-mounted embedded type computing machine and vehicle-mounted PLC controller, be connected by the inside CAN bus of two redundancies, described laser measurement system is connected by serial ports with vehicle-mounted embedded type intercomputer.
Forest associating Caiyu machine operation trajectory planning of the present invention and control semi-matter simulating system, can verify forest associating Caiyu machine operation trajectory planning and intelligent control method, can complete the complex task such as kinematic calculation, trajectory planning and communication of forest associating Caiyu machine AUTONOMOUS TASK, can complete Real time dynamic display and the man-machine interaction of forest associating Caiyu machine operation task, there is the feature of big data quantity processing power, high interaction capabilities and lower cost simultaneously.
The present invention takes full advantage of the method for Design of Distributed Control System and semi-matter simulating system design, the employing virtual emulation modes such as Caiyu machine, standing tree, ground that forest is combined realize, and the employings and in kind realization of the identical electronic unit of experiment sample car such as vehicle-mounted embedded type computing machine, vehicle-mounted PLC controller, bearing circle, brake pedal, gas pedal.Adopt this semi-matter simulating system, dynamic perfromance, static characteristics and the non-linear factor etc. of trajectory planning and control algolithm and vehicle control syetem can more approachingly reflect practically, can meet the experiment demand of forest associating Caiyu machine operation task, ensure the high confidence level of low cost, high security and the experimental result of experimentation.
In the present invention, a part adopts the material object identical with sample car, and other parts adopt Computer Simulation form.Adopt semi-matter simulating system to replace pure software emulation and actual sample car system, dynamic perfromance, static characteristics and the non-linear factor etc. of operation track planning and control algolithm and vehicle control syetem can more approachingly reflect practically, there is good man-machine interaction simultaneously, experiment number is unrestricted, can simplify the construction cycle of forest associating Caiyu machine, save cost of development, improve experiment safety, also for the driver training of forest associating Caiyu machine provides basic experiment condition.
Specific embodiment, as depicted in figs. 1 and 2:
In Fig. 1, functional unit of each box indicating, forest associating Caiyu machine operation trajectory planning is divided into by its function with control semi-matter simulating system: industrial control computer, vehicle-mounted embedded type computing machine, vehicle-mounted PLC controller, control handle, laser measurement system, bearing circle, brake pedal, gas pedal.
Outside CAN bus by two redundancies between industrial control computer and vehicle-mounted embedded type computing machine connects, between vehicle-mounted embedded type computing machine and vehicle-mounted PLC controller, be connected by the inside CAN bus of two redundancies, laser measurement system is connected by serial ports with vehicle-mounted embedded type intercomputer.
Wherein, on industrial control computer, operation adopts the virtual emulation software that Visual Studio 2008 and Open Scene Graph have developed, and this software package preserves module, human-computer interaction module containing virtual forest associating Caiyu machine, virtual standing tree and ground, virtual dynamic display module, experimental data; Wherein virtual forest associating Caiyu machine is made up of virtual felling arm, virtual felling head and virtual vehicle body; Virtual dynamic display module can be shown to Working motion and the standing tree three-dimensional model information of virtual forest associating Caiyu machine in liquid crystal display in real time, and experimental data is preserved module can preserve the exercise data that virtual forest is combined felling arm, car body and the felling head of Caiyu machine in real time; Human-computer interaction module can complete the control parameter input of AUTONOMOUS TASK task, as AUTONOMOUS TASK instruction, manual control instruction etc.
Vehicle-mounted embedded type computing machine sends the car body of virtual forest associating Caiyu machine, the kinematic parameter instruction of felling arm, felling head, vehicle-mounted embedded type computing machine adopts industrial embedded type C ortex-A81.2GHz dual core processor, 5.7 cun of TFT liquid crystal displays, possess 1GB DDR2 internal memory and 16GB Flash solid state hard disc, be equipped with, CAN interface, support CAN V2.0B, possess RS232 serial ports and RS485 serial ports, USB2.0 port, superpower safety and stability reliability, guarantees under severe operating environment, to stablize, and runs without interruption.
Vehicle-mounted embedded type computing machine adopts WinCE operating system, complete control inputs acquisition module, output parameter display module, standing tree laser measurement algoritic module and trajectory planning and control algolithm module by software, wherein control inputs acquisition module is mainly responsible for processing the input quantity of vehicle-mounted PLC controller; Output parameter display module completes the working status parameter of virtual felling head and the diameter of a cross-section of a tree trunk 1.3 meters above the ground of standing tree, orientation, the isoparametric output of spacing.
Standing tree laser measurement algoritic module is mainly responsible for gathering the data of laser scanning, obtain the parameter such as the diameter of a cross-section of a tree trunk 1.3 meters above the ground, orientation and spacing of felling target standing tree through clustering algorithm and least square fitting algorithm, provide basic measurement parameter for felling the trajectory planning of arm and controlling.
Trajectory planning and control algolithm module are mainly based on laser measurement data or artificial input data, and the multiple degrees of freedom felling arm that completes virtual forest associating Caiyu machine is caught trajectory planning and the control algolithm of standing tree.
The flow process of whole trajectory planning and control algolithm as shown in Figure 2, first trajectory planning and control algolithm are obtained the bearing data of actual standing tree by laser, on industrial control computer, show standing tree dummy model, follow-up flow process is divided into AUTONOMOUS TASK and manual control two parts.
In the time of AUTONOMOUS TASK, for ensureing that felling head arrives the catch position of expecting, need to repeatedly plan.The present invention has adopted the circulation controlling means of " planning once, walk ten steps ", realizes felling head progressively approaching target standing tree.First, virtual vehicle body autonomous, makes virtual felling arm and virtual felling head in approaching the position of target standing tree; Then, according to the bearing data of the relative standing tree of virtual felling head, carry out trajectory planning at cartesian space, and carry out inverse kinematic, obtain each planning and put the kinematic parameter of virtual felling arm; Then the kinematic parameter value that vehicle-mounted embedded type computing machine is put virtual felling arm by outside CAN bus and inner CAN bus by each planning respectively sends virtual forest associating Caiyu machine and vehicle-mounted PLC controller on industrial control computer to; Virtual felling arm moves first 10 and plans points, and synchronous dynamic shows; Complete after the motion of front 10 planning point, follow-up planning point is given up; After 10 control cycles, can catch standing tree region and return and start new planning horizon as virtual felling head does not arrive, until progressively approach target standing tree.As virtual felling head arrives the region that can catch standing tree, vehicle-mounted embedded type computing machine completes to virtual felling head and vehicle-mounted PLC controller transmission instruction standing tree and the felling task of catching by outside CAN bus and inner CAN bus respectively.
In the time of manual control, first manual control bearing circle, brake pedal and gas pedal, completes virtual vehicle body and moves; Then manual operation control handle, control the motion of virtual felling arm, then vehicle-mounted embedded type computing machine sends the kinematic parameter of virtual felling arm to virtual forest associating Caiyu machine and vehicle-mounted PLC controller on industrial control computer by outside CAN bus and inner CAN bus respectively; Then the motion of virtual felling arm, and synchronous dynamic shows, as felling head arrives the region that can catch standing tree, vehicle-mounted embedded type computing machine completes to vehicle-mounted PLC controller transmission instruction standing tree and the felling task of catching to virtual felling head and inner CAN bus by outside CAN bus respectively.
Vehicle-mounted PLC controller is for control handle, bearing circle, brake pedal, gas pedal control inputs amount described in acquisition process, receive by inner CAN bus the kinematic parameter that vehicle-mounted embedded type computing machine sends, in the time of the test of entity forest associating Caiyu machine, can export the hydraulic jack control signal of entity forest associating Caiyu machine simultaneously.
Control handle mainly completes virtual felling arm and the cephalomotor manual control amount input of virtual lumbering by the displacement all around of superincumbent each switching value button, analog quantity button and control lever is installed;
Laser measurement system adopts two dimensional laser scanning instrument, scanning distance scope is 8 meters, scanning angle scope is 100 degree, can obtain the laser point cloud data of felling target standing tree, standing tree laser measurement algoritic module on vehicle-mounted embedded type computing machine calculates the parameters such as the diameter of a cross-section of a tree trunk 1.3 meters above the ground, orientation and the spacing of acquisition standing tree, for felling the trajectory planning of arm and controlling the measurement feedback data that provides basic;
Bearing circle output pwm signal is given vehicle-mounted PLC controller, mainly completes the direction control inputs of virtual forest associating Caiyu railcar body;
Brake pedal output switching signal is given vehicle-mounted PLC controller, mainly completes deceleration and the braking control inputs of virtual forest associating Caiyu railcar body;
Gas pedal outputting analog signal is given vehicle-mounted PLC controller, mainly completes the accelerated motion control inputs of virtual forest associating Caiyu railcar body;
Outside CAN bus by two redundancies between industrial control computer and vehicle-mounted embedded type computing machine connects, vehicle-mounted embedded type computing machine is connected by the inside CAN bus of two redundancies with vehicle-mounted PLC controller, and the inside CAN bus of the two redundancies of employing and outside CAN bus can ensure the requirement of forest associating Caiyu machine control system data transmission credibility.Between laser measurement system and vehicle-mounted embedded type computing machine, connect by serial ports.
The above; only for preferably embodiment of the present invention, but protection scope of the present invention is not limited to this, is anyly familiar with in technical scope that those skilled in the art disclose in the present invention; the variation that can expect easily or replacement, within all should being encompassed in protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claims.
Claims (9)
1. a forest is combined Caiyu machine operation trajectory planning and controls semi-matter simulating system, it is characterized in that, comprise industrial control computer, vehicle-mounted embedded type computing machine, vehicle-mounted PLC controller, described vehicle-mounted embedded type computing machine is connected with laser measurement system, and described vehicle-mounted PLC controller is connected with control handle, bearing circle, brake pedal, gas pedal;
The real-time dynamic virtual that described industrial control computer has been used for the autonomous logging operation task of forest associating Caiyu machine shows, comprises virtual forest associating Caiyu machine, virtual standing tree and ground, virtual dynamic display module, experimental data preservation module, human-computer interaction module;
Described vehicle-mounted embedded type computing machine comprises control inputs acquisition module, output parameter display module, standing tree laser measurement algoritic module and trajectory planning and control algolithm module;
Described vehicle-mounted PLC controller, for control handle, bearing circle, brake pedal, gas pedal control inputs amount described in acquisition process, is exported the control signal of hydraulic jack on entity forest associating Caiyu machine simultaneously.
2. forest associating Caiyu machine operation trajectory planning according to claim 1 and control semi-matter simulating system, it is characterized in that, described virtual forest associating Caiyu machine comprises virtual felling arm, virtual felling head and virtual vehicle body, described virtual dynamic display module can be shown to Working motion and the standing tree three-dimensional model information of virtual forest associating Caiyu machine in liquid crystal display in real time, described experimental data is preserved module can preserve the felling arm that virtual forest is combined Caiyu machine in real time, the exercise data of car body and felling head, described human-computer interaction module can complete the control parameter input of AUTONOMOUS TASK task.
3. forest associating Caiyu machine operation trajectory planning according to claim 1 and control semi-matter simulating system, it is characterized in that, described control inputs acquisition module is for the treatment of the input quantity of vehicle-mounted PLC controller, output parameter display module completes the working status parameter of felling head and the diameter of a cross-section of a tree trunk 1.3 meters above the ground of standing tree, orientation, the output display of spacing parameter, described standing tree laser measurement algoritic module is for gathering the data of laser scanning, obtain the diameter of a cross-section of a tree trunk 1.3 meters above the ground of standing tree, orientation and spacing parameter, described trajectory planning can complete operation track planning and the control algolithm that virtual forest is combined Caiyu machine based on laser measurement data with control algolithm module.
4. forest associating Caiyu machine operation trajectory planning according to claim 1 and control semi-matter simulating system, is characterized in that, described control handle has been used for virtual felling arm and the cephalomotor manual control amount input of virtual lumbering.
5. forest associating Caiyu machine operation trajectory planning according to claim 1 and control semi-matter simulating system, it is characterized in that, described laser measurement system can obtain the laser point cloud data of felling target standing tree, standing tree laser measurement algoritic module on vehicle-mounted embedded type computing machine calculates the diameter of a cross-section of a tree trunk 1.3 meters above the ground, orientation and the spacing parameter that obtain standing tree, for felling the trajectory planning of arm and controlling the measurement feedback data that provides basic.
6. forest associating Caiyu machine operation trajectory planning according to claim 1 and control semi-matter simulating system, is characterized in that, described bearing circle has been used for the direction control inputs of virtual forest associating Caiyu railcar body.
7. forest associating Caiyu machine operation trajectory planning according to claim 1 and control semi-matter simulating system, is characterized in that, described brake pedal has been used for deceleration and the braking control inputs of virtual forest associating Caiyu railcar body.
8. forest associating Caiyu machine operation trajectory planning according to claim 1 and control semi-matter simulating system, is characterized in that, described gas pedal has been used for the accelerated motion control inputs of virtual forest associating Caiyu railcar body.
9. according to forest associating Caiyu machine operation trajectory planning and control semi-matter simulating system described in claim 1 to 8 any one, it is characterized in that, between described industrial control computer and vehicle-mounted embedded type computing machine, be connected by the outside CAN bus of two redundancies, between described vehicle-mounted embedded type computing machine and vehicle-mounted PLC controller, be connected by the inside CAN bus of two redundancies, described laser measurement system is connected by serial ports with vehicle-mounted embedded type intercomputer.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107097806A (en) * | 2016-11-30 | 2017-08-29 | 中车青岛四方车辆研究所有限公司 | The electronic control system of AC drive locomotive brakes |
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