CN104122836B - 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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- CN104122836B CN104122836B CN201410397587.4A CN201410397587A CN104122836B CN 104122836 B CN104122836 B CN 104122836B CN 201410397587 A CN201410397587 A CN 201410397587A CN 104122836 B CN104122836 B CN 104122836B
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- control
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- forest
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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, particularly relate to a kind of forest associating Caiyu machine operation rail
Mark planning and control semi-matter simulating system.
Background technology
Forest associating Caiyu machine is a kind of high performance modern forestry equipment, can complete felling, delimbing, goes under manual intervention
Skin, producing material etc. are worked continuously.This large-scale to forest associating Caiyu machine and time complex electromechanical systems is tested, due to
The problems such as dangerous property and cost height, needed key control technology is carried out simulating, verifying in the development phase.Purely soft
Part emulation is difficult to the real characteristic simulating actual forest associating Caiyu machine.For ensureing that forest associating Caiyu machine is at the beginning of prototype experiment
The safety of phase and economy, the experiment porch that need to build HWIL simulation is tested.
Prior art does not also have one be able to verify that forest associating Caiyu machine operation trajectory planning and intelligent control method, data
Energy-handling capability is big, interaction capabilities is high, the experiment porch of low cost.
Summary of the invention
It is an object of the invention to provide one and be able to verify that forest associating Caiyu machine operation trajectory planning and intelligent control method, number
Big according to energy-handling capability, interaction capabilities is high, the forest of low cost associating Caiyu machine operation trajectory planning is with to control half in kind imitative
True system.
It is an object of the invention to be achieved through the following technical solutions:
Forest associating Caiyu machine operation trajectory planning and the control semi-matter simulating system of the present invention, calculates including Industry Control
Machine, vehicle-mounted embedded type computer, vehicle-mounted PLC, described vehicle-mounted embedded type computer connects laser measurement system,
Described vehicle-mounted PLC connects control handle, steering wheel, brake pedal, gas pedal；
The Real-time and Dynamic of the autonomous logging operation task that described industrial control computer has been used for forest associating Caiyu machine is virtual
Display, preserves including virtual forest associating Caiyu machine, virtual standing tree and ground, virtual dynamic display module, experimental data
Module, human-computer interaction module；
Described vehicle-mounted embedded type computer includes controlling input acquisition module, output parameter display module, standing tree laser measurement
Algoritic module and trajectory planning and control algolithm module；
Described vehicle-mounted PLC is for control handle, steering wheel, brake pedal, gas pedal control described in acquisition process
Input quantity processed, simultaneously the hydraulic jack control signal of output entity forest associating Caiyu machine.
As seen from the above technical solution provided by the invention, the forest associating Caiyu machine operation that the embodiment of the present invention provides
Trajectory planning with control semi-matter simulating system, owing to including industrial control computer, vehicle-mounted embedded type computer, vehicle-mounted
PLC, described vehicle-mounted embedded type computer connects laser measurement system, and described vehicle-mounted PLC connects behaviour
Control handle, steering wheel, brake pedal, gas pedal, be able to verify that forest associating Caiyu machine operation trajectory planning and intelligence control
Method processed, can complete the complex task such as kinematic calculation, trajectory planning and communication of forest associating Caiyu machine AUTONOMOUS TASK,
Real time dynamic display and the man-machine interaction of forest associating Caiyu machine operation task can be completed simultaneously, there is big data quantity and process energy
Power, high interaction capabilities and the feature of lower cost.
Accompanying drawing explanation
Fig. 1 is the embodiment of the present invention forest associating Caiyu machine operation trajectory planning provided and the knot controlling semi-matter simulating system
Structure block diagram；
Fig. 2 is forest associating Caiyu machine operation trajectory planning and the FB(flow block) of control algolithm in the embodiment of the present invention.
Detailed description of the invention
The embodiment of the present invention will be described in further detail below.
Forest associating Caiyu machine operation trajectory planning and the control semi-matter simulating system of the present invention, it is preferably embodied as
Mode is:
Including industrial control computer, vehicle-mounted embedded type computer, vehicle-mounted PLC, described vehicle-mounted embedded type calculates
Machine connects laser measurement system, and described vehicle-mounted PLC connects control handle, steering wheel, brake pedal, throttle
Pedal；
The Real-time and Dynamic of the autonomous logging operation task that described industrial control computer has been used for forest associating Caiyu machine is virtual
Display, preserves including virtual forest associating Caiyu machine, virtual standing tree and ground, virtual dynamic display module, experimental data
Module, human-computer interaction module；
Described vehicle-mounted embedded type computer includes controlling input acquisition module, output parameter display module, standing tree laser measurement
Algoritic module and trajectory planning and control algolithm module；
Described vehicle-mounted PLC is for control handle, steering wheel, brake pedal, gas pedal control described in acquisition process
Input quantity processed, simultaneously the hydraulic jack control signal of output entity forest associating Caiyu machine.
Described virtual forest associating Caiyu machine includes virtual felling arm, virtual felling head and virtual vehicle body, described virtual dynamically
The Working motion of virtual forest associating Caiyu machine and standing tree three-dimensional model information can be shown to liquid crystal display by display module in real time
On device, described experimental data preserves module can preserve felling arm, car body and the felling head of virtual forest associating Caiyu machine in real time
Exercise data, described human-computer interaction module can complete AUTONOMOUS TASK task control parameter input.
The described input acquisition module that controls is for processing the input quantity of vehicle-mounted PLC, described output parameter display module
Complete working status parameter 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 of felling head, described standing tree laser
Measurement Algorithm module is for gathering the data of laser scanning, it is thus achieved that the diameter of a cross-section of a tree trunk 1.3 meters above the ground of standing tree, orientation and spacing parameter, described track
Plan that can complete virtual forest based on laser measurement data with control algolithm module combines operation track planning and the control of Caiyu machine
Algorithm processed.
Described control handle has been used for virtual felling arm and the input of virtual lumbering cephalomotor Artificial Control amount.
Described laser measurement system can obtain the laser point cloud data felling target standing tree, on vehicle-mounted embedded type computer
Standing tree laser measurement algoritic module calculates and obtains the diameter of a cross-section of a tree trunk 1.3 meters above the ground of standing tree, orientation and spacing parameter, for fell the trajectory planning of arm with
Control to provide basic measurement feedback data.
Described steering wheel has been used for the direction controlling input of virtual forest associating Caiyu railcar body.
Described brake pedal has been used for deceleration and the control for brake input of virtual forest associating Caiyu railcar body.
Described gas pedal has been used for the accelerated motion of virtual forest associating Caiyu railcar body and has controlled input.
It is connected by the outside CAN of dual redundant between described industrial control computer with vehicle-mounted embedded type computer, institute
State and be connected by the inside CAN of dual redundant between vehicle-mounted embedded type computer with vehicle-mounted PLC, described Laser Measuring
Amount system is connected by serial ports with vehicle-mounted embedded type intercomputer.
Forest associating Caiyu machine operation trajectory planning and the control semi-matter simulating system of the present invention, is able to verify that forest is combined and adopts
Educate machine operation trajectory planning and intelligent control method, forest the associating kinematic calculation of Caiyu machine AUTONOMOUS TASK, rail can be completed
Mark planning and the complex task such as communication, can complete the Real time dynamic display of forest associating Caiyu machine operation task and man-machine simultaneously
Alternately, there is big data quantity disposal ability, high interaction capabilities and the feature of lower cost.
The present invention takes full advantage of Design of Distributed Control System and the method for semi-matter simulating system design, is combined by forest
Caiyu machine, standing tree, ground etc. use virtual emulation mode realize, and vehicle-mounted embedded type computer, vehicle-mounted PLC,
Steering wheel, brake pedal, gas pedal etc. use and realize with experiment sample car identical electronic unit material object.Use this
Kind of semi-matter simulating system, trajectory planning and control algolithm and the dynamic characteristic of vehicle control syetem, static characteristic and non-
Linear factors etc. closer to reflecting practically, can meet the experiment demand of forest associating Caiyu machine operation task, protects
Demonstrate,prove the high credibility of the low cost of experimentation, high security and experimental result.
In the present invention, a part uses the material object identical with sample car, and other parts then use Computer Simulation form.Use half
Matter simulating system replaces software emulation purely and actual sample car system, operation track planning and control algolithm and vehicle-mounted
The dynamic characteristic of control system, static characteristic and non-linear factor etc. can have good closer to reflecting practically simultaneously
Good man-machine interaction, experiment number is unrestricted, can simplify the construction cycle of forest associating Caiyu machine, save exploitation
Cost, improves experiment safety, and also the driver training for forest associating Caiyu machine provides basic experiment condition.
Specific embodiment, as depicted in figs. 1 and 2:
In FIG, one functional unit of each box indicating, forest associating Caiyu machine operation trajectory planning is in kind with control half
Analogue system is divided into by its function: industrial control computer, vehicle-mounted embedded type computer, vehicle-mounted PLC, manipulation
Handle, laser measurement system, steering wheel, brake pedal, gas pedal.
Connected by the outside CAN of dual redundant between industrial control computer and vehicle-mounted embedded type computer, vehicle-mounted embedding
Enter and be connected by the inside CAN of dual redundant between formula computer with vehicle-mounted PLC, laser measurement system and vehicle-mounted
Connected by serial ports between embedded computer.
Wherein, industrial control computer runs employing Visual Studio 2008 and Open Scene Graph exploitation
Virtual emulation software, this software kit is containing virtual forest associating Caiyu machine, virtual standing tree and ground, virtual Dynamic Announce
Module, experimental data preserve module, human-computer interaction module；The most virtual forest associating Caiyu machine is by virtual felling arm, void
Intend felling head and virtual vehicle body is constituted；Virtual dynamic display module can be by the Working motion of virtual forest associating Caiyu machine with vertical
Wood three-dimensional model information is shown on liquid crystal display in real time, and experimental data preserves module can preserve the associating of virtual forest in real time
Felling arm, car body and the exercise data of felling head of Caiyu machine；Human-computer interaction module can complete the control of AUTONOMOUS TASK task
Parameter inputs, such as AUTONOMOUS TASK instruction, manual control instruction etc..
Vehicle-mounted embedded type computer sends the car body of virtual forest associating Caiyu machine, fells arm, the kinematic parameter of felling head and refer to
Order, vehicle-mounted embedded type computer uses industry embedded type C ortex-A81.2GHz dual core processor, 5.7 cun of TFT liquid crystal
Screen, possesses 1GB DDR2 internal memory and 16GB Flash solid state hard disc, is equipped with, CAN interface, supports CAN V2.0B,
Possess RS232 serial ports and RS485 serial ports, USB2.0 port, superpower safety and stability reliability, it is ensured that can be severe
Stablize under working environment, run without interruption.
Vehicle-mounted embedded type computer uses WinCE operating system, completes to control input acquisition module, output ginseng by software
Number display module, standing tree laser measurement algoritic module and trajectory planning and control algolithm module, wherein control input and gather mould
Block is mainly responsible for processing the input quantity of vehicle-mounted PLC；Output parameter display module completes the duty of virtual felling head
Parameter 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, clustered algorithm and least square fitting
Algorithm obtains parameters such as felling the diameter of a cross-section of a tree trunk 1.3 meters above the ground of target standing tree, orientation and spacing, for felling the trajectory planning of arm and controlling to provide base
This measurement parameter.
Trajectory planning and control algolithm module are based primarily upon laser measurement data or artificial input data, complete virtual forest connection
The multiple degrees of freedom closing Caiyu machine fells trajectory planning and the control algolithm of arm capture standing tree.
The flow process of whole trajectory planning and control algolithm is as in figure 2 it is shown, first trajectory planning and control algolithm are obtained real by laser
The bearing data of border standing tree, industrial control computer shows standing tree dummy model, follow-up flow process be divided into AUTONOMOUS TASK and
Manual control two parts.
When AUTONOMOUS TASK, for ensureing that felling head arrives desired catch position, need repeatedly to plan.The present invention adopts
Circulation controlling means with " plan once, walk ten steps ", it is achieved the felling head Step wise approximation to target standing tree.First
First, virtual vehicle body autonomous, make virtual felling arm and virtual felling head be in the position close to target standing tree；Then,
According to virtual felling head relative to the bearing data of standing tree, carry out trajectory planning at cartesian space, and it is anti-to carry out kinesiology
Solve, it is thus achieved that the kinematic parameter of each planning virtual felling arm of point；Then vehicle-mounted embedded type computer is total by outside CAN respectively
Line and internal CAN send the motion parameter of each planning virtual felling arm of point on industrial control computer virtual woods
Wood associating Caiyu machine and vehicle-mounted PLC；Points are planned in first 10 of virtual felling arm motion, and synchronous dynamic shows；Complete
After becoming front 10 planning point motion, follow-up planning point is given up；Week after date is controlled, as virtual felling head does not arrives through 10
Standing tree region can be captured and then return the planning horizon that beginning is new, until Step wise approximation target standing tree.As virtual felling head arrives
Can capture the region of standing tree, vehicle-mounted embedded type computer is cut down to virtual by outside CAN and internal CAN respectively
Wood and vehicle-mounted PLC send instruction and complete to capture standing tree and felling task.
When manual control, first manual control steering wheel, brake pedal and gas pedal, complete virtual vehicle body and move；
Then manual operation control handle, controls the motion of virtual felling arm, and then vehicle-mounted embedded type computer is respectively by outside
The kinematic parameter of virtual felling arm is sent to the virtual forest on industrial control computer by CAN and internal CAN
Associating Caiyu machine and vehicle-mounted PLC；The motion of the most virtual felling arm, and synchronous dynamic shows, as felling head arrives
Can capture the region of standing tree, vehicle-mounted embedded type computer passes through outside CAN respectively to virtual felling head and internal CAN
Bus sends instruction to vehicle-mounted PLC and completes to capture standing tree and felling task.
Vehicle-mounted PLC controls defeated for control handle, steering wheel, brake pedal, gas pedal described in acquisition process
Enter amount, receive, by internal CAN, the kinematic parameter that vehicle-mounted embedded type computer sends, combine entity forest simultaneously
During the test of Caiyu machine, the hydraulic jack control signal of entity forest associating Caiyu machine can be exported.
Control handle mainly passes through left and right before and after each switching value button, analog quantity button and the action bars being mounted above
Displacement completes virtual felling arm and the input of virtual lumbering cephalomotor Artificial Control amount；
Laser measurement system uses two dimensional laser scanning instrument, and scanning distance scope is 8 meters, and scanning angle scope is 100 degree,
The laser point cloud data felling target standing tree, the standing tree laser measurement algoritic module on vehicle-mounted embedded type computer can be obtained
Calculating parameters such as obtaining the diameter of a cross-section of a tree trunk 1.3 meters above the ground of standing tree, orientation and spacing, the trajectory planning and control for felling arm provides basic measurement
Feedback data；
Steering wheel output pwm signal gives vehicle-mounted PLC, mainly completes the direction of virtual forest associating Caiyu railcar body
Control input；
Brake pedal output switching signal gives vehicle-mounted PLC, mainly completes subtracting of virtual forest associating Caiyu railcar body
Speed and control for brake input；
Gas pedal output analogue signal gives vehicle-mounted PLC, mainly completes adding of virtual forest associating Caiyu railcar body
Speed motor control input；
Connected by the outside CAN of dual redundant between industrial control computer and vehicle-mounted embedded type computer, vehicle-mounted embedding
Enter formula computer to be connected by the inside CAN of dual redundant with vehicle-mounted PLC, use the inside CAN of dual redundant
Bus and outside CAN can ensure the requirement of forest associating Caiyu machine control system data transmission credibility.Laser measurement
Connected by serial ports between system and vehicle-mounted embedded type computer.
The above, the only present invention preferably detailed description of the invention, but protection scope of the present invention is not limited thereto,
Any those familiar with the art in the technical scope of present disclosure, the change that can readily occur in or replace
Change, all should contain within protection scope of the present invention.Therefore, protection scope of the present invention should be with claims
Protection domain is as the criterion.
Claims (8)
1. a forest associating Caiyu machine operation trajectory planning and control semi-matter simulating system, it is characterised in that include work
Industry controls computer, vehicle-mounted embedded type computer, vehicle-mounted PLC, and described vehicle-mounted embedded type computer connects laser
Measurement system, described vehicle-mounted PLC connects control handle, steering wheel, brake pedal, gas pedal；
The Real-time and Dynamic of the autonomous logging operation task that described industrial control computer has been used for forest associating Caiyu machine is virtual
Display, preserves including virtual forest associating Caiyu machine, virtual standing tree and ground, virtual dynamic display module, experimental data
Module, human-computer interaction module；
Described vehicle-mounted embedded type computer includes controlling input acquisition module, output parameter display module, standing tree laser measurement
Algoritic module and trajectory planning and control algolithm module；
Described vehicle-mounted PLC is for control handle, steering wheel, brake pedal, gas pedal control described in acquisition process
Input quantity processed, the simultaneously control signal of hydraulic jack on output entity forest associating Caiyu machine；
Described virtual forest associating Caiyu machine includes virtual felling arm, virtual felling head and virtual vehicle body, described virtual dynamically
The Working motion of virtual forest associating Caiyu machine and standing tree three-dimensional model information can be shown to liquid crystal display by display module in real time
On device, described experimental data preserves module can preserve felling arm, car body and the felling head of virtual forest associating Caiyu machine in real time
Exercise data, described human-computer interaction module can complete AUTONOMOUS TASK task control parameter input.
Forest the most according to claim 1 associating Caiyu machine operation trajectory planning and control semi-matter simulating system, its
Being characterised by, the described input acquisition module that controls is for processing the input quantity of vehicle-mounted PLC, output parameter display module
Complete working status parameter 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 of felling head, described standing tree laser
Measurement Algorithm module is for gathering the data of laser scanning, it is thus achieved that the diameter of a cross-section of a tree trunk 1.3 meters above the ground of standing tree, orientation and spacing parameter, described track
Plan that can complete virtual forest based on laser measurement data with control algolithm module combines operation track planning and the control of Caiyu machine
Algorithm processed.
Forest the most according to claim 1 associating Caiyu machine operation trajectory planning and control semi-matter simulating system, its
Being characterised by, described control handle has been used for virtual felling arm and the input of virtual lumbering cephalomotor Artificial Control amount.
Forest the most according to claim 1 associating Caiyu machine operation trajectory planning and control semi-matter simulating system, its
Being characterised by, described laser measurement system can obtain the laser point cloud data felling target standing tree, calculates through vehicle-mounted embedded type
Standing tree laser measurement algoritic module on machine calculates and obtains the diameter of a cross-section of a tree trunk 1.3 meters above the ground of standing tree, orientation and spacing parameter, for felling the track of arm
The measurement feedback data that planning is basic with controlling offer.
Forest the most according to claim 1 associating Caiyu machine operation trajectory planning and control semi-matter simulating system, its
Being characterised by, described steering wheel has been used for the direction controlling input of virtual forest associating Caiyu railcar body.
Forest the most according to claim 1 associating Caiyu machine operation trajectory planning and control semi-matter simulating system, its
Being characterised by, described brake pedal has been used for deceleration and the control for brake input of virtual forest associating Caiyu railcar body.
Forest the most according to claim 1 associating Caiyu machine operation trajectory planning and control semi-matter simulating system, its
Being characterised by, described gas pedal has been used for the accelerated motion of virtual forest associating Caiyu railcar body and has controlled input.
8. combine Caiyu machine operation trajectory planning according to the forest described in any one of claim 1 to 7 and control HWIL simulation
System, it is characterised in that by the outside of dual redundant between described industrial control computer and vehicle-mounted embedded type computer
CAN connects, by the inside CAN of dual redundant between described vehicle-mounted embedded type computer and vehicle-mounted PLC
Connecting, described laser measurement system is connected by serial ports with vehicle-mounted embedded type intercomputer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410397587.4A CN104122836B (en) | 2014-08-13 | 2014-08-13 | Semi-physical simulation system for operation track planning and control of forestry felling and cultivation machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410397587.4A CN104122836B (en) | 2014-08-13 | 2014-08-13 | Semi-physical simulation system for operation track planning and control of forestry felling and cultivation machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104122836A CN104122836A (en) | 2014-10-29 |
| CN104122836B true CN104122836B (en) | 2017-01-11 |
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| CN201410397587.4A Expired - Fee Related CN104122836B (en) | 2014-08-13 | 2014-08-13 | Semi-physical simulation system for operation track planning and control of forestry felling and cultivation machine |
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| CN107097806B (en) * | 2016-11-30 | 2019-01-18 | 中车青岛四方车辆研究所有限公司 | The electronic control system of AC drive locomotive braking system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| SE9603880D0 (en) * | 1996-10-23 | 1996-10-23 | Bengt Soervik | Forest planning and process |
| RS53431B (en) * | 2010-08-23 | 2014-12-31 | Uroš TURANJANIN | Application of laser device for detection of the arc centre on the profile bending machine |
| CN102323761B (en) * | 2011-07-18 | 2013-03-27 | 铁道部运输局 | Semi-physical simulation testing platform of train control network |
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