林木联合采育机自主作业的虚拟仿真系统

Autonomous Task of A Logging Harvester in Virtual Simulation System

针对林木联合采育机自主作业路径规划与控制的研究需求,采用Solid Works软件对林木联合采育机进行了三维实体建模,将模型导入到图形开发引擎Open Scene Graph(OSG),结合Visual C++编程语言,完成了一套林木联合采育机作业三维虚拟仿真系统。阐述了该虚拟仿真系统的架构、功能以及系统的开发流程。在对机械臂运动学建模的基础上,给出了伐木头直线、圆弧和激光反馈的路径规划和控制方法。在三维虚拟仿真系统中通过采伐虚拟立木实验,验证了自主作业路径规划与控制方法的有效性,该研究为实现林木联合采育机的无人自主采伐作业打下基础。

For the path planning and control simulation for the autonomous task of a logging harvester, we built three-dimensional solid models of all parts of the logging harvester via SolidWorks. Introducing these models to the OpenSeeneGraph （OSG） by Visual C＋＋ programming language, we performed the virtual simulation system. We introduced the system architecture of the virtual simulation system, together with its function, and system process. Kinematics modeling of the hydraulic boom was obtained for the control purpose. The straight, circular and the laser measurement feedback path planning and control methods were given for the harvesting head to capture trunks. The felling trunks experiments in the virtual simulation sys- tem showed the validity of the proposed path planning and control method.