A control method for a 360° automatic logging vehicle

Abstract

The present invention provides a control method for a 360° automatic logging vehicle, the 360° automatic logging vehicle comprising: a vehicle frame, a rotating frame rotatably arranged on the vehicle frame, a telescopic frame arranged on the rotating frame, logging accessories arranged on the telescopic frame, an image acquisition unit arranged around the vehicle frame, and a controller, the controller being respectively connected to the rotating frame, the telescopic frame, the logging accessories and the image acquisition unit; the control method for the logging vehicle comprises the following steps: S1, establishing a plane coordinate system X-Y with the rotation axis of the 360° automatic logging vehicle as the origin O, and the like; the present invention constructs a two-dimensional map and accurately identifies the position and size of trees, so that the logging vehicle can intelligently determine which trees meet the felling standards, automatically plan the shortest felling route, realize precise felling, reduce dependence on manual operation, and greatly improve the efficiency and safety of felling operations.

Description

Technical Field

[0001] The invention relates to the technical field of logging vehicles, and in particular to a control method for a 360-degree automatic logging vehicle. Background Art

[0002] In modern forestry management, logging trucks are a key production tool and are becoming increasingly important. Faced with vast forest resources and growing demand for wood, traditional manual felling methods can no longer meet the requirements of efficient, safe and environmentally friendly operations. The introduction of logging trucks is an effective response to this challenge.

[0003] Although logging trucks have greatly improved the efficiency and safety of logging operations, there is still room for further breakthroughs in automation and intelligence. Currently, most logging trucks still require operators to manually adjust the logging device to aim at each tree, which not only increases the operator's labor intensity but also limits the speed of operation. In addition, the measurement of tree diameters before felling also relies on manual work, which is not only time-consuming and labor-intensive, but may also lead to the mistaken felling of small-diameter trees due to human errors, destroying the ecological balance. Summary of the invention

[0004] In view of the deficiencies in the prior art, the purpose of the present invention is to provide a control method for a 360° automatic logging vehicle to solve the problems mentioned in the above background technology section.

[0005] The present invention is achieved through the following technical solutions:

[0006] A control method for a 360° automatic logging vehicle, the 360° automatic logging vehicle comprising: a vehicle frame, a rotating frame rotatably arranged on the vehicle frame, a telescopic frame arranged on the rotating frame, a logging attachment arranged on the telescopic frame, an image acquisition unit arranged around the vehicle frame, and a controller, the controller being connected to the rotating frame, the telescopic frame, the logging attachment and the image acquisition unit respectively;

[0007] The control method of the logging vehicle comprises the following steps:

[0008] S1. Taking the rotation axis of the 360° automatic logging vehicle as the origin O, establish a plane coordinate system XY;

[0009] S2. Obtaining the positions of all trees within a range of radius R with the origin as the center through the image acquisition unit, wherein the radius R is the length of the telescopic frame;

[0010] S3, calculating the diameters of all trees, defining trees with diameters smaller than a set threshold as non-cut trees Tm, and defining trees with diameters greater than or equal to the set threshold as cut trees Pn;

[0011] S4, mapping the coordinates of the non-felled trees Tm and the felled trees Pn within the radius R to the coordinate system;

[0012] S5, select any felled tree Pn as the initial felled object P1, obtain the tree closest to the initial felled object P1 in clockwise or counterclockwise order to define it as the next felled object P2, and define a triangular area with the initial felled object P1, the next felled object P2 and the origin O;

[0013] S6, determining whether there are non-cut trees Tm in the triangular area, if yes, proceed to step S7, otherwise proceed to step S8;

[0014] S7, defining the route of the felling tool as a detour along the broken line P1->Ti->P2 to the next felling object P2, and entering S9;

[0015] S8, defining the route of the felling tool as a straight line P1->P2 to the next felling object P2, and proceeding to S9;

[0016] S9, go through all the non-felled trees Tm and felled trees Pn, complete the initial felling route planning, and finally cut down trees according to the initial planned route.

[0017] The beneficial effects of the present invention are as follows: by constructing a two-dimensional map and accurately identifying the location and size of trees, the logging truck can intelligently determine which trees meet the felling standards, automatically plan the shortest felling route, achieve precise felling, reduce reliance on manual operations, and greatly improve the efficiency and safety of logging operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the path planning of the present invention.

[0019] Figure 2 This is another path planning schematic diagram of the present invention.

[0020] Figure 3 The figure is a flow chart of the control method of the 360° automatic logging vehicle of the present invention.

[0021] Figure 4 It is a three-dimensional diagram of the 360° automatic logging vehicle of the present invention.

[0022] Figure 5 The figure is a three-dimensional diagram of the frame of the 360° automatic logging vehicle of the present invention.

[0023] Figure 6 It is a three-dimensional diagram of the 360° automatic logging vehicle rotating frame of the present invention.

[0024] Figure 7It is a cross-sectional view of the 360° automatic logging vehicle adapter component of the present invention.

[0025] The above drawings include the following reference numerals:

[0026] 01. Frame; 11. Support device; 02. Rotating frame; 03. Telescopic frame; 04. Logging attachments; 05. Cab; 06. Rotating support bearing; 07. Adapter; 71. Guide shaft; 72. Rotating sleeve; 731. Oil inlet channel; 732. Oil outlet channel; 733. First annular groove; 734. First sealing ring; 741. Air inlet channel; 742. Air outlet channel; 743. Second annular groove; 744. Second sealing ring; 751. Inlet channel; 752. Outlet channel; 753. Ring electrode; 754. Brush. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention. In addition, the technical features involved in each embodiment of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0028] Reference Figures 1 to 7 As shown, a control method of a 360° automatic logging vehicle is provided, wherein the 360° automatic logging vehicle comprises: a vehicle frame 01, a rotating frame 02 rotatably arranged on the vehicle frame 01, a telescopic frame 03 arranged on the rotating frame 02, a logging attachment 04 arranged on the telescopic frame 03, an image acquisition unit arranged around the vehicle frame 01, and a controller, wherein the controller is respectively connected to the rotating frame 02, the telescopic frame 03, the logging attachment 04 and the image acquisition unit;

[0029] The control method of the logging vehicle comprises the following steps:

[0030] S1. Taking the rotation axis of the 360° automatic logging vehicle as the origin O, establish a plane coordinate system XY;

[0031] S2. Obtaining the positions of all trees within a range of radius R with the origin as the center through the image acquisition unit, wherein the radius R is the length of the telescopic frame;

[0032] S3. Calculate the diameters of all trees and define trees with diameters smaller than the set threshold as non-cut trees T m , trees with a diameter greater than or equal to the set threshold are defined as felled trees P n ;

[0033] S4. Remove the non-cut trees T within the radius R. m and felling of trees n The coordinates of are mapped into the coordinate system;

[0034] S5. Select any tree to be cut down P n As the initial felling object P1, the tree closest to the initial felling object P1 is obtained in clockwise or counterclockwise order and defined as the next felling object P2, and a triangular area is defined by the initial felling object P1, the next felling object P2 and the origin O;

[0035] S6, determine whether there are non-cut trees in the triangular area T m If yes, go to step S7, otherwise go to step S8;

[0036] S7, defining the route of the logging tool 04 as a broken line P1->T i ->P2 detours to the next felling object P2 and enters S9;

[0037] S8, define the route of the felling tool 04 as going straight along the straight line P1->P2 to the next felling object P2, and proceed to S9;

[0038] S9. Go through all the non-cut trees T m and felling of trees n , complete the initial felling route planning, and finally cut down trees according to the initial planned route.

[0039] Through the above steps, it is possible to plan the shortest felling route while avoiding trees on small paths, reduce dependence on manual operations, and greatly improve the efficiency of logging operations.

[0040] The video monitoring of the area around the logging truck is performed by an image acquisition unit. As a specific embodiment, the image acquisition unit can be a camera or an image sensor, etc. The image acquisition unit is provided with an infrared sensor. When a warm-blooded animal passes in front of the infrared sensor, an alarm signal is issued or the logging truck is controlled to stop working.

[0041] Infrared sensors use thermal imaging technology to effectively detect the presence of warm-blooded animals (such as wild animals, stray workers, or other potential threats). Once the infrared sensor detects a warm-blooded animal passing through its monitoring range, the system will immediately trigger a preset safety response mechanism, for example, a high-decibel alarm signal is sent through the alarm system on the logging truck to warn the approaching animals or people to avoid it in time. For example, the infrared sensor can also automatically send instructions to the control system of the logging truck to stop working immediately until the surrounding area is confirmed to be safe before resuming operations. The above settings greatly enhance the safety of the logging truck operation process, effectively avoid accidental injuries caused by accidental intrusion of animals or people, and provide a strong guarantee for the sustainable development and protection of forest resources.

[0042] Reference Figure 2 As shown, in the step S9, in the process of felling according to the initial planned route, it further includes:

[0043] S91, in the felled trees P i After felling, the image acquisition unit is further used to determine whether the felled tree P i Afterwards, whether there are trees with a diameter greater than or equal to the set threshold being blocked; if so, proceed to S92, otherwise, fell the trees according to the initial felling route sequence;

[0044] S92, defining the cut-down tree that is blocked in the cut-down route as P i+1 and the felled trees P i+1 The number of felled trees P inserted into the initial planned route i Afterwards, an updated felling route is formed and executed.

[0045] When trees grow densely, if trees are cut down, i and the obscured felled trees P i+1 Growing at the projection position captured by the image acquisition unit, the tree P i+1 Since it is blocked and cannot be photographed, it cannot be established in the two-dimensional coordinate system. Therefore, by cutting down the tree P i After felling, the image acquisition unit determines whether there is an obstructed felled tree P i+1 .

[0046] Reference Figure 2 As shown, in step S92, the route of the logging tool 04 is defined as a straight line P i ->P i+1 Go straight to the next felling target P i+1 .

[0047] Furthermore, it also includes a distance sensor disposed on the felling attachment 04, which is connected to the controller; and in S91, when the felled tree P i The process of felling further includes:

[0048] S911, controlling the felling tool 04 to approach the felled tree P i In the process, the distance sensor is used to calibrate the distance between the felling attachment 04 and the felled tree P i The distance between the felling tool 04 and the felled tree P i When the distance is within the preset fixed distance, the felling attachment 04 is controlled to stop moving and fell the tree, so as to prevent the felling attachment 04 from colliding with the felled tree P. i .

[0049] As a specific embodiment, the distance sensor may be an optical distance sensor, an ultrasonic distance sensor or an infrared distance sensor. The distance sensor can prevent the felling tool 04 from colliding with the felled tree P. i , and use distance sensors to accurately locate and cut down trees P i The location of the tree is then cut down using the felling tool 04.

[0050] Specifically, in step S2, the image acquisition unit obtains the positions of all trees within a range of radius R with the origin as the center, which specifically includes:

[0051] S21, stitching the images taken by the image acquisition units around the frame 01 to form a 360-degree panoramic image; wherein, image stitching belongs to the existing technology, for example, some software and tools can help to make a 360-degree panoramic image, such as WidsMob Panorama, PanoramaStudio and Panoweaver, which can realize automatic generation of panoramic images.

[0052] S22, using Gaussian filtering to denoise the 360-degree panoramic image;

[0053] S23, using threshold segmentation algorithm on the 360-degree panorama to separate trees from the background;

[0054] S24, converting the pixel positions of the trees into actual two-dimensional space coordinates.

[0055] The step S22 is implemented by the following formula:

[0056]

[0057] In the formula, Indicates that after filtering, the coordinate The pixel value at

[0058] is the original image at position The pixel value of

[0059] Indicates that the Gaussian kernel is The value of the position,

[0060] represents the nuclear radius,

[0061] Represents the sum of all values ​​of the Gaussian kernel, used for normalization.

[0062] The step S23 is implemented by the following formula:

[0063]

[0064] In the formula, Indicates that the segmented binary image is at coordinates The value at

[0065] Indicates the coordinates of the filtered image The pixel value at

[0066] Represents the threshold used to decide whether a pixel belongs to a tree.

[0067] The step S24 is implemented by the following formula:

[0068]

[0069] In the formula, represents the actual coordinate system of the tree,

[0070] Indicates the image at coordinates in the threshold segmentation algorithm The pixel value at

[0071] represents the inverse matrix of the camera intrinsic parameter matrix,

[0072]

[0073] In the formula, and are the focal lengths along the X and Y axes of the image, and are the coordinates of the principal point (optical center of the image).

[0074] After generating the coordinate system for the tree, the diameter of the tree is calculated by the distance between the edges of the two sides of the tree and the image acquisition unit.

[0075] Reference Figures 4 to 7 As shown, on the other hand, a 360° automatic logging vehicle includes a frame 01, a rotating frame 02 rotatably arranged on the frame 01, a telescopic frame 03 arranged on the rotating frame 02, a logging attachment 04 arranged on the telescopic frame 03, an image acquisition unit arranged around the frame 01, and a controller, wherein the controller is respectively connected to the rotating frame 02, the telescopic frame 03, the logging attachment 04 and the image acquisition unit.

[0076] A cab 05 is provided on the rotating frame 02, and the vehicle frame 01 is also provided with a retractable support device 11 supported on the ground.

[0077] The frame 01 is provided with a rotation support bearing 06 , the rotating frame 02 is fixed to the rotation support bearing 06 , and further includes a transition component 07 coaxially arranged with the rotation support bearing 06 .

[0078] Specifically, the adapter component 07 includes a guide shaft 71 and a rotating sleeve 72 which can rotate relative to each other. The guide shaft 71 is fixedly connected to the frame 01, and the rotating sleeve 72 is fixedly connected to the rotating frame 02. An oil inlet channel 731, an air inlet channel 741 and an inlet line channel 751 are provided in the guide shaft 71, and an oil outlet channel 732, an air outlet channel 742 and an outlet line channel 752 are provided in the rotating sleeve 72. An oil-liquid docking mechanism, an electric docking mechanism and a gas docking mechanism are provided between the guide shaft 71 and the rotating sleeve 72. The oil-liquid docking mechanism is arranged between the oil inlet channel 731 and the oil outlet channel 732, the electric docking mechanism is arranged between the inlet line channel 751 and the outlet line channel 752, and the gas docking mechanism is arranged between the inlet channel 741 and the outlet channel 742. The adapter component 07 is provided to realize the rotational connection of rotating electricity, gas and liquid, so that when the rotating frame 02 is rotated to any angle, the oil, gas and electricity of the rotating frame 02 and the frame 01 can be connected, so that the logging attachment 04 can work normally.

[0079] As a preferred embodiment of the present invention, the oil docking mechanism includes a first annular groove 733 arranged on the outer wall of the guide shaft 71 or the inner wall of the rotating sleeve 72, and a first sealing ring 734 arranged on both sides of the first annular groove 733 along the axial direction of the guide shaft 71, and the first annular groove 733 is connected to both the oil inlet channel 731 and the oil outlet channel 732; with this structure, during the relative rotation of the guide shaft 71 and the rotating sleeve 72, the oil inlet channel 731 and the oil outlet channel 732 are always connected, thereby ensuring the continuous delivery of oil.

[0080] In the present invention, the electrical docking mechanism includes an annular electrode 753 arranged on the outer wall of the guide shaft 71 or the inner wall of the rotating sleeve 72 and a brush 754 corresponding to the annular electrode 753, the brush 754 is electrically connected to the wires of the incoming channel 751, and the annular electrode 753 is electrically connected to the wires of the outgoing channel 752; with this structure, during the relative rotation of the guide shaft 71 and the rotating sleeve 72, the brush 754 and the annular electrode 753 are always in electrical contact, thereby ensuring the stable transmission of electricity.

[0081] In the present invention, the gas docking mechanism includes a second annular groove 743 provided on the outer wall of the guide shaft 71 or the inner wall of the rotating sleeve 72, and a second sealing ring 744 provided on both sides of the second annular groove 743 along the axial direction of the guide shaft 71, and the second annular groove 743 is connected to both the inlet channel 741 and the outlet channel 742. With this structure, during the relative rotation of the guide shaft 71 and the rotating sleeve 72, the inlet channel 741 and the outlet channel 742 are always connected, thereby ensuring the smooth delivery of gas.

[0082] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0083] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features.

[0084] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A control method for a 360° automatic logging vehicle, characterized in that: The 360° automatic logging vehicle comprises: a vehicle frame, a rotating frame rotatably arranged on the vehicle frame, a telescopic frame arranged on the rotating frame, a logging attachment arranged on the telescopic frame, an image acquisition unit arranged around the vehicle frame, and a controller, wherein the controller is respectively connected to the rotating frame, the telescopic frame, the logging attachment and the image acquisition unit; The control method of the logging vehicle comprises the following steps: S1. Taking the rotation axis of the 360° automatic logging vehicle as the origin O, establish a plane coordinate system XY; S2. Obtaining the positions of all trees within a range of radius R with the origin as the center through the image acquisition unit, wherein the radius R is the length of the telescopic frame; S3. Calculate the diameters of all trees and define trees with diameters smaller than the set threshold as non-cut trees T m , trees with a diameter greater than or equal to the set threshold are defined as felled trees P n ; S4. Remove the non-cut trees T within the radius R. m and felling of trees n The coordinates of are mapped into the coordinate system; S5. Select any tree to be cut down P n As the initial felling object P1, the tree closest to the initial felling object P1 is obtained in clockwise or counterclockwise order to be defined as the next felling object P2, and a triangular area is defined by the initial felling object P1, the next felling object P2 and the origin O; S6, determine whether there are non-cut trees in the triangular area T m If yes, go to step S7, otherwise go to step S8; S7, defining the route of the logging tool as a broken line P1->T i ->P2 detours to the next felling object P2 and enters S9; S8, defining the route of the felling tool as a straight line P1->P2 to the next felling object P2, and proceeding to S9; S9. Go through all the non-cut trees T m and felling of trees n , complete the initial felling route planning, and finally cut down trees according to the initial planned route.

2. The control method of a 360° automatic logging vehicle according to claim 1, characterized in that: The area around the logging truck is monitored by video through an image acquisition unit, which is provided with an infrared sensor. When a warm-blooded animal passes in front of the infrared sensor, an alarm signal is issued or the logging truck is controlled to stop working.

3. The control method of a 360° automatic logging vehicle according to claim 1, characterized in that: In the step S9, during the felling process according to the initial planned route, the following steps are further included: S91. In the case of felling trees i After felling, the image acquisition unit is further used to determine whether the felled tree P i Afterwards, whether there are trees with a diameter greater than or equal to the set threshold being blocked; if so, proceed to S92, otherwise, fell the trees according to the initial felling route sequence; S92, defining the cut-down tree that is blocked in the cut-down route as P i+1 and the felled trees P i+1 The number of felled trees P inserted into the initial planned route i Afterwards, an updated felling route is formed and executed.

4. The control method of a 360° automatic logging vehicle according to claim 3, characterized in that: In step S92, The path of the felling tool is defined as a straight line P i ->P i+1 Go straight to the next felling target P i+1 .

5. The control method of a 360° automatic logging vehicle according to claim 3, characterized in that: The device further comprises a distance sensor disposed on the felling tool, which is connected to the controller; and in step S91, when the felled tree P i The process of felling further includes: S911, controlling the felling tool to approach the felled tree P i In the process, the distance sensor is used to calibrate the distance between the felling tool and the felled tree P i The distance between the felling tool and the felled tree P i When the distance is within the preset fixed distance, the felling attachment is controlled to stop moving and fell the tree, so as to prevent the felling attachment from colliding with the felled tree P. i .

6. The control method of a 360° automatic logging vehicle according to claim 1, characterized in that: In step S2, the image acquisition unit obtains the positions of all trees within a range of radius R with the origin as the center, specifically including: S21, stitching the images taken by the image acquisition units around the frame to form a 360-degree panoramic image; S22, using Gaussian filtering to denoise the 360-degree panoramic image; S23, using threshold segmentation algorithm on the 360-degree panorama to separate trees from the background; S24, converting the pixel positions of the trees into actual two-dimensional space coordinates.

7. The control method of a 360° automatic logging vehicle according to claim 6, characterized in that: The step S22 is implemented by the following formula: In the formula, Indicates that after filtering, the coordinate The pixel value at is the original image at position The pixel value of Indicates that the Gaussian kernel is The value of the position, represents the nuclear radius, Represents the sum of all values ​​of the Gaussian kernel, used for normalization.

8. The control method of a 360° automatic logging vehicle according to claim 7, characterized in that: The step S23 is implemented by the following formula: In the formula, Indicates that the segmented binary image is at coordinates The value at Indicates the coordinates of the filtered image The pixel value at Represents the threshold used to decide whether a pixel belongs to a tree.

9. The control method of a 360° automatic logging vehicle according to claim 8, characterized in that: The step S24 is implemented by the following formula: In the formula, represents the actual coordinate system of the tree, Indicates the image at coordinates in the threshold segmentation algorithm The pixel value at represents the inverse matrix of the camera intrinsic parameter matrix, In the formula, and are the focal lengths along the X and Y axes of the image, and are the coordinates of the principal point.

10. The control method of a 360° automatic logging vehicle according to claim 1, characterized in that: The frame is provided with a rotation support bearing, the rotating frame is fixed to the rotation support bearing, and also includes a transition component coaxially arranged with the rotation support bearing; The adapter component includes a guide shaft and a rotating sleeve which can rotate relative to each other. The guide shaft is fixedly connected to the frame, and the rotating sleeve is fixedly connected to the rotating frame. An oil inlet channel, an air inlet channel and an inlet line channel are provided in the guide shaft, and an oil outlet channel, an air outlet channel and an outlet line channel are provided in the rotating sleeve. An oil-liquid docking mechanism, an electric docking mechanism and a gas docking mechanism are provided between the guide shaft and the rotating sleeve. The oil-liquid docking mechanism is arranged between the oil inlet channel and the oil outlet channel, the electric docking mechanism is arranged between the inlet line channel and the outlet line channel, and the gas docking mechanism is arranged between the inlet channel and the outlet channel.

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