Wood shearing optimization method based on DWA algorithm

Abstract

The invention discloses a wood shearing optimization method based on a DWA algorithm, and belongs to the field of wood processing. A wood cutting coordinate system is established, and a movement track equation of wood is obtained; by taking the velocity vector and the coordinate position vector of the wood as variables, converting the motion trail equation of the wood into a cutting point setting function; self-adaptive parameters are designed, and a plurality of cutting points are determined in a wood cutting coordinate system; a position coordinate dynamic window is obtained by referring to a DWA operation formula, the coordinates of each cutting point are corrected according to the coordinate dynamic window, and corrected cutting point coordinates are obtained; and all the corrected cutting point coordinates are connected in a one-to-one correspondence mode, a plurality of cutting tracks are obtained, and the optimal cutting track is selected according to the actual size requirement of the wood. According to the wood shearing optimization method based on the DWA algorithm, self-adaption to external interference is achieved, then the shearing yield is increased, and the working efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of wood processing, and in particular to a wood shearing optimization method based on a DWA algorithm. Background Art

[0002] Smart manufacturing is the general trend of the future, and digitalization is the foundation of smart manufacturing. In the past production model, because a large amount of production data was not interconnected and matched, wood cutting required a lot of labor. In recent years, major factories have actively promoted smart manufacturing, and factory production has rapidly entered the digital and intelligent transformation, providing data support for the realization of automatic wood cutting.

[0003] In the field of industrial production, shearing wood is a common production process. There are three reasons for this process: 1. Wood shearing is conducive to the transportation and storage of wood; 2. Wood shearing can remove defects in wood; 3. Wood shearing can process wood into a length that meets the needs of its customers. However, the existing technology has two disadvantages. On the one hand, it is not suitable for fully automatic shearing of wood with a wider range of uses. On the other hand, it does not have an online adaptive function and it is difficult to achieve fully automatic shearing control.

[0004] At this time, a fully automatic wood shearing method with online adaptive function is needed to solve the problem. Summary of the invention

[0005] The purpose of the present invention is to provide a wood shearing optimization method based on the DWA algorithm to solve the problems mentioned in the above background technology.

[0006] To achieve the above object, the present invention provides a wood shearing optimization method based on the DWA algorithm, comprising the following steps:

[0007] S1. Obtain timber information, including the contractually required length of the timber, information on the dirty parts at the head and tail, and the location of defects;

[0008] S2. Establish a wood cutting coordinate system, refer to the moving trajectory and motion posture of the wood in the horizontal plane, define the velocity vector, coordinate position vector and deformation vector of the wood, the velocity vector includes the linear velocity vector and the angular velocity vector, and combine with the time matrix to obtain the motion trajectory equation of the wood;

[0009] S3, using the velocity vector and coordinate position vector of the wood as variables, converting the motion trajectory equation of the wood into a cutting point setting function;

[0010] S4, designing adaptive parameters, and adaptively evaluating and adjusting the cutting point setting function according to the real-time moving speed, rotation speed and deformation of the wood, so as to determine multiple cutting points in the wood cutting coordinate system;

[0011] S5. Refer to the DWA calculation formula to obtain the position coordinate dynamic window, and correct the coordinates of each cutting point according to the coordinate dynamic window to obtain the corrected cutting point coordinates;

[0012] S6. Connect all the corrected cutting point coordinates one by one to obtain multiple cutting trajectories, and select the optimal cutting trajectory according to the actual size requirements of the wood.

[0013] Preferably, the shearing strategy preset in S1 includes determining the regional position of the wood where the cutting device is located:

[0014] S11, if it is determined that the shearing tool is located in the head area of ​​the wood, then the next cutting position is determined according to a pre-set head shearing sub-strategy;

[0015] S12, if it is determined that the shearing tool is located in the tail area of ​​the wood, then determining the next cutting position according to a preset tail shearing sub-strategy;

[0016] S13: If it is determined that the shearing tool is located in the middle area of ​​the wood, the next cutting position is determined according to a preset middle shearing sub-strategy.

[0017] Preferably, the motion trajectory equation of the wood is:

[0018]

[0019] z(t)=h(z(t),x(t));

[0020] where x(t) = [u(t), v(t)] T is the velocity vector of the wood; z(t)=[X(t),Y(t)] T is the velocity vector of the wood; u(t)=[δ r (t),n(t)] T is the deformation vector of wood; δ r (t), n(t) are the vertical deformation and horizontal deformation of the wood respectively;

[0021] Function f(·) and function g(·) are the mappings from the force on the wood to its motion, including driving force and friction; c is the verification coefficient in the wood cutting coordinate system to determine the authenticity of the cutting point coordinates; function h(·) reflects the pairing relationship between the velocity vector and the position coordinate vector of the wood.

[0022] Preferably, determining a plurality of cutting points comprises the following steps:

[0023] S41. Define the moving distance threshold range D of the wood s ;

[0024] S42, Dmin Indicates the distance the wood moves to the nearest cutting point, α 0 , β 0 , γ 0 are the initial parameters of rotation speed, movement speed and deformation, α max , γ min are the upper and lower bounds of the initial parameters respectively, μ and ρ are constants, and the adaptive parameter design is:

[0025]

[0026] β a =β 0 ;

[0027]

[0028] S43, adapting and adjusting the adaptive parameters and the cutting point setting function, the cutting point setting function is:

[0029] G a (u,r)=a a heading(u,r)+β a dist(u,r)+γ a velocity(u,r);

[0030] Among them, heading(u,r) is the evaluation component of the rotation angle of the wood; dist(u,r) is the evaluation component of the distance between the wood and the nearest cutting point; velocity(u,r) is the evaluation component of the deformation of the wood during movement;

[0031] S44. Analyze the cutting point setting function to obtain the coordinate parameters (u, r) of each cutting point.

[0032] Preferably, the position coordinate dynamic window is:

[0033]

[0034] Add the time parameter t, perform correction calculation on the modulus of each cutting point coordinate, and obtain the corrected cutting point coordinate.

[0035] Therefore, the present invention adopts the above-mentioned wood shearing optimization method based on the DWA algorithm, which has the following beneficial effects:

[0036] (1) Reduce manual workload, reduce human intervention, improve production efficiency, and enhance automation and intelligence of mechanical production;

[0037] (2) Establish timber production standards, reduce human operational errors, and improve product qualification rates.

[0038] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a schematic diagram of the overall process of an embodiment of the present invention;

[0040] Figure 2 It is a schematic diagram of the structure of wood and cutting points in the cutting coordinate system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0041] Example

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] Reference Figure 1-Figure 2 The present invention discloses a wood shearing optimization method based on a DWA algorithm, comprising the following steps:

[0044] S1. Obtain timber information, including the contractually required length of the timber, information on the dirty parts at the head and tail, and the location of defects;

[0045] The pre-set cutting strategy includes the determination of the area of ​​the wood where the cutting equipment is located:

[0046] S11, if it is determined that the shearing tool is located in the head area of ​​the wood, then the next cutting position is determined according to a pre-set head shearing sub-strategy;

[0047] S12: If it is determined that the shearing tool is located at the tail area of ​​the wood, the next cutting position is determined according to a preset tail shearing sub-strategy.

[0048] S2. Establish a wood cutting coordinate system, refer to the moving trajectory and motion posture of the wood in the horizontal plane, define the velocity vector, coordinate position vector and deformation vector of the wood, the velocity vector includes the linear velocity vector and the angular velocity vector, and combine with the time matrix to obtain the motion trajectory equation of the wood.

[0049] The motion trajectory equation of the wood is:

[0050]

[0051] z(t)=h(z(t),x(t));

[0052] where x(t) = [u(t), v(t)]T is the velocity vector of the wood; z(t)=[X(t),Y(t)] T is the velocity vector of the wood; u(t)=[δ r (t),n(t)] T is the deformation vector of wood; δ r (t), n(t) are the vertical deformation and horizontal deformation of the wood respectively;

[0053] Function f(·) and function g(·) are the mappings from the force on the wood to its motion, including driving force and friction; c is the verification coefficient in the wood cutting coordinate system to determine the authenticity of the cutting point coordinates; function h(·) reflects the pairing relationship between the velocity vector and the position coordinate vector of the wood.

[0054] S3, using the velocity vector and coordinate position vector of the wood as variables, converting the motion trajectory equation of the wood into a cutting point setting function;

[0055] S4. Design adaptive parameters to adaptively evaluate and adjust the cutting point setting function according to the real-time moving speed, rotation speed and deformation of the wood, so as to determine multiple cutting points in the wood cutting coordinate system.

[0056] Determining multiple cut points includes the following steps:

[0057] S41. Define the moving distance threshold range D of the wood s ;

[0058] S42, D min Indicates the distance the wood moves to the nearest cutting point, α 0 , β 0 , γ 0 are the initial parameters of rotation speed, movement speed and deformation, α max , γ min are the upper and lower bounds of the initial parameters respectively, μ and ρ are constants, and the adaptive parameter design is:

[0059]

[0060] β a =β 0 ;

[0061]

[0062] S43, adapting and adjusting the adaptive parameters and the cutting point setting function, the cutting point setting function is:

[0063] G a (u,r)=a a heading(u,r)+β adist(u,r)+γ a velocity(u,r);

[0064] Among them, heading(u,r) is the evaluation component of the rotation angle of the wood; dist(u,r) is the evaluation component of the distance between the wood and the nearest cutting point; velocity(u,r) is the evaluation component of the deformation of the wood during movement;

[0065] S44. Analyze the cutting point setting function to obtain the coordinate parameters (u, r) of each cutting point.

[0066] S5. Referring to the DWA calculation formula, a position coordinate dynamic window is obtained, and the coordinates of each cutting point are corrected according to the coordinate dynamic window to obtain the corrected cutting point coordinates.

[0067] The position coordinate dynamic window is:

[0068]

[0069] Add the time parameter t, perform correction calculation on the modulus of each cutting point coordinate, and obtain the corrected cutting point coordinate.

[0070] S6. Connect all the corrected cutting point coordinates one by one to obtain multiple cutting trajectories, and select the optimal cutting trajectory according to the actual size requirements of the wood.

[0071] Therefore, the present invention adopts the above-mentioned wood shearing optimization method based on the DWA algorithm to achieve self-adaptation to external interference, thereby improving the shearing yield and improving work efficiency.

[0072] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. A wood shearing optimization method based on DWA algorithm, characterized in that: The following steps are involved: S1. Obtaining timber information, including the contractually required length of the timber, information on the dirty parts at the head and tail, and the location of defects, and determining the cutting position according to the pre-set head and tail cutting strategy; S2. Establish a wood cutting coordinate system, refer to the moving trajectory and motion posture of the wood in the horizontal plane, define the velocity vector, coordinate position vector and deformation vector of the wood, the velocity vector includes the linear velocity vector and the angular velocity vector, and combine with the time matrix to obtain the motion trajectory equation of the wood; S3, using the velocity vector and coordinate position vector of the wood as variables, converting the motion trajectory equation of the wood into a cutting point setting function; S4, designing adaptive parameters, and adaptively evaluating and adjusting the cutting point setting function according to the real-time moving speed, rotation speed and deformation of the wood, so as to determine multiple cutting points in the wood cutting coordinate system; S5. Refer to the DWA calculation formula to obtain the position coordinate dynamic window, and correct the coordinates of each cutting point according to the coordinate dynamic window to obtain the corrected cutting point coordinates; S6. Connect all the corrected cutting point coordinates one by one to obtain multiple cutting trajectories, and select the optimal cutting trajectory according to the actual size requirements of the wood.

2. The wood shearing optimization method based on the DWA algorithm according to claim 1 is characterized in that: The shearing strategy pre-set in S1 includes determining the area of ​​the wood where the cutting equipment is located: S11, if it is determined that the shearing tool is located in the head area of ​​the wood, then the next cutting position is determined according to a pre-set head shearing sub-strategy; S12: If it is determined that the shearing tool is located at the tail area of ​​the wood, the next cutting position is determined according to a preset tail shearing sub-strategy.

3. The wood shearing optimization method based on the DWA algorithm according to claim 2 is characterized in that: The motion trajectory equation of the wood is: z(t)=h(z(t),x(t)); where x(t) = [u(t), v(t)] T is the velocity vector of the wood; z(t)=[X(t),Y(t)] T is the velocity vector of the wood; u(t)=[δ r (t),n(t)] T is the deformation vector of wood; δ r (t), n(t) are the vertical deformation and horizontal deformation of the wood respectively; Function f(·) and function g(·) are the mappings from the force on the wood to its motion, including driving force and friction; c is the verification coefficient in the wood cutting coordinate system to determine the authenticity of the cutting point coordinates; function h(·) reflects the pairing relationship between the velocity vector and the position coordinate vector of the wood.

4. The wood shearing optimization method based on DWA algorithm according to claim 3 is characterized in that: Determining multiple cutting points includes the following steps: S41. Define the moving distance threshold range D of the wood s ; S42, with D min represents the moving distance of the wood to the nearest cutting point, α0, β0, γ0 are the initial parameters of the rotation speed, moving speed and deformation, α max , γ min are the upper and lower bounds of the initial parameters respectively, μ and ρ are constants, and the adaptive parameter design is: S43, adapting and adjusting the adaptive parameters and the cutting point setting function, the cutting point setting function is: G a (u,r)=a a ·heading(u,r)+β a ·dist(u,r)+γ a ·velocity(u,r); Among them, heading(u,r) is the evaluation component of the rotation angle of the wood; dist(u,r) is the evaluation component of the distance between the wood and the nearest cutting point; velocity(u,r) is the evaluation component of the deformation of the wood during movement; S44. Analyze the cutting point setting function to obtain the coordinate parameters (u, r) of each cutting point.

5. The wood shearing optimization method based on DWA algorithm according to claim 4 is characterized in that: The position coordinate dynamic window is: Add the time parameter t, perform correction calculation on the modulus of each cutting point coordinate, and obtain the corrected cutting point coordinate.

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