Research on Virtual Driving System of a Forestry Logging Harvester

Abstract

The actuation of a forestry logging harvester is a complex task that requires long and costly training periods because the qualification of the operator has a significant impact on productivity and safety. Simulation-based training that makes use of virtual reality is becoming a competitive alternative to traditional training due to the reduced costs and risks in the instruction of the harvester operators. Aiming at the working process and operating environment of the logging harvester, an interactive real-time dynamic virtual driving system for forestry logging harvesters is developed. The harvester model is built by using 3dsMAX together with the 3D modeling software SolidWorks. The models of the harvester and trees are imported into Unity3D to create a virtual operating environment. Parent–child relationships for each logging harvester component is set in accordance with the simulation needs, and a corresponding mathematical model for the motion of the manipulator is established by analyzing the motion principle of the manipulator. A proposed cutting algorithm is used to perform the cutting of the model tree. The test results show that the virtual driving system can meet the training needs of logging harvester operators with realistic immersion and good interaction.