ABSTRACT Modern forest machines with a Controlled Area Network (CAN)-bus managed diesel engine and hydrostatic transmission can continuously measure power expended in traveling. At a constant speed on level ground, the power is expended in overcoming motion resistance, which is directly related to wheel sinkage and hence to site trafficability. In cut-to-length timber harvesting, the harvester precedes the forwarder on the site, making it feasible to utilize the harvester to collect data on site trafficability to produce a trafficability map for the forwarder. CAN-bus trafficability mapping was tested with an 8-wheeled Ponsse Scorpion King harvester and an 8-wheeled Ponsse Elk forwarder instrumented for collecting transmission power expenditure, in addition to appropriate available CAN-bus information. Trafficability was also mapped based solely on momentary engine power in order to eliminate the need for additional pressure transducers. The CAN-bus data showed good results for mapping site trafficability when compared to soil penetration resistance and harvesting machinery wheel rut depth measurements. Assessing harvester rolling resistance using CAN-bus data offers an interesting possibility to map harvesting site trafficability also in Big Data scale. Since modern harvesters are practically ready for indirect power recording, the additional cost of fully automated and comprehensive trafficability mapping as part of operative forestry is negligible.

中文翻译：

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使用收割机 CAN 总线数据评估提取路径通行性

摘要 现代林业机械配备控制区域网络 (CAN) 总线管理的柴油发动机和静液压传动装置，可以连续测量行驶过程中消耗的功率。在平地上匀速行驶时，动力消耗在克服运动阻力上，这与车轮下沉直接相关，从而与场地通行性有关。在定长切割木材采伐中，收割机在现场先于货运代理，因此可以利用收割机收集现场通行性数据，为货运代理制作通行性地图。除了适当的可用 CAN 总线信息外，还使用 ​​8 轮 Ponsse Scorpion King 收割机和 8 轮 Ponsse Elk 转发器测试了 CAN 总线通行性映射，该转发器用于收集传输功率消耗。通行性也仅基于瞬时发动机功率进行映射，以消除对额外压力传感器的需求。与土壤渗透阻力和收割机械车轮车辙深度测量值相比，CAN 总线数据显示了绘制场地通行性的良好结果。使用 CAN 总线数据评估收割机滚动阻力提供了一种有趣的可能性，以绘制大数据规模的收割场可通行性。由于现代收割机实际上已准备好进行间接功率记录，因此作为林业经营一部分的全自动和综合通行性测绘的额外成本可以忽略不计。与土壤渗透阻力和收割机械车轮车辙深度测量值相比，CAN 总线数据显示了绘制场地通行性的良好结果。使用 CAN 总线数据评估收割机滚动阻力提供了一种有趣的可能性，以绘制大数据规模的收割场可通行性。由于现代收割机实际上已准备好进行间接功率记录，因此作为林业经营一部分的全自动和综合通行性测绘的额外成本可以忽略不计。与土壤渗透阻力和收割机械车轮车辙深度测量值相比，CAN 总线数据显示了绘制场地通行性的良好结果。使用 CAN 总线数据评估收割机滚动阻力提供了一种有趣的可能性，以绘制大数据规模的收割场可通行性。由于现代收割机实际上已准备好进行间接功率记录，因此作为林业经营一部分的全自动和综合通行性测绘的额外成本可以忽略不计。