摘要
设计了农业机械虚拟试验系统,建立了田间工况模拟与虚拟交互控制试验平台。根据耕作区域的数字地图及农田作物图像信息,设计农业机械虚拟试验场,实现人和农业机械在虚拟环境内的漫游。建立四自由度模拟试验台,实现对拖拉机在田间行走时姿态的模拟仿真。从虚拟场景中提取作物行的位置信息,根据这些信息给出控制信号,进行拖拉机行驶速度、方向和平衡控制,使拖拉机沿作物行行驶。试验表明,横滚角最大偏差为0.34°,偏航角最大偏差为0.51°,高程最大偏差为2.5 mm,行走速度最大偏差为0.12 km/h。实体样机和虚拟样机有较好的一致性。
Virtual test interactive control methods was studied,agricultural machinery virtual test system was designed,experimental platform for field operating mode simulation and interactive control was built,and the drive of human and agricultural machinery in virtual environment was realized.To simulate the gestures of tractor driving,four degrees freedom simulation testing platform was built.Crop rows from virtual scenes were identified and control signals to control the tractor＇s speed and direction were gave.Results showed that the maximum deviation of roll angle was 0.34°,the maximum deviation of drift angle was 0.51°,elevation was 2.5mm,and speed was 0.12km/h.Physical prototyping and virtual prototyping were in good agreement.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2011年第8期149-153,共5页
Transactions of the Chinese Society for Agricultural Machinery
基金
"十二五"国家科技支撑计划资助项目(2011BAD20B01)
中国博士后科学基金资助项目(20100480136)
北京市科委国家现代农业城项目(D101105046310002)
关键词
农业机械
虚拟样机
虚拟场景
交互控制
Agricultural machinery
Virtual machine
Virtual scenes
Interaction control
