一种轮式拖拉机的行走装置VR跟踪系统研究

Research on VR Tracking System of a Wheeled Tractor's Walking Device

为了提高轮式拖拉机行走装置的跟踪控制精度与设计优化效率,采用VR处理技术与跟踪控制理论,对其行走装置的VR跟踪系统进行了设计。通过图像准确采集与特征信号提取,在目标跟踪与智能避障核心算法下引入合适的比例因子进行VR跟踪系统模型建立与软硬件设计与仿真试验。试验结果表明:在确保VR场景渲染下拖拉机与作业场景的高度融合基础上,跟踪系统的避障成功率平均为80%以上,纠偏响应速度保持在41.2~43.8s之间,VR跟踪精度保持在89.1%以上,最高可达91.3%;拖拉机整机行走跟踪稳定性能符合实际作业要求,设计可行。该可视化设计研究可为相关学者对农机设备的开发优化提供思路,对于提高拖拉机行走装置及类似机具设计效率有很好的借鉴价值。

In order to improve the tracking control accuracy and design optimization efficiency of wheeled tractor walking device,the VR tracking system of wheeled tractor walking device was designed by combining VR processing technology with tracking control theory.Through accurate image acquisition and feature signal extraction,the VR tracking system model was established,the software and hardware of the system were designed and simulation experiments were carried out by introducing appropriate scale factor under the core algorithm of target tracking and intelligent obstacle avoidance.The experiments showed that the average successful rate of obstacle avoidance of tracking system was more than 80%and the deviation correction response speed was maintained between 41.2-43.8s,and the tracking accuracy of VR is maintained above 89.1%,up to 91.3%on the basis of high integration of tractor and operation scene in VR scene rendering,then the whole tractor's walking tracking stability could meet the actual operation requirements and the design was feasible.The visual design research would provide ideas for the development and optimization of agricultural machinery equipment for relevant scholars,and also would be a good reference value for improving the design efficiency of tractor walking device and similar machinery,which would be worthy of promotion.