虚拟荔枝果园建模与采摘行为仿真研究

Modeling of Virtual Litchi Orchard and Simulation of Picking Behavior

随着5G技术的发展和应用,基于数字孪生技术的虚拟果园成为智慧果园管理的新模式。为此,基于物联网数据信息采集,提出了一种虚拟荔枝果园模型构建及采摘行为仿真平台构建方法。首先,分析了荔枝果园的组成要素,并使用3dmax、SolidWorks等工具进行了单元模型构建,运用面向对象技术搭建了荔枝果园虚拟场景平台。基于虚拟仿真软件Unity3D,综合三维建模软件与脚本代码,搭建了采摘机器人采摘试验平台,实现了采摘机器人路径规划仿真,并研发了虚拟荔枝果园三维全景虚拟漫游系统。通过虚拟实验平台设置不同的采摘场景,仿真分析获取优化的采摘决策,可预测采摘机器人的真实作业性能,降低采收作业成本。

With the development and application of 5g technology,virtual orchard based on digital twin technology has become a new mode of intelligent orchard management.Based on the data collection of Internet of things,this paper proposes a method to build a virtual litchi orchard model and a simulation platform for picking behavior.Firstly,the elements of litchi orchard are analyzed,and the unit model is built by using 3DMAX,SolidWorks and other tools.The virtual scene platform of litchi orchard is built by using object-oriented technology.Based on the virtual simulation software unity3d,the three-dimensional modeling software and script code are integrated to build the picking experiment platform of the picking robot,and the path planning simulation of the picking robot is realized.A three-dimensional panoramic virtual roaming system for virtual litchi orchard is developed.Through setting different picking scenes on the virtual experiment platform,simulation analysis to obtain optimized picking decisions can predict the real performance of the picking robot and reduce the cost of harvesting operations.