铲斗切削处土壤表面变化算法

A Method of Calculating Changes of Soil Surface on the Scooped Position

挖掘机的铲斗进行挖土作业时 ,受切削的土壤表面发生变化 ,因每次下铲挖掘位置具有随机性和挖掘深度随挖掘进程而改变 ,使受切土壤表面变化的数学计算变得复杂 ,严重影响模拟动画的实时性。该文在用户坐标系上定义了描述土壤表面的正整数坐标系 ,通过坐标系间的变换 ,能在整个作业场地上快速确定受切土壤部位及土壤表面变化量。将这一算法应用于WY -60挖掘机模拟训练系统上 ,在普通微机上运行表明 ,该方法快速高效 ,受切土壤表面变化的逼真性、模拟动画的实时性达到理想效果。

While soil surface is dug by excavator's bucket, the scooped soil surface is changed. Because the scooped position is random every time and the height of soil surface is changed with scooping proceeding, the calculation of changes of soil surface becomes complex. A positive integral coordinates to describe the soil surface in the world coordinates is defined in this paper. The position and height of soil surface can be determined fast on the whole surface by coordinates transformation. This calculation way was applied in “The System Simulator of Type WY-60 Excavator ” in a personal computer. The application results show that the fidelity of soil surface changing and the real-time of scene simulation come to ideal results.