收获机虚拟环境模型与仿真平台构建

为实现收获机械的设计创新以及整机作业行为和性能的仿真试验,以玉米收获机为例,采用Unity3D虚拟平台构建了收获机械三维仿真模型。根据物料流变特性,以虚拟弹簧和虚拟墙构建了植株模型,通过建立行为控制模型实现了收获机械与植株的交互,最终开发了收获仿真平台,应用该平台进行了验证试验和不同条件下的收获仿真试验。试验结果表明,构建的植株模型和虚拟收获环境符合收获机械仿真需求,仿真平台可进行收获机械作业性能的评估。

Virtual Environment Construction and Simulation Platform of Harvesting Machinery

In order to realize the design innovation of harvesting equipment and the simulation test of the machine operation behavior and performance, the corn harvesting equipment was taken as an example, the 3D simulation model of harvesting equipment was built by Unity3D virtual platform. In order to simulate the deformation of the plant, according to the rheological properties, the plant model was constructed by connecting multiple cylinders with virtual springs and virtual walls. Then, establishment of behavioral models achieved interaction between harvesting equipment and plants. Finally, the harvesting simulation platform was used to verify the harvesting simulation test under different conditions, including the state change test of the plant under wind and rain, the harvesting behavior observation test of the harvesting process and the harvesting performance test of harvesting equipment with the traveling speed and planting density as factors. The result was that the fruit loss rate was decreased rapidly with the increase of speed, but the rate was decreased slowly when the speed exceeded 0.385m/s. At the same time, the higher the planting density was, the slower the fruit loss rate was decreased. Further analysis of variance showed that both the traveling speed and the planting density had significant effects on the harvesting performance of the harvesting equipment (P<0.01), which showed that the simulation platform can effectively simulate the harvesting situation and evaluate the performance of the harvesting equipment.