Forestry Felling & Cultivation Machine Virtual Training System Based on Unity3D

doi:10.16182/j.issn1004731x.joss.201804013

Abstract

Abstract: A forestry felling & cultivation machine virtual training system based on Unity3D was developed. The models of forestry felling & cultivation machine were built up using 3dsMAX with the assistance of SolidWorks based on a forestry felling & cultivation machine. The models of forestry felling & cultivation machine and trees were imported into Unity3D to create a virtual operating environment. Each part of forestry felling & cultivation machine needs to be processed for the establishment of paternity in accordance with the simulation, the corresponding mathematical model was established to simulate the motion of the manipulator based on the analysis of the motion principle of the manipulator. It realized the cutting on tree’s model through a cutting algorithm which created a plane formed by the collision points and the saws. The test results show that the virtual logging of forestry felling & cultivation machine is realized, and the system can meet the training needs of forestry felling & cultivation machine operator with strong sense of immersion and good interaction.

Key words: forestry felling & cultivation machine, virtual reality, unity3d, virtual cutting

CLC Number:

TP391.9

Cheng Bowen, Zheng Yili, Huang Qingqing, Liu Jinhao. Forestry Felling & Cultivation Machine Virtual Training System Based on Unity3D[J]. Journal of System Simulation, 2018, 30(4): 1310-1318.

References

[1] 赵文锐, 刘晋浩. 伐木联合机的现状及发展[J]. 林业机械与木工设备, 2008, 36(11): 10-12.
Zhao Wenrui, Liu Jinhao.Current status and development of harvesters[J]. Forestry Machinery & Woodworking Equipment, 2008, 36(11): 10-12.
[2] 臧宇, 朱忠祥, 宋正河, 等. 农业装备虚拟试验系统平台的建立[J]. 农业机械学报, 2010, 41(9): 70-74, 127.
Zang Yu, Zhu Zhong-xiang, Song Zheng-he, et al.Establishment of virtual experiment system platform for agricultural equipment[J]. Transactions of the Chinese Society for Agricultural Machinery, 2010, 41(9): 70-74, 127.
[3] 苑严伟, 张小超, 吴才聪, 等. 农业机械虚拟试验交互控制[J]. 农业机械学报, 2011, 42(8): 149-153.
Yuan Yanwei, Zhang Xiaochao, Wu Caicong, et al.Interaction control system of agricultural machinery virtual test[J]. Transactions of the Chinese Society for Agricultural Machinery, 2011, 42(8): 149-153.
[4] 刘立, 刘雪伟, 孟宇. 基于OGRE的铰接式地下矿车驾驶模拟系统[J]. 农业机械学报, 2013, 44(8): 38-44,68.
Liu Li, Liu Xuewei, Meng Yu.Driving simulator of articulated underground mining vehicle based on orge[J]. Transactions of the Chinese Society for Agricultural Machinery, 2013, 44(8): 38-44, 68.
[5] 朱小晶, 权龙, 王新中, 等. 大型液压挖掘机工作特性联合仿真研究[J]. 农业机械学报, 2011, 42(4): 27-32.
Zhu Xiaojing, Quan Long, Wang xinzhong, et al. Co-simulation analysis of working characteristic for large hydraulic excavator[J]. Transactions of the Chinese Society for Agricultural Machinery, 2011, 42(4): 27-32.
[6] 王友才, 郭子龙, 相鑫海, 等. 基于Vega Prime的凿岩台车仿真模拟训练系统设计[J]. 系统仿真学报, 2015, 27(8): 1774-1781.
Wang Youcai, Guo Zilong, Xiang Xinhai, et al.Design of drilling jumbo simulation wining system based on Vega Prime[J]. Journal of System Simulation, 2015, 27(8): 1774-1781.
[7] 张红彦, 于长志, 赵丁选, 等. 基于虚拟现实的液压挖掘机视景仿真[J]. 华中科技大学学报(自然科学版), 2013, 41(3): 87-91.
Zhang Hongyan, Yu Changzhi, Zhao Dingxuan, et al.Visual simulation for hydraulic excavator based on virtual reality[J]. Huazhong University of Science and Technology(Natural Science), 2013, 41(3): 87-91.
[8] 姚鹏飞, 陈正鸣, 童晶, 等. 基于Unity3D的绞吸式挖泥船虚拟仿真系统[J]. 系统仿真学报, 2016, 28(9): 2069-2075,2084.
Yao Pengfei, Chen Zhengming, Tong Jing, et al.Virtual Simulation System of Cutter Suction Dredger Based on Unity3D[J]. Journal of System Simulation, 2016, 28(9): 2069-2075, 2084.
[9] 刘立, 刘雪伟, 孟宇. 基于OGRE的铰接式地下矿车驾驶模拟系统[J]. 农业机械学报, 2013, 44(8): 38-44,68.
Liu Li, Liu Xuewei, Meng Yu.Driving Simulator of Articulated Underground Mining Vehicle Based on OGRE[J]. Transactions of the Chinese Society for Agricultural Machinery, 2013, 44(8): 38-44,68.
[10] LAPOINTE J F, ROBERT J M.Using VR for efficient training of forestry machine operators[J]. Education and Information Technologies(S1360-2357), 2000, 5(4):237-250.
[11] BAHARUDIN M E, ROUVINEN A, KORKEALAAKSO P, et al.Real-time multilbody application for tree harvester truck simulator[J]. Proceedings of the Institution of Mechanical Engineers Part K journal of Multi-body Dynamics(S1464-4193), 2014, 228(2): 182-198.
[12] Joshua Marshall, Timothy Barfoot, Johan Larsson.Autonomous underground training for center-articulated vechicles[J]. Journal of Field Robotics(S1556-4959), 2008, 25(6/7): 400-421.
[13] Park Y, Shiriaev A, Westerberg S, et al.3D log recognition and pose estimation for robotic forestry machine[C]//Robotics and Automation (ICRA), 2011, IEEE International Conference on. IEEE, 2011: 19(6): 5323-5328.
[14] 葛桃桃, 郑一力, 刘晋浩. 林木联合采育机自主作业的虚拟仿真系统[J]. 东北林业大学学报, 2017, 45(1): 71-76.
Ge Taotao, Zheng Yili, Liu Jinhao.Autonomous task of a logging harvester in virtual simulation system[J]. Journal of Northeast Forestry University, 2017, 45(1): 71-76.
[15] 赵红艳, 刘晋浩. 伐木机视景仿真系统探讨[J]. 湖北农业科学, 2009, 48(9): 2255-2259.
Zhao Hongyan, Liu Jinhao.Discussion on Vision Simulation System for Harvester[J]. Hubei Agricultural Sciences, 2009, 48(9): 2255-2259.
[16] 王志强. 基于移动增强现实的虚拟机械臂系统研究与实现[D]. 河北工程大学, 2015.
Wang Zhiqiang.Research and implementation of virtual robot arm system based on mobile augmented reality[D]. Heibei University of Engineering, 2015.
[17] 朱经纬. 三维数据场的三维重建与模型的虚拟切割研究[D]. 武汉: 华中科技大学, 2007.
Zhu Jingwei.Research of 3D reconstruction for 3D data set and virtual cutting for model[D]. Wu Han: Huazhong University of Science and Technology, 2007.
[18] 陈泽. 三维模型剖切算法的研究与实现[D]. 武汉: 华中科技大学, 2007.
Chen Ze.Research and realization on the approach to 3D model segmentation[D]. Wu Han: Huazhong University of Science and Technology, 2007.