Study On Virtual Simulation Technology Of Special Intellegent Agricultural Equipment In Digital Agriculture

The traditional experiment of agricultural machinery requires repeated design, manufacture and amelioration, and is restricted by weather and farming season, which wastes lots of time, human resouse and financial resource. Virtual reality technology based intellegent agricultural equipment experiment can reduce development cycles and product cost, which is the key technology to realize agricultural mechanization and modernization. In this paper, virtual experiment method used in agricultural machinery was studied; field condition simulation platform was designed; the interaction simulation between machine and virtual field was done; large-scale irrigation, apple picking robot and unmanned aircruft vehicle were simulated. The specific contents are as follows:1. Advanced a new method of improved random number generator based fractal theorym to build large scale field scenes. According to digital maps, farmland terrain, combined with field crops, build three-dimensional models of field virtual scene.2. Advanced a new method of alterable-resolution-based virtual field driving, realized displaying detail models at near viewpoint, and fast ramble at far viewpoint, which improved the terrain precision and rambling speed. Studied collision detection technology, simulated exercise of agricultural machinary in virtual field.3. Built a field condition simulation platform, realized the simulation of tractor's posture (vibration, steering, roll, and pitch) while walking in the field. Studied virtual experiment technology of intellegent agricultural machinery, realized the interaction of mechinery, three-dimensional models and virtual scenes, make it possible for agricultural experiment in-door.4. Advanced the synchronously driving method of linear move irritator in virtual experiment. Build three-dimension models of the irrigation system departments, assembled the models to a whole irrigator. According to force model and collision detection technology, realized the kinematics simulation. Advanced angle-to-zero-based feedback control method, test water distribution in landscape orientation between the new method and traditional percentage timer based control method.5. Advanced particle-system-based water distribution optimization method. Built water insufflation models according to in-door irrigation experiment by single sprayer. Consider the factors of gravity, resistance by air, crash and evaporation, simulated tracks of the water bead with particle system, then counted the water distribution in every small field. By simulation, calculated the optimal distance between each sprayer that got the best wather distribution of each type of sprayers.6. Recur to OpenGL function, simulated the control of robot arm moving process when picking, advanced an improved ant colony algorithm. Turn route planning of apple harvesting three-dimentional travel salesman problem, which overcomed the problem of premature convergence and local convergence during the calculation. 7. To take off and land the unmanned aircraft vehicle remotely and monitor it's gesture, advanced a virtual-reality-based UAV moisture method. Drived the plane model in virtual circumstance according to the data sent by the sensors fixed on the plane, then fed back the errors to adjust the plane's gesture in order that the plane can fly in the route we give. Simulation experiment shew that the control way was suitable.