Research On Virtual Driving Training System Of Logging Harvester Based On Unity3D

The logging harvester is a high-performance modern forestry machine that can,with human intervention,complete the successive tasks of felling,peeling,measuring,and bucking.It significantly improves the efficiency of harvesting in forestry.However,drivers of logging harvester have a great danger during harvesting operations.Therefore,drivers of logging harvester must undergo professional training before they can take up posts.Only when the training is qualified can the harvesting operations be conducted.However,traditional training has many problems,such as high training costs,long periods,weather and site constraints,etc.For this reason,this paper uses Unity3D to develop a set of virtual training system for logging harvester,and applies virtual reality technology to driver training of logging harvester,which is of great significance for shorting the driver training cycle and improving the logging harvester driver training efficiency.First of all,this paper describes the overall framework of the system,introduces the hardware components of the system and related development software,introduces the general process of creating a virtual scene,and focuses on the process of model building,such as logging harvester,flowers,trees,terrain and sky boxes,etc,which creates a realistic forest environment for the virtual driving training system.Secondly,the paper introduces the implementation of the main modules of the visual system in detail,including the basic movement of the logging harvester,the motion simulation of the manipulator,the virtual harvesting operation and the visual system design.The paper focus on the movement simulation of the manipulator and the realization of the virtual harvesting operation.To realize the motion simulation of the manipulator,Parent-child relationships for each logging harvester component is set in accordance with the simulation needs,and a corresponding mathematical model for the motion of the manipulator is established by analyzing the motion principle of the manipulator.The cutting simulation of the tree is achieved by a cutting algorithm based on the collision point and the saw blade forming a plane;The cutting algorithm cuts and reconstructs the model mesh with the collision point and the plane formed by the knife saw through collision between the saw of the harvesting head and the model mesh.In the end,this paper elaborates on the way to implement communication between hardware system and visual system.The operating data of steering wheel,foot pedal and gear lever is via USB,and the multi-control input signals of the operating handle are transmitted to the visual system in real time via the CAN bus to control the movement of the logging harvester model in the virtual scene,thereby realizing virtual Driving and harvesting operations.The motion data of the logging harvester is sent to the six-degree-of-freedom motion platform through UDP to realize the real dynamic operating experience.The virtual driving training system of logging harvester can meet the training needs of logging harvester operators with realistic immersion and good interaction.