CN101739020A - Virtual test method of large-scale transitional sprinkling machine and system thereof - Google Patents
Virtual test method of large-scale transitional sprinkling machine and system thereof Download PDFInfo
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Abstract
The invention relates to a virtual test method of a large-scale transitional sprinkling machine and a system thereof, wherein the method comprises the following steps of: establishing a simulation model of the large-scale transitional sprinkling machine; establishing a virtual environment of a farmland scene; executing electromechanical multi-system collaborative simulating operation under the virtual scene to detect and control the travelling speed of each stride and a pivot angle between the adjacent strides in real time; controlling the travelling speed of each stride and changing the opening of each spray head according to the operation instructions of works to realize variable irrigation in the virtual environment so that the simulation and the evaluation of control parameters on the affecting situation of the irrigation effect and the optimization on the parameter of a control system according to the evaluation result are accomplished. The system comprises a generating module of the simulation model of the sprinkling machine, a generating module of the virtual environment of the farmland scene, an electromechanical multi-system collaborative simulating operation module of the whole machine, an irrigation effect simulating and evaluating module and a parameter optimizing module of the control system of the sprinkling machine. The invention has no need of large-scale equipment and sites required in the traditional test, and can conveniently perform simulation tests and optimize the parameter of the control system at any time.
Description
Technical Field
The invention relates to a simulation method and a simulation device for large agricultural machinery, in particular to a virtual test method and a virtual test system for a large translation type sprinkling machine.
Background
The large-scale sprinkler has working power of more than 37.3kw and irrigation area controlled to exceed 26.7hm2Model (2). The automatic irrigation system has high automation degree, less unit resource consumption (electricity, water and manpower) and high production benefit, and represents a modern scientific and technical level sprinkler.
The stock of large-scale sprinkling irrigation machines in 2000 in China is more than 2000, the water-saving irrigation area in China reaches 5411 ten thousand hectares by 2010, and the method is a good opportunity for developing the industry of the sprinkling irrigation machines.
The market advantage of the large-scale sprinkling machine is mainly shown in the transformation and control of 262.2 hectares desertified land (including 55 hectares of desert) and 3.6 hectares desertified, alkalized and degenerated natural grasslands of different degrees. Desert, desert and three-generation grassland are mainly concentrated in the west of China, with the deep development of the west of China, the income of the west is continuously increased, the awareness of ecological environment protection is continuously enhanced, and the large-scale sprinkler technology can be used in the west certainly.
In addition, for the industrial base of grain, cotton and oil, in order to enhance the international competitive power, the industrialization level of agriculture and the degree of moderate scale operation must be improved. Therefore, the domestic market prospect of the large-scale sprinkling machine on agricultural production is also very considerable.
The translational sprinkler is also called a linear continuous self-propelled sprinkler. The large-scale horizontal moving type sprinkling machine is the most widely applied one of the large-scale sprinkling machines. The structure of the device comprises a truss, a tower frame, a suspension frame at the tail part, a transmission part and a walking part, and the generalization is basically realized. The translational sprinkler sprays in a rectangular shape, the sprinkling coverage rate is higher than that of other types of sprinklers, but the structure is complex, a guide control system is needed, the requirement on the precision of the tower synchronism is high, and a perfect electric appliance control system is needed.
For example, the invention patent (ZL200410009502.7) owned by the applicant discloses a spray irrigation operation system of a large-scale spray irrigation machine and a control method thereof, wherein the spray irrigation operation system comprises a spray head, a ground wheel, a plurality of spans, an onboard computer, a control interface, a variable frequency speed regulation device, an angle sensing device and a GPS positioning device; the airborne computer is connected with the GPS positioning device through the control interface, calculates by utilizing the received GPS signals and the differential signals to position the sprinkler, determines the travelling speed of the sprinkler and the yaw distance of the sprinkler, compares the given route with the actual route and the given travelling speed with the actual travelling speed, and sends a control instruction through the control interface to adjust the variable-frequency speed regulation device so that the sprinkler travels according to the given route and speed; the angle sensing device is used for measuring the synchronous swing angle of each span; the airborne computer is used for detecting the synchronous swing angle of each span and adjusting the synchronous swing angle to be close to zero degree by controlling the variable frequency speed regulation device. The operating system and the control method thereof can realize uniform and variable spraying of the sprinkler.
In the traditional control system test method, a large number of field tests need to be carried out on the whole machine control system of the large-scale translational sprinkler, control parameters are improved through parameter setting and recording of walking state data, then the test is carried out, and a good control effect can be obtained through repeated tests, which is shown in a test flow shown in fig. 1. The repeated tests, recording, calculating and improving to the retest waste a great deal of manpower and financial resources, so that the equipment development and production period is long, the cost is high, and in addition, the irrigation test is greatly influenced by the growth season of crops, so that the traditional test of the large-scale translation type sprinkler becomes a huge project.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a virtual test method and a virtual test system for a large-scale translational sprinkler, and solve the problem that the field test of the existing large-scale translational sprinkler is restricted by crop seasons, test equipment and fields, and wastes a large amount of time, manpower, expenses and water resources.
In order to achieve the above object, the present invention provides a virtual test method for a large-scale translational sprinkler, comprising the following steps:
firstly, surveying and mapping a large-scale translational sprinkler, and establishing a simulation model of the large-scale translational sprinkler by adopting drawing software;
establishing a virtual environment of a farmland scene required by the large-scale translation type sprinkler test;
step three, executing the electromechanical multi-system collaborative simulation operation of the large-scale translational sprinkler in the virtual scene to realize real-time detection and control of the walking speed of each span and the swing angle between adjacent spans of the large-scale translational sprinkler;
controlling the walking speed of each span of the large-scale translational sprinkler and changing the opening of each spray head according to an operation instruction, realizing variable irrigation in the virtual environment, and completing the simulation and evaluation of the influence condition of the control parameters of the large-scale translational sprinkler on the irrigation effect;
and fifthly, optimizing the parameters of the large-scale translational sprinkler control system according to the evaluation result.
In the virtual test method of the large-scale translational sprinkler, the mapping software is three-dimensional mapping software, the simulation model is a three-dimensional simulation model, and the farmland scene is a three-dimensional virtual farmland scene.
The virtual test method for the large-scale translational sprinkler comprises the following steps of:
11, disassembling and entity surveying and mapping the large-scale translation type sprinkler entity;
step 12, utilizing the three-dimensional drawing software to carry out three-dimensional modeling on the part according to the structural size of each part obtained by drawing;
step 13, converting the obtained three-dimensional part model into a model file with a suffix obj;
step 14, importing the obj-format three-dimensional model into three-dimensional modeling software, and exporting a flt-format three-dimensional part model;
and step 15, assembling the flt format three-dimensional part model by using three-dimensional modeling software to form a complete machine three-dimensional simulation model of the large-scale translational sprinkler with the flt format suffix.
In the virtual test method of the large-scale translational sprinkler, the establishment of the virtual farmland scene in the second step further includes:
step 21, acquiring terrain elevation data of an area to be tested;
step 22, converting the altitude data of the region into a specific format supported by the three-dimensional modeling software;
step 23, importing the specific format file obtained by conversion into three-dimensional modeling software, setting conversion parameters, and generating a three-dimensional terrain model;
and 24, loading the terrain texture data to obtain a vivid virtual scene.
In the virtual test method of the large-scale translational sprinkler, the electromechanical multi-system collaborative simulation step of the large-scale translational sprinkler in the virtual farmland scene is realized by calling the three-dimensional virtual farmland scene in the process of executing the application program and loading the three-dimensional model of the large-scale translational sprinkler.
According to the virtual test method of the large-scale translation type sprinkler, the operation instruction is formed by combining topographic features and structural characteristics of the large-scale translation type sprinkler according to a given farmland water content prescription diagram.
In the virtual test method for the large-scale translational sprinkler, the step of establishing the simulation model of the large-scale translational sprinkler includes the step of establishing a three-dimensional simulation model of the whole sprinkler, and further includes:
placing each land wheel of the large-scale translational sprinkler model under different dynamic nodes, and endowing the land wheels with a motion mode of rotating around an X axis;
regarding each span of the large-scale translational sprinkler as a rigid body, respectively placing the rigid body under different dynamic nodes, and endowing the rigid body with a motion mode of translation along the Y-axis direction;
each span is given a rotation motion mode with an end point as a fulcrum and a Z axis as an axis so as to realize the rotation of each span.
In the above virtual test method for the large-scale translational sprinkler, in the fourth step, the step of simulating and evaluating the irrigation effect of the large-scale translational sprinkler is to simulate the initial speed of the water drop during the water drop spraying according to the measured opening degree of the outlet nozzle of the large-scale translational sprinkler, consider the influence of gravity and air resistance on the water drop and the factors of water drop breaking and evaporation, and count the number of the water drops falling in each micro area by simulating the movement track of the water drop and the position of the landing point, thereby calculating the irrigation quantity of each small area of the farmland and further evaluating the irrigation effect.
In the virtual test method for the large-scale translational sprinkler, the control parameters optimized in the fifth step include: the control motor rotating speed of each span of the large-scale translation type sprinkler, the swing angle between adjacent spans, the advancing speed of each span and the opening of each sprinkler.
In order to better achieve the above object, the present invention further provides a virtual testing system for a large-scale translational sprinkler, comprising:
the simulation model generation module of the sprinkler is used for surveying and mapping the large-scale translational sprinkler and establishing a simulation model of the large-scale translational sprinkler by adopting drawing software;
the farmland scene virtual environment generating module is used for establishing a farmland scene virtual environment required by the large-scale translation type sprinkler test;
the whole machine electromechanical multi-system collaborative simulation operation module is used for executing electromechanical multi-system collaborative simulation operation on the large-scale translational sprinkler under the virtual scene, and realizing real-time detection and control on the walking speed of each span and the swing angle between adjacent spans of the large-scale translational sprinkler;
the irrigation effect simulation and evaluation module is used for controlling the walking speed of each span of the large-scale translational sprinkler and changing the opening of each spray head according to an operation instruction, realizing variable irrigation in the virtual environment and completing simulation and evaluation of the influence condition of the control parameters of the large-scale translational sprinkler on the irrigation effect;
and the parameter optimization module of the sprinkler control system is used for optimizing the parameters of the large-scale translational sprinkler control system according to the evaluation result of the irrigation effect simulation and evaluation module.
In the virtual test system of the large-scale translational sprinkler, the mapping software is three-dimensional mapping software, the simulation model is a three-dimensional simulation model, and the farmland scene is a three-dimensional virtual farmland scene.
Above-mentioned virtual test system of large-scale translation formula sprinkling irrigation machine, wherein, include: the drawing software is Pro/ENGINEER, and the three-dimensional modeling software is Multigen Creator.
In the virtual test system of the large-scale translational sprinkler, the sprinkler simulation model generation module further includes a complete machine three-dimensional simulation model generation module, which is used for placing each ground wheel of the large-scale translational sprinkler model under different dynamic nodes and endowing each ground wheel with a motion mode rotating around an X axis; regarding each span of the large-scale translational sprinkler as a rigid body, respectively placing the rigid body under different dynamic nodes, and endowing the rigid body with a motion mode of translation along the Y-axis direction; each span is given a rotation motion mode with an end point as a fulcrum and a Z axis as an axis so as to realize the rotation of each span.
In the virtual test system of the large-scale translational sprinkler, the movement track of the water drop and the position of the landing point are simulated by adopting a particle system in the virtual reality technology in the irrigation effect simulation and evaluation module.
In the virtual test system of the large-scale translational sprinkler, the parameter optimization module ensures that the pivot angle between adjacent spans of the large-scale translational sprinkler is within an allowable range by changing the rotating speed of the control motor of each span of the large-scale translational sprinkler, and simultaneously adjusts the advancing speed of each span and changes the opening of each spray head, so that the irrigation effect is optimized.
In the virtual test system of the large-scale translational sprinkler, the electromechanical multi-system collaborative simulation operation module of the whole machine calls a three-dimensional virtual farmland scene by executing an application program, and simultaneously loads the three-dimensional model of the large-scale translational sprinkler to realize the electromechanical multi-system collaborative simulation operation of the large-scale translational sprinkler.
In the virtual testing system of the large-scale translational sprinkler, the application program is generated by writing on a Windows operating system by using Visual C + +, in combination with an API interface provided by Multigen Vega.
The invention has the beneficial effects that aiming at the defects of the traditional test method and device of the large-scale translational sprinkler, the invention provides a virtual test method and a simulation system, which can conveniently carry out simulation test at any time, and achieve the purpose of observing the influence of a certain parameter on the sprinkling effect of the whole sprinkler by dynamically tracking the change of the parameter, thereby optimizing the control parameter of the large-scale translational sprinkler, relieving the limitation of the traditional test on the growth season of crops, and avoiding the defects of large-scale equipment and field, long development period, high cost and the like of the traditional test.
The invention is described in detail below with reference to the drawings and specific examples, but the invention is not limited thereto.
Drawings
FIG. 1 is a schematic diagram of a method for testing a conventional sprinkler control system;
FIG. 2 is a flow chart of a virtual simulation test method of the large-scale translational sprinkler of the present invention;
FIG. 3 is a flow chart of the three-dimensional virtual farmland scene creation disclosed by the present invention;
FIG. 4 is a flow chart of the operation of the virtual simulation environment of the present invention;
FIG. 5 is a flow chart of an irrigation water flow model simulation of the present invention;
FIG. 6 is an irrigation water flow trajectory effect diagram of the present invention;
FIG. 7 is a schematic view of a three-dimensional model of a large-scale translational sprinkler of the present invention;
FIG. 8 is a diagram of the virtual farmland effect of the invention.
Detailed Description
The invention will be described in detail with reference to the following drawings, which are provided for illustration purposes and the like:
the virtual test mode of the large-scale translation type sprinkler based on the virtual reality technology is characterized in that process analysis, performance analysis, control effect analysis, control parameter optimization, irrigation effect evaluation and the like can be carried out on a control system of the translation type sprinkler before an actual sprinkling test is not carried out. Because the virtual test is adopted to replace the actual test of a physical prototype, the repeated operation, optimization and test of the control system, the evaluation of the irrigation effect and the like are also carried out on the virtual prototype, and when problems occur, the improvement is only needed in the virtual environment, the test period is greatly shortened, and the cost is saved.
In the embodiment shown in fig. 2, in order to achieve the above object, the present invention discloses a method for three-dimensional modeling and virtual testing of a large-scale translational sprinkler, comprising the following steps:
firstly, surveying and mapping a large-scale translational sprinkler, and establishing a simulation model of the large-scale translational sprinkler by adopting drawing software (step 201);
secondly, establishing a farmland scene virtual environment required by the large-scale translation type sprinkler test (step 202);
thirdly, executing the electromechanical multi-system collaborative simulation operation of the large-scale translational sprinkler in the virtual scene to realize the real-time detection and control of the walking speed of each span and the swing angle between adjacent spans of the large-scale translational sprinkler (step 203);
fourthly, controlling the walking speed of each span of the large-scale translational sprinkler and changing the opening of each sprinkler according to the operation instruction, realizing variable irrigation in a virtual environment, and completing the simulation and evaluation of the influence condition of the control parameters of the large-scale translational sprinkler on the irrigation effect (step 204);
and fifthly, optimizing the parameters of the large-scale translational sprinkler control system according to the evaluation result (step 205).
Wherein,
the building of the three-dimensional simulation model in step 201 further includes:
11, disassembling and entity surveying and mapping the entity of the existing large-scale translation type sprinkler;
step 12, three-dimensional modeling is carried out on the part according to the structure size of each part obtained by mapping by utilizing three-dimensional drawing software Pro/ENGINEER;
step 13, converting the obtained three-dimensional part model into a model file with a suffix obj;
step 14, importing the obj-format three-dimensional model into a three-dimensional modeling software Multigen Creator, and exporting the obj-format three-dimensional model into a flt-format three-dimensional part model;
and step 15, assembling the part models by using Multigen Creator software to form a complete machine three-dimensional model of the large-scale translational sprinkler with the flt format as a suffix.
In step 202, the establishment of the three-dimensional virtual farmland scene further includes, as shown in fig. 3:
acquiring terrain elevation data of a region to be tested (step 301);
converting the altitude data of the region into a DED format supported by Multigen creator of three-dimensional modeling software (step 302);
importing the DED file obtained by conversion into creator software, setting conversion parameters, and generating a three-dimensional terrain model (step 303);
the terrain texture data is loaded to obtain a realistic virtual scene (step 304).
And 203, performing electromechanical multi-system collaborative simulation on the large-scale translational sprinkler in the virtual scene, namely compiling an application program by using Visual C + +6.0 and combining an API (application program interface) provided by Multigen Vega under a Windows operating system, calling a three-dimensional virtual farmland scene in the program, and loading a three-dimensional model of the large-scale translational sprinkler.
Electromechanical multisystem collaborative simulation operation is according to given farmland water content prescription diagram, combines topography characteristic and large-scale translation formula sprinkling irrigation machine structural feature, and the output power of each control motor of real-time adjustment controls the marching speed of each span of large-scale translation formula sprinkling irrigation machine to realize the steady operation of large-scale translation formula sprinkling irrigation machine complete machine to and carry out the purpose of variable irrigation according to the farmland water content. The simulation of the dynamic effect is realized by controlling the DOF nodes in the dynamic model according to the calculated parameters.
In step 204, the simulation and evaluation of the irrigation effect of the large-scale translational sprinkler simulates the initial speed of the sprayed water drop according to the measured opening degree of the water tap of the large-scale translational sprinkler, simultaneously considers the influences of gravity and air resistance on the water drop, the factors of water drop crushing, evaporation and the like, simulates the movement track of the water drop and the position of a landing point by a particle system in the virtual reality technology, and counts the number of the water drops falling into each micro area, thereby calculating the irrigation quantity of each small area of the farmland and further evaluating the irrigation effect.
In step 205, the control parameters of the large-scale translational sprinkler are optimized, according to the evaluation result in step 204, the actual irrigation quantity of each point of the farmland is compared with the water demand of each coordinate point on the square chart, the irrigation effect is evaluated, the rotating speed of the control motor of each span of the large-scale translational sprinkler is changed, the pivot angle between the adjacent spans of the large-scale translational sprinkler is ensured to be within the allowable range, the advancing speed of each span is adjusted, and the opening degree of each sprinkler is changed, so that the irrigation effect is optimal.
The invention also discloses a virtual test system of the large-scale translation type sprinkler, which comprises a sprinkler simulation model generation module, a farmland scene virtual environment generation module, a whole machine electromechanical multi-system collaborative simulation operation module, an irrigation effect simulation and evaluation module and a sprinkler control system parameter optimization module, wherein,
the sprinkling machine simulation model generation module is used for surveying and mapping the large-scale translational sprinkling machine, and establishing a simulation model of the large-scale translational sprinkling machine by adopting drawing software, wherein the drawing software is three-dimensional drawing software, and the simulation model is a three-dimensional simulation model;
the farmland scene virtual environment generating module is used for establishing a farmland scene virtual environment required by a large-scale translation type sprinkler test, and the farmland scene is a three-dimensional virtual farmland scene;
the whole machine electromechanical multi-system collaborative simulation operation module is used for executing electromechanical multi-system collaborative simulation operation on the large-scale translational sprinkler under the virtual scene, and realizing real-time detection and control on the walking speed of each span and the swing angle between adjacent spans of the large-scale translational sprinkler;
the irrigation effect simulation and evaluation module is used for controlling the walking speed of each span of the large-scale translational sprinkler and changing the opening of each spray head according to an operation instruction, realizing variable irrigation in a virtual environment, and completing the simulation and evaluation of the influence condition of the control parameters of the large-scale translational sprinkler on the irrigation effect;
the parameter optimization module of the sprinkler control system is used for optimizing parameters of the large-scale translational sprinkler control system according to the evaluation result of the irrigation effect simulation and evaluation module, and the parameter optimization module ensures that the pivot angle between adjacent spans of the large-scale translational sprinkler is in an allowed range by changing the rotating speed of a control motor of each span of the large-scale translational sprinkler, simultaneously adjusts the advancing speed of each span, and changes the opening of each sprinkler so as to optimize the irrigation effect.
The drawing software adopted by the invention is Pro/ENGINEER, and the three-dimensional modeling software is multigen creator.
The three-dimensional modeling software can also adopt AutoCAD, 3DS Max, and allows a user to complete the required design by means of flexible body, surface and edge editing technology.
The sprinkling machine simulation model generation module further comprises a whole machine three-dimensional simulation model generation module which is used for placing each land wheel of the large-scale translational sprinkling machine model under different dynamic nodes and endowing the land wheels with a motion mode of rotating around an X axis; regarding each span of the large-scale translational sprinkler as a rigid body, respectively placing the rigid body under different dynamic nodes, and endowing the rigid body with a motion mode of translation along the Y-axis direction; each span is given a rotation motion mode with an end point as a fulcrum and a Z axis as an axis so as to realize the rotation of each span.
The electromechanical multi-system collaborative simulation operation module of the whole machine is used for calling a three-dimensional virtual farmland scene by executing an application program and simultaneously loading a three-dimensional model of the large-scale translational sprinkler to realize electromechanical multi-system collaborative simulation operation of the large-scale translational sprinkler.
The virtual collaborative simulation environment system of the large-scale translation type sprinkling machine has the functions of generating a virtual environment through a computer and realizing human-computer interaction through input equipment (such as a mouse, a mouse) and the like according to the terrain features and the parameter setting conditions in a scene. The system is based on a Windows platform, is realized in a Visual C + + development environment by adopting a real-time simulation tool Multigen Vega and combining a 0penGL library function, and comprises the following operation processes as shown in FIG. 4:
the system is initially started (step 400);
calling in a scene (step 401);
rendering a scene (step 402);
calling in the 3D model (step 403);
setting up a timer (step 410);
generating a WM TIMER message (step 420);
viewpoint adjustment (step 430);
responding to the control command (step 440);
detecting a 3D model pose and a position in the virtual scene (step 450);
collision detection (step 460);
giving a feedback signal, controlling model motion (step 470);
whether to end the instruction (step 480);
if so, the process is terminated, otherwise, the process of step 420 and the following steps are repeated, and the process can be repeated for a plurality of times until the optimization is achieved.
Fig. 5 shows a flow chart of an irrigation water flow model simulation according to the present invention. The method comprises the following steps:
drawing water drop particles (step 501);
changing its position according to the initial velocity and force of the particle (step 502);
randomly generating a fade value for the bead particles (step 503);
changing the particle life value according to the fade value (step 504);
whether the particle reaches the ground (step 505); if so, the water content of the particles is increased by stopping at the ground landing (step 5051); if not, determining whether the particle life value is equal to zero (step 506); if the particle life value is equal to zero, deleting the particle (step 507); if the life value of the particles is not equal to zero, entering the next step;
judging whether all the particles are drawn completely (step 508); if yes, ending; if not, return to step 501.
Irrigation water flow has great influence on irrigation effect from the motion mode of the spray head. The dynamic simulation is carried out on different water flow models and different distribution conditions of the spray heads on the large-scale translational sprinkler, and the sprinkling irrigation effect can be optimized. The invention provides a particle model-based irrigation water quantity statistical method in a virtual environment, aiming at the problems that the traditional test method is large in engineering quantity, the actual weighing is influenced by the environment and detection equipment and is inaccurate and the like. The method comprises the following steps:
step 51, generating a particle effect in a program by means of an OpenGL library function;
step 52, calculating the size and the direction of the initial speed of the sprayed instant water drop according to the pressure of the spray head in the virtual environment;
step 53: the influence of gravity and air resistance on the water drop is considered, and the motion trail of the water drop is simulated by using a physical principle. Considering factors such as water drop crushing, water evaporation and the like, and endowing the sprayed water drops with life factors;
step 54, simplifying the motion state of the particles by combining equal acceleration motion, and drawing the particles by adopting texture and color fusion;
and step 55, simulating the special effect of irrigation water flow by using VC + +6.0 and OpenGL development tools, and counting the number of particles at each floor point by combining the translational motion speed of the large-scale translational sprinkler so as to count the irrigation quantity and the distribution condition of the irrigation quantity.
Please refer to fig. 6 showing the effect of irrigation water flow trajectory according to the present invention; FIG. 7 is a schematic view of a three-dimensional model of a large-scale translational sprinkler of the present invention; FIG. 8 is a diagram of the virtual farmland effect of the invention.
The invention provides a virtual test method and a simulation system aiming at the defects of the traditional test method and device of a large-scale translation type sprinkler, which can conveniently carry out simulation test at any time, and achieve the purpose of investigating the influence of certain parameter change on the sprinkling effect of the whole sprinkler by dynamically tracking the parameter change, thereby optimizing the control parameters of the large-scale translation type sprinkler, removing the restriction of the traditional test by the growing season of crops, and avoiding the defects of the traditional test, such as large-scale equipment and field, long development period, high cost and the like.
The present invention can be embodied in other specific forms without departing from the spirit or essential attributes thereof, and it should be understood that various changes and modifications can be made by those skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (17)
1. A virtual test method of a large-scale translation type sprinkling machine comprises the following steps:
firstly, surveying and mapping a large-scale translational sprinkler, and establishing a simulation model of the large-scale translational sprinkler by adopting drawing software;
establishing a virtual environment of a farmland scene required by the large-scale translation type sprinkler test;
step three, executing the electromechanical multi-system collaborative simulation operation of the large-scale translational sprinkler in the virtual scene to realize real-time detection and control of the walking speed of each span and the swing angle between adjacent spans of the large-scale translational sprinkler;
controlling the walking speed of each span of the large-scale translational sprinkler and changing the opening of each spray head according to an operation instruction, realizing variable irrigation in the virtual environment, and completing the simulation and evaluation of the influence condition of the control parameters of the large-scale translational sprinkler on the irrigation effect;
and fifthly, optimizing the parameters of the large-scale translational sprinkler control system according to the evaluation result.
2. The virtual test method of the large-scale translational sprinkler according to claim 1, characterized in that the mapping software is a three-dimensional mapping software, the simulation model is a three-dimensional simulation model, and the farmland scene is a three-dimensional virtual farmland scene.
3. The virtual test method of the large-scale translational sprinkler according to claim 2, wherein the establishing of the three-dimensional simulation model in the first step further comprises:
11, disassembling and entity surveying and mapping the large-scale translation type sprinkler entity;
step 12, utilizing the three-dimensional drawing software to carry out three-dimensional modeling on the part according to the structural size of each part obtained by drawing;
step 13, converting the obtained three-dimensional part model into a model file with a suffix obj;
step 14, importing the obj-format three-dimensional model into three-dimensional modeling software, and exporting a flt-format three-dimensional part model;
and step 15, assembling the flt format three-dimensional part model by using three-dimensional modeling software to form a complete machine three-dimensional simulation model of the large-scale translational sprinkler with the flt format suffix.
4. The virtual test method of the large-scale translational sprinkler according to claim 1, 2 or 3, wherein the establishment of the virtual farmland scene in the second step further comprises:
step 21, acquiring terrain elevation data of an area to be tested;
step 22, converting the altitude data of the region into a specific format supported by the three-dimensional modeling software;
step 23, importing the specific format file obtained by conversion into three-dimensional modeling software, setting conversion parameters, and generating a three-dimensional terrain model;
and 24, loading the terrain texture data to obtain a vivid virtual scene.
5. The virtual test method of the large-scale translational sprinkler according to claim 1, characterized in that the electromechanical multi-system collaborative simulation step of the large-scale translational sprinkler in the virtual farmland scene is realized by calling a three-dimensional virtual farmland scene in the process of executing an application program and loading a three-dimensional model of the large-scale translational sprinkler at the same time.
6. The virtual test method of the large-scale translational sprinkler according to claim 1, wherein the operation instructions are formed by combining topographic features and structural features of the large-scale translational sprinkler according to a given farmland water content prescription.
7. The virtual test method for the large-scale translational sprinkler according to claim 1, wherein the step of establishing the simulation model of the large-scale translational sprinkler includes an establishing step of a three-dimensional simulation model of a whole sprinkler, and further includes:
placing each land wheel of the large-scale translational sprinkler model under different dynamic nodes, and endowing the land wheels with a motion mode of rotating around an X axis;
regarding each span of the large-scale translational sprinkler as a rigid body, respectively placing the rigid body under different dynamic nodes, and endowing the rigid body with a motion mode of translation along the Y-axis direction;
each span is given a rotation motion mode with an end point as a fulcrum and a Z axis as an axis so as to realize the rotation of each span.
8. The virtual test method for the large-scale translational sprinkler according to claim 1, wherein in the fourth step, the step of simulating and evaluating the irrigation effect of the large-scale translational sprinkler is to simulate the initial speed of the water drop during the water drop spraying according to the measured opening degree of the outlet nozzle of the large-scale translational sprinkler, consider the influence of gravity and air resistance on the water drop and factors of water drop breaking and evaporation, and count the number of the water drops falling into each micro area by simulating the movement track of the water drop and the position of the landing point, so as to calculate the irrigation quantity of each small area of the farmland and further evaluate the irrigation effect.
9. The virtual test method of the large-scale translational sprinkler according to claim 1, wherein the control parameters optimized in the fifth step include: the control motor rotating speed of each span of the large-scale translation type sprinkler, the swing angle between adjacent spans, the advancing speed of each span and the opening of each sprinkler.
10. The utility model provides a virtual test system of large-scale translation formula sprinkling irrigation machine which characterized in that includes:
the simulation model generation module of the sprinkler is used for surveying and mapping the large-scale translational sprinkler and establishing a simulation model of the large-scale translational sprinkler by adopting drawing software;
the farmland scene virtual environment generating module is used for establishing a farmland scene virtual environment required by the large-scale translation type sprinkler test;
the whole machine electromechanical multi-system collaborative simulation operation module is used for executing electromechanical multi-system collaborative simulation operation on the large-scale translational sprinkler under the virtual scene, and realizing real-time detection and control on the walking speed of each span and the swing angle between adjacent spans of the large-scale translational sprinkler;
the irrigation effect simulation and evaluation module is used for controlling the walking speed of each span of the large-scale translational sprinkler and changing the opening of each spray head according to an operation instruction, realizing variable irrigation in the virtual environment and completing simulation and evaluation of the influence condition of the control parameters of the large-scale translational sprinkler on the irrigation effect;
and the parameter optimization module of the sprinkler control system is used for optimizing the parameters of the large-scale translational sprinkler control system according to the evaluation result of the irrigation effect simulation and evaluation module.
11. The virtual test system of a large-scale translational sprinkler according to claim 10, wherein the mapping software is a three-dimensional mapping software, the simulation model is a three-dimensional simulation model, and the field scene is a three-dimensional virtual field scene.
12. The virtual testing system of the large-scale translational sprinkler according to claim 10, comprising: the drawing software is Pro/ENGINEER, and the three-dimensional modeling software is multigen creator.
13. The virtual test system of the large-scale translational sprinkler according to claim 10, wherein the sprinkler simulation model generation module further comprises a complete machine three-dimensional simulation model generation module for placing each ground wheel of the large-scale translational sprinkler model under different dynamic nodes and assigning a motion mode of rotating around an X-axis; regarding each span of the large-scale translational sprinkler as a rigid body, respectively placing the rigid body under different dynamic nodes, and endowing the rigid body with a motion mode of translation along the Y-axis direction; each span is given a rotation motion mode with an end point as a fulcrum and a Z axis as an axis so as to realize the rotation of each span.
14. The virtual testing system of the large-scale translational sprinkler according to claim 10, wherein in the irrigation effect simulation and evaluation module, the movement locus of the water drop and the position of the landing point are simulated by adopting a particle system in a virtual reality technology.
15. The virtual test system of the large-scale translational sprinkler according to claim 10, wherein the parameter optimization module ensures that the pivot angle between the adjacent spans of the large-scale translational sprinkler is within an allowable range by changing the rotation speed of the control motor of each span of the large-scale translational sprinkler, and simultaneously adjusts the traveling speed of each span and changes the opening degree of each sprinkler so as to optimize the irrigation effect.
16. The virtual test system of the large-scale translational sprinkler according to claim 10, wherein the complete machine electromechanical multi-system collaborative simulation operation module is used for implementing the electromechanical multi-system collaborative simulation operation of the large-scale translational sprinkler by executing an application program, calling a three-dimensional virtual farmland scene, and loading a three-dimensional model of the large-scale translational sprinkler.
17. The virtual testing system of the large-scale translational sprinkler according to claim 16, wherein the application program is written and generated on a Windows operating system using Visual C + +, in combination with an API interface provided by MultigenVega.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104521699A (en) * | 2014-11-18 | 2015-04-22 | 华北水利水电大学 | Field intelligent irrigation on-line control management method |
| CN107624627A (en) * | 2017-08-11 | 2018-01-26 | 骆秀菊 | A kind of agricultural irrigation systems based on virtual reality |
| CN115471024A (en) * | 2021-06-11 | 2022-12-13 | 云南中商正晓农业科技有限公司 | Automatic water supply system and method for plant planting |
| CN115500244A (en) * | 2022-10-12 | 2022-12-23 | 中国水利水电科学研究院 | Variable irrigation prescription map generation method and system for large-scale sprinkler |
-
2008
- 2008-11-11 CN CN2008102262658A patent/CN101739020B/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104521699A (en) * | 2014-11-18 | 2015-04-22 | 华北水利水电大学 | Field intelligent irrigation on-line control management method |
| CN107624627A (en) * | 2017-08-11 | 2018-01-26 | 骆秀菊 | A kind of agricultural irrigation systems based on virtual reality |
| CN115471024A (en) * | 2021-06-11 | 2022-12-13 | 云南中商正晓农业科技有限公司 | Automatic water supply system and method for plant planting |
| CN115500244A (en) * | 2022-10-12 | 2022-12-23 | 中国水利水电科学研究院 | Variable irrigation prescription map generation method and system for large-scale sprinkler |
| CN115500244B (en) * | 2022-10-12 | 2023-11-10 | 中国水利水电科学研究院 | Large-scale sprinkler variable irrigation prescription chart generation method and system |
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| CN101739020B (en) | 2011-12-28 |
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