CN101739020A - Virtual test method of large-scale transitional sprinkling machine and system thereof - Google Patents

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

A virtual test method and system for a large translational sprinkler irrigation machine

technical field

The invention relates to a simulation method and device for large-scale agricultural machinery, in particular to a virtual test method and system for a large-scale translation sprinkler irrigation machine.

Background technique

Large-scale sprinkler irrigation machines refer to models with a working power greater than 37.3kw and a controlled irrigation area exceeding 26.7hm ² . It has a high degree of automation, less consumption of unit resources (electricity, water, manpower), and high production efficiency, which represents a sprinkler irrigation machine at the level of modern science and technology.

In 2000, my country had more than 2,000 large-scale sprinkler irrigation machines. By 2010, my country's water-saving irrigation area will reach 54.11 million hectares, which is a good opportunity for the development of sprinkler irrigation machine industry.

The market advantages of large sprinklers are mainly reflected in the transformation and management of 2.622 million hectares of desertified land in my country (including 550,000 hectares of desert) and 360 million hectares of natural grasslands that have been desertified, alkalized and degraded to varying degrees. Deserts, deserts and pastures that have been "three modernizations" are mainly concentrated in the west of my country. With the deepening of the development of the west of my country, the per capita income in the west continues to increase, and the awareness of ecological and environmental protection continues to increase. Large-scale sprinkler technology will definitely be useful in the west .

In addition, for the industrial bases of grain, cotton and oil, in order to enhance the international competitiveness, it is necessary to improve the industrialization level of agriculture and the degree of moderate scale operation. Therefore, the domestic market prospect of large sprinkler irrigation machines in agricultural production is also very impressive.

Translational sprinkler irrigation machine is also called linear continuous self-propelled sprinkler irrigation machine. The large translational sprinkler is the most widely used type of large sprinkler. Its structure includes trusses, towers, tail suspensions, transmission parts and walking parts, which are basically universal. The translational sprinkler sprays in a rectangular shape, and the coverage rate of sprinkler irrigation is higher than other types of sprinklers, but the structure is more complicated, and a guiding control system is required. The precision of the synchronization of the tower is high, and a complete electrical control system is required.

For example, the invention patent (ZL200410009502.7) owned by the applicant discloses a large sprinkler irrigation system and its control method. , frequency conversion speed control device, angle sensor device, GPS positioning device; the onboard computer is connected to the GPS positioning device through the control interface, and uses the received GPS signal and differential signal to calculate to locate the sprinkler, determine the walking speed of the sprinkler and spray irrigation The yaw distance of the sprinkler is compared with the given route and the actual route and the given walking speed and the actual walking speed, and the control command is issued through the control interface to adjust the frequency conversion speed regulating device so that the sprinkler can walk according to the given route and speed; the angle transmission The sensing device is used to measure the synchronous swing angle of each span; the onboard computer is used to detect the synchronous swing angle of each span, and adjust the synchronous swing angle to approach zero by controlling the frequency conversion speed regulating device. The operation system and its control method can realize the uniform variable spraying of the sprinkling irrigation machine.

The traditional control system test method requires a large number of field tests on the machine control system of the large-scale translational sprinkler irrigation machine. Through the parameter setting and the record of the walking state data, the control parameters are improved, and then the test is repeated. To obtain a better control effect, see the test flow shown in Figure 1. This repeated test, record, calculation and improvement to re-test wastes a lot of human and financial resources, resulting in long equipment development and production cycle and high cost. In addition, the irrigation test is greatly affected by the crop growing season, making the traditional large-scale horizontal sprinkler irrigation. The experiment has become a huge project.

Contents of the invention

The technical problem to be solved by the present invention is to provide a virtual test method and system for a large-scale translational sprinkler irrigation machine, which solves the problem that the field test of the existing large-scale translational sprinkler irrigation machine is restricted by crop seasons, test equipment and sites, and wastes a lot of time. Human, financial and water resource issues.

In order to achieve the above-mentioned purpose, the present invention provides a kind of virtual test method of large translation sprinkler irrigation machine, comprising the following steps:

Step 1, surveying and mapping the large-scale translational sprinkler, adopting drawing software to establish a simulation model of the large-scale translational sprinkler;

Step 2, establishing the farmland scene virtual environment required for the test of the large-scale translational sprinkler;

Step 3: Execute the cooperative simulation operation of the electromechanical multi-system of the large-scale translational sprinkler in the virtual scene, and realize the real-time detection and analysis of the walking speed of each span of the large-scale translational sprinkler and the swing angle between adjacent spans. control;

Step 4, according to the operation instruction, control the walking speed of each span of the large-scale translational sprinkler and change the opening of each sprinkler, realize variable irrigation in the virtual environment, and complete the adjustment of the control parameters of the large-scale translational sprinkler. Simulation and evaluation of effects and impacts;

Step five, optimize the parameters of the control system of the large translational sprinkler according to the evaluation results.

In the above-mentioned virtual test method for a large translational sprinkler, the drawing software is a three-dimensional drawing 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 of the above-mentioned large-scale translation sprinkler, wherein, the establishment of the three-dimensional simulation model in the first step includes:

Step 11, dismantling and physical mapping of the large-scale translational sprinkler entity;

Step 12, using the three-dimensional drawing software to carry out three-dimensional modeling of the parts according to the structural dimensions of each part obtained by surveying and mapping;

Step 13, converting the obtained three-dimensional component model into a model file with a suffix of .obj;

Step 14, import the 3D model in obj format into 3D modeling software, and export it as a 3D part model in .flt format;

Step 15, use the 3D modeling software to assemble the 3D component models in the .flt format to form a 3D simulation model of the large translational sprinkler irrigation machine with the suffix .flt format.

The virtual test method of the above-mentioned large-scale translation sprinkler, wherein, the establishment of the virtual farmland scene in the step 2 also includes:

Step 21, obtaining the terrain altitude data of the test area;

Step 22, converting the altitude data of the region into a specific format supported by the 3D modeling software;

Step 23, importing the converted specific format file into the 3D modeling software, setting conversion parameters, and generating a 3D terrain model;

Step 24, loading terrain texture data to obtain a realistic virtual scene.

In the above-mentioned virtual test method for large-scale translational sprinkler irrigation machines, the electromechanical multi-system co-simulation step of large-scale translational sprinkler irrigation machines in the virtual farmland scene is to call the 3D virtual farmland scene during the execution of the application program, and simultaneously load the large-scale translational sprinkler The 3D model of the sprinkler is realized.

In the above-mentioned virtual test method for a large-scale translational sprinkler, the operation instruction is formed according to a given farmland water content prescription map, combined with terrain features and structural characteristics of a large-scale translational sprinkler.

The above-mentioned large-scale translational sprinkler virtual test method, wherein, in the step of establishing the simulation model of the large-scale translational sprinkler, it includes the establishment of a three-dimensional simulation model of the whole machine, and further includes:

Place each ground wheel of the large-scale translational sprinkler model under different dynamic nodes, all endowed with a motion pattern that rotates around the X axis;

Each span of the large-scale translational sprinkler is regarded as a rigid body, placed under different dynamic nodes, and endowed with a motion mode of translation along the Y-axis direction;

Each span is endowed with a rotation movement mode with the end point as the fulcrum and the Z axis as the axis, so as to realize the rotation of each span.

The above-mentioned virtual test method for large-scale translational sprinkler, wherein, in the step 4, the simulation and evaluation step of the irrigation effect of the large-scale translational sprinkler is based on the measured opening of the nozzle of the large-scale translational sprinkler, Simulate the initial velocity of water droplets when they are ejected, and consider the influence of water droplets by gravity and air resistance, as well as the factors of water droplet breakage and evaporation. By simulating the trajectory of water droplets and the position of the landing point, the statistics of water falling in each small area The number of beads can be used to calculate the amount of irrigation in each small area of the farmland, and then evaluate the irrigation effect.

In the above-mentioned virtual test method for large-scale translational sprinkler irrigation machines, the control parameters optimized in step 5 include: the speed of the control motor of each span of the large-scale translational sprinkler irrigation machine, the swing angle between adjacent spans, the The speed of travel and the opening of each nozzle.

In order to better achieve the above object, the present invention also provides a virtual test system for a large-scale translation sprinkler irrigation machine, which is characterized in that it includes:

The sprinkler simulation model generation module is used for surveying and mapping the large-scale translational sprinkler, and adopts drawing software to establish the simulation model of the large-scale translational sprinkler;

A farmland scene virtual environment generation module, used to establish the farmland scene virtual environment required for the large-scale translational sprinkler test;

The electromechanical multi-system collaborative simulation operation module of the whole machine is used to perform the electromechanical multi-system cooperative simulation operation of the large translational sprinkler irrigation machine in the virtual scene, and realize the walking speed of each span of the large translational sprinkler irrigation machine, the adjacent span Real-time detection and control of the swing angle between them;

The irrigation effect simulation and evaluation module is used to control the walking speed of each span of the large-scale translation sprinkler and change the opening of each nozzle according to the operation instruction, so as to realize variable irrigation in the virtual environment and complete the large-scale translation irrigation. Simulation and evaluation of the influence of sprinkler control parameters on irrigation effect;

The parameter optimization module of the sprinkler control system is used to optimize the parameters of the large-scale translational sprinkler control system according to the evaluation results of the irrigation effect simulation and evaluation module.

In the above-mentioned virtual test system for a large translational sprinkler, the drawing software is a three-dimensional drawing software, the simulation model is a three-dimensional simulation model, and the farmland scene is a three-dimensional virtual farmland scene.

The virtual test system of the above-mentioned large-scale translation sprinkler includes: the drawing software is Pro/ENGINEER, and the three-dimensional modeling software is Multigen Creator.

The virtual test system of the above-mentioned large-scale translational sprinkler, wherein, the simulation model generation module of the sprinkler further includes a three-dimensional simulation model generation module of the whole machine, which is used to place each ground wheel of the large-scale translational sprinkler model in different positions. Each span of the large-scale translation sprinkler is regarded as a rigid body, which is respectively placed under different dynamic nodes, and is assigned a motion mode of translation along the Y-axis direction; Each span is endowed with a rotation movement mode with the end point as the fulcrum and the Z axis as the axis, so as to realize the rotation of each span.

In the virtual test system of the above-mentioned large-scale translational sprinkler, in the irrigation effect simulation and evaluation module, the particle system in virtual reality technology is used to simulate the trajectory of water droplets and the location of the landing point.

The virtual test system of the above-mentioned large-scale translational sprinkler, wherein, the parameter optimization module, by changing the speed of the control motor of each span of the large-scale translational sprinkler, ensures that the swing angle between adjacent spans of the large-scale translational sprinkler Within the allowable range, adjust the traveling speed of each span at the same time, and change the opening of each nozzle to optimize the irrigation effect.

The virtual test system of the above-mentioned large-scale translational sprinkler, wherein, the co-simulation operation module of the electromechanical multi-system of the whole machine is realized by executing an application program, calling the 3D virtual farmland scene, and loading the 3D model of the large-scale translational sprinkler at the same time Co-simulation operation of electromechanical multi-system of large-scale translational sprinkler irrigation machine.

The virtual test system of the above-mentioned large-scale translation sprinkler, wherein, the application program is written and generated on the Windows operating system using Visual C++ in combination with the API interface provided by Multigen Vega.

The beneficial effects of the present invention are that, aiming at the disadvantages of the traditional test methods and devices of large translational sprinkler irrigation machines, the present invention proposes a virtual test method and a simulation system, which can conveniently carry out simulation tests at any time, so as to realize the dynamic tracking of a certain One parameter change, the purpose of investigating its influence on the sprinkler irrigation effect of the whole machine, so as to optimize the control parameters of the large-scale translational sprinkler irrigation machine, relieve the traditional experiment from being restricted by the crop growing season, and avoid the traditional experiment requiring large-scale equipment and sites, and long development cycle , high cost and other disadvantages.

The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments, but not as a limitation of the present invention.

Description of drawings

Fig. 1 is the method schematic diagram of existing sprinkler control system test;

Fig. 2 is the flow chart of virtual simulation test method of large-scale translation sprinkler irrigation machine of the present invention;

Fig. 3 is a flow chart of establishing a three-dimensional virtual farmland scene 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 the simulation flowchart of irrigation water flow model of the present invention;

Fig. 6 is an effect diagram of the irrigation water flow trajectory of the present invention;

Fig. 7 is a schematic diagram of a three-dimensional model of a large translation sprinkler irrigation machine of the present invention;

Fig. 8 is an effect diagram of virtual farmland in the present invention.

Detailed ways

Below in conjunction with accompanying drawing, structural principle and working principle of the present invention are specifically described:

The virtual test mode of the large-scale translational sprinkler irrigation machine based on virtual reality technology adopted in the present invention is characterized in that the process analysis, performance analysis, and control effect analysis of the control system of the translational sprinkler irrigation machine can be carried out before the actual sprinkler irrigation test is performed. And control parameter optimization and irrigation effect evaluation. Since the virtual test is used instead of the actual test of the physical prototype, the repeated operation, optimization and testing of the control system and the evaluation of the irrigation effect are also carried out on the virtual prototype. When there is a problem, it only needs to be improved in the virtual environment, which greatly shortens the test period. , saving costs.

In the specific 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 translation sprinkler, comprising the following steps:

One, carry out surveying and mapping to large-scale translation sprinkler irrigation machine, adopt drawing software to set up the simulation model of large-scale translation sprinkler irrigation machine, (step 201);

Two, set up the farmland scene virtual environment (step 202) needed for the test of large-scale translation sprinkler irrigation machine;

3. Execute the cooperative simulation operation of the electromechanical multi-system of the large-scale translational sprinkler irrigation machine in the virtual scene, and realize real-time detection and control of the walking speed of each span of the large-scale translational sprinkler irrigation machine and the swing angle between adjacent spans (step 203) ;

4. According to the operation instructions, control the walking speed of each span of the large-scale translational sprinkler irrigation machine and change the opening of each nozzle, realize variable irrigation in the virtual environment, and complete the simulation and evaluation of the influence of the control parameters of the large-scale translational sprinkler irrigation machine on the irrigation effect (step 204);

5. According to the evaluation result, optimize the parameters of the control system of the large translational sprinkler irrigation machine (step 205).

in,

The establishment of the three-dimensional simulation model in step 201 also includes:

Step 11, dismantling and mapping the entity of the existing large-scale translational sprinkler;

Step 12, using the 3D drawing software Pro/ENGINEER to carry out 3D modeling of the parts according to the structural dimensions of each part obtained by surveying and mapping;

Step 13, converting the obtained three-dimensional component model into a model file with a suffix of .obj;

Step 14, import the 3D model in obj format into 3D modeling software Multigen Creator, and export it as a 3D component model in flt format;

Step 15, use the Multigen Creator software to assemble the component models to form a 3D model of the large translational sprinkler with the suffix .flt format.

The establishment of the three-dimensional virtual farmland scene in step 202, as shown in Figure 3, also includes:

Obtain the terrain altitude data of the test area (step 301);

The altitude data in this area is converted into the DED format (step 302) that three-dimensional modeling software Multigen creator supports;

Import the DED file that is converted into creator software, set conversion parameters, and generate a three-dimensional terrain model (step 303);

Load terrain texture data to obtain a realistic virtual scene (step 304).

Step 203 The electromechanical multi-system co-simulation of the large-scale translation sprinkler irrigation machine in the virtual scene is based on the Windows operating system, using Visual C++6.0, combined with the API provided by Multigen Vega, to write an application program, and call the 3D virtual farmland scene in the program , while loading the 3D model of the large translational sprinkler.

The electromechanical multi-system collaborative simulation operation is to adjust the output power of each control motor in real time and control the travel speed of each span of the large translational sprinkler irrigation machine according to the given farmland water content prescription map, combined with the terrain characteristics and the structural characteristics of the large translational sprinkler irrigation machine , so as to realize the smooth operation of the large-scale translation sprinkler irrigation machine and the purpose of variable irrigation according to the water content of the farmland. 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 is based on the measured opening of the large-scale translational sprinkler, simulating the initial velocity of the water droplets when they are sprayed, and considering the impact of gravity and air pressure on the water droplets. The impact of resistance, as well as factors such as water drop breaking and evaporation, use the particle system in virtual reality technology to simulate the trajectory of water droplets and the location of the landing point, and count the number of falling water droplets in each small area, so as to calculate the size of each small area of farmland. The amount of irrigation in the area, and then evaluate the irrigation effect.

In step 205, the optimization of the control parameters of the large-scale translation sprinkler is based on the evaluation results in step 204, comparing the actual irrigation amount of each point in the farmland with the water demand of each coordinate point on the prescription map, evaluating the irrigation effect, and changing the large-scale translation. The speed of the control motor of each span of the type sprinkler irrigation machine ensures that the swing angle between adjacent spans of the large-scale translation sprinkler irrigation machine is within the allowable range, and at the same time adjusts the travel speed of each span and changes the opening of each nozzle to achieve the best irrigation effect. best.

The invention also discloses a virtual test system for a large translational sprinkler irrigation machine, which includes a sprinkler irrigation machine simulation model generation module, a farmland scene virtual environment generation module, an electromechanical multi-system cooperative simulation operation module for the whole machine, an irrigation effect simulation and evaluation module, and a sprinkler irrigation system. Machine control system parameter optimization module, in which,

The sprinkler simulation model generation module is used for surveying and mapping the large-scale translational sprinkler, and the simulation model of the large-scale translational sprinkler is established by using drawing software. The drawing software is a three-dimensional drawing software, and the simulation model is a three-dimensional simulation model;

The farmland scene virtual environment generation module is used to establish the farmland scene virtual environment required for the large-scale translation sprinkler test, and the farmland scene is a three-dimensional virtual farmland scene;

The electromechanical multi-system collaborative simulation operation module of the whole machine is used to perform the co-simulation operation of the electromechanical multi-system of the large-scale translational sprinkler irrigation machine in the virtual scene, and realize the walking speed of each span of the large-scale translational sprinkler irrigation machine and the swing between adjacent spans. corner for real-time detection and control;

The irrigation effect simulation and evaluation module is used to control the walking speed of each span of the large-scale translational sprinkler irrigation machine and change the opening of each nozzle according to the operation instructions, realize variable irrigation in the virtual environment, and complete the control parameters of the large-scale translational sprinkler irrigation machine. Simulation and evaluation of the impact of the effect. In the irrigation effect simulation and evaluation module, the particle system in the virtual reality technology is used to simulate the trajectory of the water drop and the location of the landing point;

The parameter optimization module of the sprinkler control system is used to optimize the parameters of the control system of the large-scale translational sprinkler according to the evaluation results of the irrigation effect simulation and evaluation module. The parameter optimization module changes the control motor of each span of the large-scale translational sprinkler The speed of rotation ensures that the swing angle between adjacent spans of the large-scale translational sprinkler irrigation machine is within the allowable range, and at the same time adjusts the travel speed of each span and changes the opening of each nozzle to optimize the irrigation effect.

The drawing software adopted in the present invention is Pro/ENGINEER, and the three-dimensional modeling software is MultigenCreator.

The 3D modeling software can also use AutoCAD, 3DS Max, which allows users to complete the required design with the help of flexible body, surface and edge editing technology.

The simulation model generation module of the sprinkler further includes a 3D simulation model generation module of the whole machine, which is used to place each ground wheel of the large-scale translational sprinkler model under different dynamic nodes, and is given a motion mode of rotating around the X axis; the large-scale Each span of the translational sprinkler irrigation machine is regarded as a rigid body, which is placed under different dynamic nodes, and is assigned a motion mode of translation along the Y-axis direction; each span is assigned a rotational motion mode with the endpoint as the fulcrum and the Z-axis as the axis. To realize the rotation of each span.

The electromechanical multi-system cooperative simulation operation module of the whole machine is to realize the cooperative simulation operation of the electromechanical multi-system of the large-scale translational sprinkler irrigation machine by executing an application program, calling the 3D virtual farmland scene, and loading the 3D model of the large-scale translational sprinkler irrigation machine at the same time.

The function of the virtual collaborative simulation environment system of the large-scale translational sprinkler irrigation machine of the present invention is to generate a virtual environment through a computer, and realize human-computer interaction through input devices (such as a mouse, a mouse), etc., according to the terrain characteristics and parameter settings in the scene. System is based on Windows platform, adopts real-time simulation tool Multigen Vega and in conjunction with OpenGL library function, realizes under Visual C++ development environment, as shown in Figure 4, the system operating process disclosed by the present invention comprises:

System initial start (step 400);

Call in the scene (step 401);

Render the scene (step 402);

Import 3D model (step 403);

Set up a timer (step 410);

Generate a WM TIMER message (step 420);

Viewpoint adjustment (step 430);

Response to the control command (step 440);

Detect the pose of the 3D model and its position in the virtual scene (step 450);

collision detection (step 460);

Give a feedback signal to control the movement of the model (step 470);

Whether to end instruction (step 480);

If yes, end. Otherwise, repeat step 420 and subsequent steps, which can be repeated multiple times until optimization is achieved.

Fig. 5 is a simulation flowchart of the irrigation water flow model of the present invention. Include steps:

Drawing water droplet particles (step 501);

Change its position (step 502) according to the initial velocity and the force of the particle;

Randomly generate the desalination value of water droplet particle (step 503);

Change the particle health according to the fade value (step 504);

Whether the particle reaches the ground (step 505); if so, the water content of the particle stops on the ground and increases (step 5051); if not, then judge whether the particle life value is equal to zero (step 506); if the particle life value is equal to zero, delete the particle ( Step 507); if the particle life value is not equal to zero, enter the next step;

Judging whether all the particles have been drawn (step 508); if yes, end; if not, return to step 501.

The movement pattern of the irrigation water sprayed from the nozzle has a great influence on the irrigation effect. Dynamic simulation of different water flow models and different distributions of nozzles on large translational sprinkler irrigation machines can optimize the sprinkler irrigation effect. Aiming at the problems existing in the current traditional test methods, such as large engineering quantity and inaccurate actual weighing affected by the environment and detection equipment, the present invention proposes a particle model-based irrigation water statistical method in a virtual environment. Including the following steps:

Step 51, generate particle effects in the program by means of OpenGL library functions;

Step 52, according to the nozzle pressure in the virtual environment, calculate the size and direction of the initial velocity of the water droplets at the moment of spraying;

Step 53: Consider the influence of gravity and air resistance on the water drops, and use physics principles to simulate the trajectory of the water drops. Consider factors such as water droplet breakage and water evaporation, and assign a life factor to the sprayed water droplets;

Step 54, combining iso-accelerated motion to simplify particle motion state, and use texture color fusion to draw particles;

Step 55, use VC++6.0 and OpenGL development tools to realize the simulation of irrigation water flow special effects, combine the translational motion speed of the large translational sprinkler, count the number of particles at each landing point, and then make statistics on the irrigation amount and its distribution.

Please refer to Fig. 6 the effect diagram of the irrigation water flow trajectory of the present invention; Fig. 7 the schematic diagram of the three-dimensional model of the large-scale translation sprinkler irrigation machine of the present invention; Fig. 8 the effect diagram of the virtual farmland of the present invention.

Aiming at the disadvantages of the traditional test method and device of the large-scale translational sprinkler irrigation machine, the present invention proposes a virtual test method and a simulation system, which can conveniently carry out the simulation test at any time, so as to dynamically track the change of a certain parameter and investigate its effect on In order to optimize the control parameters of the large-scale translational sprinkler irrigation machine, the control parameters of the large-scale translational sprinkler irrigation machine can be optimized, and the traditional test is restricted by the crop growth season, avoiding the disadvantages of traditional tests that require large-scale equipment and sites, long development cycles, and high costs.

Certainly, the present invention also can have other various embodiments, without departing from the spirit and essence of the utility model, those skilled in the art should make various corresponding changes and deformations according to the utility model, but these Corresponding changes and deformations should all belong to the scope of protection of the appended claims of the utility model.

Claims (17)

1. A virtual test method of a large-scale translation sprinkler, comprising the steps of: Step 1, surveying and mapping the large-scale translational sprinkler, adopting drawing software to establish a simulation model of the large-scale translational sprinkler; Step 2, establishing the farmland scene virtual environment required for the test of the large-scale translational sprinkler; Step 3: Execute the cooperative simulation operation of the electromechanical multi-system of the large-scale translational sprinkler in the virtual scene, and realize the real-time detection and analysis of the walking speed of each span of the large-scale translational sprinkler and the swing angle between adjacent spans. control; Step 4, according to the operation instruction, control the walking speed of each span of the large-scale translational sprinkler and change the opening of each sprinkler, realize variable irrigation in the virtual environment, and complete the adjustment of the control parameters of the large-scale translational sprinkler. Simulation and evaluation of effects and impacts; Step five, optimize the parameters of the control system of the large translational sprinkler according to the evaluation results. 2. the virtual test method of large-scale translation sprinkler irrigation machine according to claim 1, is characterized in that, described drawing software is three-dimensional drawing software, and described simulation model is three-dimensional simulation model, and described farmland scene is three-dimensional virtual farmland scene . 3. the virtual test method of large-scale translation sprinkler irrigation machine according to claim 2, is characterized in that, the establishment of the three-dimensional simulation model in the described step 1, comprises again: Step 11, dismantling and physical mapping of the large-scale translational sprinkler entity; Step 12, using the three-dimensional drawing software to carry out three-dimensional modeling of the parts according to the structural dimensions of each part obtained by surveying and mapping; Step 13, converting the obtained three-dimensional component model into a model file with a suffix of .obj; Step 14, import the 3D model in obj format into 3D modeling software, and export it as a 3D part model in .flt format; Step 15, use the 3D modeling software to assemble the 3D component models in the .flt format to form a 3D simulation model of the large translational sprinkler irrigation machine with the suffix .flt format. 4. according to the virtual test method of large-scale translation sprinkler according to claim 1, 2 or 3, it is characterized in that, the establishment of virtual farmland scene in described step 2, comprises again: Step 21, obtaining the terrain altitude data of the test area; Step 22, converting the altitude data of the region into a specific format supported by the 3D modeling software; Step 23, importing the converted specific format file into the 3D modeling software, setting conversion parameters, and generating a 3D terrain model; Step 24, loading terrain texture data to obtain a realistic virtual scene. 5. The virtual test method for large-scale translational sprinkler irrigation machine according to claim 1, characterized in that, the electromechanical multi-system co-simulation step of large-scale translational sprinkler irrigation machine under the virtual farmland scene is by calling the three-dimensional The virtual farmland scene is realized by loading the 3D model of the large translational sprinkler at the same time. 6. The method for virtual testing of a large-scale translational sprinkler irrigation machine according to claim 1, wherein the operation instruction is based on a given farmland water content prescription map, combined with terrain features and structural characteristics of a large-scale translational sprinkler irrigation machine. Forming. 7. The virtual test method of large-scale translational sprinkler irrigation machine according to claim 1, characterized in that, in the step of setting up the simulation model of said large-scale translational sprinkler irrigation machine, the step of establishing a three-dimensional simulation model of the whole machine is included, and further include: Place each ground wheel of the large-scale translational sprinkler model under different dynamic nodes, all endowed with a motion pattern that rotates around the X axis; Each span of the large-scale translational sprinkler is regarded as a rigid body, placed under different dynamic nodes, and endowed with a motion mode of translation along the Y-axis direction; Each span is endowed with a rotation movement mode with the end point as the fulcrum and the Z axis as the axis, so as to realize the rotation of each span. 8. The virtual test method for a large-scale translational sprinkler irrigation machine according to claim 1, characterized in that, in the step 4, the simulation and evaluation step of the irrigation effect of the large-scale translational sprinkler irrigation machine is based on the measured large-scale translation The opening of the nozzle of the sprinkler irrigation machine is used to simulate the initial velocity of the water droplets when they are sprayed out. At the same time, the influence of gravity and air resistance on the water droplets, as well as the factors of water droplet breakage and evaporation are considered. By simulating the trajectory of the water droplets and the location of the landing point Count the number of water droplets falling in each small area, so as to calculate the irrigation amount of each small area of farmland, and then evaluate the irrigation effect. 9. The virtual test method for large-scale translational sprinkler irrigation machine according to claim 1, characterized in that, the control parameters optimized in the step 5 include: the speed of the control motor of each span of the large-scale translational sprinkler irrigation machine, phase The swing angle between adjacent spans, the travel speed of each span and the opening of each nozzle. 10. A virtual test system for a large-scale translation sprinkler, characterized in that it includes: The sprinkler simulation model generation module is used for surveying and mapping the large-scale translational sprinkler, and adopts drawing software to establish the simulation model of the large-scale translational sprinkler; A farmland scene virtual environment generation module, used to establish the farmland scene virtual environment required for the large-scale translational sprinkler test; The electromechanical multi-system collaborative simulation operation module of the whole machine is used to perform the electromechanical multi-system cooperative simulation operation of the large translational sprinkler irrigation machine in the virtual scene, and realize the walking speed of each span of the large translational sprinkler irrigation machine, the adjacent span Real-time detection and control of the swing angle between them; The irrigation effect simulation and evaluation module is used to control the walking speed of each span of the large-scale translation sprinkler and change the opening of each nozzle according to the operation instruction, so as to realize variable irrigation in the virtual environment and complete the large-scale translation irrigation. Simulation and evaluation of the influence of sprinkler control parameters on irrigation effect; The parameter optimization module of the sprinkler control system is used to optimize the parameters of the large-scale translational sprinkler control system according to the evaluation results of the irrigation effect simulation and evaluation module. 11. The virtual test system of large-scale translation sprinkler irrigation machine according to claim 10, characterized in that, the drawing software is a three-dimensional drawing software, the simulation model is a three-dimensional simulation model, and the farmland scene is a three-dimensional virtual farmland scene . 12. The virtual test system of the large translational sprinkler according to claim 10, characterized in that it comprises: the drawing software is Pro/ENGINEER, and the three-dimensional modeling software is MultigenCreator. 13. The virtual test system of the large-scale translational sprinkler irrigation machine according to claim 10, wherein the simulation model generation module of the sprinkler irrigation machine further includes a three-dimensional simulation model generation module of the whole machine, which is used to convert the large-scale translational sprinkler irrigation Each ground wheel of the machine model is placed under different dynamic nodes, and is given a movement mode of rotating around the X axis; each span of the large-scale translation sprinkler is regarded as a rigid body, which is respectively placed under different dynamic nodes, and is given a The movement mode of translation along the Y-axis direction; the rotation movement mode with the end point as the fulcrum and the Z-axis as the axis is assigned to each span to realize the rotation of each span. 14. The virtual test system of large-scale translation sprinkler irrigation machine according to claim 10, characterized in that, in the irrigation effect simulation and evaluation module, the trajectory of water droplets is simulated by using the particle system in virtual reality technology and the location of the landing point. 15. The virtual test system of the large-scale translation sprinkler irrigation machine according to claim 10, characterized in that, the parameter optimization module ensures that the large-scale translation sprinkler The swing angle between adjacent spans of the sprinkler is within the allowable range, and at the same time adjust the travel speed of each span and change the opening of each sprinkler to optimize the irrigation effect. 16. The virtual test system of large-scale translational sprinkler irrigation machine according to claim 10, characterized in that, said whole machine electromechanical multi-system collaborative simulation operation module is to call a three-dimensional virtual farmland scene by executing an application program, and simultaneously load The three-dimensional model of the large-scale translational sprinkler irrigation machine is used to realize the cooperative simulation operation of the electromechanical multi-system of the large-scale translational sprinkler irrigation machine. 17. The virtual test system of large-scale translation sprinkler irrigation machine according to claim 16, characterized in that, said application program is on Windows operating system, utilizes Visual C ++, in conjunction with the API interface that MultigenVega provides, and write and generate.

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