CN115908647A - Method and device for simulating operation of unmanned agricultural machine, storage medium and simulation platform - Google Patents
Method and device for simulating operation of unmanned agricultural machine, storage medium and simulation platform Download PDFInfo
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Abstract
The application provides a method, a device, a storage medium and a simulation platform for simulating unmanned agricultural machinery operation, wherein the method comprises the following steps: the method comprises the steps that an unmanned agricultural machine model and an unmanned agricultural machine operation scene model are built based on a 3D game engine, an operation reference line sub-model is used for representing a reference line of the unmanned agricultural machine in a virtual operation process, the virtual operation process is used for simulating a real operation process, the unmanned agricultural machine operation scene model comprises virtual environment elements and virtual crop elements, the virtual environment elements represent growth environments of virtual crops, the virtual crop elements represent virtual crops, the growth environments of the virtual crops are used for simulating growth environments of the real crops, and the virtual crops are used for simulating the real crops; and simulating the real operation process of the unmanned agricultural machine by adopting the unmanned agricultural machine model and the unmanned agricultural machine operation scene model. The problem of can't use general intelligent driving simulation platform to simulate the scene interaction that wisdom agricultural was reaped the simulation training among the prior art is solved in this application.
Description
Technical Field
The application relates to the field of simulation, in particular to a method, a device, a storage medium and a simulation platform for simulating unmanned agricultural machinery operation.
Background
With the development of intelligent technology, the demand of each industry for intellectualization is increasing day by day, and industries such as intelligent industry, intelligent agriculture, intelligent driving and the like are in force. The intelligent technology is used as a production mode for replacing manpower, can greatly improve the productivity, improve the production efficiency and improve the production quality, and is attracted by extensive research and development. In the scene application of the intelligent technology, the agricultural application is a key scene, and the intelligent agriculture depends on the intelligent and automatic technology, so that the operation yield can be improved, the labor cost is reduced, the operation quality can be greatly improved, and the intelligent agriculture becomes one of key schemes for solving the world grain problems.
In the implementation of the intelligent agriculture, the method mainly comprises the following steps of firstly utilizing sensing hardware such as a radar, a camera and a positioning navigation module to obtain environmental information around the intelligent agricultural machine, integrating the information to a high computational power domain controller platform, utilizing algorithms such as sensing fusion, machine learning and deep learning to process, processing and deciding mechanical operation of the intelligent agricultural machine, then controlling an execution mechanism to realize the operation, realizing the intellectualization of the unmanned agricultural machine, and further replacing manual control. The research and development and debugging of the whole intelligent technology system need a large amount of data training, however, the actual farming takes the year as a cycle, the data generated by harvesting every year is limited, the harvesting process is disposable, and the possibility of repeated debugging is not available, so that a set of harvesting simulation platform is needed to realize the simulation debugging of the strategy.
At present, intelligent technology simulation platforms in the market aim at unmanned simulation training of passenger car roads, no simulation platform suitable for unmanned agricultural machinery exists, and mainly a large number of crop elements exist in unmanned agricultural machinery scenes, such as the situation that the unmanned agricultural machinery needs to be turned over to sow soil and harvest wheat. During the seeding, the plot after the seeder removed can become the wheat seedling plot from the earth plot, removes the back of reaping, and the wheat seedling plot can evolve into the straw plot from the wheat seedling plot again, and this kind of particularity makes the unable intelligent driving simulation platform that uses of wisdom agricultural training emulation simulate.
Disclosure of Invention
The application mainly aims to provide a method, a device, a storage medium and a simulation platform for simulating unmanned agricultural machinery operation, so as to solve the problem that scene interaction of intelligent agricultural harvesting simulation training cannot be simulated by using a common intelligent driving simulation platform in the prior art.
To achieve the above object, according to one aspect of the present application, there is provided a method of simulating unmanned agricultural work, the method comprising: constructing an unmanned agricultural machine model and an unmanned agricultural machine operation scene model based on a 3D game engine, wherein the unmanned agricultural machine model comprises a cavity sub-model, a header sub-model, an operation reference line sub-model, a front wheel model and a rear wheel model, the operation reference line sub-model is used for representing a reference line of the unmanned agricultural machine in a virtual operation process, the virtual operation process is used for simulating a real operation process, the unmanned agricultural machine operation scene model comprises virtual environment elements and virtual crop elements, the virtual environment elements represent the growth environment of virtual crops, the virtual crop elements represent the virtual crops, the growth environment of the virtual crops is used for simulating the growth environment of the real crops, and the virtual crops are used for simulating the real crops; and simulating the real operation process of the unmanned agricultural machine by adopting the unmanned agricultural machine model and the unmanned agricultural machine operation scene model.
Optionally, the real operation process of the unmanned aerial vehicle is a real harvesting operation process, the virtual crop is used for simulating the real crop which has grown in the growth environment of the real crop, and the simulating the real operation process of the unmanned aerial vehicle by using the unmanned aerial vehicle model and the unmanned aerial vehicle operation scene model includes: determining whether the reference line intersects the virtual crop; in case the reference line intersects the virtual crop, cutting the virtual crop into two parts along the reference line, wherein the part of the virtual crop located above the reference line is eliminated and the part of the virtual crop located below the reference line is retained.
Optionally, the real operation process of the unmanned aerial vehicle is a real sowing operation process, the virtual crop represents a seed of the virtual crop, and simulating the real operation process of the unmanned aerial vehicle by using the unmanned aerial vehicle model and the unmanned aerial vehicle operation scene model includes: determining whether the reference line intersects with a preset growth area; and under the condition that the reference line is intersected with the preset growth area, sowing seeds of the virtual crops in the growth environment of the virtual crops.
Optionally, the front wheel model comprises a first joint model and a second joint model, the first joint model is used for controlling the unmanned agricultural machine model to advance, and the second joint model is used for controlling the unmanned agricultural machine model to steer; the rear wheel model comprises a third joint model, and the third joint model is used for controlling the steering of the rear wheel model; the header submodel comprises a fourth joint model, and the fourth joint model is used for controlling the operation angle of the header submodel.
Optionally, simulating a real operation process of the unmanned agricultural machine by using an unmanned agricultural machine model and the unmanned agricultural machine operation scene model, including: constructing an image acquisition equipment model and a radar model based on a 3D game engine; and simulating the real operation process of the unmanned agricultural machine according to the unmanned agricultural machine model, the unmanned agricultural machine operation scene model, the image acquisition equipment model and the radar model.
Optionally, in the course of simulating the real operation of the unmanned agricultural machine according to the unmanned agricultural machine model, the unmanned agricultural machine operation scene model, the image acquisition device model and the radar model, the method further includes: adjusting the advancing and steering of the unmanned agricultural machinery model according to the image acquisition equipment model and the radar model; and adjusting the operation angle of the header sub-model according to the image acquisition equipment model and the radar model.
Optionally, the 3D game engine comprises: an editor, the functions of the editor including at least one of: scene editing, model editing, animation editing and particle editing; a third party plugin for exporting data.
According to another aspect of the application, a device for simulating unmanned agricultural machinery operation is provided, the device comprises a construction module and a simulation module, the construction module is used for constructing an unmanned agricultural machinery model and an unmanned agricultural machinery operation scene model based on a 3D game engine, the unmanned agricultural machinery model comprises a cavity sub-model, a header sub-model, an operation reference line sub-model, a front wheel model and a rear wheel model, the operation reference line sub-model is used for representing a reference line of the unmanned agricultural machinery in an operation process, the operation scene model comprises fixed environment elements and crop elements, the fixed environment elements are used for simulating a growth environment of a real crop, and the crop elements are used for simulating interaction between the real crop and the growth environment of the real crop; the simulation module is used for simulating the real operation process of the unmanned agricultural machine by adopting the unmanned agricultural machine model and the unmanned agricultural machine operation scene model.
According to another aspect of the application, there is provided a computer readable storage medium comprising a stored program, wherein the program when executed controls an apparatus in which the computer readable storage medium is located to perform any of the methods.
According to another aspect of the application, there is provided a simulation platform comprising: one or more processors, memory, a display device, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including instructions for performing any one of the methods of simulating unmanned agricultural operations.
According to the technical scheme, firstly, an unmanned agricultural machine model and an unmanned agricultural machine operation scene model are established based on a 3D game engine, the unmanned agricultural machine model comprises a cavity sub-model, a header sub-model, an operation reference line sub-model, a front wheel model and a rear wheel model, the operation reference line sub-model is used for representing a reference line of the unmanned agricultural machine in a virtual operation process, the virtual operation process is used for simulating a real operation process, the unmanned agricultural machine operation scene model comprises virtual environment elements and virtual crop elements, the virtual environment elements represent the growth environment of virtual crops, the virtual crop elements represent the virtual crops, the growth environment of the virtual crops is used for simulating the growth environment of the real crops, and the virtual crops are used for simulating the real crops; and then simulating the real operation process of the unmanned agricultural machine by adopting the unmanned agricultural machine model and the unmanned agricultural machine operation scene model. The method realizes the unmanned agricultural machinery operation process through scene element interaction and element destruction simulation of a 3D game engine. The three-dimensional modeling part realizes integral modeling on unimportant parts and only carries out motion freedom degree constraint on key parts, thereby greatly reducing the system resource overhead and simplifying the model construction steps. The image acquisition equipment model and the radar model are utilized to simulate the camera and radar sensing data installed on a real vehicle, the data are output to a debugging strategy to carry out closed-loop simulation, and the sensing effects of different radars and cameras in the market can be simulated by configuring observation element parameters. The problem of can't use general intelligent driving simulation platform to simulate the scene interaction of wisdom agricultural harvesting simulation training among the prior art is solved, the scene interaction demand of wisdom agricultural simulation has been realized.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:
FIG. 1 shows a schematic flow diagram of a method of simulating unmanned agricultural operations, according to an embodiment of the present application;
FIG. 2 illustrates a flow diagram of a method of simulating real harvest operation of an unmanned agricultural machine according to an embodiment of the application;
FIG. 3 shows a simulation schematic of a simulated unmanned agricultural machine actual harvesting operation according to an embodiment of the present application;
FIG. 4 shows a schematic flow diagram of a method of simulating real seeding work of an unmanned agricultural machine according to an embodiment of the present application;
FIG. 5 illustrates a flow diagram of another method of simulating real operation of an unmanned agricultural machine, in accordance with an embodiment of the present application;
FIG. 6 illustrates a flow diagram of yet another method of simulating real operation of an unmanned agricultural machine, in accordance with an embodiment of the present application;
FIG. 7 shows a simulation architecture diagram for simulating unmanned agricultural operations, in accordance with an embodiment of the present application;
fig. 8 shows a schematic view of a device for simulating unmanned agricultural operations according to an embodiment of the present application.
Wherein the figures include the following reference numerals:
10. a reference line; 20. a growth environment of the virtual crop; 30. a virtual crop; 40. a header sub-model.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions of the present application better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It will be understood that when an element such as a layer, film, region, or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present. Also, in the specification and claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element or "connected" to the other element through a third element.
For convenience of description, some terms or expressions referred to in the embodiments of the present application are explained below:
unity3D: a game engine can lead a built three-dimensional model into a scene and formulate interactive logic of each modeling element of the scene.
Deep learning: a neural network learning algorithm needs a large amount of visual data training for specific work to continuously improve the working performance.
As introduced in the background art, there is no simulation platform suitable for the unmanned agricultural machine in the prior art, and in order to solve the problem that the general intelligent driving simulation platform cannot be used to simulate the scene interaction of the intelligent agricultural harvesting simulation training in the prior art, embodiments of the present application provide a method, an apparatus, a storage medium and a simulation platform for simulating the operation of the unmanned agricultural machine.
According to an embodiment of the application, a method of simulating operation of an unmanned agricultural machine, which may be a seeder, a harvester, or the like, is provided.
FIG. 1 is a schematic flow diagram of a method of simulating unmanned agricultural operations, according to an embodiment of the present application. As shown in fig. 1, the method comprises the steps of:
step S101, constructing an unmanned agricultural machine model and an unmanned agricultural machine operation scene model based on a 3D game engine, wherein the unmanned agricultural machine model comprises a cavity sub-model, a header sub-model, an operation reference line sub-model, a front wheel model and a rear wheel model, the operation reference line sub-model is used for representing a reference line of the unmanned agricultural machine in a virtual operation process, the virtual operation process is used for simulating a real operation process, the unmanned agricultural machine operation scene model comprises virtual environment elements and virtual crop elements, the virtual environment elements represent growth environments of virtual crops, the virtual crop elements represent the virtual crops, the growth environments of the virtual crops are used for simulating growth environments of real crops, and the virtual crops are used for simulating real crops;
the 3D game engine can lead the established three-dimensional model into a scene, and formulate the interaction logic of each modeling element of the scene, so as to achieve the effect of the 3D scene interaction and destruction, thereby constructing a harvesting simulation platform. Meanwhile, 2D game engine configuration parameters can be adopted in the dimension, and similar interactive logic is set to perform two-dimensional plane harvesting simulation. The 3D game engine can be Unity3D, fantasy 4, cold cream, etc.
Specifically, the 3D game engine includes: an editor, the functions of the editor including at least one of: scene editing, model editing, animation editing and particle editing; a third party plugin, the third party plugin to export data.
Because mechanical structures such as unmanned agricultural machinery cabins have small influence on simulation, the cavity sub-model and the header sub-model are respectively used as a whole for three-dimensional modeling during modeling, so that the system resource overhead can be greatly reduced, and the models are simplified.
Specifically, the growing environment of the virtual crop can be land, ridges, plots, and the like.
And S102, simulating a real operation process of the unmanned agricultural machine by adopting the unmanned agricultural machine model and the unmanned agricultural machine operation scene model.
In order to simulate the harvesting operation of the unmanned agricultural machine, in an alternative embodiment, as shown in fig. 2 and 3, the reference line 10 is located at a front end of the header sub-model 40, the virtual crop 30 grows in the growth environment 20 of the virtual crop, the real operation process of the unmanned agricultural machine is a real harvesting operation process, the virtual crop 30 is used for simulating the real crop which has grown in the growth environment of the real crop, and the steps of simulating the real operation process of the unmanned agricultural machine by using the unmanned agricultural machine model and the unmanned agricultural machine operation scene model are as follows:
step S201, determining whether the reference line 10 intersects with the virtual crop 30;
step S202, in a case where the reference line 10 intersects the virtual crop 30, the virtual crop 30 is cut into two parts along the reference line 10, wherein a part of the virtual crop 30 located above the reference line 10 is removed, and a part of the virtual crop 30 located below the reference line 10 is left.
In order to simulate the seeding operation of the unmanned agricultural machine, in an alternative embodiment, as shown in fig. 4, the real operation process of the unmanned agricultural machine is a real seeding operation process, the virtual crop represents a seed of a virtual crop, and the concrete implementation of simulating the real operation process of the unmanned agricultural machine by using the unmanned agricultural machine model and the unmanned agricultural machine operation scene model is as follows:
step S301, determining whether the reference line intersects with a preset growth area; specifically, the preset growth area can be 3D modeling with 5 acres of land reduced in equal proportion, 3D modeling with 8 acres of land reduced in equal proportion, and 3D modeling with 10 acres of land reduced in equal proportion;
step S302, sowing the seeds of the virtual crop in the growth environment of the virtual crop when the reference line intersects with the preset growth area.
In the practical application process, the front wheel of the real unmanned agricultural machine controls the advancing and steering of the unmanned agricultural machine, the rear wheel of the real unmanned agricultural machine controls the steering of the unmanned agricultural machine, and the header of the real unmanned agricultural machine can adjust different operation angles according to practical requirements, so that in order to be closer to the practical unmanned agricultural machine, the front wheel of the unmanned agricultural machine has the rotating freedom degree of advancing and the rotating freedom degree of steering when being modeled, the rear wheel has the rotating freedom degree, the header has the rotating freedom degree with an angle, exemplarily, the front wheel model comprises a first joint model and a second joint model, the first joint model is used for controlling the advancing of the unmanned agricultural machine model, and the second joint model is used for controlling the steering of the unmanned agricultural machine model; the rear wheel model comprises a third joint model, and the third joint model is used for controlling the steering of the rear wheel model; the header sub-model includes a fourth joint model, and the fourth joint model is used for controlling the operation angle of the header sub-model.
In order to simulate the perception effects of different radars and cameras in the market, in an optional embodiment, as shown in fig. 5, an unmanned agricultural machine model and the unmanned agricultural machine operation scene model are used to simulate the real operation process of the unmanned agricultural machine, which includes the following steps:
step S401, constructing an image acquisition equipment model and a radar model based on a 3D game engine;
and S402, simulating the real operation process of the unmanned agricultural machine according to the unmanned agricultural machine model, the unmanned agricultural machine operation scene model, the image acquisition equipment model and the radar model.
Specifically, as shown in fig. 6, in the simulation of the actual operation process of the unmanned agricultural machine according to the unmanned agricultural machine model, the unmanned agricultural machine operation scene model, the image acquisition device model and the radar model, the method further includes the following steps:
step S403, adjusting the advancing and steering of the unmanned agricultural machinery model according to the image acquisition equipment model and the radar model;
and S404, adjusting the operation angle of the header sub-model according to the image acquisition equipment model and the radar model.
Specifically, as shown in fig. 7, the agricultural machine scene interaction simulation platform based on the unity3D game engine is composed of an unmanned agricultural machine model, a virtual crop element, a virtual environment element, and interaction logic, data output of the platform is a sensing output signal including a visual image signal, a dot matrix cloud signal, and a millimeter wave radar signal, data input of the platform is a control signal including control data streams of an intelligent agricultural machine such as a forward acceleration, a steering angular velocity, and the like, and the sensing output signal is processed according to a sensing process and an algorithm model to generate a control signal, so that a simulation closed loop is realized. The fixed elements and the interactive elements of the intelligent agricultural machinery and the scene belong to a scene configuration part, and an execution control result is simulated by interactive logic control.
The interactive logic is that the horizontal plane of the three-dimensional coordinates of the intersection points is input into a harvesting crop model, the plane coordinates are used as cutting points, harvested crops of scene interactive elements are damaged, crop modeling above the plane is eliminated, only the harvested crops below the plane are reserved, harvesting simulation is achieved, element cutting and destroying operation is conducted only on the parts where the interactive reference lines intersect with the scene interactive elements, the cutting points are dynamically adjusted along with the steering posture of the harvester, the parts where the interactive reference lines do not touch the scene interactive elements are not cut, the influence of an intelligent strategy on the harvesting process is judged, whether automatic harvesting operation based on sensing signals can be achieved, and full coverage of field plots is achieved.
The last part is a control data flow input part and an observation data flow output part, the observation data flow output part is mainly characterized in that a camera element and a radar dot matrix cloud observer element of a game engine are fixed on an intelligent agricultural machine, the measurement data of the environment can be dynamically output to a debugging target strategy part in a pixel matrix with a set frame rate, an intelligent strategy generates control over the harvester after calculation according to a perception processing and algorithm model, a header and forward steering control of the harvester are driven, and a simulated closed loop is realized. The camera element and the radar dot matrix cloud observation element can determine parameters such as fixed positions and quantity according to the simulation requirements of users on the actual unmanned harvester.
The method for simulating the operation of the unmanned agricultural machine comprises the steps of firstly constructing an unmanned agricultural machine model and an unmanned agricultural machine operation scene model based on a 3D game engine, wherein the unmanned agricultural machine model comprises a cavity sub-model, a header sub-model, an operation reference line sub-model, a front wheel model and a rear wheel model, the operation reference line sub-model is used for representing a reference line of the unmanned agricultural machine in a virtual operation process, the virtual operation process is used for simulating a real operation process, the unmanned agricultural machine operation scene model comprises virtual environment elements and virtual crop elements, the virtual environment elements represent the growth environment of virtual crops, the virtual crop elements represent the virtual crops, the growth environment of the virtual crops is used for simulating the growth environment of the real crops, and the virtual crops are used for simulating the real crops; and then simulating the real operation process of the unmanned agricultural machine by adopting the unmanned agricultural machine model and the unmanned agricultural machine operation scene model. The method realizes the unmanned agricultural machinery operation process through scene element interaction and element destruction simulation of the 3D game engine. The three-dimensional modeling part realizes integral modeling on unimportant parts and only carries out motion freedom degree constraint on key parts, thereby greatly reducing the system resource overhead and simplifying the model construction steps. The method includes the steps that an image acquisition device model and a radar model are utilized to simulate a camera and radar perception data installed on a real vehicle, the data are output into a debugging strategy to be subjected to closed-loop simulation, and perception effects of different radars and cameras in the market can be simulated by configuring observation element parameters. The problem of can't use general intelligent driving simulation platform to simulate the scene interaction of wisdom agricultural harvesting simulation training among the prior art is solved, the scene interaction demand of wisdom agricultural simulation has been realized.
The embodiment of the application further provides a device for simulating the operation of the unmanned agricultural machine, as shown in fig. 8, the device includes a building module 01 and a simulation module 02, the building module 01 is configured to build an unmanned agricultural machine model and an unmanned agricultural machine operation scene model based on a 3D game engine, the unmanned agricultural machine model includes a cavity sub-model, a header sub-model, an operation reference line sub-model, a front wheel model and a rear wheel model, the operation reference line sub-model is configured to represent a reference line of the unmanned agricultural machine in an operation process, the operation scene model includes fixed environment elements and crop elements, the fixed environment elements are configured to simulate a growth environment of a real crop, and the crop elements are configured to simulate interaction between the real crop and the growth environment of the real crop; the simulation module 02 is used for simulating the real operation process of the unmanned agricultural machine by adopting the unmanned agricultural machine model and the unmanned agricultural machine operation scene model.
Specifically, the 3D game engine includes: an editor, the functions of the editor including at least one of: scene editing, model editing, animation editing and particle editing; a third party plugin, the third party plugin to export data.
In order to simulate the harvesting operation of the unmanned agricultural machine, in an alternative embodiment, the real operation process of the unmanned agricultural machine is a real harvesting operation process, the virtual crop 30 is used for simulating the real crop which grows in the growing environment of the real crop, the simulation module further comprises a first determination module and a cutting module, and the first determination module is used for determining whether the reference line and the virtual crop intersect; the cutting module is used for cutting the virtual crop into two parts along the reference line under the condition that the reference line intersects with the virtual crop, wherein the part of the virtual crop above the reference line is eliminated, and the part of the virtual crop below the reference line is reserved.
In order to simulate the seeding operation of the unmanned agricultural machine, in an optional embodiment, the real operation process of the unmanned agricultural machine is a real seeding operation process, the virtual crop represents a seed of the virtual crop, and the simulation module further comprises a second determination module and a seeding module, wherein the second determination module is used for determining whether the reference line intersects with a preset growth area; specifically, the preset growth area can be 3D modeling with 5 acres of land reduced in equal proportion, 3D modeling with 8 acres of land reduced in equal proportion, and 3D modeling with 10 acres of land reduced in equal proportion; the seeding module is used for seeding the seeds of the virtual crops in the growth environment of the virtual crops under the condition that the reference line is intersected with the preset growth area.
In the practical application process, in order to better simulate the advancing and steering of the real unmanned agricultural machine and better simulate the operation of the real unmanned agricultural machine, the front wheel model comprises a first joint model and a second joint model, the first joint model is used for controlling the advancing of the unmanned agricultural machine model, and the second joint model is used for controlling the steering of the unmanned agricultural machine model; the rear wheel model comprises a third joint model, and the third joint model is used for controlling the steering of the rear wheel model; the header submodel comprises a fourth joint model, and the fourth joint model is used for controlling the operation angle of the header submodel.
In order to simulate the perception effects of different radars and cameras in the market, in an optional embodiment, the simulation module further comprises a construction unit and a simulation unit, wherein the construction unit is used for constructing an image acquisition device model and a radar model based on a 3D game engine; the simulation unit is used for simulating the real operation process of the unmanned agricultural machine according to the unmanned agricultural machine model, the unmanned agricultural machine operation scene model, the image acquisition equipment model and the radar model.
The device also comprises a first adjusting unit and a second adjusting unit, wherein the first adjusting unit is used for adjusting the advancing and the steering of the unmanned agricultural machinery model according to the image acquisition equipment model and the radar model; the second adjusting unit is used for adjusting the operation angle of the header sub-model according to the image acquisition equipment model and the radar model.
The device for simulating the operation of the unmanned agricultural machine comprises a construction module and a simulation module, wherein the construction module is used for constructing an unmanned agricultural machine model and an unmanned agricultural machine operation scene model based on a 3D game engine, the unmanned agricultural machine model comprises a cavity sub-model, a header sub-model, an operation reference line sub-model, a front wheel model and a rear wheel model, the operation reference line sub-model is used for representing a reference line of the unmanned agricultural machine in an operation process, the operation scene model comprises fixed environment elements and crop elements, the fixed environment elements are used for simulating the growth environment of real crops, and the crop elements are used for simulating the interaction between the real crops and the growth environment of the real crops; the simulation module is used for simulating the real operation process of the unmanned agricultural machine by adopting the unmanned agricultural machine model and the unmanned agricultural machine operation scene model. The method realizes the unmanned agricultural machinery operation process through scene element interaction and element destruction simulation of the 3D game engine. The three-dimensional modeling part realizes integral modeling on unimportant parts and only carries out motion freedom degree constraint on key parts, thereby greatly reducing the system resource overhead and simplifying the model construction steps. The image acquisition equipment model and the radar model are utilized to simulate the camera and radar sensing data installed on a real vehicle, the data are output to a debugging strategy to carry out closed-loop simulation, and the sensing effects of different radars and cameras in the market can be simulated by configuring observation element parameters. The problem of can't use general intelligent driving simulation platform to simulate the scene interaction of wisdom agricultural harvesting simulation training among the prior art is solved, the scene interaction demand of wisdom agricultural simulation has been realized.
An embodiment of the present application further provides a computer-readable storage medium, where the computer-readable storage medium includes a stored program, and when the program runs, the apparatus where the computer-readable storage medium is located is controlled to execute any one of the methods.
An embodiment of the present application further provides a simulation platform, including: one or more processors, memory, a display device, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including methods for performing any of the above simulated unmanned agricultural operations.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
From the above description, it can be seen that the above-mentioned embodiments of the present application achieve the following technical effects:
1) The method for simulating the operation of the unmanned agricultural machine comprises the steps of firstly constructing an unmanned agricultural machine model and an unmanned agricultural machine operation scene model based on a 3D game engine, wherein the unmanned agricultural machine model comprises a cavity sub-model, a header sub-model, an operation reference line sub-model, a front wheel model and a rear wheel model, the operation reference line sub-model is used for representing a reference line of the unmanned agricultural machine in a virtual operation process, the virtual operation process is used for simulating a real operation process, the unmanned agricultural machine operation scene model comprises virtual environment elements and virtual crop elements, the virtual environment elements represent the growth environment of virtual crops, the virtual crop elements represent the virtual crops, the growth environment of the virtual crops is used for simulating the growth environment of the real crops, and the virtual crops are used for simulating the real crops; and then simulating the real operation process of the unmanned agricultural machine by adopting the unmanned agricultural machine model and the unmanned agricultural machine operation scene model. The method realizes the unmanned agricultural machinery operation process through scene element interaction and element destruction simulation of the 3D game engine. The three-dimensional modeling part realizes integral modeling of unimportant parts, only carries out motion freedom degree constraint on key parts, greatly reduces system resource overhead and simplifies model construction steps. The image acquisition equipment model and the radar model are utilized to simulate the camera and radar sensing data installed on a real vehicle, the data are output to a debugging strategy to carry out closed-loop simulation, and the sensing effects of different radars and cameras in the market can be simulated by configuring observation element parameters. The problem of can't use general intelligent driving simulation platform to simulate the scene interaction of wisdom agricultural harvesting simulation training among the prior art is solved, the scene interaction demand of wisdom agricultural simulation has been realized.
2) The device for simulating the operation of the unmanned agricultural machine comprises a construction module and a simulation module, wherein the construction module is used for constructing an unmanned agricultural machine model and an unmanned agricultural machine operation scene model based on a 3D game engine, the unmanned agricultural machine model comprises a cavity sub-model, a header sub-model, an operation reference line sub-model, a front wheel model and a rear wheel model, the operation reference line sub-model is used for representing a reference line of the unmanned agricultural machine in an operation process, the operation scene model comprises fixed environment elements and crop elements, the fixed environment elements are used for simulating the growth environment of real crops, and the crop elements are used for simulating the interaction between the real crops and the growth environment of the real crops; the simulation module is used for simulating the real operation process of the unmanned agricultural machine by adopting the unmanned agricultural machine model and the unmanned agricultural machine operation scene model. The method realizes the unmanned agricultural machinery operation process through scene element interaction and element destruction simulation of the 3D game engine. The three-dimensional modeling part realizes integral modeling on unimportant parts and only carries out motion freedom degree constraint on key parts, thereby greatly reducing the system resource overhead and simplifying the model construction steps. The image acquisition equipment model and the radar model are utilized to simulate the camera and radar sensing data installed on a real vehicle, the data are output to a debugging strategy to carry out closed-loop simulation, and the sensing effects of different radars and cameras in the market can be simulated by configuring observation element parameters. The problem of can't use general intelligent driving simulation platform to simulate the scene interaction of wisdom agricultural harvesting simulation training among the prior art is solved, the scene interaction demand of wisdom agricultural simulation has been realized.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A method for simulating unmanned agricultural machinery operation is characterized by comprising the following steps:
the method comprises the steps that an unmanned agricultural machine model and an unmanned agricultural machine operation scene model are built based on a 3D game engine, the unmanned agricultural machine model comprises a cavity sub-model, a header sub-model, an operation reference line sub-model, a front wheel model and a rear wheel model, the operation reference line sub-model is used for representing a reference line of an unmanned agricultural machine in a virtual operation process, the virtual operation process is used for simulating a real operation process, the unmanned agricultural machine operation scene model comprises virtual environment elements and virtual crop elements, the virtual environment elements represent growth environments of virtual crops, the virtual crop elements represent the virtual crops, the growth environments of the virtual crops are used for simulating growth environments of real crops, and the virtual crops are used for simulating real crops;
and simulating the real operation process of the unmanned agricultural machine by adopting the unmanned agricultural machine model and the unmanned agricultural machine operation scene model.
2. The method of claim 1, wherein the real working process of the unmanned aerial vehicle is a real harvesting working process, the virtual crop is used for simulating the real crop that has grown in a growing environment of the real crop, and simulating the real working process of the unmanned aerial vehicle using the unmanned aerial vehicle model and the unmanned aerial vehicle working scene model comprises:
determining whether the reference line intersects the virtual crop;
in case the reference line intersects the virtual crop, cutting the virtual crop into two parts along the reference line, wherein the part of the virtual crop located above the reference line is eliminated and the part of the virtual crop located below the reference line is retained.
3. The method according to claim 1, wherein the real operation process of the unmanned agricultural machine is a real seeding operation process, the virtual crop represents a seed of a virtual crop, and the simulating the real operation process of the unmanned agricultural machine by using the unmanned agricultural machine model and the unmanned agricultural machine operation scene model comprises:
determining whether the reference line intersects with a preset growth area;
and under the condition that the reference line is intersected with the preset growth area, sowing seeds of the virtual crops in the growth environment of the virtual crops.
4. The method according to any one of claims 1 to 3,
the front wheel model comprises a first joint model and a second joint model, the first joint model is used for controlling the unmanned agricultural machine model to advance, and the second joint model is used for controlling the unmanned agricultural machine model to steer;
the rear wheel model comprises a third joint model, and the third joint model is used for controlling the steering of the rear wheel model;
the header sub-model comprises a fourth joint model, and the fourth joint model is used for controlling the operation angle of the header sub-model.
5. The method according to any one of claims 1 to 3, wherein simulating a real operation process of the unmanned agricultural machine by using an unmanned agricultural machine model and the unmanned agricultural machine operation scene model comprises:
constructing an image acquisition equipment model and a radar model based on a 3D game engine;
and simulating the real operation process of the unmanned agricultural machine according to the unmanned agricultural machine model, the unmanned agricultural machine operation scene model, the image acquisition equipment model and the radar model.
6. The method according to claim 5, wherein simulating the actual operation process of the unmanned agricultural machine according to the unmanned agricultural machine model, the unmanned agricultural machine operation scene model, the image acquisition device model and the radar model, the method further comprises:
adjusting the advancing and steering of the unmanned agricultural machinery model according to the image acquisition equipment model and the radar model;
and adjusting the operation angle of the header sub-model according to the image acquisition equipment model and the radar model.
7. The method of any of claims 1 to 3, wherein the 3D game engine comprises:
an editor, the functions of the editor including at least one of: scene editing, model editing, animation editing and particle editing;
a third party plugin for exporting data.
8. A device for simulating unmanned agricultural machinery operation, comprising:
the system comprises a building module, a control module and a control module, wherein the building module is used for building an unmanned agricultural machine model and an unmanned agricultural machine operation scene model based on a 3D game engine, the unmanned agricultural machine model comprises a cavity sub-model, a header sub-model, an operation reference line sub-model, a front wheel model and a rear wheel model, the operation reference line sub-model is used for representing a reference line of the unmanned agricultural machine in an operation process, the operation scene model comprises fixed environment elements and crop elements, the fixed environment elements are used for simulating the growth environment of real crops, and the crop elements are used for simulating the interaction between the real crops and the growth environment of the real crops;
and the simulation module is used for simulating the real operation process of the unmanned agricultural machine by adopting the unmanned agricultural machine model and the unmanned agricultural machine operation scene model.
9. A computer-readable storage medium, comprising a stored program, wherein the program, when executed, controls an apparatus in which the computer-readable storage medium is located to perform the method of any one of claims 1 to 7.
10. A simulation platform, comprising: one or more processors, memory, a display device, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprising instructions for performing the method of simulating unmanned agricultural work of any one of claims 1 to 7.
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| CN116382120A (en) * | 2023-04-26 | 2023-07-04 | 武汉工学智联科技有限公司 | Electromechanical system model simulation system based on 3D game engine driving |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116382120A (en) * | 2023-04-26 | 2023-07-04 | 武汉工学智联科技有限公司 | Electromechanical system model simulation system based on 3D game engine driving |
| CN116382120B (en) * | 2023-04-26 | 2024-01-19 | 武汉工学智联科技有限公司 | Electromechanical system model simulation system based on 3D game engine driving |
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