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Decentralized Real-time Simulation of Forest Machines

机译：林业机械的分散实时仿真

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摘要

To develop realistic forest machine simulators is a demanding task. A useful simulator has to provide a close-to-reality simulation of the forest environment as well as the simulation of the physics of the vehicle. Customers demand a highly realistic three dimensional forestry landscape and the realistic simulation of the complex motion of the vehicle even in rough terrain in order to be able to use the simulator for operator training under close-to-reality conditions. The realistic simulation of the vehicle, especially with the driver's seat mounted on a motion platform, greatly improves the effect of immersion into the virtual reality of a simulated forest and the achievable level of education of the driver. Thus, the connection of the real control devices of forest machines to the simulation system has to be supported, i.e. the real control devices like the joysticks or the board computer system to control the crane, the aggregate etc. Beyond, the fusion of the board computer system and the simulation system is realized by means of sensors, i.e. digital and analog signals. The decentralized system structure allows several virtual reality systems to evaluate and visualize the information of the control devices and the sensors. So, while the driver is practicing, the instructor can immerse into the same virtual forest to monitor the session from his own viewpoint. In this paper, we are describing the realized structure as well as the necessary software and hardware components and application experiences.
机译：开发现实的林机模拟器是一项艰巨的任务。一个有用的模拟器必须提供对森林环境的接近真实的模拟以及车辆物理的模拟。客户要求高度逼真的三维林业景观以及即使在崎terrain的地形中也要对车辆的复杂运动进行逼真的仿真，以便能够将仿真器用于在逼真的条件下进行操作员培训。车辆的真实模拟，尤其是将驾驶员座椅安装在运动平台上，可以大大提高沉浸在模拟森林的虚拟现实中的效果，并可以提高驾驶员的教育水平。因此，必须支持林业机械的实际控制设备与模拟系统的连接，即，实际控制设备，如操纵杆或控制起重机，骨料等的板载计算机系统。计算机系统和仿真系统是通过传感器，即数字和模拟信号来实现的。分散的系统结构允许几个虚拟现实系统评估和可视化控制设备和传感器的信息。因此，在驾驶员练习的同时，讲师可以浸入相同的虚拟森林中，以从他自己的角度监视会话。在本文中，我们将描述已实现的结构以及必要的软件和硬件组件以及应用程序体验。

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