基于ROS-Unity的移动机器人虚实交互场景构建方法的研究
Research on Constructing Virtual-Real Interactive Scene of Mobile Robot Based on ROS-Unity

针对工业生产过程中出现的人工巡检工作量大、工业环境存在潜在危险等情况，本文提出了一种将ROS机器人操作系统与Unity3D软件相结合的方法。通过构建虚实交互场景，实现控制虚拟机器人和真实机器人交互移动，真实机器人反馈回来的环境信息也能映射于虚拟场景中，形成一种虚实交互的控制形式，相较于传统机器人控制，虚实交互控制可以使用户身历其境，拥有切实现场体验，统筹全局，也可用于机器人算法训练、观测状态信息、参数优化等。本项目通过ROS系统使用SLAM算法构建现实场景地图，并将其映射到Unity3D环境，以构建工业生产虚拟场景，同时将ROS作为Unity与真实机器人交互的中间件，采用OpenCV作为视觉交互，在无线通信、Rosbridge框架等技术的支持下实现数据交互，最终设计出了此虚实交互场景构建方案。
In view of the large manual inspection workload and potential hazards in the industrial environ-ment during the industrial production process, this paper proposes a method to combine the ROS robot operating system with Unity3D software. By constructing virtual and real interactive scenes, the interactive movement of virtual robots and real robots can be controlled. The environment information fed back by the real robots can also be mapped in the virtual scene, forming a virtual and real interactive control form. Compared with traditional robot control, virtual and real inter-active control, it can enable users to immerse themselves in the environment, have a practical on-site experience, coordinate the overall situation, and can also be used for robot algorithm training, observation status information, parameter optimization, etc. This project uses the SLAM algorithm to build a real scene map through the ROS system and maps it to the Unity3D environ-ment to build a virtual scene of industrial production. At the same time, ROS is used as the mid-dleware for Unity and real robot interaction, and OpenCV is used as the visual interaction, and in wireless communication, Rosbridge framework and other technologies support data interaction, and finally we designed this virtual-real interaction scenario construction plan.