基于数字孪生的移动机器人虚实交互系统  

Virtual-physical interaction system for mobile robots based on digital twins

作　　者：姜善英 解乃军[1] 殷冬年 夏磊 JIANG Shanying;XIE Naijun;YIN Dongnian;XIA Lei(Nanjing Institute of Technology,Jiangsu Nanjing 211167,China)

机构地区：[1]南京工程学院,江苏南京211167

出　　处：《工业仪表与自动化装置》2025年第2期69-75,共7页Industrial Instrumentation & Automation

摘　　要：针对当前数字孪生移动机器人虚实交互系统研究较少,数据传输缺乏安全保障等问题,设计了基于数字孪生的移动机器人虚实交互系统。首先对孪生模型进行了构建、优化与迁移;其次设计了物理实体与孪生虚体的数据交互方案,在数据传输过程中,采用SHA-256哈希加密算法保证数据传输的可靠性,为了提高数据的传输效率,使用Deflate压缩算法对消息数据轻量化,最终实现数据实时交互功能;最后以移动机器人为对象开发了虚实交互系统,验证了该系统的可行性。Research on virtual-physical interaction systems for mobile robots based on digital twins is currently limited,with issues such as insecure data transmission.To address this,a virtual-physical interaction system for mobile robots based on digital twins is designed.Firstly,digital twin models are constructed,optimized,and migrated.Secondly,a data exchange scheme between physical entities and digital twin counterparts is devised.During data transmission,the SHA-256 hash encryption algorithm is employed to ensure reliability.To enhance data transmission efficiency,the Deflate compression algorithm is utilized for lightweight messaging.Ultimately,real-time interactive functionality is achieved.Finally,a virtual-physical interaction system is developed targeting mobile robots,validating the feasibility of the system.

关 键 词：数字孪生 移动机器人 虚实交互 SHA-256哈希算法 

分 类 号：TP227[自动化与计算机技术—检测技术与自动化装置]