基于ROS和Unity的自动导航小车状态监控研究  

Research on Status Monitoring of Autonomous Navigation Vehicle Based on ROS and Unity

作　　者：王超[1] 鲁玉军[1] 

机构地区：[1]浙江理工大学机械工程学院,浙江 杭州

出　　处：《建模与仿真》2023年第3期2421-2431,共11页Modeling and Simulation

摘　　要：针对传统仓储物流工厂中普遍存在借助于人力完成产品的存储和搬运、人力成本高昂且浪费严重、智能化程度低等情况,提出一种将ROS平台与Unity开发软件相结合的方法来智能监控AGV运行,提高工厂智能化,提高效率。通过构建数字孪生体,实现虚拟AGV和真实AGV的实时交互,完成以虚映实、以虚控实。建立真实AGV的虚拟模型,ROS系统作为服务端安装ROS-TCP-Endpoint服务,Unity作为客户端安装ROS-TCP-Connector服务,完成数据互通,最终在Unity中开发出状态监控系统。通过该系统,促进人与机器高效合作,降低错误产生的可能,利用数据交互进行仿真,更加直观地对AGV进行分析和优化,进而提高仓储物流工厂的工作效率。In view of the common situations in traditional warehousing and logistics factories that rely on manpower to complete product storage and handling, high labor costs and serious waste, and low intelligence, a method combining ROS platform and Unity development software is proposed to in-telligently monitor AGV operation, improve factory intelligence, and improve efficiency. By con-structing a digital twin, real-time interaction between virtual AGVs and real AGVs is realized, and virtual mapping and virtual control of reality are achieved. Establish a virtual model of a real AGV, install the ROS-TCP-Endpoint service on the ROS system as the server, and install the ROS-TCP- Connector service on the Unity client to complete data exchange. Finally, a status monitoring system in Unity is developed. Through this system, we can promote efficient cooperation between people and machines, reduce the possibility of errors, utilize data interaction for simulation, and more in-tuitively analyze and optimize AGVs, thereby improving the efficiency of warehousing and logistics factories.

关 键 词：UNITY 智能监控 虚拟模型 数据交互 实时交互 仓储物流 状态监控 自动导航小车 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]