Inspection Robot Based on Offline Digital Twin Synchronization Architecture
Jinhao Li, Manlu Liu, Weidong Wang, Changqing Hu
Abstract
Aiming at the problems of personnel safety and work efficiency in complex environments, to facilitate real-time and reliable inspection, this paper proposes a virtual-real control system for inspection robots based on Unity and Robot Operating System (ROS). The robot entity uses the ROS system to use the SLAM algorithm to construct a real scene map, and maps it to the Unity3D environment, realizes data interaction with the support of wireless communication and other technologies, transmits data in real-time to drive the motion of the twin body, and remotely observes the movement of the physical entity; The virtual side can perform algorithm training and save the planned safe and feasible path. The key points on the path are supplemented by the ROS underlying algorithm to further ensure the reliability of the path, and the experimental process of virtual-real synchronization is demonstrated graphically.