Virtual simulation system for complex tasks of intelligent system

A technology for intelligent systems and complex tasks, applied in the field of virtual simulation, can solve problems such as the lack of an open source simulation rendering platform for intelligent systems

Active Publication Date: 2019-10-11
NANKAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of this invention is to solve the problem that there is no open source simulation rendering platform for complex tasks facing intelligent sy...

Method used

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  • Virtual simulation system for complex tasks of intelligent system
  • Virtual simulation system for complex tasks of intelligent system
  • Virtual simulation system for complex tasks of intelligent system

Examples

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Embodiment 1

[0027] Examples of the present invention according to Figure 7 The open source technology framework shown in the figure builds the robot operation module, virtual rendering module, and user interaction module in turn, and presses Figure 8 As shown, these three modules are connected to each other to form a virtual simulation system for complex tasks of intelligent systems.

[0028] Step 1. Develop the robot operation module based on ROS under the Ubuntu operating system, integrate the robot kinematics, motion controller, and robot inverse kinematics corresponding to the physical robot, and manipulate and monitor the physical robot.

[0029] Step 2. Develop a virtual rendering module based on the open source rendering simulation engine osgEarth. The 3D model of the robot is exported by professional modeling software Solidworks, 3DMAX, etc., including assembly parameters and material lighting. The robot here includes both moving body and static body. During actual rendering, ...

Embodiment 2

[0034] Examples of the present invention according to figure 1 As shown in the process, in the proposed virtual simulation system for complex tasks of intelligent systems, a scene is constructed according to the real robot model and the operating environment, and the scene is placed in a certain area on the surface of the earth in 3D-GIS, and then interacts with the real robot system to carry out Simulation rendering, interacting with users through traditional peripherals or VR and AR devices.

[0035] Step 1. According to the real robot model and operating environment, such as Figure 6 As shown, first construct a local virtual scene, such as image 3 . The model used can be modeled by 3DMAX and then imported into the scene design module of CyberEarth, and its pose can be adjusted with simple button operations, or it can be used to directly input fixed angles, Euler angles, quaternions, fourth-order pose transformation matrices, etc. way to adjust the pose precisely.

[0...

Embodiment 3

[0040] Examples of the present invention according to figure 1 In the process shown, in the proposed virtual simulation system for complex tasks of intelligent systems, a multi-UAV collaborative operation scenario is constructed according to the real UAV model and the requirements of complex task operations in wide-area and dynamic environments. And put it over the Wanglang Nature Reserve in the virtual world to simulate the 3D coverage and reconstruction. The screenshot of the simulation effect is as follows: Figure 9 .

[0041] Step 1. Start the simulation platform, create a new project, and load digital earth and large-scale geographic information images and elevation data.

[0042] Step 2. Import the static body model of the environment, and manipulate each module to perform operations such as translation and rotation to build a drone mission scene.

[0043] Step 3. Import or select the dynamic model of the multi-agent / UAV under the system model tree, and customize the ...

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Abstract

The invention provides a virtual simulation system for complex tasks of an intelligent system. The system is composed of a robot operation module, a virtual rendering module and a user interaction module, and a set of open source technology framework is realized. The robot operation module serves as a bottom robot operation layer and interacts with a real robot in real time through an ROS; the virtual rendering module is used as a virtual environment layer for intermediate rendering, and is developed based on an open source GIS simulation engine osgEarth to realize common simulation of a geographic information system and a robot system; the user interaction module serves as an upper user layer, interacts with a user through VR equipment, AR equipment and a virtual driving system, and is operated by a script written by the user. The system can be widely applied to aspects such as simulation and experimental planning for complex tasks of an intelligent system.

Description

technical field [0001] The invention belongs to the field of virtual simulation, in particular to a set of CyberEarth, an experimental platform for merging robot system simulation and GIS data, which is oriented to complex tasks of intelligent systems. Background technique [0002] With the development of computer technology, virtual simulation technology has gradually formed its own system, becoming the third basic method for human beings to understand the objective laws of nature after mathematical reasoning and scientific experiments, and is developing into a method for human beings to understand, transform and create the objective world. Versatile, strategic technology. [0003] Existing virtual simulation systems often focus on "imitation", and there is a problem of "imitation" but not "real". At the same time, it is difficult to achieve effective real-time interaction with multi-robot clusters in general large-scale scenarios, and the robot system and geographic infor...

Claims

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Application Information

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IPC IPC(8): G06F3/01G06F9/451G06F9/54G06T19/00
CPCG06F3/011G06F9/451G06F9/544G06T19/003G06T19/006
Inventor 王鸿鹏张晓阳
Owner NANKAI UNIV
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