摘要
近年受疫情影响,线上与线下相结合的混合式教学成为常态,而机器人实验教学却因实验器材的影响难以开展线上教学。部分高校采用市面上的虚拟仿真软件,其中部分软件满足了线上实验教学的需求,但大多数软件相比实际系统仍存在较大差异,因此仿真的程序无法导入实物设备运行,只能用于原理演示。针对上述问题,设计一种利用Unity3D和ROS技术相结合实现的实验教学系统,该系统最大特点是:设置了三个实验阶段,分别对应纯虚拟实验、半虚拟半实物实验和纯实物实验,实现了线上虚拟实验向线下实物实验平滑过渡,做到了虚实融合。该教学平台分为服务器端和客户端,客户端可以独立运行在个人手提电脑或台式电脑上,在具备GPU GTX 1660Ti的手提电脑上,平均处理帧数达到100帧(图像分辨率为1033×419),具有良好的仿真效果。
In recent years,the hybrid teaching combining online and offline has become normal due to the influence of the epidemic.However,it is fairly difficult to carry out the robot experimental education online because of the influence of experimental equipment.Although the virtual simulation software on the market is adopted by some colleges and universities to satisfy the requirements of the online experimental education to some extent,most of them can only be used for principle demonstration,because this kind of software is extremely different from the actual system.The simulation programs can not run in the physical equipment.In view of the above problems,this paper designs an experimental teaching system based on the technology integrating Unity3D and ROS.The most distinct characteristic of the experimental teaching system is that the system includes three experimental stages,corresponding to pure virtual experiment,semi-virtual semi-physical experiment and pure physical experiment,respectively.These three stages are seamlessly connected to realize the smooth transition from online virtual experiment,to offline physical experiment,achieving the integration of virtual and physical experiments.The teaching platform is grouped into a server side and a client side.The client side can manage independently on personal laptop or desktop computer.On the laptop with GPU GTX 1660Ti,the average processing frame number reaches 100 frames(image resolution is 1033×419),which has a good simulation effect.
作者
梁航
陈湘骥
陈煜塬
黄俊曦
Liang Hang;Chen Xiangji;Chen Yuyuan;Huang Junxi(College of Mathematics and Information,South China Agricultural University,Guangzhou 510642)
出处
《现代计算机》
2022年第24期100-105,共6页
Modern Computer
基金
2020年度广东省高等教育教学改革项目编号95(粤教高函【2020】20号)
大学生创新创业训练计划项目(X202110564073)。
