人机环境动静融合的数字孪生车间快速建模方法  

Rapid Modeling Method of Digital Twin Workshop Based on Dynamic and Static Fusion of Human-Machine-Environment

作　　者：王昊琪 李旭鹏 李浩 张玉彦 杨文超 何文斌 王永强 文笑雨 刘根 杨新宇 解伟 WANG Haoqi;LI Xupeng;LI Hao;ZHANG Yuyan;YANG Wenchao;HE Wenbin;WANG Yongqiang;WEN Xiaoyu;LIU Gen;YANG Xinyu;XIE Wei(Zhengzhou University of Light Industry,Zhengzhou 450002,China;Henan Key Laboratory of Intelligent Manufacturing of Mechanical Equipment,Zhengzhou 450002,China;Zhengzhou Coal Mining Machinery(Group)Co.,Ltd.,Zhengzhou 450007,China;GREE Electric Appliances(Zhengzhou)Co.,Ltd.,Zhengzhou 450066,China)

机构地区：[1]郑州轻工业大学,郑州450002 [2]河南省机械装备智能制造重点实验室,郑州450002 [3]郑州煤矿机械集团股份有限公司,郑州450007 [4]格力电器(郑州)有限公司,郑州450066

出　　处：《航空制造技术》2024年第11期14-22,共9页Aeronautical Manufacturing Technology

基　　金：国家自然科学基金(52275277);河南省自然科学基金优青项目(242300421075);河南省重大科技专项(221100220200);河南省科技攻关项目(232102221043)。

摘　　要：数字孪生车间对于新车间的设计和原有车间的升级改造意义重大,但是“人-机-环境”动静共融的特点为数字孪生车间的快速建模带来了挑战。现有方法存在车间三维场景建模效率低、难以实现动静融合建模、缺少动静融合性的定量评估等问题。针对上述问题,在数字孪生车间概念下,结合三维扫描技术、室内定位技术、传感器技术等,提出人机环境动静融合的数字孪生车间快速建模方法,建立了对应的建模框架,研究了基于三维激光扫描的数字孪生车间静态环境快速重构、基于多传感器融合的车间动态对象感知、实时数据驱动的动静融合,并设计动静态融合评价指标,对所构建数字孪生车间的融合效果进行量化评估。最后,结合郑州轻工业大学机器人制造车间进行测试,验证了所提方法的可行性和有效性。The digital twin workshop is of great significance for the design of the new workshop and the upgrading of the original workshop,but the characteristics of“human–machine–environment”dynamic and static integration bring challenges to the rapid modeling of the digital twin workshop.The existing methods have problems such as low efficiency of workshop 3D scene modeling,difficulty in realizing dynamic and static fusion modeling,and lack of quantitative evaluation of dynamic and static fusion.For the above problems,under the existing concept of digital twin workshop,combined with three-dimensional scanning technology,indoor positioning technology,sensor technology,etc.,a rapid modeling method of digital twin workshop based on dynamic and static fusion of human–machine–environment is proposed,and the corresponding modeling framework is established.The rapid reconstruction of the static environment of the digital twin workshop based on three-dimensional laser scanning,the dynamic object perception of the workshop based on multi-sensor fusion,and the dynamic and static fusion driven by real-time data are studied.The evaluation index of dynamic and static fusion is designed to quantitatively evaluate the fusion effect of the constructed digital twin workshop.Finally,the robot manufacturing workshop of Zhengzhou University of Light Industry is tested to verify the feasibility and effectiveness of the proposed method.

关 键 词：数字孪生车间 快速重建 人-机-环境 动静融合 定量评估 

分 类 号：TP399[自动化与计算机技术—计算机应用技术] TB49[自动化与计算机技术—计算机科学与技术]