基于Unity3D与多源数据融合的机器人可视化监控方法研究  

Research on robot visual monitoring method based on Unity3D and multi-source data fusion

作　　者：张永强 孙文磊[1] 刘国良[1] 牛进鑫 ZHANG Yongqiang;SUN Wenlei;LIU Guoliang;NIU Jinxin(School of Mechanical Engineering,Xinjiang University,Urumqi 830049,CHN)

机构地区：[1]新疆大学机械工程学院,新疆乌鲁木齐830049

出　　处：《制造技术与机床》2024年第12期30-37,共8页Manufacturing Technology & Machine Tool

基　　金：自治区重点项目“机器人空间自由曲面高精高效智能加工系统研究与应用示范”(2022LQ03007)。

摘　　要：为满足工业机器人数字化转型和安全生产的急切需求,通过总结工业机器人智能监控现状,以UR10机器人为研究对象,从孪生建模、多源数据融合、数据可视化等方面入手,引入数字孪生虚拟映射方法,搭建虚实交互层,构建三维可视化监控数字孪生框架;结合机器人运动学,构建机器人数学模型,基于数字孪生五维模型通过Unity3D平台开发了工业机器人的三维可视化监控系统;通过可靠性分析对机器人可视化监控系统进行分析;最后试验验证了该系统的可行性,为工业机器人数字孪生监控系统的开发提供了理论基础。In order to meet the urgent needs of digital transformation and safe production of industrial robots,by summarizing the current situation of intelligent monitoring of industrial robots,taking UR10 robot as the research object,starting from the aspects of twin modeling,multi-source data fusion,data visualization,etc.,digital twin virtual mapping method is introduced,virtual and real interaction layer is built,and 3D visual monitoring digital twin framework is constructed.Combined with robot kinematics,a robot mathematical model was built,and a 3D visual monitoring system for industrial robots was developed through the Unity3D platform based on the digital twin five-dimensional model.The robot visual monitoring system is analyzed by reliability analysis.Finally,the feasibility of the system is verified by experiments,which provides a theoretical basis for the development of digital twin monitoring system for industrial robots.

关 键 词：工业机器人 UNITY3D 数字孪生 实时动态监测 虚实控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]