基于数字孪生的苹果采摘机器人监控系统研究  

Research on apple harvesting robot monitoring system based on digital twin

作　　者：薛径舟 冯青春 李涛 谢丰 郭正玮 赵春江[2] XUE Jingzhou;FENG Qingchun;LI Tao;XIE Feng;GUO Zhengwei;ZHAO Chunjiang(School of Information,Shanghai Ocean University,Shanghai 201306,China;Nationnal Research Center of Intelligent Equipment for Agriculture,Beijing 100097,China)

机构地区：[1]上海海洋大学信息学院,上海201306 [2]北京市农林科学院智能装备技术研究中心,北京100097

出　　处：《河北农业大学学报》2024年第6期1-7,16,共8页Journal of Hebei Agricultural University

基　　金：国家农业科技攻关重大项目(NK2023150202);北京市科技新星计划项目(20220484023).

摘　　要：为解决苹果采摘机器人作业过程中信息可视化程度低,设备数据采集困难的问题,提出了1种基于数字孪生的苹果采摘机器人实时监控系统。该系统基于苹果采摘机器人的整体结构与运动学分析结果,对机器人建立1个数字化孪生模型。利用多维度可视化监测模块和机器人孪生模型创建孪生数字场景,并结合数字孪生技术实现孪生模型与实体机器人之间的动态映射和虚实交互。融合机器人ROS软件架构和TCP通信协议,建立孪生模型与苹果采摘机器人之间的信息桥梁。开发了支持Unity和Web终端程序的机器人孪生监控系统,并对系统进行功能测试,测试证明模型和实体虚实同步过程中系统平均帧时为14.5 ms,机器人虚实关节的位移差值小于0.05 m,为数字孪生技术在农业机器人上的应用提供了有效的参考。The paper proposed a real-time monitoring system based on digital twin aiming to address the low level of information visualization and the challenges in equipment data collection during the operation of the apple harvesting robot.The system established a digital twin model of the robot by considering its overall structure and kinematic analysis results.It utilized multidimensional visualization monitoring modules and the twin model to create a digital twin scene,enabling dynamic mapping and virtual-real interaction between the twin model and the physical robot.By integrating the robot's ROS software architecture and TCP communication protocol,an information bridge was established between the twin model and the apple harvesting robot.We further developed a robot twin monitoring system supporting Unity and Web terminal programs,which underwent functional testing.The test results showed that the average frame time of the system was 14.5 ms with a displacement difference less than 0.05 m for the virtual-real joints of the robot during the virtual-real synchronization process of the model and the physical entity.This study provides valuable insights into applying digital twin technology in agricultural robots.

关 键 词：数字孪生 苹果采摘机器人 虚实交互 监控系统 

分 类 号：TP315[自动化与计算机技术—计算机软件与理论] S24[自动化与计算机技术—计算机科学与技术]