基于数字孪生的移动机器人可视化监控系统

Mobile robot 3D visual monitoring system based on digital twin

针对当前移动机器人监控系统研究比较缺乏的问题,以及现有监控系统可视化差、透明度低及灵活性不足等缺陷,设计了一种基于数字孪生的移动机器人三维可视化监控系统。对监控系统的框架进行了介绍,在此基础上对系统中虚拟模型构建、数据采集与映射等关键技术进行了阐述。针对实时状态映射问题,提出了移动机器人数字孪生虚实映射技术,通过在线采集与孪生映射,实现了信息实时交互。以移动机器人为应用对象,开发了原型三维可视化监控系统,验证了该系统的有效性。

Aiming at the lack of existing research on mobile robot monitoring system and the defects of poor visualization,low transparency and low flexibility of existing monitoring system,a three-dimensional visual monitoring system of mobile robot based on digital twin was proposed.The framework of monitoring system was introduced,based on this,key technologies such as virtual model construction,data acquisition and mapping in the system were elaborated.In order to solve the problem of real-time state mapping,a virtual real-time mapping technology was proposed.Through online acquisition and twin mapping,the real-time infor-mation interaction was realized.A prototype three-dimensional visual monitoring system for mobile robot was developed,which proved the effectivity of the proposed system.