基于数字孪生的飞机装配状态巡检机器人的建模与控制

Aiming at the inspection of aircraft assembly status, the traditional inspection manual inspection is inefficient, unsupervised and error-prone. To solve the above problem of manual inspection, an inspection robot system based on digital twin was proposed. Real-time optimization of camera orientation and state synchronization of virtual and real robots were realized through bidirectional data transmission between physical layer and model layer of digital twin system. Then the real scene image and standard digital image of the same area to be detected were realized. The inspection results were obtained by comparing the real scene images and standard model images of the area to be inspected, and multiple visualization techniques could be used to feedback the inspection results to on-site workers. An experiment was designed to verify the optimal effect of the digital twin system on camera orientation, and the influence of sensor precision and state synchronization delay on the regions of virtual and real image was analyzed. The experimental results verified the feasibility of the digital twin system of the aircraft assembly state inspection robot.