Research On Industrial Robot Digital Twin System Combined With Intelligent Vision

With the introduction of plans such as "Industry 4.0" and "Made in China 2025",the production mode of the manufacturing industry is shifting towards intelligence.Digital Twin(DT),as an important way to realize intelligent manufacturing,is constantly being valued by the industry.This article takes industrial robots as research objects,builds industrial robot digital twin prototype systems,and studies the industrial robot motion simulation,intelligent visual recognition positioning and state monitoring.The main research contents are as follows:Firstly,based on the analysis of the current status of digital twin research at home and abroad,the design goals and principles of the digital twin system for industrial robots are established.Based on this,the functional modules of the system are divided and the overall architecture of the digital twin system for industrial robots is established.Secondly,construct virtual robots,study the simulation technology of virtual robots and the synchronization technology with industrial robots.Construct a three-dimensional digital model of the industrial robot,and derive the transformation relationship between the joint angle of the virtual robot and the industrial robot,and establish the motion model and regular model of the virtual robot;write motion control instructions in the job instruction system,control the virtual robot motion,and realize the industrial robot motion simulation and virtual-real synchronous motion.Thirdly,research the intelligent visual recognition positioning technology and state monitoring technology of virtual robots.Lightweight improvement of the YOLOv3 target detection algorithm based on deep learning,and the use of a binocular camera and an improved nine-point calibration algorithm to establish hand-eye relationships,so that industrial robots can quickly locate and grab objects;Aiming at multi-source data and data characteristics,the synchronous acquisition structure and data filtering algorithm of industrial robot motion data are designed to study the 3D virtual monitoring technology.The collected data is used to perform fault detection on industrial robots.Finally,integrate the above technical content to develop a Dobot robot-based digital twin prototype system for industrial robots;implement the system's motion simulation,intelligent visual recognition positioning and grasping,state monitoring,and the case is used to verify the consistency of the operating status of the virtual robot and the physical industrial robot.