Study On Digital Twin System Of Indoor High Mobility Security Robot

As a versatile robot,the security robot has high scientific research value and practical significance,but its structure is complicated,the development cycle is long,the control is complicated,and the development is difficult.With the coming of the Industry 4.0 era,the construction of physical information systems has become the mainstream.As the best tool for the integration of physical information and virtual information,digital twins have received widespread attention,but there is currently a lack of research on digital twin development platforms.So as to get the problems of security robot control and research and development settled,a digital twin system development platform for indoor high-mobility security robots is proposed.The thesis mainly completed the following aspects of work:(1)The overall architecture of the security robot digital twin system development platform is proposed.The design of the digital twin system development platform and DT end in the overall framework of the development platform was completed.(2)The design of the security robot controller is completed.According to the functional requirements of the security robot,the functions of the power supply module,drive module and peripheral module in the controller are designed and completed.(3)The design of the secondary development module of the robot is completed.Based on the secondary development of the robot,the parametric drive and automatic assembly of the chassis and other parts are designed,which realizes the rapid development of the mechanical body of the same type of robot.(4)The overall structure of the digital signal processing algorithm library in the digital twin system development platform is proposed.This function consists of signal generation,signal operation,signal transformation,and filtering and windowing algorithms.The design and testing of the algorithm function is completed.(5)The design of the real-time database system is completed.The data collection,realtime data processing,timely alarm processing,historical data management,data compression and security encryption in the real-time database are specifically designed.(6)The design and verification of the integrated development environment for the digital twin system was completed.The system management,system monitoring and functional modules of the generated indoor high-mobility security robot digital twin application system are tested.Through the test of the above content,the designed digital twin system development platform has realized the expected function,has certain theoretical and practical significance,and laid a foundation for the further research of the robot digital twin development platform.