Abstract: 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.

Key words: digital twin, intelligent manufacturing, aircraft assembly, inspection robot

摘要： 针对飞机装配状态的检验工作,传统的检验方法是人工巡检,效率低、无监督且易出错。为解决上述人工巡检存在的问题,提出一种基于数字孪生的巡检机器人系统,通过数字孪生系统物理层和模型层的双向数据传输实现机器人相机朝向的实时优化和虚实机器人的状态同步,获取待检测区域的真实图像和标准数模图像,通过虚实图像对比获取检测结果,并使用多种可视化手段将检测结果回馈给现场工人。最后,通过设计实验验证了所提数字孪生系统对相机朝向的优化效果,并分析了各传感器精度和状态同步延迟对虚实图像区域的影响,验证了本文飞机装配状态巡检机器人数字孪生系统的可行性。

关键词: 数字孪生, 智能制造, 飞机装配, 巡检机器人