(EN) The invention relates to a digital twin modeling method for milling of a mobile robot. The method comprises the following steps of: (1) performing unit division on a milling system of the mobile robot; (2) carrying out multi-level division on the machining process of the mobile robot for digital twin modeling; (3) extracting key features based on multi-level division; (4) acquiring measurement data based on a physical entity; (5) performing noise reduction and normalization processing on the data; (6) carrying out a multi-level reverse modeling method; and (7) dynamically reconstructing and matching a digital twin model. According to the method, the construction accuracy of the digital twin model is improved, real-time updating is achieved, effective fusion of the virtual environment and the physical environment is guaranteed, and a foundation is laid for the subsequent prediction, regulation and control, optimization and other processes of the machining process of the mobile robot driven by twinning data.
(ZH) 本发明涉及一种面向移动机器人铣削加工的数字孪生建模方法，包括如下步骤：(1)对移动机器人铣削加工系统进行单元划分；(2)面向数字孪生建模的移动机器人加工过程多层次划分；(3)基于多层次划分的关键特征提取；(4)基于物理实体的测量数据获取；(5)数据的降噪与归一化处理；(6)多层次的逆向建模方法；(7)数字孪生模型动态重构与匹配。本发明提高了数字孪生体模型构建的准确性，实时更新，保证了虚拟环境与物理环境的有效融合，为后续的孪生数据驱动的移动机器人加工过程预测、调控、优化等过程奠定基础。
