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1. CN111964575 - Digital twin modeling method for milling of mobile robot

Office
China
Application Number 202010642150.8
Application Date 06.07.2020
Publication Number 111964575
Publication Date 20.11.2020
Grant Number 111964575
Grant Date 01.02.2022
Publication Kind B
IPC
G01B 11/00
GPHYSICS
01MEASURING; TESTING
BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
11Measuring arrangements characterised by the use of optical means
G01B 11/16
GPHYSICS
01MEASURING; TESTING
BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
11Measuring arrangements characterised by the use of optical means
16for measuring the deformation in a solid, e.g. optical strain gauge
G06T 17/20
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
173D modelling for computer graphics
20Wire-frame description, e.g. polygonalisation or tessellation
B25J 11/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
11Manipulators not otherwise provided for
B25J 9/16
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
B25J 9/08
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
08characterised by modular constructions
CPC
G01B 11/002
GPHYSICS
01MEASURING; TESTING
BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
11Measuring arrangements characterised by the use of optical means
002for measuring two or more coordinates
G01B 11/16
GPHYSICS
01MEASURING; TESTING
BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
11Measuring arrangements characterised by the use of optical means
16for measuring the deformation in a solid, e.g. optical strain gauge
G06T 17/20
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
17Three dimensional [3D] modelling, e.g. data description of 3D objects
20Finite element generation, e.g. wire-frame surface description, ; tesselation
B25J 11/0055
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
11Manipulators not otherwise provided for
005Manipulators for mechanical processing tasks
0055Cutting
B25J 9/1602
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1602characterised by the control system, structure, architecture
B25J 9/08
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
08characterised by modular constructions
Applicants BEIJING SATELLITE MANUFACTURING FACTORY CO., LTD.
北京卫星制造厂有限公司
Inventors WEN KE
文科
ZHANG JIABO
张加波
HAN JIANCHAO
韩建超
YUE YI
乐毅
ZHOU YINGHAO
周莹皓
HAN MIAOLING
韩妙玲
LIU JIAOWEN
刘娇文
Agents 中国航天科技专利中心 11009
Title
(EN) Digital twin modeling method for milling of mobile robot
(ZH) 一种面向移动机器人铣削加工的数字孪生建模方法
Abstract
(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。
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