摘要
多机器人装配系统因路径耦合与动态干涉复杂性,易引发高频碰撞失稳事件,需构建高实时性虚实融合预警机制。基于此,提出数字孪生驱动下多机器人装配过程碰撞预警方法架构,研究基于数字孪生系统构建的装配线建模、设备互联架构与语义分割机制,提出远距离预检测与精确检测协同驱动的分级预警方法,旨在实现装配环境下多机器人系统状态感知、风险映射与动态干涉响应的结构化建模。测试实验表明,该方法能在多机器人动态交互场景中准确捕捉潜在干涉,及时输出有效预警,提升作业安全性与效率,为完成复杂装配任务提供可靠保障。
Due to the complexity of path coupling and dynamic interference in multi-robot assembly systems,high-frequency collision instability events are prone to occur,it is necessary to construct a high real-time virtual-real fusion early warning mechanism.Based on this,this paper proposes the architecture of collision warning methods for multi-robot assembly driven by digital twins,investigates assembly line modeling,device interconnection,and semantic segmentation based on digital twin systems,and proposes a hierarchical prediction approach driven by long-range pre-detection and precise detection,aiming to achieve structured modeling of state awareness,risk mapping,and dynamic interference response in robotic assembly environments.Test experiments show that this method can accurately capture potential interference in multi-robot dynamic interaction scenarios,promptly output effective early warnings,enhance the safety and efficiency of operations,and provide reliable guarantees for completing complex assembly tasks.
作者
许晋波
XU Jinbo(Longnan Normal University,Longnan 742500)
出处
《现代制造技术与装备》
2025年第9期75-78,共4页
Modern Manufacturing Technology and Equipment
关键词
机器人装配
碰撞预警
数字孪生
robotic assembly
collision warning
digital twin
