| As the world’s largest manufacturing country,China’s manufacturing industry maintains a good growth trend.As an important part of the manufacturing industry,the traditional warehousing workshop still uses manual handling to store products,which poses problems such as waste of human resources and low work efficiency.The use of Automated Guided Vehicle(AGV)to complete product transportation and sorting during production can effectively solve the above problems.At the same time,as a new Digital transformation technology of manufacturing industry,Digital Twin will integrate it with AGV technology and establish a real-time monitoring system to achieve more effective warehouse workshop management.Based on the five dimensional model of digital twin,this paper completes the establishment of virtual entity,the data and communication connection between physical entity and virtual entity,and the construction and performance test of AGV status digital twin monitoring system with AGV physical entity.The main research content of the paper is as follows:(1)Based on the concept of digital twin five dimensional model and the research object of AGV physical entity,the digital twin five dimensional model of AGV is established,including physical entity,virtual entity,twin data,connection and service.Focusing on the five dimensional model,this study focuses on the establishment of AGV virtual entities,the collection and communication of twin data,and the construction of AGV state digital twin monitoring system.(2)Taking the AGV physical entity as the research object,the preliminary construction of the AGV digital twin virtual model was completed through Solid Works.The model was lightened using 3d Max to improve the processing speed of the computer,and the model loading was completed in the Unity virtual space to achieve the establishment of the AGV virtual entity.(3)Analyze and study the twin data related to physical entity and virtual entity and their interaction problems,classify the data,and complete the establishment of digital twin AGV information model.Build the AGV physical entity’s operating system ROS,and establish the connection between the ROS server and the Unity client through the TCP protocol,so as to realize the complete and real-time synchronization between virtual entities and physical entity.(4)According to the purpose and requirements of the system design,the development environment,user interface,and other functions of the AGV state digital twin monitoring system are designed in the Unity virtual space.The implementation and display of visual interaction,real-time monitoring,motion control,and other functions are completed,and the reliability and compatibility analysis of the system is conducted to prove that the designed and constructed system has practical value. |
