Research on apple harvesting robot monitoring system based on digital twin
The paper proposed a real-time monitoring system based on digital twin aiming to address the low level of information visualization and the challenges in equipment data collection during the operation of the apple harvesting robot.The system established a digital twin model of the robot by considering its overall structure and kinematic analysis results.It utilized multidimensional visualization monitoring modules and the twin model to create a digital twin scene,enabling dynamic mapping and virtual-real interaction between the twin model and the physical robot.By integrating the robot's ROS software architecture and TCP communication protocol,an information bridge was established between the twin model and the apple harvesting robot.We further developed a robot twin monitoring system supporting Unity and Web terminal programs,which underwent functional testing.The test results showed that the average frame time of the system was 14.5 ms with a displacement difference less than 0.05 m for the virtual-real joints of the robot during the virtual-real synchronization process of the model and the physical entity.This study provides valuable insights into applying digital twin technology in agricultural robots.
digital twinapple harvesting robotvirtual-real interactionmonitoring system
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