面向工业元宇宙的人本智造系统数字孪生建模与分布式虚拟协作方法

doi:10.3901/JME.2025.15.385

机械工程学报 ›› 2025, Vol. 61 ›› Issue (15): 385-398.doi: 10.3901/JME.2025.15.385

• 人机协作装配与调度 • 上一篇

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面向工业元宇宙的人本智造系统数字孪生建模与分布式虚拟协作方法

黄思翰^1,2, 彭志诚¹, 朱启章³, 王柏村⁴, 张明睿¹, 马妮¹, 冷杰武⁵, 郑湃⁶, 敬石开¹, 王国新^1,2, 阎艳^1,2

1. 北京理工大学机械与车辆学院北京 100081;
2. 北京理工大学工业知识与数据融合应用工信部重点实验室北京 100081;
3. 珠海格力电器股份有限公司珠海 519070;
4. 浙江大学机械工程学院杭州 310058;
5. 广东工业大学省部共建精密电子制造技术与装备国家重点实验室广州 510006;
6. 香港理工大学工业及系统工程学系香港 999077

收稿日期:2025-01-11 修回日期:2025-04-28 发布日期:2025-09-28
作者简介:黄思翰，男，1991年出生，博士，研究员，博士研究生导师。主要研究方向为机器人化智能制造、数字孪生和多模态大模型。E-mail：hsh@bit.edu.cn;彭志诚，男，1998年出生，博士研究生。主要研究方向为人机协作与精确数字孪生。E-mail：3120245302@bit.edu.cn;王柏村(通信作者)，男，1990年出生，博士，研究员，博士研究生导师。主要研究方向为智能制造(人本智造、数字孪生、人机协作等)。E-mail：baicunw@zju.edu.cn
基金资助:
北京市自然科学基金重点研究专题(L243009); 国家自然科学基金青年基金(52405530); 北京理工大学青年教师学术启动计划(2024-10-XSQD)6120220093)资助项目。

Digital Twin Modeling and Distributed Virtual Collaboration Method of Human-centric Smart Manufacturing System in the Context of Industrial Metauniverse

HUANG Sihan^1,2, PENG Zhicheng¹, ZHU Qizhang³, WANG Bocun⁴, ZHANG Mingrui¹, MA Ni¹, LENG Jiewu⁵, ZHENG Pai⁶, JING Shikai¹, WANG Guoxin^1,2, YAN Yan^1,2

1. School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081;
2. Industry Knowledge & Data Fusion Technology and Application-Ministry of Industry and Information Technology Key Laboratory, Beijing Institute of Technology, Beijing 100081;
3. Gree Electric Appliances, Inc. of Zhuhai, Zhuhai 519070;
4. School of Mechanical Engineering, Zhejiang University, Hangzhou 310058;
5. State Key Laboratory of Precision Electronic Manufacturing Technology and Equipment, Guangdong University of Technology, Guangzhou 510006;
6. Department of Industrial and Systems Engineering, The Hong Kong Polytechnic University, Hong Kong 999077

Received:2025-01-11 Revised:2025-04-28 Published:2025-09-28

摘要/Abstract

摘要： 工业元宇宙是元宇宙技术在工业领域的垂直应用，重塑了工业领域生产制造模式与工业生态。随着工业5.0的兴起，以人为本的智能制造(人本智造)理念逐渐引起关注。围绕人本智造系统的工业元宇宙开发，实现了两大新兴理念的深度融合，并展现出巨大的研究价值与潜力。提出面向工业元宇宙的人本智造系统数字孪生建模与分布式虚拟协作方法，旨在解决工业元宇宙的人的数字孪生模型快速定制以及多人在虚拟制造场景高效协作的难题。建立基于元模型的人的数字孪生快速定制方法，借助机器视觉实现人与数字孪生模型的虚实映射与动态交互，融合制造系统生产要素模型奠定工业元宇宙的模型基础。提出面向元宇宙空间的多人协作方法，建立服务器-客户端分布式接入框架，实现多人的数字孪生集成与交互，为多人异地、实时在线的虚拟制造场景高效协作提供支撑。通过人本智造系统的双人协同上下料场景验证该方法的有效性。

关键词: 工业元宇宙, 人本智造, 人的数字孪生, 人机协作, 分布式虚拟协作

Abstract: The industrial metaverse is a vertical application of metaverse technology in the industrial sector, which reshapes the production and manufacturing mode and industrial ecology. With the rise of Industry 5.0, the concept of human-centric smart manufacturing has gradually gained attention. The development of the industrial metaverse focusing on human-centric smart manufacturing has realized the deep integration of the two emerging concepts and has shown great research value and potential. Therefore, a digital twin modeling and distributed virtual collaboration method of human-centric smart manufacturing system in the context of industrial metauniverse is proposed. The aim is to address the challenges of rapid customization of human digital twin models and efficient collaboration among multi-human in a virtual space. A metamodel-based method for the rapid customization of human digital twins is developed, and virtual-real mapping and dynamic interaction between humans and their digital twins are realized with machine vision, which lays the foundation for the industrial metaverse. Next, a multi-human collaboration method for the metaverse space is proposed and a server-client distributed access framework is established to realize the integration and interaction of multi-human digital twins, which provides support for multi-person remote, real-time online, and effective collaboration. Finally, the effectiveness of the proposed approach is validated through a dual-human collaborative loading and unloading scenario in a human-centric smart manufacturing system.

Key words: industrial metaverse, human-centric smart manufacturing, human digital twin, human-robot collaboration, distributed virtual collaboration

中图分类号:

黄思翰, 彭志诚, 朱启章, 王柏村, 张明睿, 马妮, 冷杰武, 郑湃, 敬石开, 王国新, 阎艳. 面向工业元宇宙的人本智造系统数字孪生建模与分布式虚拟协作方法[J]. 机械工程学报, 2025, 61(15): 385-398.

HUANG Sihan, PENG Zhicheng, ZHU Qizhang, WANG Bocun, ZHANG Mingrui, MA Ni, LENG Jiewu, ZHENG Pai, JING Shikai, WANG Guoxin, YAN Yan. Digital Twin Modeling and Distributed Virtual Collaboration Method of Human-centric Smart Manufacturing System in the Context of Industrial Metauniverse[J]. Journal of Mechanical Engineering, 2025, 61(15): 385-398.

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面向工业元宇宙的人本智造系统数字孪生建模与分布式虚拟协作方法

Digital Twin Modeling and Distributed Virtual Collaboration Method of Human-centric Smart Manufacturing System in the Context of Industrial Metauniverse

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