A virtual integrated workstation system

Abstract

The application discloses a kind of virtual integrated workstation systems, including physical state perception module, space-time alignment engine, virtual workspace module, simulation verification module and two-way feedback control module. Physical state perception module generates original working condition data stream by collecting operating parameters;Space-time alignment engine eliminates time sequence and spatial deviation and outputs structured working condition data stream;Virtual workspace module constructs static basement and drives state dynamic evolution;Simulation verification module compares differences and deduces situation and self-adapting adjustment;Two-way feedback control module simulates strategy and excludes conflict, issues instructions and feedback execution result, generates virtual and real two-way collaborative work loop. The application solves the problem of virtual model updating lag, control strategy rigidification and physical virtual mismatch, and improves the integration degree and operation reliability of multi-station equipment collaborative work.

Description

Technical Field

[0001] This invention relates to the field of industrial automation control technology, and in particular to a virtual integrated workstation system. Background Technology

[0002] With the continuous evolution of intelligent manufacturing technology, the demand for collaborative operation of multi-station equipment in industrial production scenarios is increasing. Currently, the monitoring and scheduling control of the operating status of multi-station equipment mainly relies on a distributed sensing and centralized command issuance architecture. Each station equipment is independently equipped with a sensing device and collects the data to a central control node. The central node then generates control commands based on fixed logic and distributes them to each execution terminal.

[0003] These technologies have significant limitations: First, in a distributed sensing and acquisition architecture, raw data needs to be transmitted over long distances to a central node. Transmission delays and bandwidth bottlenecks prevent status information from reflecting the actual operating status of the equipment in real time, resulting in a significant time lag between the virtual model and the physical entity. Second, centralized control strategy generation uses a fixed logic system, which cannot adaptively adjust to the dynamic changes in the equipment's operating status. When unexpected disturbances occur in the operating conditions or sudden changes occur in the equipment load, the control command sequence is difficult to match with real-time operating requirements, causing scheduling strategies to fail or execution conflicts to occur. Third, existing control architectures are mostly one-way command issuance modes. The actual response status of the physical workstation execution terminal cannot be effectively transmitted back to the virtual model side. There is a lack of a closed-loop feedback channel between the virtual workspace and the physical workspace, causing the virtual model to gradually deviate from the actual state of the physical entity, making it impossible to achieve integrated collaborative operation.

[0004] Therefore, there is an urgent need for a virtual integrated workstation system that can achieve real-time synchronization between physical and virtual spaces, adaptive generation of control strategies, and two-way closed-loop feedback, in order to improve the integration and operational reliability of multi-workstation collaborative operations. Summary of the Invention

[0005] The main objective of this invention is to provide a virtual integrated workstation system to solve the technical problems of lagging virtual model updates, fixed and rigid control strategies, and physical-virtual mismatch when multiple workstations work together in the prior art.

[0006] To achieve the above objectives, the present invention provides a virtual integrated workstation system, comprising a physical state perception module, a spatiotemporal alignment engine, a virtual workspace module, a simulation verification module, and a bidirectional feedback control module, wherein: The physical state sensing module is used to collect operating parameters in real time through a multi-source heterogeneous sensor array deployed at each workstation, encapsulate them into standardized data packets and synchronously inject them into the virtual workspace module to generate raw operating condition data streams. The spatiotemporal alignment engine is used to identify and convert the communication protocol format of each sensor, add timestamp information from a unified clock source to eliminate timing deviations, convert the spatial coordinate systems of different sensors to a global reference coordinate system to eliminate spatial position deviations, and output structured chemical condition data streams. The virtual workspace module is used to load the three-dimensional geometric model of the physical workspace and the workstation layout attribute information to build a static base, inject real-time parameters into the three-dimensional geometric model to drive the dynamic evolution of the status of each workstation, transmit the current status back to the physical status perception module in real time to generate status interlocks, and present the generated virtual representation data in a graphical manner. The simulation verification module is used to compare the difference between the output of the virtual workspace and the actual feedback of the physical workspace to generate a deviation amount, calculate the degree of consistency index, extrapolate the future operating situation based on the current state to generate a predicted deviation trend, and automatically adjust the simulation parameters when the degree of consistency index is lower than a preset threshold or the predicted deviation trend exceeds a preset range. The bidirectional feedback control module is used to simulate different control strategies in the virtual workspace to generate multiple sets of prediction results, compare the prediction results with the current constraints of each workstation to eliminate conflicting strategies, select the optimal control strategy to generate control commands and send them to the actuator, and feed the execution results back to the virtual workspace module to generate a collaborative operation loop with bidirectional interaction between the virtual and real worlds.

[0007] Optionally, the simulation verification module includes a state evolution unit, used for: The status of each workstation within the virtual workspace module is received, and a short-term simulation of the status of each workstation is performed based on a preset behavior response system to generate an evolution trend sequence of the status of each workstation. In the simulation process, an adaptive weighting coefficient based on historical working condition data is introduced to correct the deviation of the evolution trend sequence, generating a predicted state vector that matches the operating status of the physical workspace.

[0008] Optionally, the simulation verification module includes a strategy generation unit, used for: Receive the corrected predicted state vector and extract the load balance and spatial conflict index of each workstation equipment; Based on the load balancing degree and spatial conflict index, a sequence of equipment control instructions and a spatial scheduling strategy for multi-station equipment are generated, and the sequence of equipment control instructions and the spatial scheduling strategy are injected into the bidirectional feedback control module.

[0009] Optionally, the bidirectional feedback control module includes an instruction adaptation unit, used for: Receive the sequence of control commands from the equipment and identify the communication protocol type and interface parameters of the physical workstation execution terminal; The device control command sequence is converted into a standardized control command stream that matches the communication protocol type, and then sent to the corresponding physical workstation execution terminal according to the timing determined by the spatial scheduling strategy.

[0010] Optionally, the bidirectional feedback control module includes a status feedback unit, used for: The actual operating parameters after the physical workstation execution terminal responds to the standardized control command stream are collected, and a physical response data stream is generated. The physical response data stream is sent back to the virtual workspace module to drive the status of each workstation to be consistent with the actual status of the physical workspace.

[0011] Optionally, the spatiotemporal alignment engine includes a coordinate transformation unit for: Receive raw operating condition data streams from the physical state sensing module and parse the physical space coordinate information attached to each data stream; Based on the topological relationships in the global reference coordinate system, the physical space coordinate information is converted into virtual space coordinate information to generate a spatiotemporally aligned structured chemical condition data stream.

[0012] Optionally, the virtual workspace module includes a state maintenance unit for: Receive the spatiotemporally aligned structured work condition data stream and update the status of each workstation according to the three-dimensional attribute system of the workstation equipment; Within the virtual workspace module, the virtual form and operating status of each workstation are rendered in real time based on the status of each workstation, maintaining high-fidelity synchronization between the virtual workspace and the physical workspace.

[0013] Optionally, the physical state perception module includes an edge preprocessing unit, used for: At the edge nodes near the multi-source heterogeneous sensor array, the collected operating parameters are filtered, denoised, and format-standardized. The preprocessed data is tagged with time series labels and packaged into a raw working condition data stream according to a preset sampling period, and then uploaded to the spatiotemporal alignment engine.

[0014] Optionally, the bidirectional feedback control module includes a performance evaluation unit, used for: The deviation between the control command sequence issued by the bidirectional feedback control module and the response status of the physical workstation execution terminal is collected. The current interaction performance index is calculated based on the deviation amount. When the interaction performance index is lower than a preset threshold, the structure reorganization and strategy regeneration of the bidirectional feedback control module are triggered.

[0015] Optionally, the bidirectional feedback control module includes a conflict resolution unit, used for: Receive multiple spatial scheduling strategies and detect the spatiotemporal overlap region between the control command sequences of each workstation; When spatiotemporal overlap is detected, the conflicting control command sequences are rearranged in time or adjusted in path according to the preset priority order and avoidance strategy to generate a conflict-free cooperative control command set.

[0016] The beneficial effects of this invention are as follows: It reduces transmission latency through an edge preprocessing mechanism, enabling real-time acquisition of operating status parameters for multi-station equipment; it eliminates time deviations and spatial coordinate differences in multi-source data through a spatiotemporal alignment mechanism, establishing a high-precision benchmark integration between physical and virtual spaces; it maintains the virtual state element set through incremental updates and real-time rendering, achieving high-fidelity synchronization of virtual workspace modules; it corrects evolution trends by introducing adaptive weight coefficients, autonomously generating control strategies based on load balancing and spatial conflict indices, achieving adaptive optimization of control commands; and it achieves closed-loop control and integrated collaborative operation between physical and virtual workspaces through a bidirectional feedback channel of command adaptation, state feedback, and conflict resolution, issuing standardized control command streams in a closed loop and driving virtual state updates through physical response feedback. Attached Figure Description

[0017] Figure 1 A block diagram of a virtual integrated workstation system provided in an embodiment of the present invention; Figure 2 This invention provides a bidirectional feedback control module for a virtual integrated workstation system according to an embodiment of the present invention. The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this invention clearer, a detailed description will be provided below in conjunction with the core design concepts and technical details of this invention. It should be noted that the following embodiments are only for explaining this invention and are not intended to limit it.

[0019] The main solution of this invention is a virtual integrated workstation system. By modularly integrating a physical state perception module, a spatiotemporal alignment engine, a virtual workspace module, a simulation verification module, and a bidirectional feedback control module, it constructs a complete technical chain from multi-station equipment status acquisition, spatiotemporal reference integration, virtual workspace construction, autonomous control strategy generation to bidirectional feedback control. It integrates distributed sensing acquisition, spatiotemporal coordinate transformation, virtual state maintenance, autonomous strategy evolution, and physical-virtual bidirectional feedback functions to achieve integrated collaborative operation between the physical workspace and the virtual workspace.

[0020] Existing workstation systems mostly adopt a separate mode of independent control of physical devices or offline operation of virtual simulation. This results in problems such as loss of synchronization between virtual and physical spaces, inability of models to participate in real-time control, and a lack of adaptive optimization capabilities. Consequently, equipment utilization is uneven, spatial conflicts occur frequently, and flexible production is difficult to achieve. This invention constructs a virtual integrated workstation system by deploying a multi-source heterogeneous sensor array, a spatiotemporal alignment engine, a virtual workspace module, a simulation verification module, and a bidirectional feedback control module at each workstation. This system meets the requirements for highly flexible and efficient collaborative operations in intelligent manufacturing scenarios. The following provides a detailed explanation of the system's functional modules, working principles, and specific implementation details.

[0021] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can understand it.

[0022] Reference Figure 1 This invention provides a virtual integrated workstation system, including: a physical state perception module, a spatiotemporal alignment engine, a virtual workspace module, a simulation verification module, and a bidirectional feedback control module.

[0023] The physical state perception module receives operating status parameters and spatial coordinate information from multi-station equipment via a data input interface of a multi-source heterogeneous sensor array. The operating status parameters specifically include motor speed data, temperature data, vibration acceleration data, and current data for each station's equipment. The spatial coordinate information specifically includes the three-dimensional position coordinates and attitude angle data of each station's equipment in the physical workspace. The physical state perception module is equipped with an edge preprocessing unit, which uses a finite impulse response filter to filter and denoise the acquired raw operating status parameters and converts them into a unified floating-point data format. The physical state perception module is also equipped with an analog-to-digital conversion unit, which converts the preprocessed analog signals into digital signals, generating a structured chemical condition data stream. After completing the calculations, the physical state perception module buffers the structured chemical condition data stream and transmits it to the spatiotemporal alignment engine.

[0024] The spatiotemporal alignment engine is connected to the physical state awareness module and the non-volatile memory array via a high-speed data bus. The engine reads the topological relationship data of the global reference coordinate system from the non-volatile memory array. The engine is equipped with a coordinate transformation unit and a timing synchronization unit. The coordinate transformation unit receives the structured condition data stream output from the physical state awareness module and parses the 3D position coordinates and attitude angle information attached to each data stream. Based on the topological relationship in the global reference coordinate system, the coordinate transformation unit converts the physical space coordinate information into virtual space coordinate information. The timing synchronization unit receives the coordinate-transformed data stream output from the coordinate transformation unit and performs alignment processing based on the acquisition timestamps of each data stream to eliminate time deviations caused by transmission delays. The spatiotemporal alignment engine generates a spatiotemporally aligned structured condition data stream based on the aligned data stream and transmits this data stream to the virtual workspace module.

[0025] The virtual workspace module establishes bidirectional data communication links with both the spatiotemporal alignment engine and the bidirectional feedback control module. The virtual workspace module is equipped with a state maintenance unit and a virtual rendering unit. The state maintenance unit receives the spatiotemporally aligned structured work status data stream output by the spatiotemporal alignment engine and updates the status of each workstation according to the 3D attribute system of the workstation equipment. The status of each workstation specifically includes the position coordinates, attitude angles, operating parameters, and health status indicators of each workstation equipment in the virtual space. The virtual rendering unit receives the workstation status output by the state maintenance unit and renders the virtual form and operating status of each workstation equipment in real time within the virtual workspace module, maintaining high-fidelity synchronization between the virtual and physical workspaces. After state updates and rendering calculations, the virtual workspace module transmits the status of each workstation to the simulation verification module.

[0026] The simulation verification module receives the status of each workstation from the virtual workspace module. The module is configured with a state evolution unit, a strategy generation unit, and a performance evaluation unit. The state evolution unit receives the status of each workstation within the virtual workspace module and performs a short-term simulation of each workstation status based on a preset behavioral response system, generating an evolution trend sequence for each workstation status. During the simulation, the state evolution unit introduces adaptive weighting coefficients based on historical operating data to correct deviations in the evolution trend sequence, generating a predicted state vector that matches the operating status of the physical workspace. The strategy generation unit receives the corrected predicted state vector, extracts the load balance and spatial conflict index of each workstation device, and generates a sequence of device control commands and a spatial scheduling strategy for multi-workstation devices based on these parameters. This sequence of commands and the spatial scheduling strategy are then injected into the bidirectional feedback control module. The performance evaluation unit collects the deviation between the control command sequence issued by the bidirectional feedback control module and the response status of the physical workstation execution terminal. Based on the deviation, it calculates the current interaction performance index. When the interaction performance index falls below a preset threshold, it triggers structural reorganization and strategy regeneration in the simulation verification module.

[0027] The bidirectional feedback control module receives the equipment control command sequence and spatial scheduling strategy sent by the simulation verification module. The bidirectional feedback control module is configured with an instruction adaptation unit, a status feedback unit, and a conflict resolution unit. The instruction adaptation unit receives the equipment control command sequence, identifies the communication protocol type and interface parameters of the physical workstation execution terminal, converts the equipment control command sequence into a standardized control command stream matching the communication protocol type, and sends it to the corresponding physical workstation execution terminal according to the timing determined by the spatial scheduling strategy. The status feedback unit collects the actual operating parameters of the physical workstation execution terminal after responding to the standardized control command stream, generates a physical response data stream, and sends the physical response data stream back to the virtual workspace module after analog-to-digital conversion, driving the status of each workstation to maintain consistency with the actual status of the physical workspace. The conflict resolution unit receives the multi-path spatial scheduling strategy, detects the spatiotemporal overlap between the equipment control command sequences of each workstation, and when spatiotemporal overlap is detected, rearranges or adjusts the paths of the conflicting control command sequences according to the preset priority order and avoidance strategy, generating a conflict-free collaborative control command set.

[0028] The physical state sensing module is equipped with an edge preprocessing unit. This unit acquires raw operating state parameters from a multi-source heterogeneous sensor array and smooths the raw data using a finite impulse response (FIR) filter. Because the operating environment of multi-station equipment is subject to strong electromagnetic interference and mechanical vibration noise, the edge preprocessing unit specifically selects a FIR filter with linear phase characteristics. During the filtering operation, the edge preprocessing unit introduces a window function-based weighted averaging mechanism to suppress high-frequency noise components, ensuring that the generated structured operating condition data stream conforms to the actual physical operating laws of the equipment.

[0029] The edge preprocessing unit outputs a filtered data sequence through convolution operations, as shown in the following formula: in, This represents the filtered output data value at the nth sampling time. This represents the k-th tap coefficient of the finite impulse response filter; This represents the original input data value at the nk-th sampling time; M represents the total number of filter tap coefficients.

[0030] The physical state sensing module is also equipped with an analog-to-digital converter (ADC). In the operational status monitoring of multi-station equipment, the analog signals output by various sensors need to be converted into digital signals for subsequent processing. The ADC receives the filtered analog signal output by the edge preprocessing unit and performs sampling quantization operations along the time dimension to obtain a digital data stream characterizing the discretized features of the equipment state. Through sampling quantization operations, the ADC converts the continuous analog signal into a structured operational condition data stream describing the discrete state characteristics.

[0031] The formula for calculating the digital output value of the analog-to-digital converter unit is as follows: Where D represents the digital output value after analog-to-digital conversion; This represents the voltage value of the input analog signal; This represents the positive reference voltage of the analog-to-digital converter; This represents the negative reference voltage of the analog-to-digital converter; N represents the quantization bits of the analog-to-digital converter. This indicates the floor function.

[0032] After completing the above signal processing steps, the physical state perception module generates a structured chemical condition data stream containing complete device state information. The physical state perception module transmits the structured chemical condition data stream through the system's internal high-speed data bus and stores it in a non-volatile memory array for later retrieval. At the same time, it transmits the structured chemical condition data stream to the spatiotemporal alignment engine.

[0033] The spatiotemporal alignment engine is equipped with a coordinate transformation unit. This unit acquires the structured work condition data stream output by the physical state perception module and parses the 3D position coordinates and attitude angle information attached to each data stream. Because the installation positions of each workstation device differ in the physical workspace, the coordinate transformation unit specifically selects a coordinate transformation method based on rotation matrices and translation vectors. During transformation operations, the coordinate transformation unit introduces a reference alignment mechanism based on the origin of the global reference coordinate system to eliminate origin offsets and axial differences between physical coordinate systems, ensuring that the generated virtual space coordinate information conforms to a unified virtual workspace topology.

[0034] The coordinate transformation unit outputs virtual space coordinate information through matrix multiplication, as shown in the following formula: in, This represents the transformed three-dimensional coordinate vector of the virtual space; This represents a 3×3 orthogonal matrix constructed from attitude angle information. Represents the original three-dimensional coordinate vector of physical space; This represents a three-dimensional translation vector from the origin of the physical coordinate system to the origin of the virtual coordinate system.

[0035] The spatiotemporal alignment engine is also equipped with a timing synchronization unit. During the collaborative operation of multi-station equipment, the acquisition timestamps of each data stream exhibit random delays and fixed-period differences. The timing synchronization unit receives the coordinate-transformed data stream output by the coordinate transformation unit and performs interpolation alignment operations along the time dimension to obtain a synchronized data stream representing a unified time reference. Through interpolation alignment operations, the timing synchronization unit transforms asynchronous multi-source data streams into a spatiotemporally aligned structured process condition data stream describing unified temporal characteristics.

[0036] The formula for calculating the synchronized data value by the timing synchronization unit is as follows: in, Indicates the time of target synchronization The interpolated estimate; Indicates a sampling time earlier than the target time. The actual data value; Indicates a sampling time later than the target time. The actual data value; Indicates the target synchronization time; and Let represent two adjacent actual sampling times, and satisfy . .

[0037] After completing the aforementioned spatiotemporal unification steps, the spatiotemporal alignment engine generates a spatiotemporally aligned structured condition data stream containing complete spatiotemporal reference information. The spatiotemporal alignment engine transmits the spatiotemporally aligned structured condition data stream through the system's high-speed data bus and stores it in a non-volatile memory array for later retrieval. Simultaneously, it transmits the spatiotemporally aligned structured condition data stream to the virtual workspace module.

[0038] The virtual workspace module is equipped with a state maintenance unit. This unit acquires the spatiotemporally aligned structured work condition data stream output by the spatiotemporal alignment engine and updates the state of each workstation based on its 3D attribute system. Since each workstation has different geometric dimensions, range of motion, and functional attributes, the state maintenance unit specifically employs an attribute-driven state update method. During update operations, the unit introduces an incremental change-based state difference update mechanism to reduce unnecessary full recalculation, ensuring that the update efficiency of each workstation's state meets real-time synchronization requirements.

[0039] The formula for calculating the updated state elements by the state maintenance unit is as follows: in, This represents the set vector of virtual state elements at the current time t; Indicates the previous update cycle The vector of virtual state elements; This represents the incremental change vector of the physical workspace state at the current moment relative to the previous update cycle; This indicates the state update cycle.

[0040] The virtual workspace module is also equipped with a virtual rendering unit. In the visualization of the virtual workspace module, the status of each workstation needs to be converted into displayable graphical data. The virtual rendering unit receives the workstation status output by the status maintenance unit and performs geometric rendering operations along the spatial dimension to obtain a graphical data stream representing the virtual form and operational status. Through geometric rendering operations, the virtual rendering unit transforms the abstract workstation status into rendering output data describing the visualization features.

[0041] The formula for calculating the pixel color after rendering by the virtual rendering unit is as follows: in, Indicates the color value of the output pixel; Indicates the ambient light reflectance; Indicates ambient light intensity; Indicates the diffuse reflectance coefficient; Indicates the intensity of diffuse light source; Represents the surface normal vector; Represents the unit direction vector pointing towards the light source; Indicates the specular reflection coefficient; Indicates the intensity of the light source reflected by the specular surface; Indicates the direction vector of the reflected light; represents the viewing direction vector; p represents the specular highlight index, used to control the size of the highlight area.

[0042] After completing the aforementioned state maintenance and rendering steps, the virtual workspace module generates rendered output data containing complete virtual morphological information. The virtual workspace module transmits the rendered output data to the display terminal for operator monitoring via the system's internal high-speed data bus, while simultaneously transmitting the status of each workstation to the simulation verification module.

[0043] The simulation verification module is equipped with a state evolution unit. This unit acquires the status of each workstation output by the virtual workspace module, performs short-term extrapolation of each workstation status based on a preset behavioral response system, and generates an evolution trend sequence for each workstation status. Due to the complex coupling relationships between the operating states of multi-workstation equipment, the state evolution unit specifically selects an extrapolation method based on the state transition matrix. During the extrapolation calculation, the state evolution unit introduces adaptive weighting coefficients based on historical operating data to correct deviations in the evolution trend sequence, ensuring that the generated predicted state vector matches the actual operating status of the physical workspace.

[0044] The formula for calculating the predicted state vector of the state evolution unit is as follows: in, Indicates the time of prediction The predicted state vector; This represents the state transition matrix, which describes the evolutionary relationships between the various state elements. This represents the set vector of virtual state elements at the current time t; This represents the adaptive weighting coefficient matrix, used to correct for historical biases. This represents the historical deviation vector at the current moment; This indicates the prediction time step.

[0045] The simulation verification module is also equipped with a strategy generation unit. During the collaborative scheduling of multi-station equipment, the load distribution and space occupancy of each station need to be balanced and optimized. The strategy generation unit receives the predicted state vector output by the state evolution unit and performs load balancing and conflict resolution operations along the device dimension to obtain the device control command sequence and space scheduling strategy representing the optimized scheduling scheme. Through load balancing and conflict resolution operations, the strategy generation unit transforms the predicted state vector into control command data describing the characteristics of collaborative control.

[0046] The formula for calculating load balancing degree by the strategy generation unit is as follows: in, This represents the load balancing index, with a value range of [0,1]. The closer it is to 1, the more balanced the load distribution. This represents the standard deviation of the current load value of the equipment at each workstation; This represents the arithmetic mean of the current load values ​​of the equipment at each workstation.

[0047] The formula for calculating the spatial conflict index by the strategy generation unit is as follows: in, The spatial conflict index is used to quantify the degree of spatial overlap between equipment at each workstation; N represents the total number of equipment at each workstation. This indicates the preset safety distance threshold; This represents the position coordinate vector of the i-th workstation device in the virtual space; This represents the position coordinate vector of the j-th workstation device in the virtual space; This represents the Euclidean distance operation.

[0048] The simulation verification module is also equipped with an effectiveness evaluation unit. During the execution of the control strategy, there may be a deviation between the issued control commands and the actual response of the physical workstation execution terminal. The effectiveness evaluation unit collects the deviation between the control command sequence issued by the bidirectional feedback control module and the response state of the physical workstation execution terminal, and calculates the current interaction effectiveness index based on the deviation. When the interaction effectiveness index is lower than a preset threshold, the effectiveness evaluation unit triggers the structural reorganization and strategy regeneration of the simulation verification module to adapt to the changing operating environment.

[0049] The formula for calculating the interaction performance index in the performance evaluation unit is as follows: Where E represents the interaction performance index, with a value range of (0,1], and the closer it is to 1, the higher the interaction performance; T represents the evaluation time window length; This represents the control command vector issued at time t; This represents the actual response state vector of the physical workstation execution terminal at time t; This represents the Euclidean norm of a vector.

[0050] After completing the state deduction and strategy generation steps, the simulation verification module generates a sequence of device control commands and a space scheduling strategy containing complete control strategy information. The simulation verification module then transmits the device control command sequence and space scheduling strategy to the bidirectional feedback control module via the system's internal high-speed data bus.

[0051] Reference Figure 2 The bidirectional feedback control module is equipped with an instruction adaptation unit. This unit acquires the device control instruction sequence output by the simulation verification module and identifies the communication protocol type and interface parameters of the physical workstation execution terminals. Since multi-workstation execution terminals may use different industrial communication protocols, the instruction adaptation unit specifically selects a protocol template-based conversion method. During the conversion operation, the instruction adaptation unit introduces a parameter correspondence mechanism based on the device capability model to ensure that the converted standardized control instruction flow conforms to the interface specifications and capability range of each execution terminal.

[0052] The formula for the instruction adaptation unit to calculate the standardized control instruction flow is as follows: in, This represents the converted, standardized control command flow vector; This represents the protocol conversion matrix corresponding to the target communication protocol type; Represents the sequence vector of original equipment control commands; This represents the offset compensation vector corresponding to the target execution terminal interface parameters.

[0053] The bidirectional feedback control module is also equipped with a status feedback unit. During closed-loop control, the actual operating parameters of the physical workstations after executing the terminal response control commands need to be fed back to the virtual workspace module. The status feedback unit collects the actual operating parameters of the physical workstations after executing the standardized control command stream and generates a physical response data stream. The status feedback unit then converts the physical response data stream from analog to digital and sends it back to the virtual workspace module, driving the status of each workstation to remain consistent with the actual status of the physical workspace.

[0054] The formula for calculating the state update drive signal by the state feedback unit is as follows: in, Represents the feedback correction vector that drives the update of the virtual state element set; This represents the feedback gain matrix, used to adjust the response speed and stability of the feedback correction. This represents the actual operating parameter vector of the physical workstation execution terminal; This represents the expected vector of operating parameters based on the sequence of control instructions.

[0055] The bidirectional feedback control module is also equipped with a conflict resolution unit. During the collaborative operation of multi-station equipment, multi-path spatial scheduling strategies may lead to spatiotemporal overlap between control command sequences. The conflict resolution unit receives the multi-path spatial scheduling strategy and detects the spatiotemporal overlap areas between the control command sequences of each station equipment. When spatiotemporal overlap is detected, the conflict resolution unit rearranges the timing or adjusts the paths of the conflicting control command sequences according to a preset priority order and avoidance strategy, generating a conflict-free collaborative control command set.

[0056] The formula for calculating the conflict detection discriminant in the conflict resolution unit is as follows: in, This represents the conflict detection value between the i-th workstation equipment and the j-th workstation equipment. A value of 1 indicates that there is a conflict, and a value of 0 indicates that there is no conflict. This indicates that the i-th workstation equipment is at the detection time. The position coordinate vector; This indicates that the j-th workstation equipment is at the detection time. The position coordinate vector; Indicates the safe distance threshold; Indicates the start time of the control command for the i-th workstation; This indicates the start time of the control command for the j-th workstation. Indicates the allowable time overlap tolerance.

[0057] After completing the above instruction adaptation and status feedback steps, the bidirectional feedback control module generates a conflict-free collaborative control instruction set and a physical response data stream containing complete closed-loop control information. The bidirectional feedback control module then distributes the conflict-free collaborative control instruction set to each physical workstation execution terminal via the system's internal high-speed data bus, while simultaneously transmitting the physical response data stream to the virtual workspace module.

[0058] This invention, through the collaborative operation of a physical state perception module, a spatiotemporal alignment engine, a virtual workspace module, a simulation verification module, and a bidirectional feedback control module, achieves real-time synchronization and closed-loop linkage control between the physical and virtual workspaces. The system effectively solves problems such as lagging virtual model updates, rigid and inflexible control strategies, and physical-virtual mismatch in traditional workstation systems by employing distributed edge preprocessing, multi-source data spatiotemporal alignment, real-time virtual state maintenance, adaptive strategy generation, and bidirectional feedback closed-loop control. This significantly improves the integration and operational efficiency of multi-workstation collaborative operations.

[0059] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Any modifications, equivalent substitutions, and improvements made by those skilled in the art within the spirit and principles of the present invention should be included within the protection scope of the present invention.

[0060] In the description of this invention, it should be noted that the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0061] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0062] In the several embodiments provided by this invention, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the coupling or direct coupling or communication connection shown or discussed may be through some communication interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0063] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0064] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0065] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

[0066] Furthermore, although the operations of the method of the present invention are described in a specific order in the accompanying drawings, this does not require or imply that these operations must be performed in that specific order, or that all the operations shown must be performed to achieve the desired result. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step, and / or one step may be broken down into multiple steps.

Claims

1. A virtual integrated workstation system, characterized in that, It includes a physical state perception module, a spatiotemporal alignment engine, a virtual workspace module, a simulation verification module, and a two-way feedback control module, among which: The physical state sensing module is used to collect operating parameters in real time through a multi-source heterogeneous sensor array deployed at each workstation, encapsulate them into standardized data packets and synchronously inject them into the virtual workspace module to generate raw operating condition data streams. The spatiotemporal alignment engine is used to identify and convert the communication protocol format of each sensor, add timestamp information from a unified clock source to eliminate timing deviations, convert the spatial coordinate systems of different sensors to a global reference coordinate system to eliminate spatial position deviations, and output structured chemical condition data streams. The virtual workspace module is used to load the three-dimensional geometric model of the physical workspace and the workstation layout attribute information to build a static base, inject real-time parameters into the three-dimensional geometric model to drive the dynamic evolution of the status of each workstation, transmit the current status back to the physical status perception module in real time to generate status interlocks, and present the generated virtual representation data in a graphical manner. The simulation verification module is used to compare the difference between the output of the virtual workspace and the actual feedback of the physical workspace to generate a deviation amount, calculate the degree of consistency index, extrapolate the future operating situation based on the current state to generate a predicted deviation trend, and automatically adjust the simulation parameters when the degree of consistency index is lower than a preset threshold or the predicted deviation trend exceeds a preset range. The bidirectional feedback control module is used to simulate different control strategies in the virtual workspace to generate multiple sets of prediction results, compare the prediction results with the current constraints of each workstation to eliminate conflicting strategies, select the optimal control strategy to generate control commands and send them to the actuator, and feed the execution results back to the virtual workspace module to generate a collaborative operation loop with bidirectional interaction between the virtual and real worlds.

2. The virtual integrated workstation system according to claim 1, characterized in that, The physical state perception module includes an edge preprocessing unit, used for: At the edge nodes near the multi-source heterogeneous sensor array, the collected operating parameters are filtered, denoised, and format-standardized. The preprocessed data is tagged with time series labels and packaged into a raw working condition data stream according to a preset sampling period, and then uploaded to the spatiotemporal alignment engine.

3. The virtual integrated workstation system according to claim 1, characterized in that, The spatiotemporal alignment engine includes a coordinate transformation unit, used for: Receive raw operating condition data streams from the physical state sensing module and parse the physical space coordinate information attached to each data stream; Based on the topological relationships in the global reference coordinate system, the physical space coordinate information is converted into virtual space coordinate information to generate a spatiotemporally aligned structured chemical condition data stream.

4. The virtual integrated workstation system according to claim 1, characterized in that, The virtual workspace module includes a state maintenance unit, used for: Receive the spatiotemporally aligned structured work condition data stream and update the status of each workstation according to the three-dimensional attribute system of the workstation equipment; Within the virtual workspace module, the virtual form and operating status of each workstation are rendered in real time based on the status of each workstation, maintaining high-fidelity synchronization between the virtual workspace and the physical workspace.

5. A virtual integrated workstation system according to claim 1, characterized in that, The simulation verification module includes a state evolution unit, used for: The status of each workstation within the virtual workspace module is received, and a short-term simulation of the status of each workstation is performed based on a preset behavior response system to generate an evolution trend sequence of the status of each workstation. In the simulation process, an adaptive weighting coefficient based on historical working condition data is introduced to correct the deviation of the evolution trend sequence, generating a predicted state vector that matches the operating status of the physical workspace.

6. The virtual integrated workstation system according to claim 5, characterized in that, The simulation verification module includes a strategy generation unit, used for: Receive the corrected predicted state vector and extract the load balance and spatial conflict index of each workstation equipment; Based on the load balancing degree and spatial conflict index, a sequence of equipment control instructions and a spatial scheduling strategy for multi-station equipment are generated, and the sequence of equipment control instructions and the spatial scheduling strategy are injected into the bidirectional feedback control module.

7. A virtual integrated workstation system according to claim 6, characterized in that, The bidirectional feedback control module includes an instruction adaptation unit, used for: Receive the sequence of control commands from the equipment and identify the communication protocol type and interface parameters of the physical workstation execution terminal; The device control command sequence is converted into a standardized control command stream that matches the communication protocol type, and then sent to the corresponding physical workstation execution terminal according to the timing determined by the spatial scheduling strategy.

8. A virtual integrated workstation system according to claim 7, characterized in that, The bidirectional feedback control module includes a status feedback unit, used for: The actual operating parameters after the physical workstation execution terminal responds to the standardized control command stream are collected, and a physical response data stream is generated. The physical response data stream is sent back to the virtual workspace module to drive the status of each workstation to be consistent with the actual status of the physical workspace.

9. A virtual integrated workstation system according to claim 8, characterized in that, The bidirectional feedback control module includes a conflict resolution unit, used for: Receive multiple spatial scheduling strategies and detect the spatiotemporal overlap region between the control command sequences of each workstation equipment; When spatiotemporal overlap is detected, the conflicting control command sequences are rearranged in time or adjusted in path according to the preset priority order and avoidance strategy to generate a conflict-free cooperative control command set.

10. A virtual integrated workstation system according to claim 9, characterized in that, The bidirectional feedback control module includes a performance evaluation unit, used for: The deviation between the control command sequence issued by the bidirectional feedback control module and the response status of the physical workstation execution terminal is collected. The current interaction performance index is calculated based on the deviation amount. When the interaction performance index is lower than a preset threshold, the structure reorganization and strategy regeneration of the bidirectional feedback control module are triggered.

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