Virtual Twin Robot Control for Real-Time Physical-Virtual Synchronization
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Solution Overview
Problem
Current robotic systems are limited in their ability to operate in unpredictable environments and interact with humans safely, requiring extensive programming and struggling with variations beyond simple tasks, while virtual reality systems face challenges in providing immersive experiences due to the inability of physical objects to correspond with virtual entities in real time.
Innovation Solution
A robotic system that synchronizes the position and movements of physical robots with virtual entities in real-time, allowing users to interact physically with virtual objects or vice versa, using a virtual-world controller and a physical-world controller to coordinate the actions between the physical and virtual environments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If robots follow strict pre-determined routines with extensive programming, then manufacturing precision and reliability are improved, but adaptability to unpredictable environments and ease of operation deteriorate
Solution Approach 1:
The patent creates a virtual copy (digital twin) of the physical robot and its environment. This virtual model allows the robot to simulate and test operations in a virtual environment before executing them physically, enabling adaptation to new scenarios without extensive reprogramming while maintaining operational reliability through virtual validation
Solution Approach 2:
The system performs preliminary actions by simulating robot operations in the virtual environment before actual execution. The virtual robot tests various scenarios, identifies potential issues, and optimizes operation sequences beforehand, allowing the physical robot to adapt to unpredictable environments with confidence while maintaining reliability
2Adaptability or versatility
If robots are programmed for flexibility and human interaction, then adaptability improves, but device complexity and development cost increase
Solution Approach 1:
By creating a virtual copy of the robot and environment, the system provides a safe testing ground for complex human interaction scenarios. Developers can program and test flexible interaction protocols in the virtual environment without risking physical safety or requiring complex physical modifications, thereby reducing device complexity while maintaining adaptability
Solution Approach 2:
The virtual environment allows preliminary testing and validation of complex interaction protocols before physical implementation. This preliminary action enables the system to handle human interactions flexibly while keeping the actual physical system simpler, as complex scenarios are resolved through virtual simulation and planning
3Ease of operation
If virtual reality provides immersive visual experiences, then user engagement improves, but tactile interaction and physical correspondence deteriorate
Solution Approach 1:
The patent creates a digital twin that accurately copies the physical robot's position, movements, and actions in real-time. This virtual copy maintains reliable correspondence with the physical entity while providing immersive visual feedback to users, resolving the contradiction between immersion and physical accuracy
Solution Approach 2:
The system implements real-time feedback by continuously synchronizing the virtual robot's state with the physical robot's state. This feedback loop ensures that visual representations accurately reflect physical actions, maintaining reliable physical-virtual correspondence while enhancing user engagement through responsive visual feedback
4Productivity
If multiple robots operate in shared areas, then productivity increases, but coordination complexity and safety risks increase
Solution Approach 1:
Each physical robot has a corresponding virtual copy that operates in a shared virtual environment. This allows complex coordination scenarios to be simulated and tested virtually before physical execution, enabling multiple robots to operate productively in shared spaces while reducing coordination complexity through virtual planning and validation
Data Source
AI summary
A system has a virtual-world (VW) controller and a physical-world (PW) controller. The pairing of a PW element with a VW element establishes them as corresponding physical and virtual twins. The VW controller and/or the PW controller receives measurements from one or more sensors characterizing aspects of the physical world, the VW controller generates the virtual twin, and the VW controller and/or the PW controller generates commands for one or more actuators affecting aspects of the physical world. To coordinate the corresponding virtual and physical twins, (i) the VW controller controls the virtual twin based on the physical twin or (ii) the PW controller controls the physical twin based on the virtual twin. Depending on the operating mode, one of the VW and PW controllers is a master controller, and the other is a slave controller, where the virtual and physical twins are both controlled based on one of VW or PW forces.