A high-altitude spraying robot trajectory spraying method displayed by the metaverse

Abstract

A high-altitude spraying robot trajectory spraying method displayed by the Metaverse belongs to the technical field of the Metaverse in the shipbuilding industry. The signal is received and stored by the physical system of the ship intelligent high-altitude spraying robot, and then transmitted to the Metaverse intelligent spraying robot data transmission and conversion system. After the data is converted, it is transmitted to the Metaverse intelligent spraying robot virtual twin system through the Metaverse intelligent spraying robot network system. By combining the Metaverse algorithm system to form a path planning, the Metaverse overall intelligent spraying robot system is finally displayed. This method can receive data signals in real time, observe the working information of the equipment at each stage, remote monitoring and control capabilities, and monitor the physical world in real time through digital twins and Metaverse technology. This method can reduce labor costs, improve work efficiency, and reduce the incidence of accidents.

Description

Technical Field

[0001] The present invention relates to a high-altitude spraying robot trajectory spraying method displayed by a metaverse, and belongs to the technical field of the metaverse of the shipbuilding industry. Background Art

[0002] High-altitude spraying robots are an automated equipment used in shipbuilding and maintenance, mainly used for high-altitude spraying operations on the outside of the hull. This type of robot can improve spraying efficiency, reduce the risk of manual operation, and ensure the uniformity and quality of the coating. When manufacturing or maintaining a ship, it is necessary to spray anti-corrosion, anti-fouling and other coatings on the outside of the hull. Traditional manual spraying methods have the risk of high-altitude operations and are inefficient. For large ships, especially tankers, container ships, etc., the hull surface area is large and the spraying workload is large, and robots can significantly improve efficiency. Ship high-altitude spraying robots have significant advantages in improving efficiency, reducing manual operation risks and improving spraying quality, but they also face some technical and operational problems in actual applications. The following are the main problems of ship high-altitude spraying robots: The hull surface usually has a complex curved surface structure, and the robot needs to have high-precision path planning and adaptive capabilities. Current robot technology may still have problems with uneven spraying or missed spraying when dealing with extremely complex surfaces. When traditional ant colony algorithms are used for spray path planning, the convergence speed is slow, especially in complex environments, which can easily cause the shortest path to be lost; it is easy to fall into local optimal solutions, especially when the search space is large; most of the current spray robots rely on preset programs or simple sensor feedback and lack real intelligent capabilities (such as autonomous learning and optimization of spray paths). Summary of the invention

[0003] In order to solve the problems existing in the prior art, the present invention provides a high-altitude spraying robot trajectory spraying method displayed by the Metaverse, which receives and stores signals through the physical system of the ship intelligent high-altitude spraying robot, and then transmits them to the Metaverse intelligent spraying robot data transmission and conversion system. After the data is converted, it is transmitted to the Metaverse intelligent spraying robot virtual twin system through the Metaverse intelligent spraying robot network system, and the path planning is formed by combining the Metaverse algorithm system, and finally the Metaverse overall intelligent spraying robot system is displayed; a method is formed in which the sensor communication module collects data, the Metaverse intelligent spraying robot data transmission and conversion system analyzes and processes data, and the Metaverse virtual world is displayed. In this way, the spraying conditions at the spraying site can be accurately calculated, the working information of the monitoring equipment can be monitored, the waste of water and electricity resources and environmental pollution can be reduced, and accidents caused by production can be reduced.

[0004] The specific technical means adopted by the present invention are as follows: a high-altitude spraying robot trajectory spraying method displayed by the Metaverse, which receives and stores signals through the physical system of the ship intelligent high-altitude spraying robot, and then transmits them to the Metaverse intelligent spraying robot data transmission and conversion system. After the data is converted, it is transmitted to the Metaverse intelligent spraying robot virtual twin system through the Metaverse intelligent spraying robot network system, and the path planning is formed by combining the Metaverse algorithm system, and finally the Metaverse overall intelligent spraying robot system is displayed; specifically, the following steps are included:

[0005] S1: Scan the surface information to be sprayed through the visual sensor, and model the input of the work site area information to create a virtual model;

[0006] S2: Extract the spray gun distance, position, operation status information and the position of the overhead robot to build the dynamic conditions of the virtual model;

[0007] S3: Send the information of virtual model and dynamic conditions to the cloud platform for management;

[0008] S4: The cloud platform monitors data reception in real time, and performs communication operation and maintenance calculations through data reception to analyze the optimal solution for the spraying trajectory;

[0009] The calculation method of the optimal solution of the spraying trajectory is:

[0010] First, data preprocessing is performed to initialize the parameters of the ant colony algorithm. Then, the number of ants is set to determine the candidate roads for each ant. The probability of the ant's next moving position is analyzed, and the best paths of several ants are selected to determine whether it is the best path planning. If it is the best path, the next operation is performed, otherwise, the best path for the ant is continued. Then, it is determined whether the number of iterations is the maximum. If it is the optimal number of iterations, the path planning is completed, otherwise the pheromone is updated. The ant will leave pheromones on the walking path, and the pheromone will evaporate over time. After completing one iteration, the global pheromone is updated.

[0011] The improved overall ant colony algorithm robot movement probability formula is:

[0012]

[0013] For the Only ants on the node Select Node probability; It is a pheromone factor; is the heuristic function factor; for Time Node arrive pheromone concentration; is the heuristic function of the path node i to f at time t; is the set of next optional nodes for the ant; is the pheromone concentration from node i to s in set A at time t; is the heuristic function from path node i to s in set A at time t;

[0014] The improved distance heuristic function is as follows:

[0015]

[0016] is the distance between two target points, are the starting point and the target point respectively; the distance heuristic function is normalized to ensure that the paths of all ants are fair in fitness evaluation;

[0017]

[0018] Where: They are the horizontal and vertical coordinates of the ants in the map respectively;

[0019] When the robot selects the next target point, it will make a judgment based on the concentration of pheromones and the heuristic function to complete the optimal path planning;

[0020] The pheromone update method is:

[0021]

[0022]

[0023] Where:

[0024] is the pheromone volatility coefficient; represents the sum of pheromones released by ants on two nodes;

[0025] When the robot plans its path, it leaves pheromones along the path it travels. As time goes by, the pheromone will gradually disappear, and the global pheromone update will be completed after one complete iteration;

[0026] S5: Turn on the robot walking unit through the control console, control the robot to perform automated operations and move to the area to be sprayed, and turn on the distance sensor to control the distance between the robot base and the surface to be sprayed, and feedback to the control console;

[0027] S6: The control console starts the robot conveying unit to make the spraying operation end reach the predetermined position;

[0028] S7: The distance sensor in the spraying operation end detects in real time until it detects that the distance between the spraying operation end and the shipboard is the set starting distance. The gyroscope in the spraying operation end is activated to control the spraying operation end to be vertical to the surface of the shipboard. After the above tasks are completed, feedback is given to the centralized control console;

[0029] S8: The control console turns on the robot spray unit, the spray gun valve in the spray operation end opens, and the spray operation begins;

[0030] S9: The control console turns on the robot walking unit to control the robot to walk. The travel distance sensor detects in real time and feeds back to the control console. When the travel distance reaches the set target distance, the spraying operation is suspended and the spray gun valve is closed.

[0031] S10: The control console turns on the conveying unit, controls the conveying unit mechanical arm to move downward a distance of the spray gun spraying range, and detects the distance between the spraying operation end and the shipboard. When the distance is detected to be the set starting distance, the gyroscope corrects the spraying operation end to make it vertical to the shipboard;

[0032] S11: Repeat the above work process until the spraying of the first workstation area is completed; the control console turns on the walking unit, the robot walks to the next workstation area, and repeats the above process until the spraying operation is completed.

[0033] Furthermore, the physical system of the ship intelligent high-altitude spraying robot is used to provide a power source for the robot and its control;

[0034] The Metaverse Intelligent Spraying Robot Data Transmission and Conversion System is used to convert the information and data received by the sensor through the converter, convert the physical signal into a virtual signal, and receive the feedback signal of the robot body in the physical world in real time;

[0035] The Metaverse intelligent spraying robot virtual twin system is used to receive virtual data and information, and twin virtual data, robot body shape, and robot path planning through virtual twin technology; the twinned information is displayed through the Metaverse virtual space-time, and fed back to the sensor in real time;

[0036] The Metaverse intelligent spraying robot network system is used to connect the physical space management platform, data system management platform, and virtual twin management platform in the communication system through a network base station, and introduce the platform service system to record the environmental changes of maps and weather in real time; the robot body and robot sensor are used as the data supply source of the Metaverse virtual space-time;

[0037] The metaverse algorithm system is used to provide an information source for path twins, and obtains the path with the least number of iterations and the shortest average path by improving the ant colony algorithm; the algorithm system twins the improved algorithm path to the metaverse virtual space-time.

[0038] Furthermore, the physical system of the ship intelligent high-altitude spraying robot includes a servo motor, a spraying pump, a spraying gun, a central processing unit, a power management system, and a sensor.

[0039] Furthermore, the data transmission and conversion system includes a data acquisition module, a data transmission system, a data conversion module, data analysis and optimization, cloud storage and computing, a user interface, a central processing unit, and security and privacy protection.

[0040] Furthermore, the virtual twin system includes data twin, shape twin, and path twin.

[0041] Furthermore, the network system includes a physical space management platform, a data system management platform, a virtual twin management platform, a network base station, and a platform service system.

[0042] A high-altitude spraying robot trajectory spraying method demonstrated by Metaverse, the system used includes a ship intelligent high-altitude spraying robot physical system, a Metaverse overall intelligent spraying robot system, a Metaverse intelligent spraying robot data transmission and conversion system, a Metaverse intelligent spraying robot virtual twin system, a Metaverse intelligent spraying robot network system, and a Metaverse algorithm system: the ship intelligent high-altitude spraying robot physical system is used to support the robot's stability at high altitudes, including adjustable support legs or support devices; drives the robot's motion system to provide precise positioning control to ensure high precision during the spraying process; is responsible for the actual spraying work, transporting the spraying material (such as paint) from the storage tank to the spray gun; processes all control instructions and data of the robot, and is used as an interface for user input and robot operation; and is used to provide a power source and a communication interface.

[0043] The Metaverse integrated intelligent spraying robot system is used for spraying the physical world, data fusion and sharing, ant colony algorithm path planning, digital twins, etc. It is used to convert the spraying physical world into the Metaverse virtual space-time through artificial intelligence technology. This achieves the purpose of combining the virtual and the real, and reflects the information and status of the real world through the virtual world, so as to predict the emergency accidents encountered in the real world in advance.

[0044] The Metaverse Intelligent Spraying Robot Data Transmission and Conversion System includes a data acquisition module, a data transmission system, a data conversion module, data analysis and optimization, cloud storage and computing, a user interface, a central processing unit, and security and privacy protection. It is used to convert the information and data received by the sensor through a converter, convert the physical signal into a virtual signal, and receive the feedback signal of the robot body in the physical world in real time.

[0045] The Metaverse intelligent spray robot virtual twin system includes data twin, shape twin and path twin. It is used to receive virtual data and information, and twin virtual data, robot body shape and robot path planning through virtual twin technology. The twinned information is displayed through the Metaverse virtual space-time and fed back to the sensor system in real time.

[0046] The Metaverse intelligent spraying robot network system includes a physical space management platform, a data system management platform, a virtual twin management platform, a network base station, a platform service system, etc. It is used to connect the physical space management platform, the data system management platform, and the virtual twin management platform in the communication system through the network base station, and introduce the platform service system to record the map, weather and other environmental changes in real time. The robot body and the robot sensor equipment are used as the data supply source of the Metaverse virtual space and time.

[0047] The metaverse algorithm system includes virtual environment modeling, pheromone updating, path selection mechanism, ant behavior simulation, path optimization module, real-time feedback system, data management system, etc. It is used to provide a source of information for path twinning, and to improve the ant colony algorithm to achieve the goal of minimizing the number of iterations and the shortest average path. The improved algorithm path is twinned to the metaverse virtual space-time through the universe algorithm system. Considering that the traditional ant colony algorithm is relatively single in inspiration and is prone to fall into the optimal solution. To solve this problem, the distance heuristic function is normalized to ensure that the paths of all ants are fair when evaluating fitness, which can better guide the search process. The improved distance heuristic function is as follows:

[0048] (1)

[0049] is the distance between two target points, are the starting point and the destination point respectively.

[0050] Compared with the prior art, the present invention has the following advantages:

[0051] The physical system of the ship intelligent high-altitude spraying robot, the Metaverse overall intelligent spraying robot system, the Metaverse intelligent spraying robot data transmission and conversion system, the Metaverse intelligent spraying robot virtual twin system, the Metaverse intelligent spraying robot network system, the Metaverse algorithm system and other technologies are integrated and fed back to each other, and the ant colony algorithm is used for path planning, and the Metaverse virtual space-time display method is used to realize the functions of digital twin information collection, analysis, and decision-making at the spraying site, so as to improve the work efficiency of the factory, monitor the work information of the equipment, reduce accidents caused by production, and reduce the waste of water and electricity resources and environmental pollution.

[0052] The traditional ant colony algorithm ignores the actual error distance between each node, and finally concludes that the distance from the robot's starting point to the end point is always a part of the time longer. Therefore, in order to solve the above problems, the author proposes to normalize the total distance from the robot's starting point to the end point to avoid the problem of distance increase caused by too many nodes, and to solve the problem that the traditional algorithm is prone to fall into the local optimal solution, which can better guide the search process. In view of the shortcomings of the traditional ant colony algorithm, the number of nodes between the distance heuristic function is reduced to solve the problem of distance increase caused by too many nodes; the exponential function normalization is used to solve the problem of falling into the local optimal solution. Based on the above invention reasons, this invention method can be extended to the processing and manufacturing fields of shipbuilding and marine engineering. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly describe the implementation method of the present invention or the prior art solution, the implementation method or the prior art solution will be described below in the form of drawings and briefly introduced. It can be seen from the drawings that the drawings described below are the implementation methods of the present invention. People in this field can expand on them based on the drawings without involving creative work.

[0054] Figure 1 Metaverse overall intelligent spray robot framework diagram.

[0055] Figure 2 Metaverse intelligent spray robot data transmission framework diagram.

[0056] Figure 3 Block diagram of the virtual twin of the Metaverse intelligent spraying robot.

[0057] Figure 4 Network block diagram of the Metaverse intelligent spraying robot.

[0058] Figure 5 Ant colony algorithm flow chart.

[0059] Figure 6 Comparison chart of ant colony algorithm before and after improvement.

[0060] Figure 7 Spraying trajectory diagram of the Metaverse intelligent spraying robot.

[0061] Figure 8 Metaverse intelligent spray robot trajectory planning and implementation flow chart. DETAILED DESCRIPTION

[0062] It is hereby declared that the implementation methods in the present invention can be combined with each other without conflict. The following is a detailed description of the present invention in combination with the accompanying drawings and the implementation methods.

[0063] In order to make the implementation method of the present invention more clearly described, the following is a detailed technical solution description of the drawings in the implementation method. It is obvious that the described implementation scheme is only a part of the present invention, not all implementation methods. The following will be described in some of the following drawings on the implementation method, but it does not limit the application or use of the present invention. For the implementation method of the present invention, if the personnel in the technical field do not make creative work, they all belong to the protection scope of the present invention.

[0064] It should be noted that the expressions used in the present invention are only for better describing the specific implementation method, and are not intended to limit the implementation methods of this invention. Unless otherwise specified in the present invention, singular expressions also mean plural expressions.

[0065] It should be noted that the parts, systems, operating methods, relative positions, front and rear arrangements, numerical values ​​and mathematical expressions described in the present invention do not limit the scope of protection of the present invention. In addition, in order to clearly express the implementation method of the present invention, the dimensions in the drawings of the present invention are not made in proportion. The techniques, schemes, equipment and drawings that have been clearly understood by ordinary personnel in the field will not be discussed in detail, but in special cases, the equipment, techniques, schemes and block diagrams described should be regarded as part of the specification. The implementation methods in the present invention are only exemplary. It should be noted in the present invention that the numbers and letters in the block diagram represent similar items, so once defined in the drawings, the subsequent drawings do not need to be discussed in detail.

[0066] It should be noted that the orientations indicated in the present invention are only based on the directions and positions shown in the accompanying drawings, and are only for the purpose of making the description of the scheme in the present invention clearer. Similarly, the devices or equipment in the present invention do not represent the operation sequence and operation steps. Therefore, it cannot be said that the protection scope of the present invention is limited.

[0067] It should be noted that the order of arrangement of the parts in the present invention is only for the convenience of distinction. If there is no special explanation, the above description has no substantive meaning, and therefore cannot be used to indicate that the object of protection of the present invention is limited.

[0068] The system for realizing the trajectory spraying method includes a ship intelligent high-altitude spraying robot physical system, a metaverse overall intelligent spraying robot system, a metaverse intelligent spraying robot data transmission and conversion system, a metaverse intelligent spraying robot virtual twin system, a metaverse intelligent spraying robot network system, and a metaverse algorithm system. The hardware system is composed of a chassis and support structure, a motion system, a spraying system, a navigation and positioning system, a control system, a communication system, etc. The metaverse overall intelligent spraying robot system includes a spraying physical world module, an information fusion and sharing module, a metaverse virtual space-time module, etc. The metaverse intelligent spraying robot data transmission and conversion system includes a robot body, a sensor system, a data conversion system, an algorithm optimization system, a virtual-real twin system, a virtual-real conversion system, etc. The metaverse intelligent spraying robot virtual twin system of this invention is composed of ant colony algorithm path planning, physical transmission, data transmission, data twin, shape twin, path twin, etc. The metaverse intelligent spraying robot network system is mainly composed of a communication system, network communication, platform service equipment, a data provision module, a metaverse virtual space-time, etc. This method can receive data signals in real time, observe the working information of equipment at each stage, and remotely monitor and control capabilities, and monitor the physical world in real time through digital twin and metaverse technology. Therefore, the use of metaverse technology in shipyards can reduce labor costs, improve work efficiency, and reduce the incidence of accidents.

[0069] A high-altitude spraying robot trajectory spraying method displayed in the Metaverse, which receives and stores signals through the physical system of the ship intelligent high-altitude spraying robot, and then transmits them to the data transmission and conversion system of the Metaverse intelligent spraying robot. After the data is converted, it is transmitted to the Metaverse intelligent spraying robot virtual twin system through the Metaverse intelligent spraying robot network system, and the path planning is formed by combining the Metaverse algorithm system, and finally the Metaverse overall intelligent spraying robot system is displayed; specifically, the following steps are included:

[0070] S1: Scan the surface information to be sprayed through the visual sensor, and model the input of the work site area information to create a virtual model;

[0071] S2: Extract the spray gun distance, position, operation status information and the position of the overhead robot, and establish a virtual model and dynamic conditions;

[0072] S3: Send the information of virtual model and dynamic conditions to the cloud platform for management;

[0073] S4: The cloud platform monitors data reception in real time, and performs communication operation and maintenance calculations through data reception to analyze the optimal solution for the spraying trajectory;

[0074] The calculation method of the optimal solution of the spraying trajectory is:

[0075] First, data preprocessing is performed to initialize the parameters of the ant colony algorithm. Then, the number of ants is set to determine the candidate roads for each ant. The probability of the ant's next moving position is analyzed, and the best paths of several ants are selected to determine whether it is the best path planning. If it is the best path, the next operation is performed, otherwise, the best path for the ant is continued. Then, it is determined whether the number of iterations is the maximum. If it is the optimal number of iterations, the path planning is completed, otherwise the pheromone is updated. The ant will leave pheromones on the walking path, and the pheromone will evaporate over time. After completing one iteration, the global pheromone is updated.

[0076] The improved overall ant colony algorithm robot movement probability formula is:

[0077]

[0078] For the Only ants on the node Select Node probability; It is a pheromone factor; is the heuristic function factor; for Time Node arrive pheromone concentration; is the heuristic function of the path node i to f at time t; is the set of next optional nodes for the ant; is the pheromone concentration from node i to s in set A at time t; is the heuristic function from path node i to s in set A at time t;

[0079] The improved distance heuristic function is as follows:

[0080]

[0081] is the distance between two target points, are the starting point and the target point respectively; the distance heuristic function is normalized to ensure that the paths of all ants are fair in fitness evaluation;

[0082]

[0083] Where: They are the horizontal and vertical coordinates of the ants in the map respectively;

[0084] When the robot selects the next target point, it will make a judgment based on the concentration of pheromones and the heuristic function to complete the optimal path planning;

[0085] The pheromone update method is:

[0086]

[0087]

[0088] Where:

[0089] is the pheromone volatility coefficient; represents the sum of pheromones released by ants on two nodes;

[0090] When the robot plans its path, it leaves pheromones along the path it travels. As time goes by, the pheromone will gradually disappear, and the global pheromone update will be completed after one complete iteration;

[0091] S5: Turn on the robot walking unit through the control console, control the robot to perform automated operations and move to the area to be sprayed, and turn on the distance sensor to control the distance between the robot base and the surface to be sprayed, and feedback to the control console;

[0092] S6: The control console starts the robot conveying unit to make the spraying operation end reach the predetermined position;

[0093] S7: The distance sensor in the spraying operation end detects in real time until it detects that the distance between the spraying operation end and the shipboard is the set starting distance. The gyroscope in the spraying operation end is activated to control the spraying operation end to be vertical to the surface of the shipboard. After the above tasks are completed, feedback is given to the centralized control console;

[0094] S8: The control console turns on the robot spray unit, the spray gun valve in the spray operation end opens, and the spray operation begins;

[0095] S9: The control console turns on the robot walking unit to control the robot to walk. The travel distance sensor detects in real time and feeds back to the control console. When the travel distance reaches the set target distance, the spraying operation is suspended and the spray gun valve is closed.

[0096] S10: The control console turns on the conveying unit, controls the conveying unit mechanical arm to move downward a distance of the spray gun spraying range, and detects the distance between the spraying operation end and the shipboard. When the distance is detected to be the set starting distance, the gyroscope corrects the spraying operation end to make it vertical to the shipboard;

[0097] S11: Repeat the above work process until the spraying of the first workstation area is completed; the control console turns on the walking unit, the robot walks to the next workstation area, and repeats the above process until the spraying operation is completed.

[0098] like Figure 1As shown, the present invention provides a high-altitude spraying robot displayed by the metaverse, including a spraying physical world, data fusion and sharing, and a metaverse virtual space-time. First, information of the spraying physical world is collected through sensor technology, and the collected information and data are stored and processed. The information and data collected by the sensor are transmitted to the data fusion and sharing module through communication technology, and the physical signal is converted into a virtual signal through this module, and a virtual environment is established based on the collected information and data, which is then sent to the metaverse virtual space-time, and the metaverse space-time is used to present the spraying physical world. The metaverse virtual space-time feeds back the virtual world to the spraying physical world by guiding optimization.

[0099] Metaverse intelligent spraying robot data transmission system Figure 2 As shown, the intelligent spraying robot in the physical world uses sensor technology to collect information, and the collected information is transmitted to the data transmission and conversion system of the metaverse intelligent spraying robot, and the information converter is used to convert the physical signal into a virtual signal. The converted signal is imported into the virtual twin system, transmitted to the robot body through the virtual twin system, and the robot body feeds back the information to the data conversion system after receiving it.

[0100] The virtual twin system of the metaverse intelligent spraying robot in the present invention is as follows Figure 3 As shown, the physically transmitted path planning information is received through distance sensors, angle sensors, visual sensors, laser sensors, posture sensors, speed sensors and other technologies, and data twins, shape twins and path twins are obtained through twin technology.

[0101] The network system of the metaverse intelligent spraying robot of the present invention is as follows Figure 4 As shown in the figure, it includes physical space management platform, data system management platform, virtual twin management platform, network base station, platform service system, etc. First, the information in the communication system is transmitted to the virtual space-time of the metaverse through the network base station, and the data mapped by the virtual space-time of the metaverse is fed back to the communication system through the network base station; then the external equipment of the spraying robot provides data support for the virtual space-time of the metaverse; finally, the platform service system is introduced to provide convenient support for the virtual space-time of the metaverse.

[0102] The framework of the metaverse ant colony algorithm in the present invention is as follows Figure 5As shown, the metaverse algorithm system includes virtual environment modeling, pheromone updating, path selection mechanism, ant behavior simulation, path optimization module, real-time feedback system, data management system, etc. It is used to provide a source of information for path twinning, and to improve the ant colony algorithm to obtain the purpose of the minimum number of iterations and the shortest average path. The improved algorithm path is twinned to the metaverse virtual space-time through the universe algorithm system. Taking into account that the traditional ant colony algorithm is relatively single in inspiration and is prone to fall into the optimal solution. To solve this problem, the distance heuristic function is normalized to ensure that the paths of all ants are fair when evaluating fitness, which can better guide the search process. The improved distance heuristic function is as follows:

[0103] (1)

[0104] is the distance between two target points, are the starting point and the destination point respectively.

[0105] First, data preprocessing is performed to initialize the parameters of the ant colony algorithm. Then, the number of ants is set to determine the candidate roads for each ant. The probability of the ant's next moving position is analyzed, and the best paths of several ants are selected to determine whether it is the best path planning. If it is the best path, the next operation is performed, otherwise, the best path for the ant is continued. Then, it is determined whether the number of iterations is the maximum. If it is the optimal number of iterations, the path planning ends, otherwise the pheromone is updated. Ants will leave pheromones on the walking path, and the pheromones will evaporate over time. After completing one iteration, the global pheromone is updated in the following way:

[0106] (2)

[0107] (3)

[0108] In formula (2)~(3):

[0109] is the pheromone volatility coefficient;

[0110] Represents the sum of pheromones released by ants on two nodes.

[0111] The comparison diagram of the ant colony algorithm before and after the improvement in the present invention is as follows Figure 6 As shown in the figure, the improved ant colony algorithm shows that the improved shortest distance is 28.5×10 4 The shortest distance before improvement is 29.5×10 4 Before the improvement, the optimal path can be achieved only after 85 iterations, while after the improvement, the optimal path can be achieved after 82 iterations.

[0112] The spraying trajectory of the Zhongyuan Universe intelligent spraying robot of the present invention is shown in the figure Figure 7 As shown, the aerial spraying robot first moves to the left station and adopts a horizontal spraying method. After the spraying of the left station is completed, the robot moves to the right station and repeats the same process until the end.

[0113] The trajectory planning and implementation of the metaverse intelligent spraying robot in the present invention are as follows Figure 8 As shown, the specific process includes:

[0114] S1: Extracting information of the surface to be sprayed (scanned by visual sensors) and information of the work site area (modeling input), and creating a virtual model based on the information;

[0115] S2: extracting the spray gun distance, position, operation condition information and the overhead robot position, and creating dynamic conditions of the virtual model based on the information;

[0116] S3: Sending the dynamic change information of the virtual model to the cloud platform for management;

[0117] S4: The cloud platform monitors data reception in real time, and performs communication operation and maintenance calculations based on the data reception quality to analyze the optimal solution for the spraying trajectory;

[0118] S5: Turn on the robot walking unit through the control console, control the robot to perform automated operations and move to the left of the spraying area, turn on the distance sensor to control the robot base to be 3m away from the spraying surface, and feedback to the control console;

[0119] S6: The control console starts the robot conveying unit, and the front and rear servo controllers and the left and right servo controllers in the robot arm jointly control the internal hydraulic cylinders, telescopic cylinders, motors, etc., so that the spraying operation end reaches the predetermined position;

[0120] S7: The distance sensor in the spraying operation end detects in real time until it detects that the distance between the spraying operation end and the shipboard is 25cm. The gyroscope in the spraying operation end is activated to control the spraying operation end to be vertical to the surface of the shipboard. After the above tasks are completed, feedback is given to the centralized control console;

[0121] S8: The control console turns on the robot spray unit, the spray gun valve in the spray operation end opens, and the spray operation begins;

[0122] S9: The control console turns on the robot's walking unit and controls the robot to move forward. The travel distance sensor detects in real time that the travel distance is 5m. The travel distance sensor feeds back to the control console, the spraying operation is suspended, and the spray gun valve is closed.

[0123] S10: The control console turns on the conveying unit, controls the conveying unit mechanical arm to move downward a distance within the spraying range of the spray gun, and the gyroscope corrects the spraying operation end to make it vertical to the shipboard. The distance sensor detection distance is 25cm to ensure the above-mentioned spraying operation end position;

[0124] S11: The control console turns on the robot's walking unit, and the robot moves backwards 5m, suspending the spraying operation;

[0125] S12: Repeat the above process until the spraying of area A is completed;

[0126] S13: After spraying of area A is completed, the control console turns on the walking unit, and the robot walks to the next workstation area B, and repeats the above process until the spraying operation is completed.

[0127] Finally, it should be noted that the above is merely the technical solution of the present invention and does not limit it; even though the above real-time method is described in detail, it does not limit it; technicians in this field can modify the case described or replace the technology with the same features; but no matter the modification or replacement, it should not deviate from the technical essence of the present invention.

Claims

1. A high-altitude spraying robot trajectory spraying method displayed in the metaverse, characterized in that: The signal is received and stored by the ship intelligent high-altitude spraying robot physical system, and then transmitted to the Metaverse intelligent spraying robot data transmission and conversion system. After the data is converted, it is transmitted to the Metaverse intelligent spraying robot virtual twin system through the Metaverse intelligent spraying robot network system. By combining the Metaverse algorithm system to form a path planning, the Metaverse overall intelligent spraying robot system is finally displayed; specifically, the following steps are included: S1: Scan the surface information to be sprayed through the visual sensor, and model the input of the work site area information to create a virtual model; S2: Extract the spray gun distance, position, operation status information and the position of the overhead robot, and establish a virtual model and dynamic conditions; S3: Send the information of virtual model and dynamic conditions to the cloud platform for management; S4: The cloud platform monitors data reception in real time, and performs communication operation and maintenance calculations through data reception to analyze the optimal solution for the spraying trajectory; The calculation method of the optimal solution of the spraying trajectory is: First, data preprocessing is performed to initialize the parameters of the ant colony algorithm. Then, the number of ants is set to determine the candidate roads for each ant. The probability of the ant's next moving position is analyzed, and the best paths of several ants are selected to determine whether it is the best path planning. If it is the best path, the next operation is performed, otherwise, the best path for the ant is continued. Then, it is determined whether the number of iterations is the maximum. If it is the optimal number of iterations, the path planning is completed, otherwise the pheromone is updated. The ant will leave pheromones on the walking path, and the pheromone will evaporate over time. After completing one iteration, the global pheromone is updated. The improved overall ant colony algorithm robot movement probability formula is: ； For the Only ants are on the node Select Node probability; It is a pheromone factor; is the heuristic function factor; for Time Node arrive pheromone concentration; is the heuristic function of the path node i to f at time t; is the set of next optional nodes for the ant; is the pheromone concentration from node i to s in set A at time t; is the heuristic function from path node i to s in set A at time t; The improved distance heuristic function is as follows: ； is the distance between two target points, are the starting point and the target point respectively; the distance heuristic function is normalized to ensure that the paths of all ants are fair in fitness evaluation; ； Where: They are the horizontal and vertical coordinates of the ants in the map respectively; When the robot selects the next target point, it will make a judgment based on the concentration of pheromones and the heuristic function to complete the optimal path planning; The pheromone update method is: ； ； Where: is the pheromone volatility coefficient; represents the sum of pheromones released by ants on two nodes; When the robot plans its path, it leaves pheromones along the path it travels. As time goes by, the pheromone will gradually disappear, and the global pheromone update will be completed after one complete iteration; S5: Turn on the robot walking unit through the control console, control the robot to perform automated operations and move to the area to be sprayed, and turn on the distance sensor to control the distance between the robot base and the surface to be sprayed, and feedback to the control console; S6: The control console starts the robot conveying unit to make the spraying operation end reach the predetermined position; S7: The distance sensor in the spraying operation end detects in real time until it detects that the distance between the spraying operation end and the shipboard is the set starting distance. The gyroscope in the spraying operation end is activated to control the spraying operation end to be vertical to the surface of the shipboard. After the above tasks are completed, feedback is given to the centralized control console; S8: The control console turns on the robot spray unit, the spray gun valve in the spray operation end opens, and the spray operation begins; S9: The control console turns on the robot walking unit to control the robot to walk. The travel distance sensor detects in real time and feeds back to the control console. When the travel distance reaches the set target distance, the spraying operation is suspended and the spray gun valve is closed. S10: The control console turns on the conveying unit, controls the conveying unit mechanical arm to move downward a distance of the spray gun spraying range, and detects the distance between the spraying operation end and the shipboard. When the distance is detected to be the set starting distance, the gyroscope corrects the spraying operation end to make it vertical to the shipboard; S11: Repeat the above work process until the spraying of the first workstation area is completed; the control console turns on the walking unit, the robot walks to the next workstation area, and repeats the above process until the spraying operation is completed.

2. The high-altitude spraying robot trajectory spraying method for a metaverse display according to claim 1 is characterized in that: The physical system of the ship intelligent high-altitude spraying robot is used to provide the robot power source and its control; The Metaverse Intelligent Spraying Robot Data Transmission and Conversion System is used to convert the information and data received by the sensor through the converter, convert the physical signal into a virtual signal, and receive the feedback signal of the robot body in the physical world in real time; The Metaverse intelligent spraying robot virtual twin system is used to receive virtual data and information, and twin virtual data, robot body shape, and robot path planning through virtual twin technology; the twinned information is displayed through the Metaverse virtual space-time, and fed back to the sensor in real time; The Metaverse intelligent spraying robot network system is used to connect the physical space management platform, data system management platform, and virtual twin management platform in the communication system through a network base station, and introduce the platform service system to record the environmental changes of maps and weather in real time; the robot body and robot sensor are used as the data supply source of the Metaverse virtual space-time; The metaverse algorithm system is used to provide a source of information for path twins, and obtain a path with the least number of iterations and the shortest average path by improving the ant colony algorithm; The algorithm system twins the improved algorithm path to the virtual space-time of the metaverse.

3. The high-altitude spraying robot trajectory spraying method for a metaverse display according to claim 1 is characterized in that: The physical system of the ship intelligent high-altitude spraying robot includes a servo motor, a spraying pump, a spraying gun, a central processing unit, a power management system, and a sensor.

4. The high-altitude spraying robot trajectory spraying method for a metaverse display according to claim 1 is characterized in that: The data transmission and conversion system includes a data acquisition module, a data transmission system, a data conversion module, data analysis and optimization, cloud storage and computing, a user interface, a central processing unit, and security and privacy protection.

5. The high-altitude spraying robot trajectory spraying method for a metaverse display according to claim 1 is characterized in that: The virtual twin system includes data twin, shape twin and path twin.

6. The high-altitude spraying robot trajectory spraying method for a metaverse display according to claim 1 is characterized in that: The network system includes a physical space management platform, a data system management platform, a virtual twin management platform, a network base station, and a platform service system.

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