Operation robot operation system based on virtual track

Abstract

The invention discloses an operation robot operation system based on a virtual track, which comprises an operation robot and a virtual scene established in software, the virtual scene comprises a virtual track corresponding to an operation path area of the operation robot; when the virtual scene is established, the operation path and the operation object of the operation robot are accurately modeled; when precise modeling is carried out on the operation path, a central coordinate starting point of the operation path, the effective path width and the precise position of the path in a map are obtained in a surveying and mapping mode; when precise modeling is carried out on an operation object, the operation object which can be operated by an operation robot in an operation path is directly marked in a virtual track in a surveying and mapping mode; and for an operation object which needs to be completed by the operation robot in the non-operation path area, additionally establishing an operation area outside the virtual track in the virtual scene, and obtaining an operation area coordinate, an occupied area size and a space size corresponding to the operation object in a surveying and mapping mode.

Description

Technical Field

[0001] The present invention relates to the field of navigation and positioning technology, and in particular to an operating robot operating system based on a virtual track. Background Art

[0002] The track of the working robot is usually established using three technologies: physical track, wireless positioning track and radar SLAM track. The physical track can specify the working path of the working robot in certain situations, but the physical track is troublesome to lay and affects the original layout of the entire working area. The radar SLAM track does not require the laying of auxiliary tracks or the configuration of wireless positioning equipment, but the radar SLAM track is relatively easy to lose its position, and it is not easy for the robot to return to the preset track after losing its position. The wireless positioning track can form a reliable motion trajectory in the working area, but the wireless signal is easily interfered with, and the drifting wireless positioning track will cause the robot to malfunction.

[0003] Another solution is to form a virtual track by establishing a three-dimensional map of the robot's exclusive operating scene, operating track features, and establishing operating task management. The role of the virtual track is to define the operating trajectory of the operating robot and constrain the robot's operating walking behavior. On the other hand, the offset between the virtual track and the actual track is used to learn and correct the azimuth sensor measurement value, and the correction information is used to further correct the azimuth. The virtual track can also store and provide robot position information, that is, the inertial navigation function. In this way, the robot will lack external navigation function when it loses the dual navigation of the virtual track and the wireless track. After losing all external navigation, the robot is deployed on the mirror part of the machine through the virtual track and continues to self-navigate through the azimuth sensor. Summary of the invention

[0004] In order to solve the problems raised in the above background technology, the technical solution adopted by the present invention is:

[0005] A virtual track-based operating robot operating system includes an operating robot and a virtual scene established in software;

[0006] The virtual scene is established for a specific working scene of the working robot, and the virtual scene includes a virtual track corresponding to the working path area of ​​the working robot;

[0007] The virtual track can define, edit and manage the working path of the working robot, the working objects in the working path and the working tasks corresponding to each working object;

[0008] When establishing a virtual scene, the working path and working object of the working robot are accurately modeled;

[0009] When accurately modeling the operation path, the center coordinate starting point of the operation path, the effective path width, and the precise location of the path in the map are obtained through surveying and mapping, and the precise location of fixed obstacles in the map is also obtained;

[0010] When accurately modeling the work object, the work object that the work robot can complete in the work path is directly marked in the virtual track through surveying and mapping;

[0011] For work objects that need to be completed by the work robot in non-work path areas, a work area outside the virtual track is established in the virtual scene, and the work area coordinates, floor space dimensions and space dimensions corresponding to the work object are obtained through surveying and mapping.

[0012] In some embodiments, a mechanical arm is rotatably mounted on the working robot, and a laser vision probe is mounted at the end of the mechanical arm, and the mechanical arm can drive the laser vision probe to move in three-dimensional space within its travel range;

[0013] When the operating robot is working, the primary positioning of the mobile operation is achieved through wireless positioning technology;

[0014] For specific locations that require precise positioning, when the working robot reaches the primary positioning interval, it obtains the three-dimensional distance characteristics of the specific target through the laser vision probe and compares it with the pre-stored information to achieve accurate secondary positioning of the mobile operation.

[0015] In some embodiments, the steps of achieving accurate secondary positioning of mobile operations specifically include:

[0016] S1. Before the operation, the operation robot is placed at the required specific position (x, y) and specific azimuth angle θ. Under the control of the robot arm, the laser vision probe is centered at the position and azimuth angle, and scans left and right within the preset angle range to collect the laser morphological feature matrix corresponding to the target object, thereby accurately obtaining the three-dimensional distance characteristics of the specific target object, and pre-store the collected laser morphological feature matrix as a comparison matrix;

[0017] S2: During operation, the operating robot reaches the preset position and is at the preset angle through primary positioning;

[0018] S3. With the primary positioning position as the center, the robotic arm drives the laser vision probe to move within a preset range. Every time it moves to a point, it scans left and right within the preset angle range to collect the corresponding laser morphology feature matrix;

[0019] S4, compare the laser morphology feature matrix corresponding to each point collected in step S3 with the comparison matrix pre-stored in step S1 for similarity, and find the laser morphology feature matrix J with the highest similarity, the corresponding point coordinates are represented by (x', y'), and the left and right angle ranges are represented by θ1 and θ2 respectively;

[0020] S5. Position the working robot at the position (x', y') with an azimuth angle of (θ1+θ2) / 2 to achieve accurate secondary positioning.

[0021] In some embodiments, a correction robot is also included, wherein the correction robot is used to track the movement of the working robot, and the correction robot is used to synchronously correct the movement trajectory and movement direction of the working robot.

[0022] In some embodiments, in the virtual track, corresponding map positioning tags are configured for the working robot and the correction robot to locate and measure the center position and movement direction angle of the working robot and the correction robot in the virtual scene.

[0023] In some embodiments, the correction robot is further equipped with a rotatable laser ranging module, the laser ranging module includes an integrated laser transmitter and a laser receiving target, and the tail of the working robot is also equipped with a laser receiving target;

[0024] The laser transmitter is used to emit laser light toward the working robot straight ahead, the laser receiving target of the working robot is used to sense and reflect the laser light, and the laser receiving target of the correction robot is used to receive the reflected laser light to achieve laser ranging;

[0025] When the wireless signal is normal, the calibration robot and the working robot both realize positioning and navigation through their respective wireless positioning modules. The coordinates of the calibration robot and the working robot are updated in real time through wireless signals, and when traveling on the same virtual track segment, the azimuth angles of the calibration robot and the working robot are synchronized.

[0026] If the calibration robot and / or the operating robot loses wireless position, indicating that the wireless signal is abnormal, the calibration robot guides the operating robot to continue moving along the virtual track through its laser ranging module until the wireless signal returns to normal.

[0027] In some embodiments, when the wireless signal is abnormal, the correction robot guides the working robot to go straight along the virtual track through the following steps:

[0028] S1. In the initial state, the calibration robot is located directly behind the working robot, the laser ranging module of the calibration robot is facing forward, and the laser receiving targets of the calibration robot and the working robot both sense the laser, which is called the tracking success state;

[0029] S2, the working robot moves forward, and the calibration robot does not move. During the moving process of the working robot, if the tracking success state is always maintained, the process directly proceeds to step S3. If the tracking success state is lost, the process first proceeds to step S2' for orientation calibration. After the calibration is successful, the working robot continues to move forward;

[0030] S3, the working robot stops moving after reaching the preset distance, updates the coordinates of the working robot, and the calibration robot starts moving forward. If the calibration robot always maintains the tracking success state during the forward movement, it directly enters step S4. If it leaves the tracking success state, it first enters step S3' to perform orientation calibration. After the calibration is successful, the calibration robot continues to move forward;

[0031] S4, the calibration robot stops moving after the forward distance reaches a preset distance, and the coordinates of the calibration robot are updated;

[0032] S5, repeating steps S2-S4, the working robot and the correction robot move asynchronously to achieve straight forward movement;

[0033] S2', the working robot stops moving, and the laser ranging module of the calibration robot senses laser information while rotating until the tracking is successful. At this time, the rotation angle of the laser ranging module is the offset angle α of the working robot;

[0034] Next, the laser ranging module of the robot is corrected to return to the angle facing forward, and the working robot corrects the offset angle α. During the correction process, the position and angle of the working robot are adjusted within a preset range until the tracking success state is reached, indicating that the correction is successful, and the process returns to step S2;

[0035] S3', the correction robot stops moving, and the laser ranging module of the correction robot senses laser information while rotating until it reaches a tracking success state. At this time, the rotation angle of the laser ranging module is the offset angle β of the correction robot;

[0036] Next, the laser ranging module of the calibration robot returns to the angle facing forward, and the calibration robot corrects the offset angle β. During the calibration process, the position and angle of the calibration robot are adjusted within a preset range until the tracking success state is reached, indicating that the calibration is successful, and the process returns to step S3.

[0037] In some embodiments, when the wireless signal is abnormal, the correction robot guides the working robot to turn along the virtual track through the following steps:

[0038] S1. In the initial state, the calibration robot is located directly behind the working robot, the laser ranging module of the calibration robot is facing forward, and the laser receiving targets of the calibration robot and the working robot both sense the laser, which is called the tracking success state;

[0039] S2, after the working robot reaches the preset turning position, the required turning angle is represented by γ, the calibration robot is located directly behind the robot, and the laser ranging module of the calibration robot rotates the specified angle γ in the direction to be turned;

[0040] S3, the calibration robot does not move, the working robot turns to a specified angle γ, and during the turning process, the position of the working robot is adjusted within a preset range until it is in a tracking success state, indicating that the working robot turns successfully;

[0041] S4, the working robot moves forward a preset distance and then stops, and the coordinates of the working robot are updated;

[0042] S5, the laser ranging module of the correction robot returns to the angle facing forward, and the correction robot turns to the specified angle γ. During the turning process, the position of the correction robot is adjusted within a preset range until it is in a tracking success state, indicating that the correction robot turns successfully, and the coordinates of the correction robot are updated;

[0043] S6. The working robot and the correction robot have completed turning and started the next round of straight driving.

[0044] In some embodiments, when the wireless signal is normal, when the working robot needs to enter the working area outside the virtual track, the working robot is guided to complete the work in the working area through the wireless signal, and the correction robot remains on the virtual track, and the azimuth of the correction robot is consistent with the direction of the current virtual track;

[0045] If the calibration robot and / or the working robot loses wireless position, indicating that the wireless signal is abnormal, the working robot and the calibration robot both keep moving along the virtual track, and the working robot does not enter the working area outside the virtual track.

[0046] Compared with the prior art, the present invention has the following beneficial effects:

[0047] The virtual track-based working robot operating system provided by the present invention regulates the walking and positioning of the working robot by establishing a virtual track, and at the same time enables the working robot to accurately move and complete working tasks in a controllable and editable environment through precise positioning; combined with a correction robot, it can guide and maintain the motion trajectory of the working robot in the event of abnormal wireless positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 A schematic diagram of a virtual track-based operating robot operating system provided by the present invention. DETAILED DESCRIPTION

[0049] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the following further describes how the present invention is implemented in conjunction with the accompanying drawings and specific implementation methods.

[0050] Reference Figure 1 As shown, the present invention provides a working robot working system based on a virtual track, including a working robot and a virtual scene established in software; the virtual scene is established for a specific working scene of the working robot, and the virtual scene includes a virtual track corresponding to the working path area of ​​the working robot; the virtual track can define, edit and manage the working path of the working robot, the working objects in the working path and the working tasks corresponding to each working object; when establishing the virtual scene, the working path and the working objects of the working robot are accurately modeled; when accurately modeling the working path, the center coordinate starting point of the working path, the effective path width and the precise position of the path in the map are obtained by surveying and mapping, and the precise position of the fixed obstacles in the map is obtained; when accurately modeling the working objects, the working objects that the working robot can complete in the working path are directly marked in the virtual track by surveying and mapping; for the working objects that need to be completed by the working robot in the non-working path area, an operating area outside the virtual track is established in the virtual scene, and the working area coordinates, floor space and space size corresponding to the working object are obtained by surveying and mapping.

[0051] In a specific embodiment, Figure 1 In the figure, A represents the operating robot, A1, A2, A3, and A4 respectively represent several points that the operating robot needs to pass through in sequence, and B1, B2, and B3 respectively represent different operating areas. When modeling the operating area, on the one hand, it is necessary to ensure the absolute safety of the operating robot walking in the area and ensure that there are no walking obstacles in the operating area. On the other hand, it is necessary to ensure a good transition from the path area to the operating area, ensure that the path is unobstructed, and the operating robot in the operating area needs to maintain an electrical safety distance. When modeling, the accuracy of the operating path needs to be sufficient to ensure the operating safety and tracking safety of the operating robot, for example, the positioning accuracy reaches 200mm. For fixed obstacles, their precise positions in the map are determined during modeling, and they are taken into account when planning the operating path to ensure the operating safety and tracking safety of the operating robot. In this embodiment, mobile obstacles are not established in the model, and the collaborative operation of multiple groups of robots is not considered in the unmanned operating environment, or it is believed that in the case of collaborative operation of multiple robots, each robot will not cause a collision event.

[0052] Preferably, a mechanical arm is rotatably mounted on the working robot, and a laser vision probe is mounted at the end of the mechanical arm, and the mechanical arm can drive the laser vision probe to move in three-dimensional space within its travel range; when the working robot is working, primary positioning of the mobile operation is achieved through wireless positioning technology (the accuracy of primary positioning can be, for example, 40 mm wireless positioning accuracy and 1 degree azimuth accuracy); for specific positions that require precise positioning (for example, positions where operations need to be completed), when the working robot reaches the primary positioning interval, the three-dimensional distance characteristics of the specific target are obtained through the laser vision probe, and compared with the pre-stored information, to achieve accurate secondary positioning of the mobile operation (the accuracy of secondary positioning can be, for example, 1 mm wireless positioning accuracy and 0.1 degree azimuth accuracy).

[0053] In one embodiment, the robot arm may be an XY dual-axis robot arm, thereby driving the laser vision probe to move in the horizontal plane, and adjusting its XY coordinates, the height of the laser vision probe will not change, that is, the Z coordinate will not change. Of course, in other embodiments, the robot arm may also be a three-axis robot arm to adjust the XYZ coordinates of the laser vision probe. At this time, when the laser vision probe is used to obtain the three-dimensional distance characteristics of a specific target, it is necessary to ensure that the laser vision probe is at a preset specific height.

[0054] Preferably, the steps of achieving accurate secondary positioning of mobile operations specifically include:

[0055] S1. Before the operation, the operation robot is placed at the required specific position (x, y) and specific azimuth angle θ. Under the control of the robot arm, the laser vision probe is centered at the position and azimuth angle, and scans left and right within a preset angle range (such as -5 to 5 degrees) to collect the laser morphological feature matrix corresponding to the target object, thereby accurately obtaining the three-dimensional distance characteristics of the specific target object, and pre-store the collected laser morphological feature matrix as a comparison matrix;

[0056] S2. During operation, the operating robot reaches the preset position and is at the preset angle through primary positioning. After primary positioning, there may be a large error between the actual position of the operating robot and the required position (x, y) and azimuth angle θ;

[0057] S3. With the primary positioning position as the center, the robotic arm drives the laser vision probe to move within a preset range (such as a horizontal plane within a range of ±30 mm). Every time it moves to a point, it scans left and right within a preset angle range (such as a range of -5 to 5 degrees) to collect the corresponding laser morphological feature matrix;

[0058] S4, the laser morphology feature matrix corresponding to each point collected in step S3 is compared with the comparison matrix pre-stored in step S1 for similarity. The similarity can be calculated using the Euclidean distance calculation formula to find the laser morphology feature matrix J with the highest similarity. The corresponding point coordinates are represented by (x', y'), and the left and right angle ranges are represented by θ1 and θ2 respectively;

[0059] S5. Position the working robot at the position (x', y'), and the azimuth angle is (θ1+θ2) / 2.

[0060] Through the above steps, accurate secondary positioning is achieved.

[0061] Preferably, the working robot working system based on the virtual track also includes a correction robot, which is used to track the movement of the working robot and to synchronously correct the movement trajectory and movement direction of the working robot. Figure 1 In the figure, B represents a correction robot.

[0062] Preferably, in the virtual track, corresponding map positioning tags are configured for the working robot and the correction robot, which are used to locate and measure the center position and movement direction angle of the working robot and the correction robot in the virtual scene.

[0063] Preferably, the correction robot is also equipped with a rotatable laser ranging module, which includes an integrated laser transmitter and a laser receiving target, and the tail of the working robot is also equipped with a laser receiving target; the laser transmitter is used to emit a laser toward the working robot straight ahead, the laser receiving target of the working robot is used to sense and reflect the laser, and the laser receiving target of the correction robot is used to receive the reflected laser to achieve laser ranging; when the wireless signal is normal, the correction robot and the working robot both achieve positioning and navigation through their respective wireless positioning modules, and the coordinates of the correction robot and the working robot are updated in real time through wireless signals, and when traveling on the same virtual track segment, the azimuth angles of the correction robot and the working robot are synchronized; if the correction robot and / or the working robot loses its wireless position, indicating that the wireless signal is abnormal, the correction robot guides the working robot to continue moving along the virtual track through its laser ranging module until the wireless signal returns to normal.

[0064] It is understandable that wireless signal positioning and laser ranging are both prior arts known to those skilled in the art, and their specific principles are not described in detail in the present invention. The working robot and the correction robot each have a central control module (such as a single chip microcomputer) and can move intelligently according to a preset program.

[0065] Preferably, when an abnormality occurs in the wireless signal, the correction robot guides the working robot to move straight along the virtual track through the following steps:

[0066] S1. In the initial state, the calibration robot is located directly behind the working robot, the laser ranging module of the calibration robot is facing forward, and the laser receiving targets of the calibration robot and the working robot both sense the laser, which is called the tracking success state. In addition, the default tracking distance can be set according to the actual situation, such as 300mm, that is, in the initial state, the calibration robot is 300mm behind the working robot;

[0067] S2, the working robot moves forward, and the calibration robot does not move. During the moving process of the working robot, if the tracking success state is always maintained, the process directly enters step S3. If the tracking success state is lost (that is, the laser receiving target of the calibration robot or the working robot is off target), the process first enters step S2' for orientation calibration. After the calibration is successful, the working robot continues to move forward;

[0068] S3, the working robot stops moving after reaching a preset distance (such as 5000mm), updates the coordinates of the working robot, and the calibration robot starts moving forward. If the calibration robot always maintains a tracking success state during the forward movement, it directly enters step S4. If it leaves the tracking success state, it first enters step S3' to perform orientation calibration. After the calibration is successful, the calibration robot continues to move forward;

[0069] S4, the calibration robot stops moving after the forward distance reaches a preset distance (such as 5000 mm), and the coordinates of the calibration robot are updated;

[0070] S5. Repeat steps S2-S4, and the working robot and the correction robot move asynchronously to achieve straight forward movement; for example, when the correction robot is stationary, its position coordinates remain unchanged, so as long as the robot 10 does not deviate during movement, its position coordinates can be accurately calculated by combining the position coordinates of the tracking car 3 with the laser ranging result, and vice versa; after the subsequent wireless signal is restored, the position coordinates can be further corrected in combination with the UWB positioning device 32.

[0071] S2', the working robot stops moving, and the laser ranging module of the calibration robot senses laser information while rotating until the tracking is successful. At this time, the rotation angle of the laser ranging module is the offset angle α of the working robot;

[0072] Next, the laser ranging module of the robot is corrected to return to the angle facing forward, and the working robot corrects the offset angle α. During the correction process, the position and angle of the working robot are adjusted within a preset range until the tracking success state is reached, indicating that the correction is successful, and the process returns to step S2;

[0073] S3', the correction robot stops moving, and the laser ranging module of the correction robot senses laser information while rotating until it reaches a tracking success state. At this time, the rotation angle of the laser ranging module is the offset angle β of the correction robot;

[0074] Next, the laser ranging module of the calibration robot returns to the angle facing forward, and the calibration robot corrects the offset angle β. During the calibration process, the position and angle of the calibration robot are adjusted within a preset range until the tracking success state is reached, indicating that the calibration is successful, and the process returns to step S3.

[0075] It is understandable that in the above step S2', after the working robot determines the offset angle α, in the process of correcting the offset angle α, since the distance between the working robot and the correction robot and the offset angle α are both determined at this time, the working robot can automatically move to complete the correction according to the preset correction program. The correction method for the correction robot in step S3' is also similar and will not be repeated here.

[0076] Through such a solution, when an abnormality occurs in the wireless signal, the position coordinates of the working robot and the correction robot in the scene can still be updated in real time in their respective central control modules; for example, when the correction robot is stationary, its position coordinates remain unchanged, and as long as the working robot does not deviate during movement, its position coordinates can be accurately calculated by combining the position coordinates of the correction robot with the laser ranging results, and vice versa; after the wireless signal is restored, the position coordinates can be further corrected in combination with wireless positioning.

[0077] Preferably, when an abnormality occurs in the wireless signal, the correction robot guides the working robot to turn along the virtual track through the following steps:

[0078] S1. In the initial state, the calibration robot is located directly behind the working robot, the laser ranging module of the calibration robot is facing forward, and the laser receiving targets of the calibration robot and the working robot both sense the laser, which is called the tracking success state. In addition, the default tracking distance can be set according to the actual situation, such as 300mm, that is, in the initial state, the calibration robot is 300mm behind the working robot;

[0079] S2, the working robot reaches the preset turning position (such as Figure 1 After A2 in the figure, the required steering angle is represented by γ, the calibration robot is located directly behind the robot (300mm away), and the laser ranging module of the calibration robot rotates the specified angle γ in the direction to be turned;

[0080] S3, the calibration robot does not move, the working robot turns to a specified angle γ, and during the turning process, the position of the working robot is adjusted within a preset range until it is in a tracking success state, indicating that the working robot turns successfully;

[0081] S4, the working robot moves forward a preset distance (such as 300 mm) and then stops, and the coordinates of the working robot are updated;

[0082] S5, the laser ranging module of the correction robot returns to the angle facing forward, and the correction robot turns to the specified angle γ. During the turning process, the position of the correction robot is adjusted within a preset range until it is in a tracking success state, indicating that the correction robot turns successfully, and the coordinates of the correction robot are updated;

[0083] S6. The working robot and the correction robot have completed turning and started the next round of straight driving.

[0084] It is understood that in the above step S3 or S5, when the working robot or the correction robot turns to the preset angle, the principle is similar to the above-mentioned correction of the offset angle of the working robot or the correction robot in the straight line, and the working robot or the correction robot automatically completes the turning according to the preset procedure. It is understood that after the working robot completes the turning first, the position coordinates of the correction robot remain unchanged, then the coordinates of the working robot can be accurately calculated according to the angle and the distance measurement value, and vice versa; after the subsequent wireless signal is restored, the position coordinates can be further corrected in combination with wireless positioning.

[0085] Preferably, when the wireless signal is normal, when the working robot needs to enter the working area outside the virtual track, the working robot is guided by the wireless signal to complete the work in the working area, and the correction robot remains on the virtual track, and the azimuth of the correction robot is consistent with the direction of the current virtual track; if the correction robot and / or the working robot loses its wireless position, indicating that the wireless signal is abnormal, the working robot and the correction robot both keep driving along the virtual track, and the working robot does not enter the working area outside the virtual track. After the wireless signal is restored, if there is a missed working area, the management personnel will be prompted to handle it manually. After eliminating the interference of the wireless signal, the working robot and the correction robot are controlled to move in the opposite direction to the required position, and then the working robot enters the working area to complete the work.

[0086] In a specific embodiment, the present invention can be applied to substation inspection operations, which can include instrument panel reading, instrument panel cleaning, instrument panel ice or snow melting, and non-contact temperature measurement. Of course, the present invention can also be applied to other operation scenarios as needed in other embodiments.

[0087] In summary, the working robot operating system based on virtual tracks provided by the present invention standardizes the walking and positioning of the working robot by establishing a virtual track, and at the same time, through precise positioning, enables the working robot to accurately move and complete working tasks in a controllable and editable environment; combined with the correction robot, it can guide and maintain the motion trajectory of the working robot in the event of abnormal wireless positioning.

[0088] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. A working robot operating system based on a virtual track, characterized in that: Including operating robots and virtual scenes established in the software; The virtual scene is established for a specific working scene of the working robot, and the virtual scene includes a virtual track corresponding to the working path area of ​​the working robot; The virtual track can define, edit and manage the working path of the working robot, the working objects in the working path and the working tasks corresponding to each working object; When establishing a virtual scene, the working path and working objects of the working robot are accurately modeled; When accurately modeling the operation path, the center coordinate starting point of the operation path, the effective path width, and the precise position of the path in the map are obtained through surveying and mapping; When accurately modeling the work object, the work object that the work robot can complete in the work path is directly marked in the virtual track through surveying and mapping; For work objects that need to be completed by the work robot in non-work path areas, a work area outside the virtual track is established in the virtual scene, and the work area coordinates, floor space dimensions and space dimensions corresponding to the work object are obtained through surveying and mapping.

2. The operating robot operating system based on virtual track according to claim 1 is characterized in that: The working robot is rotatably provided with a mechanical arm, and a laser vision probe is installed at the end of the mechanical arm, and the mechanical arm can drive the laser vision probe to move in three-dimensional space within its travel range; When the operating robot is working, the primary positioning of the mobile operation is achieved through wireless positioning technology; For specific locations that require precise positioning, when the working robot reaches the primary positioning interval, it obtains the three-dimensional distance characteristics of the specific target through the laser vision probe and compares it with the pre-stored information to achieve accurate secondary positioning of the mobile operation.

3. The operating robot operating system based on virtual track according to claim 2 is characterized in that: The steps to achieve accurate secondary positioning of mobile operations include: S1. Before the operation, the operation robot is placed at the required specific position (x, y) and specific azimuth angle θ. Under the control of the robot arm, the laser vision probe is centered at the position and azimuth angle, and scans left and right within the preset angle range to collect the laser morphological feature matrix corresponding to the target object, thereby accurately obtaining the three-dimensional distance characteristics of the specific target object, and pre-store the collected laser morphological feature matrix as a comparison matrix; S2: During operation, the operating robot reaches the preset position and is at the preset angle through primary positioning; S3. With the primary positioning position as the center, the robotic arm drives the laser vision probe to move within a preset range. Every time it moves to a point, it scans left and right within the preset angle range to collect the corresponding laser morphology feature matrix; S4, compare the laser morphology feature matrix corresponding to each point collected in step S3 with the comparison matrix pre-stored in step S1 for similarity, and find the laser morphology feature matrix J with the highest similarity, the corresponding point coordinates are represented by (x', y'), and the left and right angle ranges are represented by θ1 and θ2 respectively; S5. Position the working robot at the position (x', y') with an azimuth angle of (θ1+θ2) / 2 to achieve accurate secondary positioning.

4. The operating robot operating system based on virtual track according to claim 1, characterized in that: It also includes a correction robot, which is used to track the movement of the working robot and to synchronously correct the movement trajectory and movement direction of the working robot.

5. The operating robot operating system based on virtual track according to claim 4 is characterized in that: In the virtual track, corresponding map positioning tags are configured for the working robot and the correction robot, which are used to locate and measure the center position and movement direction angle of the working robot and the correction robot in the virtual scene.

6. The operating robot operating system based on virtual track according to claim 5, characterized in that: The correction robot is also equipped with a rotatable laser ranging module, which includes an integrated laser transmitter and a laser receiving target. The tail of the working robot is also equipped with a laser receiving target. The laser transmitter is used to emit laser light toward the working robot straight ahead, the laser receiving target of the working robot is used to sense and reflect the laser light, and the laser receiving target of the correction robot is used to receive the reflected laser light to achieve laser ranging; When the wireless signal is normal, the calibration robot and the working robot both realize positioning and navigation through their respective wireless positioning modules. The coordinates of the calibration robot and the working robot are updated in real time through wireless signals, and when traveling on the same virtual track segment, the azimuth angles of the calibration robot and the working robot are synchronized. If the calibration robot and / or the operating robot loses wireless position, indicating that the wireless signal is abnormal, the calibration robot guides the operating robot to continue moving along the virtual track through its laser ranging module until the wireless signal returns to normal.

7. The operating robot operating system based on virtual track according to claim 6, characterized in that: When the wireless signal is abnormal, the correction robot guides the working robot to go straight along the virtual track through the following steps: S1. In the initial state, the calibration robot is located directly behind the working robot, the laser ranging module of the calibration robot is facing forward, and the laser receiving targets of the calibration robot and the working robot both sense the laser, which is called the tracking success state; S2, the working robot moves forward, and the calibration robot does not move. During the moving process of the working robot, if the tracking success state is always maintained, the process directly proceeds to step S3. If the tracking success state is lost, the process first proceeds to step S2' for orientation calibration. After the calibration is successful, the working robot continues to move forward; S3, the working robot stops moving after reaching the preset distance, updates the coordinates of the working robot, and the calibration robot starts moving forward. If the calibration robot always maintains the tracking success state during the forward movement, it directly enters step S4. If it leaves the tracking success state, it first enters step S3' to perform orientation calibration. After the calibration is successful, the calibration robot continues to move forward; S4, the calibration robot stops moving after the forward distance reaches a preset distance, and the coordinates of the calibration robot are updated; S5, repeating steps S2-S4, the working robot and the correction robot move asynchronously to achieve straight forward movement; S2', the working robot stops moving, and the laser ranging module of the calibration robot senses laser information while rotating until the tracking is successful. At this time, the rotation angle of the laser ranging module is the offset angle α of the working robot; Next, the laser ranging module of the robot is corrected to return to the angle facing forward, and the working robot corrects the offset angle α. During the correction process, the position and angle of the working robot are adjusted within a preset range until the tracking success state is reached, indicating that the correction is successful, and the process returns to step S2; S3', the correction robot stops moving, and the laser ranging module of the correction robot senses laser information while rotating until it reaches a tracking success state. At this time, the rotation angle of the laser ranging module is the offset angle β of the correction robot; Next, the laser ranging module of the calibration robot returns to the angle facing forward, and the calibration robot corrects the offset angle β. During the calibration process, the position and angle of the calibration robot are adjusted within a preset range until the tracking success state is reached, indicating that the calibration is successful, and the process returns to step S3.

8. The operating robot operating system based on virtual track according to claim 7 is characterized in that: When the wireless signal is abnormal, the correction robot guides the working robot to turn along the virtual track through the following steps: S1. In the initial state, the calibration robot is located directly behind the working robot, the laser ranging module of the calibration robot is facing forward, and the laser receiving targets of the calibration robot and the working robot both sense the laser, which is called the tracking success state; S2, after the working robot reaches the preset turning position, the required turning angle is represented by γ, the calibration robot is located directly behind the robot, and the laser ranging module of the calibration robot rotates the specified angle γ in the direction to be turned; S3, the calibration robot does not move, the working robot turns to a specified angle γ, and during the turning process, the position of the working robot is adjusted within a preset range until it is in a tracking success state, indicating that the working robot turns successfully; S4, the working robot moves forward a preset distance and then stops, and the coordinates of the working robot are updated; S5, the laser ranging module of the correction robot returns to the angle facing forward, and the correction robot turns to the specified angle γ. During the turning process, the position of the correction robot is adjusted within a preset range until it is in a tracking success state, indicating that the correction robot turns successfully, and the coordinates of the correction robot are updated; S6. The working robot and the correction robot have completed turning and started the next round of straight driving.

9. The operating robot operating system based on virtual track according to claim 8, characterized in that: When the wireless signal is normal, when the working robot needs to enter the working area outside the virtual track, the working robot is guided to complete the work in the working area through the wireless signal, and the correction robot remains on the virtual track, and the azimuth of the correction robot is consistent with the direction of the current virtual track; If the calibration robot and / or the working robot loses wireless position, indicating that the wireless signal is abnormal, the working robot and the calibration robot both keep moving along the virtual track, and the working robot does not enter the working area outside the virtual track.

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