An operating system

Abstract

The application provides a work system, and relates to the technical field of construction. The work system comprises a movable work device, a movable first measuring device and a control assembly. The work device comprises a work assembly. The first measuring device comprises a first measuring assembly. The control assembly is configured to control the work device to move to a first target work area, control the first measuring device to move into a field of view range, control the first measuring assembly to identify and measure first relative position information of the first measuring assembly relative to at least two auxiliary markers, determine first position information of the first measuring assembly based on first coordinate information and the first relative position information, and control the work device to adjust the position of a first target object to a first target work position based on the first position information. The work system can guarantee work precision, realize high-precision automatic work, and is beneficial to improving work efficiency and guaranteeing the consistency of work quality.

Description

Technical Field

[0001] This manual relates to the field of construction technology, and in particular to an operating system. Background Technology

[0002] In the field of construction technology, on-site operations such as component installation, drilling, and welding need to be installed precisely according to the design coordinates, and the accuracy of the operation position directly affects the quality of the project.

[0003] In some related technologies, component installation typically involves hoisting the target object to the vicinity of the installation location using cranes, followed by manual alignment. Surveyors use measuring devices (such as total stations) to repeatedly measure and direct adjustments, resulting in low work efficiency, inconsistent quality, and high safety risks due to the need for workers to enter the hoisting area. Furthermore, drilling and welding operations also rely on manual operation and repeated measurements, leading to low work efficiency and difficulty in ensuring consistent quality.

[0004] In some related technologies, automated operation solutions typically use measuring devices fixed at known locations, making them inconvenient to move flexibly with the work surface and resulting in long interruptions in continuous operation. Furthermore, the operating devices lack high-precision end-effector adjustment capabilities, making it difficult to achieve millimeter-level accuracy. In addition, some solutions employ six-degree-of-freedom parallel platforms, which offer complete adjustment freedom, but the complex structure, difficulty in balancing load-bearing capacity and cost, and complex control make them unsuitable for reliable on-site adjustment of heavy targets. Summary of the Invention

[0005] To address the technical problems of low work efficiency and accuracy, difficulty in ensuring quality consistency, and inconvenience in flexibly moving measuring devices with the work surface in the aforementioned field operations, this manual provides an operating system.

[0006] The invention includes an operating system comprising: a movable operating device including an operating component configured to adjust the position of a target object; a movable first measuring device including a first measuring component; and a control component communicatively connected to the operating device and the first measuring device, configured to: control the operating device to move to a first target operating area of ​​the first target object; control the first measuring device to move within the field of view of the first target operating area; control the first measuring component to identify at least two auxiliary markers fixed on ground engineering facilities and measure first relative position information of the first measuring component relative to the at least two auxiliary markers, the auxiliary markers having preset first coordinate information in a first coordinate system; determine first position information of the first measuring component in the first coordinate system based on the first coordinate information and the first relative position information; and control the operating device to adjust the position of the first target object to the first target operating position based on the first position information.

[0007] The beneficial effects of the above-described invention include, but are not limited to: The working device may vibrate during operation. If the working device and the first measuring device are integrated, it will affect the measurement accuracy. However, by setting the first measuring device and the working device to be separate and independently movable, not only can the measurement accuracy of the first measuring device be guaranteed, but the first measuring device can also flexibly choose an unobstructed observation position. Simultaneously, by employing a free stationing technique based on auxiliary markers with known first coordinate information, the position of the measuring device in the first coordinate system can be quickly and accurately determined, thereby guiding the working device to adjust the position of the target object to the target working position and perform the corresponding operation. Through the above settings, operational accuracy can be guaranteed, high-precision automated operation can be achieved, which is beneficial to improving operational efficiency and ensuring the consistency of operational quality. Attached Figure Description

[0008] This specification will be further described by way of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. These embodiments are not limiting; in these embodiments, the same reference numerals denote the same structures, wherein: Figure 1 These are schematic diagrams of the operating system according to some embodiments of this specification; Figure 2 These are partial structural schematic diagrams of the working device shown in some embodiments of this specification; Figure 3 This is one of the flowcharts illustrating how a control component controls a working device to adjust the position of a first target object to a first target working position, according to some embodiments of this specification. Figure 4 This is a second schematic diagram of the process of adjusting the position of the first target object to the first target working position by the control component controlling the working device according to some embodiments of this specification; Figure 5 This is the third schematic diagram of the process by which the control components, according to some embodiments of this specification, control the working device to adjust the position of the first target object to the first target working position.

[0009] Reference numerals: 100, operating system; 1, operating device; 11, operating component; 12, lifting mechanism; 13, operating platform; 14, installation structure; 15, adjustment component; 151, front and rear drive motors; 152, left and right drive motors; 153, lifting drive motor; 16, first moving component; 17, attitude sensor; 2, first measuring device; 21, first measuring component; 22, shock absorption platform; 3, control component; 200, target object; 201, first target object; 310, auxiliary mark; 320, first positioning mark; 330, second positioning mark; 340, positioning mark. Detailed Implementation

[0010] To more clearly illustrate the technical solutions of the embodiments in this specification, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are merely some examples or embodiments of this specification. For those skilled in the art, these drawings can be applied to other similar scenarios without creative effort. Unless obvious from the context or otherwise specified, the same reference numerals in the drawings represent the same structures or operations.

[0011] It should be understood that the terms "system," "device," and / or "component," as used herein, are one way to distinguish different components, elements, parts, sections, or assemblies at different levels. However, if other words can achieve the same purpose, they may be replaced by other expressions.

[0012] In this specification, terms such as "up," "down," "top," "bottom," "vertical," "horizontal," "left," "right," "front," and "back," indicating orientation or direction, refer to the orientation of a device or component under normal operating conditions. For example, "down" and "bottom" refer to the orientation of a device or component close to the ground under normal operating conditions; "up" and "top" refer to the orientation of a device or component away from the ground under normal operating conditions; "horizontal" refers to the orientation parallel to the ground; "vertical" refers to the orientation perpendicular to the ground; and "left," "right," "front," and "back" refer to the relative orientation of a device or component under normal operating conditions, based on its direction of travel. These terms are used solely for the convenience of describing this specification and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the scope of protection of this specification.

[0013] In this specification, unless otherwise expressly stated or agreed in the context, ordinal numbers such as "first" and "second" are used only to distinguish different objects. Those skilled in the art will understand that the use of the above ordinal numbers does not constitute an absolute limitation on the number, order or relationship of objects, and the specific meaning should be understood in conjunction with the context.

[0014] It should be noted that the terms "position," "position information," or "coordinate information" mentioned in this specification can be used to characterize the spatial position of the corresponding component, and can be expressed by the coordinates of one or more structural points on the component in a coordinate system. When expressed by the coordinates of multiple structural points, the "position," "position information," or "coordinate information" can also be used to determine the orientation of the component.

[0015] This specification provides a work system through some embodiments. This work system is used to move one or more target objects to corresponding target work locations and perform corresponding tasks at a construction site. It is applicable to any feasible construction project, such as rail transit engineering, municipal engineering, power engineering, building construction, and utility tunnel engineering.

[0016] Figure 1 This is a schematic diagram of the operating system according to some embodiments of this specification.

[0017] In some embodiments, such as Figure 1 As shown, Figure 1 As shown, the working system 100 includes: a movable working device 1, a movable first measuring device 2, and a control component 3. The movable working device 1 includes a working component 11, which is configured to adjust the position of the target object 200; the movable first measuring device 2 includes a first measuring component 21; and the control component 3 is communicatively connected to the working device 1 and the first measuring device 2.

[0018] The working device 1 is a device for moving and adjusting the position and orientation of the target object 200. For example, the working device 1 may include, but is not limited to, one or more of an Automated Guided Vehicle (AGV), a mobile chassis vehicle, a lifting transport vehicle, etc. In some embodiments, the working system 100 may include one or more working devices 1.

[0019] Figure 2 This is a partial structural schematic diagram of the working device according to some embodiments of this specification.

[0020] In some embodiments, such as Figure 1 and Figure 2 As shown, the working device 1 may include a working component 11, a lifting mechanism 12, a working platform 13, a mounting structure 14, an adjustment component 15, and a first moving component 16.

[0021] The lifting mechanism 12 is located on top of the first moving component 16 and is configured to adjust its own height to adjust the working height of the working device 1. The working platform 13 is located on top of the lifting mechanism 12 and is configured to support construction technicians. The mounting structure 14 is located on top of the lifting mechanism 12 and is configured to mount the adjusting component 15.

[0022] The work component 11 is a structure for performing work on the target object 200. For example, the work component 11 may be a clamping component. In some embodiments, the work component 11 is connected to the output of the adjustment component 15.

[0023] The adjustment component 15 is used to adjust the pose of the working component 11. In some embodiments, the adjustment component 15 may include multiple drive motors (such as servo motors). For example, Figure 2 As shown, the adjustment component 15 may include two front and rear drive motors 151, at least two left and right drive motors 152, and at least two lifting drive motors 153.

[0024] Two front and rear drive motors 151 are arranged side by side in the horizontal direction and are driven independently. When the two front and rear drive motors 151 move synchronously, the working component 11 translates in the front and rear direction. When the two front and rear drive motors 151 move asynchronously and produce a stroke difference, the working component 11 deflects about the vertical axis. The vertical axis refers to a virtual axis that passes through the center or centroid of the target object 200 in the vertical direction.

[0025] At least two left and right drive motors 152 are used to drive the working component 11 to translate in the left and right directions. At least two lifting drive motors 153 are used to drive the working component 11 to lift in the vertical direction.

[0026] The first moving component 16 is disposed at the bottom of the working device 1 and is configured to drive the working device 1 to move as a whole. In some embodiments, the working device 1 has a built-in autonomous navigation system. The first moving component 16 can drive the working device 1 to move as a whole based on the autonomous navigation system. The autonomous navigation system includes, but is not limited to, one or more of laser navigation, inertial navigation, Global Navigation Satellite System (GNSS) navigation, magnetic navigation, or Simultaneous Localization and Mapping (SLAM) navigation.

[0027] The measuring device is used to identify markers (such as auxiliary markers, positioning markers, etc.) within a field of view and to measure the space of the markers. In some embodiments, the measuring device is separate from the working device 1 and can move independently, thereby allowing the measuring device to flexibly select an observation position that is not affected by obstruction during operation.

[0028] In some embodiments, the operating system 100 may include one or more measuring devices. For ease of description, when there is only one measuring device, it is referred to as the first measuring device 2. When there are multiple measuring devices, they may be referred to as the first measuring device 2, the second measuring device, etc., respectively. Multiple measuring devices may be used in conjunction with the same operating device 1, or they may be used in conjunction with different operating devices 1, which is not limited in this specification.

[0029] In some embodiments, similar to the working device 1, a second moving component is provided at the bottom of the measuring device, and the measuring device has a built-in autonomous navigation system. The second moving component can move the measuring device as a whole based on the autonomous navigation system.

[0030] A measuring component is a component used to acquire the spatial location of an identifier. For example, the measuring component can be any measuring device with spatial coordinate measurement capabilities, such as a total station, a laser tracker, etc. In some embodiments, the measuring device includes a vibration-damping platform 22, and the measuring component is mounted on top of the vibration-damping platform 22.

[0031] The first measuring component 21 refers to the measuring component installed in the first measuring device 2.

[0032] Control component 3 refers to a component used to process measurement data, control commands, etc. For example, the control component may include one or more of an industrial computer, a programmable logic controller, a microcontroller, etc. In some embodiments, control component 3 may be a local component or a remote component relative to the working device 1 and the measuring device.

[0033] In some embodiments, the control component 3 can communicate with the working device 1 and the measuring device via a wired connection (such as a cable connection) or a wireless connection (such as a wireless local area network, Bluetooth, etc.) to realize data transmission between the control component 3 and the working device 1 and the measuring device.

[0034] Figure 3 This is one of the flowcharts illustrating how the control components, according to some embodiments of this specification, control the working device to adjust the position of the first target object to the first target working position.

[0035] In some embodiments, such as Figure 3 As shown, the control component 3 is configured to: control the operation device 1 to move to the first target operation area of ​​the first target object 201; control the first measuring device 2 to move to the field of view of the first target operation area; control the first measuring component 21 to identify at least two auxiliary markers 310 fixed on the ground engineering facilities, and measure the first relative position information of the first measuring component 21 relative to the at least two auxiliary markers 310, wherein the auxiliary markers 310 have preset first coordinate information in the first coordinate system; determine the first position information of the first measuring component 21 in the first coordinate system based on the first coordinate information and the first relative position information; and control the operation device 1 to adjust the position of the first target object 201 to the first target operation position based on the first position information.

[0036] Target object 200 refers to the work object whose position needs to be adjusted. For example, target object 200 may include, but is not limited to, workpieces to be installed and functional components. Workpieces to be installed refer to workpieces to be installed at the target work location, such as one or more of the following: contact wires, pipelines, equipment, columns, light poles, hanging columns, piles, prefabricated components, etc. Functional components refer to parts that need to perform operations at the corresponding target work location. For example, functional components may be drilling equipment, welding equipment, spraying equipment, cutting equipment, etc., to perform drilling, welding, spraying, cutting, etc., at the target work location. Target objects 200 at multiple target work locations may be the same or different.

[0037] In some embodiments, there are one or more target objects 200. When multiple target objects 200 are set, each target object 200 corresponds to a different target job location. For ease of description, different target objects 200 are referred to as first target object 201, second target object, etc., and so on.

[0038] The target work area is the approximate location range for performing work based on the target object 200. In some embodiments, the target work area of ​​the target object 200 includes the target work location corresponding to the target object 200. In some embodiments, the target work area can be uploaded and obtained by technicians, or it can be automatically read by the control component 3 based on construction documents, etc. For ease of description, the target work area of ​​the first target object 201 is defined as the first target work area, the target work area of ​​the second target object is defined as the second target work area, and so on.

[0039] In some embodiments, the control component 3 can control the working device 1 to perform coarse positioning based on the autonomous navigation system and control the working device 1 to move to the first target working area.

[0040] The field of view refers to the spatial area in which the first measuring component 21 can identify and measure the auxiliary marker 310 and the corresponding target work area. In some embodiments, the field of view can be determined by user input or automatically determined by the control component 3 based on the inherent capability parameters of the measuring device itself (such as field of view angle, maximum measurement distance, etc.). In some embodiments, the control component 3 can control the first measuring device 2 to perform coarse positioning based on the autonomous navigation system and control the first measuring device 2 to move within the field of view of the working device 1.

[0041] The auxiliary marker 310 is used to assist in determining the position information of the first measuring component 21 in the first coordinate system. In some embodiments, the auxiliary marker 310 can be any one of a prism, reflector, target, marker point, etc.

[0042] The first coordinate system refers to the engineering coordinate system upon which the operation is based. For example, the first coordinate system can be a geodetic coordinate system (such as the 2000 National Geodetic Coordinate System), a GIS coordinate system, etc. The coordinates of an object in the first coordinate system represent its actual location in real geographic space. Alternatively, the first coordinate system can be a custom coordinate system, where the coordinates of an object represent its position relative to a custom reference origin. In some embodiments, the first coordinate system can be pre-established by technicians or automatically generated by the control component 3 reading construction documents.

[0043] Ground engineering facilities refer to engineering structures installed on the ground or installation foundation of a construction site for fixing or supporting auxiliary markers. For example, ground engineering facilities may include at least one of the following: ground, roadbed, track, tunnel wall, permanent structure, fixed bracket, etc. In some embodiments, the auxiliary marker 310 can be fixed to the ground engineering facility by any feasible method (such as adhesive, magnetic connection, snap-fit, etc.), and the setting position of the auxiliary marker 310 remains stable during operation and does not change with the movement of the working device 1 or measuring device.

[0044] The first coordinate information refers to the coordinates of the auxiliary identifier 310 in the first coordinate system. In some embodiments, the first coordinate information of the auxiliary identifier 310 can be obtained by the user through measurement and calculation using measuring instruments (such as a GNSS receiver).

[0045] In some embodiments, there are two auxiliary markers 310. This method has low deployment cost and is suitable for scenarios where the deployment space of the auxiliary markers 310 is limited. In other embodiments, there are three or more auxiliary markers 310. Three or more auxiliary markers 310 can provide redundant measurement data, improve the positioning accuracy and reliability of the first measurement component 21, and can still complete the positioning of the first measurement component 21 when some auxiliary markers 310 are blocked.

[0046] Relative positional information refers to the spatial relationship between structures. For example, relative positional information can include the horizontal angle, vertical angle, and slope distance between structures.

[0047] The first relative position information refers to the spatial positional relationship between at least two auxiliary markers 310 and the first measuring component 21. In some embodiments, the first measuring component 21 has an automatic target recognition (ATR) function and an automatic aiming function (such as motor-driven aiming). The control component 3 controls the first measuring component 21 to scan and identify at least two auxiliary markers 310 within the field of view, and measures the first relative position information between the first measuring component 21 and the auxiliary markers 310.

[0048] The first position information refers to the spatial position of the first measuring component 21 in the first coordinate system.

[0049] In some embodiments, the control component 3 may determine the first position information of the first measurement component 21 in the first coordinate system based on the first coordinate information and the first relative position information, and based on a free stationing algorithm.

[0050] The target work position refers to the position that the target object should be in during or after the work process. For example, the target work position may include the coordinates of each structural point of the workpiece to be installed in the first coordinate system after installation and / or the coordinates of each structural point of the functional component in the first coordinate system during the work process.

[0051] In some embodiments, the target work location of the target object 200 can be uploaded and obtained by technicians, or it can be generated by the control component 3 after reading construction files (such as construction drawings or a 3D building model). For ease of description, the first target work location is defined as the target work location corresponding to the first target object 201, the second target work location is defined as the target work location corresponding to the second target object, and so on.

[0052] In some embodiments, the control component 3 may establish its own coordinate system (i.e., the second coordinate system) of the first measuring component 21 based on the first position information, and determine the coordinate transformation relationship between the second coordinate system and the first coordinate system; control the first measuring component 21 to measure the position of the first target object in the second coordinate system, and determine the first coordinate set of the first target object in the first coordinate system based on the coordinate transformation relationship, the first coordinate set including the coordinates of the structural points of the first target object in the first coordinate system; based on the deviation between the first coordinate set and the first target working position, control the front and rear drive motors 151, the left and right drive motors 152 and / or the lifting drive motor to work, so as to adjust the position of the first target object 201 to the first target working position.

[0053] In some embodiments, the control component 3 is further configured to: determine the deviation distance between the first target object 201 and the first target operation position based on the first position information; and control the operation component 11 to adjust the position of the first target object 201 to the first target operation position in response to the deviation distance being less than a distance threshold.

[0054] The deviation distance refers to the minimum distance between the current position of the first target object 201 and the first target operation position. In some embodiments, the control component 3 can determine the deviation distance between the first target object 201 and the first target operation position based on multiple coordinates in the first position information and the first target operation position.

[0055] The distance threshold is a critical value used to determine whether the deviation distance is within the adjustment range of the work component 11, and can be preset by a technician based on experience. In some embodiments, in response to the deviation distance being less than the distance threshold, the control component 3 controls the work component 11 to adjust the position of the first target object 201 to the first target work position based on the first position information. In response to the deviation distance being greater than or equal to the distance threshold, the control component 3 controls the first moving component 16 to move to reduce the deviation distance until the deviation distance is less than the distance threshold, and then controls the work component 11 to adjust the position of the first target object 201 to the first target work position based on the first position information.

[0056] In some embodiments of this specification, when the deviation distance is greater than or equal to a distance threshold, the moving component is first used to move the working device over a large range to the vicinity of the target working position to reduce the deviation distance; when the deviation distance is less than the distance threshold, the working component is then used for small-range fine adjustments to adjust the target object to the target working position. This design balances work efficiency and accuracy, avoids long-distance movement of the working component with limited travel distance, and makes the system design more reasonable and efficient.

[0057] In some embodiments, the control component 3 can control the working device 1 to perform assembly line operations. For example, after the first target object 201 is completed, the control component 3 controls the working device 1 to move to the second target working area and controls the first measuring device 2 to move within the field of view of the second target working area; controls the first measuring component 21 to measure the relative position information of the first measuring component 21 relative to the auxiliary marker 310 fixedly set on the ground engineering facility; based on the relative position information and the first coordinate information of the auxiliary marker 310, the position information of the first measuring component 21 in the first coordinate system is re-determined; based on the position information, the control component 1 adjusts the position of the second target object to the second target working position. By repeating the above steps, continuous assembly line operation of multiple target working positions can be achieved.

[0058] In some embodiments, the control component 3 can also control multiple working devices 1 to perform tasks simultaneously. For example, the control component 3 controls multiple working devices 1 to move to corresponding target working areas, and controls multiple measuring devices to move to the field of view corresponding to multiple target working areas; controls multiple measuring devices to measure their relative position information relative to the auxiliary marker 310; determines the position information of multiple measuring devices in the first coordinate system based on the relative position information and the first coordinate information of the auxiliary marker 310; and controls multiple working devices 1 to adjust the position of the target object to the corresponding target working position based on the position information.

[0059] It is understandable that the auxiliary identifiers 310 used for operations at multiple target work locations may be the same or different.

[0060] In some embodiments, after the target object 200 is adjusted to the corresponding target job position, the control component 3 controls the job component to execute the corresponding job. The jobs for multiple target job positions may be the same or different.

[0061] In some embodiments of this specification, the working device may vibrate during operation. If the working device and the first measuring device are integrated, it will affect the measurement accuracy. However, by setting the first measuring device and the working device to be separate and independently movable, not only can the measurement accuracy of the first measuring device be guaranteed, but the first measuring device can also flexibly choose an unobstructed observation position. Simultaneously, by employing a free stationing technique based on auxiliary markers with known first coordinate information, the position of the measuring device in the first coordinate system can be quickly and accurately determined, thereby guiding the working device to adjust the position of the target object to the target working position and perform the corresponding operation. Through the above settings, operational accuracy can be guaranteed, high-precision automated operation can be achieved, which is beneficial to improving operational efficiency and ensuring the consistency of operational quality.

[0062] Figure 4 This is the second schematic diagram of the process by which the control components, according to some embodiments of this specification, control the working device to adjust the position of the first target object to the first target working position.

[0063] In some embodiments, such as Figure 1 As shown, the working device 1 is provided with at least one first positioning mark 320. For example... Figure 4 As shown, the control component 3 is further configured to: control the first measuring component 21 to measure the second relative position information of the first measuring component 21 relative to at least one first positioning mark 320; determine the second position information of at least one first positioning mark 320 in the first coordinate system based on the first position information and the second relative position information; and control the working device 1 to adjust the position of the first target object 201 to the first target working position based on the second position information.

[0064] Positioning markers are used to assist in locating the position of the structure. For example, a positioning marker can be a prism, a reflector, a target, a marker point, or any other similar object.

[0065] The first positioning mark 320 is used to assist in positioning the work device 1. In some embodiments, the first positioning mark 320 can be set at any feasible position on the work device 1, such as on the first moving component 16 or the work component 11. The coordinate information of the first positioning mark 320 in the work device 1's own coordinate system (i.e., the third coordinate system) is known information and can be determined based on the design parameters of the work device 1.

[0066] In some embodiments, a first positioning mark 320 is provided on the working device 1. This method has low deployment cost and is suitable for scenarios where the deployment space of the first positioning mark 320 is limited.

[0067] In other embodiments, the working device 1 is provided with a plurality of first positioning marks 320. The plurality of first positioning marks 320 can provide redundant measurement data, improve the positioning accuracy and reliability of the working device 1, and can still complete the positioning of the working device 1 when some of the first positioning marks 320 are blocked.

[0068] The second relative position information refers to the spatial positional relationship between the first measuring component 21 and at least one first positioning identifier 320. The method for obtaining the second relative position information is similar to that for obtaining the first relative position information; see [link to details]. Figure 3 The relevant description in the document.

[0069] The second position information refers to the spatial position of at least one first positioning identifier 320 in the first coordinate system. In some embodiments, the control component 3 can determine the second position information based on the second relative position information and through the coordinate transformation relationship between the second coordinate system and the first coordinate system.

[0070] In some embodiments, the method of controlling the working device 1 to adjust the position of the first target object 201 to the first target working position based on the first position information is similar to the method of controlling the working device 1 to adjust the position of the first target object 201 to the first target working position based on the second position information. See details below. Figure 3 The description in the text.

[0071] In some embodiments, the control component 3 may determine the coordinate transformation relationship between the first coordinate system and the third coordinate system based on the second position information and the position information of at least one first positioning identifier 320 in the third coordinate system; determine the first coordinate set of the first target object 201 based on the determined position information and coordinate transformation relationship of the first target object 201 in the third coordinate system; and control the front and rear drive motors 151, left and right drive motors 152 and / or lifting drive motors to work based on the deviation between the first coordinate set and the first target working position, so as to adjust the position of the first target object 201 to the first target working position.

[0072] The position information of at least one first positioning identifier 320 in the third coordinate system of the working device 1 and the position information of the first target object 201 in the third coordinate system can be pre-input by technicians or automatically read by the control component 3.

[0073] In some embodiments of this specification, by setting a first positioning mark on the working device and further determining the second position information of the first positioning mark in the first coordinate system based on the first position information, the positions of the working device and the first target object in the first coordinate system are determined. This eliminates the need to repeatedly measure multiple structural points on the first target object; the position of the first target object can be calculated simply by measuring the first positioning mark, simplifying the measurement process, saving operating time, and improving operating efficiency.

[0074] Figure 5 This is the third schematic diagram of the process by which the control components, according to some embodiments of this specification, control the working device to adjust the position of the first target object to the first target working position.

[0075] In some embodiments, such as Figure 1 As shown, at least one second positioning identifier 330 is provided on the first target object 201. For example... Figure 5 As shown, the control component 3 is further configured to: control the first measuring component 21 to measure the third relative position information of the first measuring component 21 relative to at least one second positioning mark 330; determine the third position information of at least one second positioning mark 330 in the first coordinate system based on the first position information and the third relative position information; and control the working device 1 to adjust the position of the first target object 201 to the first target working position based on the third position information.

[0076] The second positioning marker 330 is used to assist in locating the position of the first target object 201. The coordinate information of the second positioning marker 330 in the first target object 201 is known information and can be determined based on the design parameters of the working device 1.

[0077] In some embodiments, at least one second positioning identifier 330 is detachably attached to a preset position on the first target object 201. The preset position can be any position on the first target object 201 that can be observed by the first measuring component 21, and can be determined by a technician based on experience.

[0078] With this configuration, the second positioning marker 330 can be retrieved and reused after the first target object 201 has completed its work, reducing construction costs and improving economic efficiency. Furthermore, by setting the second positioning marker 330 in a preset position, it can be ensured that the position of the second positioning marker 330 is consistent during each measurement, which is conducive to standardizing the measurement process and reducing measurement errors caused by inconsistent marker positions.

[0079] In some embodiments, a second positioning identifier 330 is provided on the first target object 201. This method has low deployment cost and is suitable for scenarios where the deployment space of the second positioning identifier 330 is limited. In other embodiments, multiple second positioning identifiers 330 are provided on the first target object 201. Multiple second positioning identifiers 330 can provide redundant measurement data, improve the positioning accuracy and reliability of the first target object 201, and can still complete the positioning of the first target object 201 even when some second positioning identifiers 330 are blocked.

[0080] The third relative position information refers to the spatial positional relationship between the first measuring component 21 and at least one second positioning identifier 330. The third position information refers to the spatial position of at least one second positioning identifier 330 in the first coordinate system.

[0081] and Figure 4 The method shown is different, Figure 5 At least one second positioning mark 330 is directly set on the first target object 201. By measuring the third relative position information of the first measuring component 21 relative to the second positioning mark 330, and combining it with the first position information, the third position information of the second positioning mark 330 in the first coordinate system is determined. Based on the third position information, the position of the first target object 201 in the first coordinate system is determined. It is not necessary to first determine the position of the working device 1 and then calculate the position of the first target object 201, which reduces the error transmission links and improves the accuracy and reliability of adjusting the position of the first target object 201.

[0082] In some embodiments, at least one second positioning identifier 330 is magnetically connected to the first target object 201, and at least one second positioning identifier 330 is also connected to the work component 11; when the first target object 201 completes the work, the control component 3 controls the work component 11 to release the control of the first target object 201, and causes at least one second positioning identifier 330 to separate from the first target object 201.

[0083] For example, after the operation component 11 completes the operation on the first target object 201, the control component 3 can control the operation component 11 to release the control of the first target object 201. Since at least one second positioning mark 330 is connected to the operation component 11, when the operation component 11 releases the clamp on the first target object 201 and moves away, it causes at least one second positioning mark 330 to separate from the first target object 201.

[0084] In some embodiments of this specification, at least one second positioning marker 330 is magnetically connected to the first target object 201, allowing for convenient and quick installation and disassembly without the need for additional tools or complex operations, thus improving construction efficiency. Simultaneously, since at least one second positioning marker 330 is connected to the working component 11, the working component 11 can simultaneously take at least one second positioning marker 330 with it when it is withdrawn, eliminating the need for separate manual retrieval and further simplifying the retrieval process. The above design improves the automation level and safety of the work process.

[0085] In some embodiments, the number of second positioning markers 330 is at least two, and the at least two second positioning markers 330 are arranged along the axial direction of the first target object 201. The control component 3 is further configured to: control the first measuring component 21 to measure the fourth relative position information of the first measuring component 21 relative to the at least two second positioning markers 330; determine the attitude information of the first target object 201 in the first coordinate system based on the fourth relative position information and the attitude information; and control the working device 1 to adjust the position of the first target object 201 to the first target working position based on the fourth relative position information and the attitude information.

[0086] Axial direction refers to the direction of the central axis extending along the length of the target object 200. In some embodiments, at least two second positioning marks 330 are spaced apart along the axial direction of the first target object 201.

[0087] The fourth relative position information refers to the spatial positional relationship between the first measuring component 21 and at least two second positioning markers 330. The method for determining the fourth relative positional relationship is the same as that for determining the first relative positional relationship; see [link to documentation] for details. Figure 3 The relevant description in the document.

[0088] Attitude information is used to characterize the tilt state of the first target object 201. For example, attitude information may include the angle between the axis of the first target object 201 and the horizontal plane. In some embodiments, the control component 3 may determine the positions of at least two second positioning markers 330 in the first coordinate system based on the fourth relative position information; and determine the line connecting the positions of the at least two second positioning markers 330 as the axis of the first target object 201, thereby determining the attitude information.

[0089] In some embodiments, the control component 3 can determine a first coordinate set of the first target object 201 based on the position and attitude information of at least two second positioning identifiers 330 in the first coordinate system, and adjust the position of the first target object 201 based on the deviation between the first coordinate set and the first target working position. After adjustment, the control component 3 can control the first measurement component 21 to acquire the fourth phase position information again and determine the attitude information, and adjust the position of the first target object 201 again. The above operation is repeated multiple times until the position of the first target object 201 is adjusted to the first target working position.

[0090] In some embodiments of this specification, the method of setting only a single second positioning marker is suitable for operational scenarios where only the position of the first target object needs to be adjusted without adjusting its attitude. However, some operational scenarios have accuracy requirements for both the position and attitude of the first target object. By setting at least two second positioning markers at intervals along the axial direction of the first target object, the position and attitude information of the first target object can be determined simultaneously without installing sensors and measuring multiple structural points of the first target object. This helps to reduce costs, simplify the measurement process, and thus improve operational efficiency.

[0091] In some embodiments, such as Figure 2 As shown, the working device 1 also includes an attitude sensor 17, which is configured to measure the attitude information of the first target object 201 in the first coordinate system; the control component 3 is further configured to control the working device 1 to adjust the position of the first target object 201 to the first target working position based on the first position information and attitude information.

[0092] The attitude sensor 17 is used to acquire the attitude information of the first target object 201 in the first coordinate system. For example, the attitude sensor 17 may include at least one of a dual-axis tilt sensor, an inertial measurement unit, etc. In some embodiments, the attitude sensor may be disposed on the working assembly 11.

[0093] In some embodiments, the control component 3 can control the first measuring component 21 to scan a preset position on the first target object 201, thereby obtaining the coordinate information of the preset position in a first coordinate system; based on the coordinate information and attitude information, a first coordinate set of the first target object 201 is determined, and the front-rear drive motor 151, the left-right drive motor 152 and / or the lifting drive motor 153 are controlled to work, so as to adjust the position of the first target object 201 to the first target working position. For an explanation of the preset position, see [link to relevant documentation]. Figure 5 The relevant description in the document.

[0094] In some embodiments of this specification, when the first target object does not have a second positioning marker or only has one second positioning marker, the attitude information of the first target object cannot be determined. In this case, by adding an attitude sensor, attitude information can be obtained, and the position and attitude of the first target object can be determined with lower cost and a simpler structure.

[0095] In some embodiments, at least two positioning markers 340 are provided on the working device 1 and / or the first target object 201. The control component 3 is further configured to: control the first measuring device 2 to move to the field of view of the second target working area of ​​the second target object; control the first measuring component 21 to measure the fifth relative position information of the first measuring component 21 relative to the at least two positioning markers 340; determine the fourth position information of the moved first measuring component 21 in the first coordinate system based on the fifth relative position information and the second coordinate information of the at least two positioning markers 340 in the first coordinate system; control the working device 1 to move to the second target working area; and control the working device 1 to adjust the position of the second target object to the second target working position based on the fourth position information.

[0096] Positioning marker 340 refers to the position used to assist in positioning the work device 1 and / or the first target object 201. For example, positioning marker 340 may be the first positioning marker 320 and / or the second positioning marker 330 described above. In some embodiments, after the work on the first target object 201 is completed, the positions of at least two positioning markers 340 in the first coordinate system are known and fixed.

[0097] The method of controlling the working device 1 to move to the second target working area is similar to the method of controlling the working device 1 to move to the first target working area; see details below. Figure 3 The relevant description in the document.

[0098] The fifth relative position information refers to the spatial positional relationship between the moved first measuring component 21 and at least two positioning markers 340. The fourth position information refers to the spatial position of the moved first measuring component 21 in the first coordinate system.

[0099] The second coordinate information refers to the coordinates of at least two positioning markers 340 in the first coordinate system, which can be determined by the first measurement component 21 during or after the operation on the first target object 201.

[0100] In some embodiments, at least two positioning markers 340 are disposed on the first target object 201 after the work has been completed. After the work on the first target object 201 is completed, the control component 3 can control another working device 1 (i.e., the second working device) to move to the second target working area; and control the first measuring device 2 to move within the field of view of the second target working area to measure the fifth relative position information between the first measuring component 21 and the at least two positioning markers 340; combine the second coordinate information of the at least two positioning markers 340 to determine the fourth position information of the moved first measuring component 21 in the first coordinate system, and calibrate the second coordinate system; and based on the fourth position information, control the second working device to adjust the position of the second target object to the second target working position.

[0101] The method of adjusting the position of the second target object to the second target operation position based on the fourth position information is similar to the method of adjusting the position of the first target object 201 to the first target operation position based on the first position information. See details below. Figure 3 The relevant description in the document.

[0102] In some embodiments, at least a portion of at least two positioning markers 340 are disposed on the working device 1. After the first target object 201 is completed, the position of the working device 1 (first working device) is first fixed, so that the second coordinate information of the at least two positioning markers 340 is fixed. The control component 3 controls the first measuring device 2 to move to the field of view of the second target working area, and controls the first measuring component 21 to determine the fourth position information of the moved first measuring component 21 in the first coordinate system by measuring the fifth relative position information between the first measuring component 21 and the at least two positioning markers 340, and combining it with the second coordinate information of the at least two positioning markers 340; after the fourth position information is determined, the working device 1 or another working device (i.e., the second working device) is controlled to move to the second target working area; and based on the fourth position information, the first working device or the second working device is controlled to adjust the position of the second target object to the second target working position.

[0103] In some embodiments, at least two positioning markers include at least two first positioning markers 320 disposed on the working device 1, and the control component 3 is further configured to: control the working device 1 to move to the second target working area; control the first measuring component 21 to measure the fifth relative position information of the first measuring component 21 relative to the at least two first positioning markers 320; determine the second coordinate information of the at least two positioning markers 340 based on the fifth relative position information; control the first measuring device 2 to move to the field of view of the working device 1; identify the at least two first positioning markers 320 as auxiliary markers 310, and control the first measuring component 21 to measure the eighth relative position information of the first measuring component 21 relative to the auxiliary markers 310; determine the fourth position information based on the eighth relative position information; and control the working device 1 to adjust the position of the second target object to the second target working position based on the fourth position information.

[0104] In some embodiments of this specification, by setting at least two positioning marks on the first target object and / or the working device after the work has been completed, the first measuring component can redetermine its position in the first coordinate system after moving to a new measuring point. This eliminates the need to repeatedly set up auxiliary marks on the ground engineering facilities, and enables the rapid reconstruction of the measurement benchmark (i.e., the coordinates of the first measuring component 21 in the first coordinate system) as the working surface advances. This is beneficial for the continuous operation of multiple target objects and improves work efficiency.

[0105] During actual construction, the auxiliary marker 310 may be obstructed, preventing the first measuring component 21 from establishing a measurement reference through the auxiliary marker 310. In this case, the aforementioned second positioning marker 330 can be regarded as the auxiliary marker 310 to reconstruct the measurement reference of the first measuring component 21.

[0106] In some embodiments, the control component 3 is further configured to: control the first measuring device 2 to move to the field of view of the second target work area; identify at least two positioning marks 340 as auxiliary marks 310, and control the first measuring component 21 to measure the fifth relative position information of the first measuring component 21 relative to the at least two auxiliary marks 310; determine the fourth position information of the moved first measuring component 21 in the first coordinate system based on the fifth relative position information and the second coordinate information; control the work device 1 to move to the second target work area; and control the work device 1 to adjust the position of the second target object to the second target work position based on the fourth position information.

[0107] With this configuration, when the auxiliary marker 310 fixed on the ground engineering facility is obstructed, preventing the first measuring component 21 from establishing a measurement reference through the auxiliary marker 310, the measurement reference of the first measuring component 21 can be quickly reconstructed by identifying at least two positioning markers 340 on the first target object 201 that has completed the work or the fixed-position working device 1 as the auxiliary marker 310, without the need to redeploy the auxiliary marker 310, thus ensuring the continuity of measurement.

[0108] Furthermore, when the positioning marker 340 is not obstructed, it can be considered as an auxiliary marker 310 and directly used for the repositioning of the first measuring component 21 in subsequent assembly line operations. When a set of positioning markers 340 is obstructed again, another set of fixed positioning markers 340 can be selected as the new auxiliary markers 310 and used for the reconstruction of the measurement benchmark in subsequent operations. In this way, by alternating the use of multiple sets of positioning markers 340, a seamless relay of the measurement benchmark is achieved, effectively ensuring the continuity and reliability of the assembly line operation.

[0109] Furthermore, when the positioning marker 340 is not obstructed, it can serve as an auxiliary marker 310, directly used for the reconstruction of the measurement reference after the first measuring component 21 has moved. When a set of positioning markers 340 is subsequently obstructed, another set of positioning markers 340 can be selected and designated as the new auxiliary marker 310, continuing to be used for the reconstruction of the measurement reference of the first measuring component 21 in subsequent operations. Through the alternating use of multiple sets of positioning markers 340, the relay transmission of the measurement reference is achieved, effectively ensuring the continuity and reliability of the assembly line operation.

[0110] In some embodiments, at least two positioning markers 340 are provided on the working device 1 and / or the first target object 201, and the positioning markers 340 have second coordinate information in the first coordinate system. The working system 100 also includes a movable second measuring device, which includes a second measuring component. The control component 3 is further configured to: control the first measuring device 2 to measure the fourth relative position information of the first measuring component 21 relative to the at least two positioning markers 340; control the second measuring device to move to the field of view of the second target working area of ​​the second target object; control the second measuring component to identify the at least two positioning markers 340 and measure the sixth relative position information of the second measuring component relative to the at least two positioning markers 340; determine the fifth position information of the second measuring device in the first coordinate system based on the sixth relative position information, the fourth relative position information, and the second coordinate information; control the working device 1 to move to the second target working area; and control the working device 1 to adjust the position of the second target object to the second target working position based on the fifth position information.

[0111] For further explanation regarding the definition and acquisition methods of positioning identifier 340, second coordinate information, and fourth relative position information, please refer to the above text.

[0112] The method for controlling the movement of the second measuring device to the field of view of the second target working area is similar to the method for controlling the movement of the first measuring device to the field of view of the first target working area. See details [link to details]. Figure 3 The relevant description in the document.

[0113] The sixth relative position information refers to the spatial position of the second measuring component relative to at least two positioning markers 340. The method for determining the sixth relative position information is similar to that for determining the first relative position information; see [link to documentation] for details. Figure 3 The relevant description in the document.

[0114] The fifth position information refers to the spatial position of the second measuring component in the first coordinate system. In some embodiments, the control component 3 can establish the relationship between the first coordinate system, the second coordinate system, and the second measuring device's own coordinate system (i.e., the fourth coordinate system) based on the sixth relative position information, the fourth relative position information, and the second coordinate information, thereby determining the fifth position information.

[0115] In some embodiments, after determining the fourth location information, the control component 3 can control the working device 1 to move to the second target working area, and based on the fifth location information, control the working device 1 to adjust the position of the second target object to the second target working position. The method of adjusting the position of the second target object to the second target working position based on the fifth location information is similar to the method of adjusting the position of the first target object to the first target working position based on the first location information; see [link to documentation] for details. Figure 3 The relevant description in the document.

[0116] In some embodiments of this specification, by setting a second measuring device that cooperates with the first measuring device, the first measuring device and the second measuring device can be used alternately between different target operation positions, reducing the waiting time caused by a single measuring device repeatedly moving and repositioning between multiple target operation positions, realizing the parallelization of the measurement process, and which is conducive to improving the efficiency of assembly line operations.

[0117] In some embodiments, the first measuring device 2 further includes at least two measuring markers. The operating system also includes a movable second measuring device, which includes a second measuring component. The control component 3 is further configured to: determine sixth position information of the at least two measuring markers in a first coordinate system based on the first position information; control the second measuring device to move to within the field of view of the second target operating area of ​​the second target object; control the second measuring component to measure seventh relative position information of the second measuring component relative to the at least two measuring markers; determine fifth position information of the second measuring device in the first coordinate system based on the seventh relative position information and the sixth position information; and control the operating device 1 to adjust the position of the second target object to the second target operating position based on the fifth position information.

[0118] The measurement marker is used to assist in determining the position information of the second measurement component in the first coordinate system. In some embodiments, the measurement marker can be any one of a prism, reflector, target, marker point, etc. In some embodiments, the measurement marker can be set at any feasible position on the first measurement component 21, and the third coordinate information of the measurement marker in the fourth coordinate system is known.

[0119] The sixth position information refers to the spatial position of at least two measurement markers in the first coordinate system. In some embodiments, the control component 3 can establish a coordinate transformation relationship between the first and third coordinate systems based on the first position information and the third coordinate information, thereby determining the sixth position information.

[0120] The seventh relative position information refers to the spatial position of the second measuring component relative to at least two measuring markers. The method for determining the seventh relative position information is similar to that for determining the first relative position information; see [link to documentation] for details. Figure 3 The relevant description in the document.

[0121] The method of determining the fifth position information based on the seventh relative position information and the sixth position information, and adjusting the position of the second target object to the second target operation position, is similar to the method of determining the first position information based on the first relative position information and the first coordinate information, and adjusting the position of the first target object to the first target operation position. See details [link to documentation]. Figure 3 The relevant description in the document.

[0122] In some embodiments of this specification, by setting a measurement mark on the first measuring device, the second measuring device can determine its own position by measuring the mark. Compared with setting the mark on the working device or the target object, the first measuring device has a regular structure, and the mark installation position is standardized and uniform, which facilitates the identification and measurement of the second measuring device; moreover, the mark is fixed on the first measuring device and does not need to be removed or retrieved after the target object operation is completed, reducing the amount of mark used and the on-site operation steps; at the same time, as a measuring device, the position of the first measuring device is usually not obstructed by the working device or the target object, which helps to ensure the observability of the mark.

[0123] The basic concepts have been described above. It is clear that the detailed disclosure above is merely illustrative and does not constitute a limitation of the present invention. Although not explicitly stated herein, various modifications, improvements, and corrections may be made to the present invention by those skilled in the art. Such modifications, improvements, and corrections are suggested in this invention and therefore remain within the spirit and scope of the exemplary embodiments of the present invention.

[0124] Furthermore, specific terms are used to describe embodiments of the invention. For example, "some embodiments" refers to a particular feature, structure, or characteristic related to at least one embodiment of the invention. Therefore, it should be emphasized and noted that "some embodiments" mentioned twice or more in different locations in this invention do not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of the invention can be appropriately combined.

[0125] Finally, it should be understood that the embodiments in this invention are merely illustrative of the principles of the invention. Other modifications may also fall within the scope of this invention. Therefore, alternative configurations of the embodiments of this invention are considered as examples and not limitations, and are regarded as consistent with the teachings of this invention. Accordingly, the embodiments of this invention are not limited to those explicitly described and illustrated herein.

Claims

1. An operating system, characterized in that include: A movable working device includes a working component configured to adjust the position of a target object; A movable first measuring device, including a first measuring component; and, The control component, which is communicatively connected to the working device and the first measuring device, is configured as follows: Control the working device to move to the first target working area of ​​the first target object; Control the first measuring device to move it within the field of view of the first target work area; The first measuring component is controlled to identify at least two auxiliary markers fixedly installed on the ground engineering facility, and to measure the first relative position information of the first measuring component relative to the at least two auxiliary markers, wherein the auxiliary markers have preset first coordinate information in the first coordinate system; Based on the first coordinate information and the first relative position information, the first position information of the first measuring component in the first coordinate system is determined; Based on the first location information, the operating device is controlled to adjust the position of the first target object to the first target operating position.

2. The operating system according to claim 1, characterized in that, The working device is equipped with at least one first positioning mark; The control component is further configured to: Control the first measuring component to measure the second relative position information of the first measuring component relative to the at least one first positioning identifier; Based on the first location information and the second relative location information, determine the second location information of the at least one first positioning identifier in the first coordinate system; Based on the second location information, the operating device is controlled to adjust the position of the first target object to the first target operating position.

3. The operating system according to claim 1, characterized in that, The first target object is provided with at least one second positioning identifier; The control component is further configured to: Control the first measuring component to measure the third relative position information of the first measuring component relative to the at least one second positioning identifier; Based on the first location information and the third relative location information, the third location information of the at least one second positioning identifier in the first coordinate system is determined; Based on the third location information, the operating device is controlled to adjust the position of the first target object to the first target operating position.

4. The operating system according to claim 3, characterized in that, The number of the second positioning markers is at least two, and the at least two second positioning markers are arranged along the axial direction of the first target object; and, The control component is further configured to: Control the first measuring component to measure the fourth relative position information of the first measuring component relative to the at least two second positioning identifiers; Based on the fourth relative position information, the attitude information of the first target object in the first coordinate system is determined; Based on the fourth relative position information and the attitude information, the operating device is controlled to adjust the position of the first target object to the first target operating position.

5. The operating system according to claim 1, characterized in that, The working device further includes an attitude sensor, which is configured to measure the attitude information of the first target object in the first coordinate system; as well as, The control component is further configured to control the working device to adjust the position of the first target object to the first target working position based on the first position information and the attitude information.

6. The operating system according to claim 1, characterized in that, The working device and / or the first target object are provided with at least two positioning marks; The control component is further configured to: Control the first measuring device to move it within the field of view of the second target working area of ​​the second target object; Control the first measuring component to measure the fifth relative position information of the first measuring component relative to at least two positioning identifiers; Based on the fifth relative position information and the second coordinate information of the at least two positioning markers in the first coordinate system, the fourth position information of the moved first measuring component in the first coordinate system is determined; Control the working device to move to the second target working area; Based on the fourth location information, the operating device is controlled to adjust the position of the second target object to the second target operating position.

7. The operating system according to claim 6, characterized in that, The control component is further configured to: Control the first measuring device to move within the field of view of the second target work area; The at least two positioning identifiers are identified as the auxiliary identifiers, and the first measuring component is controlled to measure the fifth relative position information of the first measuring component relative to the at least two auxiliary identifiers; Based on the fifth relative position information and the second coordinate information, the fourth position information of the moved first measuring component in the first coordinate system is determined; as well as, Control the working device to move to the second target working area; Based on the fourth location information, the operating device is controlled to adjust the position of the second target object to the second target operating position.

8. The operating system according to claim 1, characterized in that, The control component is further configured to: Based on the first location information, determine the current deviation distance between the first target object and the first target operation location; and, In response to the deviation distance being less than a distance threshold, the operation component is controlled to adjust the position of the first target object to the first target operation position.

9. The operating system according to claim 1, characterized in that, The working device and / or the first target object are provided with at least two positioning marks, and the positioning marks have second coordinate information in the first coordinate system; The operating system also includes a movable second measuring device, which includes a second measuring component; The control component is further configured to: The first measuring device is controlled to measure the fourth relative position information of the first measuring component relative to the at least two positioning markers; Control the second measuring device to move it within the field of view of the second target working area of ​​the second target object; The second measuring component is controlled to identify the at least two positioning identifiers and to measure the sixth relative position information of the second measuring component relative to the at least two positioning identifiers; Based on the sixth relative position information, the fourth relative position information, and the second coordinate information, the fifth position information of the second measuring device in the first coordinate system is determined; Control the working device to move to the second target working area; Based on the fifth location information, the operating device is controlled to adjust the position of the second target object to the second target operating position.

10. The operating system according to claim 1, characterized in that, The first measuring device also includes at least two measuring indicators; The operating system also includes a movable second measuring device, which includes a second measuring component; The control component is further configured to: Based on the first location information, determine the sixth location information of the at least two measurement markers in the first coordinate system; Control the second measuring device to move it within the field of view of the second target working area of ​​the second target object; The second measuring device is controlled to measure the seventh relative position information of the second measuring component relative to the at least two measuring identifiers; Based on the seventh relative position information and the sixth position information, the fifth position information of the second measuring device in the first coordinate system is determined; Based on the fifth location information, the operating device is controlled to adjust the position of the second target object to the second target operating position.

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