Simulation method, device and equipment of robot operation environment and storage medium

The invention provides a robot operation environment simulation method, device and equipment and a storage medium, and the method comprises the steps that a mechanical arm model is added in a simulation environment space, and the simulation environment space comprises a virtual working space and a physical working space; according to the type of the mechanical arm model, mechanical arm joint limiting parameters are set; adding a collision model in the physical working space; adding a corresponding obstacle model in the virtual working space according to an obstacle existing in an actual environment; and according to the joint limiting parameters of the mechanical arm and the position information of the collision model and the obstacle model in the simulation environment space, the movement track of the mechanical arm is planned. According to the method, the obstacle avoidance track of the mechanical arm can be quickly simulated in a simulation environment, the situation that the robot executes operation tasks