Automatic spraying method, device and system and storage medium

Abstract

The embodiment of the invention discloses an automatic spraying method, device and system and a storage medium. The method comprises the following steps: generating a first point cloud model of a to-be-sprayed object according to point cloud information of the to-be-sprayed object; determining a transformed point cloud relationship between the first point cloud model and at least one second point cloud model in a pre-constructed model pool; determining a second point cloud model corresponding to the point cloud relationship meeting a preset condition as a point cloud model matched with the first point cloud model; determining a key spraying path point and a spraying track of the first point cloud model based on a pre-configured key spraying path point matched with the point cloud model and the point cloud relationship meeting the preset condition; and according to the spraying track of the first point cloud model, a robot control command for spraying the to-be-sprayed object is generated. According to the technical scheme in the embodiment of the invention, the robot does not need to be additionally programmed, and various products can be automatically sprayed.

Description

technical field [0001] The invention relates to the technical field of spraying, in particular to an automatic spraying method, device, system and storage medium. Background technique [0002] In the process of industrial production, paints, coatings, etc. may be sprayed on various products (such as furniture, etc.). The way of spraying can be manual spraying or automatic spraying by robots. Manual spraying can be hazardous to the health of workers who are exposed to toxic or even explosive substances. Robot automatic spraying will be safer. However, generally speaking, robot automatic spraying uses a fixed spraying trajectory to spray specific products. If the product is slightly different, or the spraying position or angle changes, the robot needs to be reprogrammed. This automatic spraying method is not flexible enough. . Contents of the invention [0003] In view of this, on the one hand, the embodiments of the present invention propose an automatic spraying method...

AI Technical Summary

Problems solved by technology

However, generally speaking, robot automatic spraying uses a fixed spraying trajectory to spray specific products. If the product is slightly different, or the spraying position or angle changes, the robot needs to be reprogrammed. This automatic spraying method is not flexible enough.

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