A spraying operation method, device, electronic device and storage medium

Abstract

The application discloses a spraying operation method and device, electronic equipment and a storage medium, and relates to the technical field of spraying. The method comprises the following steps: acquiring spraying areas corresponding to a plurality of spraying robots respectively; constructing spraying sequences of the spraying robots in the spraying areas, and acquiring spraying trajectories of the spraying robots under the current spraying sequences; acquiring corresponding body position trajectories according to the spraying trajectories of the spraying robots under the current spraying sequences, and acquiring spraying waiting time under the current spraying sequences according to the body position trajectories; and if the spraying waiting time is less than or equal to a preset time threshold, spraying trajectories under the current spraying sequences are taken as spraying operation trajectories. The technical scheme of the embodiment of the application not only avoids collision of the spraying robots when the spraying robots perform spraying operations, but also reduces the waiting time in the spraying operation of automobile parts, greatly improves the operation efficiency of the spraying robots, and meets the beat requirements of the automobile part production line.

Description

Technical Field

[0001] This invention relates to the field of spraying technology, and more particularly to a spraying operation method, apparatus, electronic device, and storage medium. Background Technology

[0002] With the continuous advancement of science and technology, robotics has developed rapidly, especially in the automotive industry, where painting robots have been widely used in the painting of automotive parts.

[0003] In order to ensure high painting efficiency, multiple painting robots are usually used to paint different parts or different areas of the same part simultaneously. As a result, interference often occurs between different painting robots, posing a serious risk of collision. To solve the above problems, a waiting signal is usually set to delay the execution of one or more painting robots.

[0004] However, this spraying method greatly reduces the efficiency of the spraying operation and does not meet the cycle time requirements of the automobile production line. In addition, in order to make up for the spraying delay caused by the waiting time, the only way to make up for the time delay is to increase the spraying speed. However, the excessively fast spraying speed will affect the uniformity of the coating film, resulting in visual color difference in the spraying, as well as low coating efficiency and excessive waste of paint costs. Summary of the Invention

[0005] This invention provides a spraying operation method, apparatus, electronic device, and storage medium to solve the problem of low efficiency in spraying operations.

[0006] According to one aspect of the present invention, a spraying operation method is provided, comprising:

[0007] Obtain the spraying areas corresponding to multiple spraying robots; wherein each spraying area includes multiple spraying sub-areas, and each spraying sub-area includes a spraying sub-trajectory;

[0008] Construct a spraying sequence for each of the spraying robots in the spraying area, and obtain the spraying trajectory of each of the spraying robots under the current spraying sequence based on the spraying sequence and the spraying sub-trajectory;

[0009] Based on the spraying trajectory of each spraying robot in the current spraying sequence, the corresponding body position trajectory is obtained, and the spraying waiting time in the current spraying sequence is obtained based on the body position trajectory.

[0010] If it is determined that the spraying waiting time under the current spraying sequence is less than or equal to the preset time threshold, the spraying trajectory under the current spraying sequence will be used as the spraying operation trajectory.

[0011] According to one aspect of the present invention, a spraying apparatus is provided, comprising:

[0012] The spraying area acquisition module is used to acquire the spraying areas corresponding to multiple spraying robots respectively; wherein, each spraying area includes multiple spraying sub-areas, and each spraying sub-area includes a spraying sub-trajectory;

[0013] The spraying trajectory acquisition module is used to construct the spraying sequence of each of the spraying robots in the spraying area, and to acquire the spraying trajectory of each of the spraying robots under the current spraying sequence based on the spraying sequence and the spraying sub-trajectory.

[0014] The waiting time acquisition module is used to acquire the corresponding body position trajectory of each of the spraying robots according to the spraying trajectory of each of the spraying robots in the current spraying sequence, and to acquire the spraying waiting time in the current spraying sequence according to the body position trajectory of each of the robots.

[0015] The operation trajectory acquisition module is used to take the spraying trajectory of the current spraying sequence as the spraying operation trajectory if it is determined that the spraying waiting time under the current spraying sequence is less than or equal to a preset time threshold.

[0016] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the spraying operation method according to any embodiment of the present invention.

[0017] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the spraying operation method according to any embodiment of the present invention.

[0018] The technical solution of this invention, after obtaining the spraying areas corresponding to multiple spraying robots, constructs a spraying sequence for each spraying robot and obtains the spraying trajectory of each spraying robot in the current spraying sequence. Then, based on the obtained body position trajectory, it obtains the spraying waiting time for the current spraying sequence. When it is determined that the spraying waiting time for the current spraying sequence is less than or equal to a preset time threshold, the spraying trajectory for the current spraying sequence is used as the spraying operation trajectory. This avoids collisions between the spraying robots when performing spraying operations and reduces the waiting time in the spraying operation of automotive parts, greatly improving the working efficiency of the spraying robots and meeting the cycle time requirements of the automotive parts production line. At the same time, it also avoids the phenomenon of spraying robots compensating for time delays by increasing spraying speed, ensuring a high level of coating uniformity, avoiding visual color difference and paint waste, and improving paint application efficiency.

[0019] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a flowchart of a spraying operation method provided in Embodiment 1 of the present invention;

[0022] Figure 2 This is a schematic diagram showing the positions of the painting robot and the part to be painted according to Embodiment 1 of the present invention;

[0023] Figure 3 This is a schematic diagram of the location of the sprayed sub-area according to Embodiment 1 of the present invention;

[0024] Figure 4 This is a schematic diagram of the spraying trajectory of the spraying robot provided in Embodiment 1 of the present invention;

[0025] Figure 5 This is a flowchart of a spraying operation method provided in Embodiment 2 of the present invention;

[0026] Figure 6 This is a flowchart of a spraying operation method provided in Embodiment 3 of the present invention;

[0027] Figure 7This is a schematic diagram of a spraying device according to Embodiment 4 of the present invention;

[0028] Figure 8 This is a schematic diagram of the structure of an electronic device that implements the spraying operation method of the present invention. Detailed Implementation

[0029] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0030] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0031] Example 1

[0032] Figure 1 This is a flowchart of a spraying operation method provided in Embodiment 1 of the present invention. This embodiment is applicable to obtaining the spraying operation trajectory when multiple spraying robots perform spraying operations. This method can be executed by the spraying operation device in this embodiment of the present invention. The spraying operation device can be implemented in hardware and / or software. The spraying operation device can be configured in an electronic device. The electronic device can be connected to each spraying robot as an independent device, or it can be configured in any one of the spraying robots. Figure 1 As shown, the method includes:

[0033] S101. Obtain the spraying areas corresponding to multiple spraying robots respectively; wherein, each spraying area includes multiple spraying sub-areas, and each spraying sub-area includes a spraying sub-trajectory.

[0034] The painting robot consists of robotic arms and joints. Each pair of adjacent robotic arms is connected by a joint. The robotic arms are moved by the rotation of the joints, and the painting operation is performed by the spray gun held at the end of the robotic arm. In this embodiment of the invention, the number and structure of the robotic arms and joints of the painting robot are not specifically limited, nor are the types of automotive parts to be painted.

[0035] Taking the use of painting robots for car bumpers as an example, the front and rear bumpers of the same car are placed together on a carrier, which stops moving when it reaches the designated painting position on the production line. Because the front and rear bumpers have different structures and require different painting processes, they are usually painted separately by different painting robots. Furthermore, to facilitate painting the bumpers from both sides of the production line and improve painting efficiency, multiple painting robots can be installed at the front and rear bumper positions respectively. Figure 2 For example, painting robots A and B are installed on both sides of the front bumper; painting robots C and D are installed on both sides of the rear bumper.

[0036] Since the car parts to be painted are parked in a fixed position with a fixed posture, the painting area is the location of the car parts or the location of part of the car parts. Taking the above technical solution as an example, the left half of the front bumper, the right half of the front bumper, the left half of the rear bumper, and the right half of the rear bumper are the painting areas corresponding to painting robots A, B, C, and D, respectively. The left half of the front bumper and the right half of the front bumper are symmetrical, and the left half of the rear bumper and the right half of the rear bumper are also symmetrical.

[0037] Due to the complexity of automotive component structures, a single automotive component typically consists of multiple sub-components, each of which is located in a painting sub-area; that is, each painting area is composed of multiple painting sub-areas. These painting sub-areas can be specifically divided according to painting process requirements or component structure. In this embodiment of the invention, the method of dividing the painting sub-areas within the painting area is not specifically limited; for example... Figure 3 As shown, the left half of the front bumper, the right half of the front bumper, the left half of the rear bumper, and the right half of the rear bumper can each be divided into 7 painting sub-areas, namely painting sub-area 1 to painting sub-area 7. In addition, the painting trajectory (i.e., the painting sub-trajectory) in each painting sub-area has been pre-planned according to the painting process requirements. Each painting sub-trajectory consists of multiple painting points, which are used to indicate the painting operation position of the spray gun of the painting robot in that painting sub-area.

[0038] S102. Construct the spraying sequence of each of the spraying robots in the spraying area, and obtain the spraying trajectory of each of the spraying robots under the current spraying sequence based on the spraying sequence and the spraying sub-trajectory.

[0039] A painting sequence is the order in which a painting robot paints the various sub-areas within a corresponding painting area. For example, painting robot A paints sub-areas 1, 3, 6, 5, 2, 4, and 7 in sequence on the left half of the front bumper. Simultaneously, painting robot B paints sub-areas 4, 1, 3, 6, 7, 5, and 2 in sequence on the right half of the front bumper.

[0040] The spraying sequence can be constructed randomly or based on preset construction rules. For example, a spraying sub-region can be randomly selected as the starting point for spraying robot A, and then other spraying sub-regions can be sorted according to their relative positions. For spraying robot B, the spraying sub-region furthest from the starting point of spraying robot A can be selected as the starting point, thus ensuring that at any given time, the starting point of spraying robot B is far from the starting point of spraying robot A. Spraying robots C and D can also be constructed based on the same rules. The spraying order of spraying robots A, B, C, and D in their respective spraying regions constitutes a spraying sequence.

[0041] Since the spraying sub-trajectory of each spraying sub-region has been pre-planned, and the spraying sequence of each spraying sub-region within the spraying area has also been constructed, the complete spraying trajectory of each spraying robot in the current spraying sequence can be obtained; for example, Figure 4 This represents the complete spraying trajectory of the spraying robot A in the current spraying sequence; where spraying point 1 is the original position of the spray gun when the spraying robot is stationary, and spraying points 2-168 are the sequential identifiers of each spraying point in the spraying trajectory.

[0042] Optionally, in this embodiment of the invention, constructing the spraying sequence of each of the spraying robots in the spraying area specifically includes: obtaining preset spraying conditions for each of the spraying areas, and constructing the spraying sequence of each of the spraying robots in the spraying area according to the preset spraying conditions; wherein, the preset spraying conditions include at least one of preset spraying start point, preset spraying end point, and spraying sub-area association relationship.

[0043] Specifically, with Figure 2Taking a painting operation scenario as an example, the starting point of painting device A can be set in the leftmost area of ​​the front bumper, and the ending point can be set in the middle area of ​​the front bumper, i.e., painting from left to middle. Then, the painting sequence of other painting sub-areas can be set according to the position relationship. Similarly, painting device B sets the starting point in the middle area of ​​the front bumper and the ending point in the rightmost area of ​​the front bumper, i.e., painting from middle to right. Then, the painting sequence of other painting sub-areas can be set according to the position relationship. This ensures that the painting points of painting robot A and painting robot B are always kept at a relatively large distance at the same time. Correspondingly, the body positions of painting robot A and painting robot B are also more likely to remain at a relatively large distance, thereby accelerating the construction speed of the required painting sequence and improving the efficiency of obtaining the required painting operation trajectory. The association relationship of the painting sub-areas reflects the painting continuity between two or more painting sub-areas, ensuring the consistency of the painting process in the associated areas. At the same time, the above-mentioned association relationship of the painting sub-areas also reduces the number of painting sequences that need to be verified, which also accelerates the acquisition speed of the required painting sequence.

[0044] S103. Based on the spraying trajectory of each of the spraying robots in the current spraying sequence, obtain the corresponding robot position trajectory, and obtain the spraying waiting time in the current spraying sequence based on the robot position trajectory.

[0045] The spraying trajectory is essentially the movement trajectory of the spray gun connected to the end of the robotic arm of the spraying robot. The movement trajectory of the spray gun is jointly controlled by the rotating joints and the robotic arm of the spraying robot. Therefore, based on the structural parameters of the spraying robot, such as the joint rotation angle and the length of the robotic arm, as well as the movement trajectory of the spray gun, the robot pose corresponding to each spraying point can be obtained based on inverse kinematics calculations. The robot poses corresponding to each spraying point together constitute the robot position trajectory.

[0046] The positions and trajectories of each robot are compared. If there is an overlap in the trajectories, it indicates that a collision between the painting robots will occur at that moment. At this time, only one painting robot is allowed to continuously perform the painting operation without interruption. Other painting robots with a risk of collision will pause their movement at a preset time before the collision and enter a painting waiting state. After the painting robot in the above operation moves away from the preset distance, the current painting robot will continue to paint. The time difference between the painting robot that completes the painting operation first and the painting robot that completes the painting operation last is the painting waiting time.

[0047] S104. If it is determined that the spraying waiting time under the current spraying sequence is less than or equal to the preset time threshold, the spraying trajectory under the current spraying sequence shall be used as the spraying operation trajectory.

[0048] If the spraying waiting time under the current spraying sequence is short, that is, less than or equal to the preset time threshold, it indicates that the spraying efficiency under the current spraying sequence is high. The spraying operation trajectory of each spraying robot under the current spraying sequence can be used as the standard operation trajectory of each spraying robot when it is actually working. In particular, if the preset time threshold is zero, it indicates that there is no spraying waiting time under the current spraying sequence. Obviously, the spraying operation efficiency reaches its maximum value at this time.

[0049] Optionally, in this embodiment of the invention, after obtaining the spraying waiting time under the current spraying sequence based on the position trajectory of each of the machine bodies, the method further includes: if it is determined that the spraying waiting time under the current spraying sequence is greater than a preset time threshold, adjusting the spraying sequence of each of the spraying robots in the spraying area, and obtaining the spraying trajectory of each of the spraying robots under the adjusted spraying sequence based on the adjusted spraying sequence and the spraying sub-trajectory; obtaining the corresponding machine body position trajectory based on the spraying trajectory of each of the spraying robots under the adjusted spraying sequence, and obtaining the spraying waiting time under the adjusted spraying sequence based on the position trajectory of each of the machine bodies, until the spraying waiting time under the adjusted spraying sequence is less than or equal to the preset time threshold, and using the spraying trajectory under the adjusted spraying sequence as the spraying operation trajectory.

[0050] Specifically, if the spraying waiting time under the current spraying sequence is long, it indicates that the spraying efficiency under the current spraying sequence is low. At this time, the spraying order corresponding to different spraying robots is adjusted to form different spraying sequences, and the spraying waiting time of each spraying sequence is obtained. Finally, the target spraying sequence with the shortest spraying waiting time is obtained, and the spraying trajectory under the target spraying sequence is used as the spraying trajectory of each spraying robot during actual operation. This not only avoids the risk of collision between spraying robots, but also further improves the efficiency of spraying operation. In particular, after traversing all spraying sequences, if no spraying sequence with a spraying waiting time less than or equal to the preset time threshold is obtained, the spraying trajectory under the spraying sequence with the shortest spraying waiting time is used as the spraying operation trajectory.

[0051] Optionally, in this embodiment of the invention, obtaining the spraying waiting time under the current spraying sequence based on the position trajectories of each of the machine bodies specifically includes: setting at least one spraying robot as a target spraying robot and setting a delayed start time for the target spraying robot; if it is determined that there is no trajectory overlap based on the position trajectories of the non-target spraying robots other than the target spraying robot and the position trajectories of the target spraying robot under the delayed start time, then the delayed start time is used as the spraying waiting time.

[0052] Specifically, in the synchronous spraying operation performed by various spraying robots, if there is a risk of collision during the spraying process, one or more spraying robots need to wait during the operation. At this time, the above-mentioned one or more spraying robots not only need to pause spraying and movement in the spraying operation posture, but also the body posture is unstable. At the same time, it will also affect the continuity of the spraying operation, thereby reducing the spraying quality. If it is determined that there is a trajectory overlap based on the position trajectory of each body, one or more of the spraying robots can be set to delayed start. The delayed start time can be preset, and the body position trajectory of the target spraying robot in the delayed start state is judged again to see if there is a trajectory overlap with the body position trajectory of the non-target spraying robot in the normal state. If there is no overlap, it means that there is no waiting phenomenon in the operation of the above spraying operation. At this time, the delayed start time can be directly used as the spraying waiting time. This avoids the spraying waiting during the operation, maintains the stability of the body, and ensures the continuity of the spraying operation.

[0053] The technical solution of this invention, after obtaining the spraying areas corresponding to multiple spraying robots, constructs a spraying sequence for each spraying robot and obtains the spraying trajectory of each spraying robot in the current spraying sequence. Then, based on the obtained body position trajectory, it obtains the spraying waiting time for the current spraying sequence. When it is determined that the spraying waiting time for the current spraying sequence is less than or equal to a preset time threshold, the spraying trajectory for the current spraying sequence is used as the spraying operation trajectory. This avoids collisions between the spraying robots when performing spraying operations and reduces the waiting time in the spraying operation of automotive parts, greatly improving the working efficiency of the spraying robots and meeting the cycle time requirements of the automotive parts production line. At the same time, it also avoids the phenomenon of spraying robots compensating for time delays by increasing spraying speed, ensuring a high level of coating uniformity, avoiding visual color difference and paint waste, and improving paint application efficiency.

[0054] Example 2

[0055] Figure 5 This is a flowchart of a spraying operation method provided in Embodiment 2 of the present invention. In this embodiment, after determining that the spraying waiting time in the current spraying sequence is less than or equal to a preset time threshold, the motion parameters of each spraying robot in the current spraying sequence are further acquired. Figure 5 As shown, the method includes:

[0056] S201. Obtain the spraying areas corresponding to multiple spraying robots respectively; wherein, each spraying area includes multiple spraying sub-areas, and each spraying sub-area includes a spraying sub-trajectory.

[0057] S202. Construct the spraying sequence of each of the spraying robots in the spraying area, and obtain the spraying trajectory of each of the spraying robots under the current spraying sequence based on the spraying sequence and the spraying sub-trajectory.

[0058] S203. Based on the spraying trajectory of each of the spraying robots in the current spraying sequence, obtain the corresponding robot position trajectory, and obtain the spraying waiting time in the current spraying sequence based on the robot position trajectory.

[0059] S204. If it is determined that the spraying waiting time in the current spraying sequence is less than or equal to a preset time threshold, determine whether the motion parameters of each of the spraying robots in the current spraying sequence are all less than or equal to the matching preset parameter threshold; wherein, the motion parameters include joint rotation angle and / or spray gun movement distance.

[0060] S205. If it is determined that the motion parameters of at least one painting robot are greater than the matching preset parameter threshold, the painting sequence of each painting robot in the painting area is adjusted, and the painting trajectory of each painting robot under the adjusted painting sequence is obtained according to the adjusted painting sequence and the painting sub-trajectory.

[0061] S206. Based on the spraying trajectory of each of the spraying robots under the adjusted spraying sequence, obtain the corresponding body position trajectory, and obtain the spraying waiting time under the adjusted spraying sequence based on the body position trajectory, until the spraying waiting time under the adjusted spraying sequence is less than or equal to a preset time threshold, and the motion parameters of each of the spraying robots are less than or equal to the matching preset parameter threshold, and use the spraying trajectory under the adjusted spraying sequence as the spraying operation trajectory.

[0062] When a painting robot moves from one painting sub-area to the next, if the distribution of adjacent painting points (i.e., the end point of the previous painting sub-area and the starting point of the next painting sub-area) is unreasonable, the joint rotation angle of the painting robot will be too large, easily causing the robot to vibrate. This not only affects the control accuracy of the spray gun position but also poses a serious safety risk. Similarly, if the distance between adjacent painting points is too far, the jump in the painting operation will be too large, which will not only prolong the painting time but also cause the robot to vibrate. In particular, if the physical structure of the painting robots is the same, then each painting robot can correspond to the same preset parameter threshold; if the physical structure of the painting robots is different, then each painting robot can correspond to different preset parameter thresholds.

[0063] If the motion parameters of each painting robot are less than or equal to the matching preset parameter threshold, it indicates that the painting waiting time for the entire painting operation under the current painting sequence is short. At the same time, each painting robot moves smoothly between each painting sub-area. In this case, the painting trajectory under the current painting sequence can be directly used as the painting operation trajectory. If the motion parameters of one or more painting robots are greater than the matching preset parameter threshold, the painting order corresponding to different painting robots will be adjusted to form different painting sequences. When the painting waiting time is short and each painting robot moves smoothly between the painting sub-areas, the painting trajectory under the current painting sequence will be used as the painting operation trajectory.

[0064] The technical solution of this invention, after determining that the spraying waiting time under the current spraying sequence is less than or equal to a preset time threshold, if it is determined that the motion parameters of at least one spraying robot are greater than a matching preset parameter threshold, continues to adjust the spraying sequence of each spraying robot in the spraying area until the spraying waiting time under the adjusted spraying sequence is less than or equal to the preset time threshold, and the motion parameters of each spraying robot are all less than or equal to the matching preset parameter threshold. The spraying trajectory under the adjusted spraying sequence is used as the spraying operation trajectory, which not only reduces the waiting time of the spraying operation and improves the efficiency of the spraying operation, but also ensures that each spraying robot moves smoothly between each spraying sub-area, improves the control accuracy of the spray gun, and avoids the safety risks caused by machine vibration.

[0065] Example 3

[0066] Figure 6 This is a flowchart of a spraying operation method provided in Embodiment 3 of the present invention. In this embodiment, after determining that the spraying waiting time in the current spraying sequence is less than or equal to a preset time threshold, the spraying process parameters of each of the spraying robots in the current spraying sequence are further obtained. Figure 6 As shown, the method includes:

[0067] S301. Obtain the spraying areas corresponding to multiple spraying robots respectively; wherein, each spraying area includes multiple spraying sub-areas, and each spraying sub-area includes a spraying sub-trajectory.

[0068] S302. Construct the spraying sequence of each of the spraying robots in the spraying area, and obtain the spraying trajectory of each of the spraying robots under the current spraying sequence based on the spraying sequence and the spraying sub-trajectory.

[0069] S303. Based on the spraying trajectory of each of the spraying robots in the current spraying sequence, obtain the corresponding robot position trajectory, and obtain the spraying waiting time in the current spraying sequence based on the robot position trajectory.

[0070] S304. If it is determined that the spraying waiting time under the current spraying sequence is less than or equal to a preset time threshold, the process parameter change value of each of the spraying robots under the current spraying sequence is obtained according to the spraying process parameters of each of the spraying sub-regions.

[0071] For a car component, different areas often undergo different painting process parameters. For example, as shown in Table 1, for the front bumper of a car, different painting sub-areas can be painted using five different painting processes. Among them, the number of trajectory columns is the number of spray points when the spray gun performs the painting operation in the painting sub-area. The larger the area of ​​the painting sub-area, the more trajectory columns there are. Gun speed is the moving speed of the spray gun. Forming air and atomizing air refer to the pressure values ​​of forming air and atomizing air, respectively. Exhaust volume is the amount of paint discharged from the spray gun.

[0072] Table 1. Front bumper painting process parameters

[0073] Spraying process type Trajectory Column Number Gun speed Formed air atomized air Discharge volume 1 3 400 0.1 0.15 130 2 3 500 0.1 0.15 120 3 1 550 0.1 0.15 110 4 1 500 0.1 0.15 100 5 2 500 0.05 0.1 120

[0074] The process parameter change value refers to the change in process parameters between two consecutive spraying subsequences in a spraying sequence. For example, spraying subsequence A and spraying subsequence B are two consecutive spraying subsequences. Spraying subsequence A requires spraying process type 1, and spraying subsequence B requires spraying process type 2. Then, when spraying subsequence A is completed and spraying subsequence B is executed, the changes in gun speed and output volume are 100 and 10, respectively, while other spraying process parameters remain unchanged.

[0075] S305. Determine whether the change values ​​of the process parameters of each of the spraying robots in the current spraying sequence are all less than or equal to the matching preset change threshold.

[0076] S306. If it is determined that the change value of the process parameter of at least one spraying robot is greater than the matching preset change threshold, adjust the spraying sequence of each spraying robot in the spraying area, and obtain the spraying trajectory of each spraying robot under the adjusted spraying sequence according to the adjusted spraying sequence and the spraying sub-trajectory.

[0077] S307. Based on the spraying trajectory of each of the spraying robots under the adjusted spraying sequence, obtain the corresponding body position trajectory, and obtain the spraying waiting time under the adjusted spraying sequence based on the body position trajectory, until the spraying waiting time under the adjusted spraying sequence is less than or equal to a preset time threshold, and the process parameter change value of each of the spraying robots is less than or equal to the matching preset change threshold, and use the spraying trajectory under the adjusted spraying sequence as the spraying operation trajectory.

[0078] Each spraying process parameter has a corresponding preset change threshold. If, when each spraying robot switches between spraying sub-areas, the change values ​​of all process spraying parameters are less than or equal to the corresponding preset change threshold, it indicates that the spraying process parameters change little during the spraying operation, with no sudden increase or decrease in value. This is conducive to the precise control of the spraying process parameters and results in good spraying quality. If, when the current spraying robot switches between spraying sub-areas, the change value of the process spraying parameter of at least one spraying robot is greater than the corresponding preset change threshold, it indicates that the spraying process parameters change significantly during the spraying operation, with sudden increase or decrease in value. This is not conducive to the precise control of the spraying process parameters and affects the spraying quality. In this case, the spraying sequence corresponding to different spraying robots is adjusted to form different spraying sequences. When the spraying waiting time is short and the change values ​​of the process spraying parameters of each spraying robot are small, the spraying trajectory under the current spraying sequence is taken as the spraying operation trajectory.

[0079] Optionally, in this embodiment of the invention, after obtaining the spraying waiting time under the current spraying sequence based on the position trajectory of each of the machine bodies, the method further includes: obtaining the motion parameters and process parameter change values ​​of each of the spraying robots under the current spraying sequence, and obtaining the priority score of the current spraying sequence based on the motion parameters, process parameter change values ​​and spraying waiting time of each of the spraying robots under the current spraying sequence; if it is determined that the priority score under the current spraying sequence is less than or equal to a preset score threshold, the spraying trajectory under the current spraying sequence is taken as the spraying operation trajectory.

[0080] Specifically, after obtaining the spraying waiting time for the current spraying sequence, the system can further acquire the motion parameters and process parameter changes for each spraying robot, and assign different weight values ​​to the spraying waiting time, motion parameters, and process parameter changes. Then, when the spraying waiting time, motion parameters, and process parameter changes all meet their respective preset thresholds (i.e., the spraying waiting time is less than or equal to a preset time threshold, the motion parameters are less than or equal to a preset parameter threshold, and the process parameter changes are less than or equal to a preset change threshold), the spraying waiting time, motion parameters, and process parameter changes are multiplied by their respective weight values. The product results are then summed to obtain a priority score for the current spraying sequence. Finally, the desired spraying sequence is selected based on the priority score, thereby further improving spraying efficiency.

[0081] The technical solution of this invention, after determining that the spraying waiting time under the current spraying sequence is less than or equal to a preset time threshold, if it is determined that the change value of the process parameter of at least one spraying robot is greater than the matching preset change threshold, continues to adjust the spraying sequence of each spraying robot in the spraying area until the spraying waiting time under the adjusted spraying sequence is less than or equal to the preset time threshold, and the change value of the process parameter of each spraying robot is less than or equal to the matching preset change threshold. The spraying trajectory under the adjusted spraying sequence is used as the spraying operation trajectory. This not only reduces the waiting time of the spraying operation and improves the efficiency of the spraying operation, but also ensures that the changes in the spraying process parameters are small, avoiding sudden increases or decreases in values, which is conducive to the precise control of the spraying process parameters and improves the spraying quality.

[0082] Example 4

[0083] Figure 7 This is a structural block diagram of a spraying device provided in Embodiment 4 of the present invention. The spraying device specifically includes:

[0084] The spraying area acquisition module 401 is used to acquire the spraying areas corresponding to multiple spraying robots respectively; wherein, each spraying area includes multiple spraying sub-areas, and each spraying sub-area includes a spraying sub-trajectory.

[0085] The spraying trajectory acquisition module 402 is used to construct the spraying sequence of each of the spraying robots in the spraying area, and to acquire the spraying trajectory of each of the spraying robots under the current spraying sequence based on the spraying sequence and the spraying sub-trajectory.

[0086] The waiting time acquisition module 403 is used to acquire the corresponding body position trajectory of each of the spraying robots according to the spraying trajectory of each of the spraying robots in the current spraying sequence, and to acquire the spraying waiting time in the current spraying sequence according to the body position trajectory of each of the robots.

[0087] The operation trajectory acquisition module 404 is used to take the spraying trajectory of the current spraying sequence as the spraying operation trajectory if it is determined that the spraying waiting time under the current spraying sequence is less than or equal to a preset time threshold.

[0088] The technical solution of this invention, after obtaining the spraying areas corresponding to multiple spraying robots, constructs a spraying sequence for each spraying robot and obtains the spraying trajectory of each spraying robot in the current spraying sequence. Then, based on the obtained body position trajectory, it obtains the spraying waiting time for the current spraying sequence. When it is determined that the spraying waiting time for the current spraying sequence is less than or equal to a preset time threshold, the spraying trajectory for the current spraying sequence is used as the spraying operation trajectory. This avoids collisions between the spraying robots when performing spraying operations and reduces the waiting time in the spraying operation of automotive parts, greatly improving the working efficiency of the spraying robots and meeting the cycle time requirements of the automotive parts production line. At the same time, it also avoids the phenomenon of spraying robots compensating for time delays by increasing spraying speed, ensuring a high level of coating uniformity, avoiding visual color difference and paint waste, and improving paint application efficiency.

[0089] Optionally, the spraying trajectory acquisition module 402 is specifically used to acquire the preset spraying conditions of each of the spraying areas, and construct the spraying sequence of each of the spraying robots in the spraying area according to the preset spraying conditions; wherein, the preset spraying conditions include at least one of the preset spraying start point, preset spraying end point, and spraying sub-area association relationship.

[0090] Optionally, the spraying apparatus also includes:

[0091] The first adjustment execution module is used to adjust the spraying sequence of each spraying robot in the spraying area if it is determined that the spraying waiting time under the current spraying sequence is greater than a preset time threshold, and to obtain the spraying trajectory of each spraying robot under the adjusted spraying sequence according to the adjusted spraying sequence and the spraying sub-trajectory; to obtain the corresponding body position trajectory according to the spraying trajectory of each spraying robot under the adjusted spraying sequence, and to obtain the spraying waiting time under the adjusted spraying sequence according to the body position trajectory, until the spraying waiting time under the adjusted spraying sequence is less than or equal to the preset time threshold, and to use the spraying trajectory under the adjusted spraying sequence as the spraying operation trajectory.

[0092] Optionally, the waiting time acquisition module 403 is specifically used to set at least one painting robot as the target painting robot and set a delayed start time for the target painting robot; if it is determined that there is no trajectory overlap based on the body position trajectory of the non-target painting robot other than the target painting robot and the body position trajectory of the target painting robot under the delayed start time, then the delayed start time is used as the painting waiting time.

[0093] Optionally, the work trajectory acquisition module 404 is specifically used to determine whether the motion parameters of each of the spraying robots in the current spraying sequence are all less than or equal to a matching preset parameter threshold; wherein, the motion parameters include joint rotation angle and / or spray gun movement distance; if it is determined that the motion parameters of at least one spraying robot are greater than the matching preset parameter threshold, the spraying sequence of each of the spraying robots in the spraying area is adjusted, and the spraying trajectory of each of the spraying robots in the adjusted spraying sequence is obtained according to the adjusted spraying sequence and the spraying sub-trajectory; according to the spraying trajectory of each of the spraying robots in the adjusted spraying sequence, the corresponding body position trajectory is obtained respectively, and the spraying waiting time in the adjusted spraying sequence is obtained according to the body position trajectory, until the spraying waiting time in the adjusted spraying sequence is less than or equal to a preset time threshold, and the motion parameters of each of the spraying robots are all less than or equal to the matching preset parameter threshold, and the spraying trajectory in the adjusted spraying sequence is taken as the spraying work trajectory.

[0094] Optionally, the operation trajectory acquisition module 404 is further configured to: acquire the process parameter change values ​​of each of the spraying robots in the current spraying sequence based on the spraying process parameters of each of the spraying sub-regions; determine whether the process parameter change values ​​of each of the spraying robots in the current spraying sequence are all less than or equal to a matching preset change threshold; if it is determined that the process parameter change value of at least one spraying robot is greater than the matching preset change threshold, adjust the spraying sequence of each of the spraying robots in the spraying region, and acquire the spraying trajectory of each of the spraying robots in the adjusted spraying sequence based on the adjusted spraying sequence and the spraying sub-trajectory; acquire the corresponding body position trajectory based on the spraying trajectory of each of the spraying robots in the adjusted spraying sequence, and acquire the spraying waiting time in the adjusted spraying sequence based on the body position trajectory, until the spraying waiting time in the adjusted spraying sequence is less than or equal to a preset time threshold, and the process parameter change values ​​of each of the spraying robots are all less than or equal to the matching preset change threshold, and use the spraying trajectory in the adjusted spraying sequence as the spraying operation trajectory.

[0095] Optionally, the spraying apparatus also includes:

[0096] The priority score acquisition module is used to acquire the motion parameters and process parameter change values ​​of each of the spraying robots in the current spraying sequence, and to acquire the priority score of the current spraying sequence based on the motion parameters, process parameter change values ​​and spraying waiting time of each of the spraying robots in the current spraying sequence; if it is determined that the priority score of the current spraying sequence is less than or equal to the preset score threshold, the spraying trajectory of the current spraying sequence is taken as the spraying operation trajectory.

[0097] The spraying apparatus provided by this invention can perform the spraying method provided in any embodiment of this invention, and has the corresponding functional modules and beneficial effects for performing the method. Technical details not described in detail in this embodiment can be found in the spraying method provided in any embodiment of this invention.

[0098] Example 5

[0099] Figure 8 A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0100] like Figure 8 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0101] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0102] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as spray painting operation methods.

[0103] In some embodiments, the spraying operation method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as a storage unit. In some embodiments, part or all of the computer program may be loaded and / or installed on a heterogeneous hardware accelerator via ROM and / or a communication unit. When the computer program is loaded into RAM and executed by a processor, one or more steps of the spraying operation method described above may be performed. Alternatively, in other embodiments, the processor may be configured to perform the spraying operation method by any other suitable means (e.g., by means of firmware).

[0104] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0105] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0106] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0107] To provide user interaction, the systems and techniques described herein can be implemented on a heterogeneous hardware accelerator, which includes: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the heterogeneous hardware accelerator. Other types of devices can also be used to provide user interaction; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or haptic feedback); and input from the user can be received in any form (including sound input, voice input, or haptic input).

[0108] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0109] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0110] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0111] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A spraying operation method, characterized in that, include: Obtain the spraying areas corresponding to multiple spraying robots; wherein each spraying area includes multiple spraying sub-areas, and each spraying sub-area includes a spraying sub-trajectory; Construct a spraying sequence for each of the spraying robots in the spraying area, and obtain the spraying trajectory of each of the spraying robots under the current spraying sequence based on the spraying sequence and the spraying sub-trajectory; Based on the spraying trajectory of each spraying robot in the current spraying sequence, the corresponding body position trajectory is obtained, and the spraying waiting time in the current spraying sequence is obtained based on the body position trajectory. If it is determined that the spraying waiting time under the current spraying sequence is less than or equal to the preset time threshold, the spraying trajectory under the current spraying sequence will be used as the spraying operation trajectory. The step of using the spraying trajectory under the current spraying sequence as the spraying operation trajectory specifically includes: Based on the spraying process parameters of each of the spraying sub-regions, obtain the process parameter change values ​​of each of the spraying robots in the current spraying sequence; wherein, the process parameter change value refers to the change value of the spraying process parameters between two consecutive spraying sub-sequences in the spraying sequence; Determine whether the process parameter change values ​​of each of the spraying robots in the current spraying sequence are all less than or equal to the matching preset change threshold, and determine whether the motion parameters of each of the spraying robots in the current spraying sequence are all less than or equal to the matching preset parameter threshold; wherein, the motion parameters include joint rotation angle and / or spray gun movement distance; If it is determined that the motion parameters of at least one painting robot are greater than the matching preset parameter threshold, or if it is determined that the change value of the process parameters of at least one painting robot is greater than the matching preset change threshold, the painting sequence of each painting robot in the painting area is adjusted, and the painting trajectory of each painting robot under the adjusted painting sequence is obtained according to the adjusted painting sequence and the painting sub-trajectory. Based on the spraying trajectory of each spraying robot under the adjusted spraying sequence, the corresponding robot position trajectory is obtained, and the spraying waiting time under the adjusted spraying sequence is obtained based on the robot position trajectory, until the spraying waiting time under the adjusted spraying sequence is less than or equal to a preset time threshold, and the motion parameters of each spraying robot are less than or equal to a matching preset parameter threshold, and the process parameter change values ​​of each spraying robot are less than or equal to a matching preset change threshold. Based on the motion parameters, process parameter change values, and spraying waiting time of each spraying robot under the current spraying sequence, the priority score of the current spraying sequence is obtained; if it is determined that the priority score under the current spraying sequence is less than or equal to a preset score threshold, the spraying trajectory under the current spraying sequence is taken as the spraying operation trajectory.

2. The method according to claim 1, characterized in that, The construction of the spraying sequence for each of the spraying robots in the spraying area specifically includes: Obtain the preset spraying conditions for each of the spraying areas, and construct the spraying sequence of each of the spraying robots in the spraying areas according to the preset spraying conditions; wherein, the preset spraying conditions include at least one of the preset spraying start point, preset spraying end point, and spraying sub-area association relationship.

3. The method according to claim 1, characterized in that, After obtaining the spraying waiting time for the current spraying sequence based on the position trajectories of each of the aforementioned bodies, the process also includes: If it is determined that the spraying waiting time under the current spraying sequence is greater than the preset time threshold, the spraying sequence of each of the spraying robots in the spraying area is adjusted, and the spraying trajectory of each of the spraying robots under the adjusted spraying sequence is obtained according to the adjusted spraying sequence and the spraying sub-trajectory. Based on the spraying trajectory of each spraying robot under the adjusted spraying sequence, the corresponding body position trajectory is obtained, and the spraying waiting time under the adjusted spraying sequence is obtained based on the body position trajectory. The spraying waiting time under the adjusted spraying sequence is kept less than or equal to a preset time threshold, and the spraying trajectory under the adjusted spraying sequence is taken as the spraying operation trajectory.

4. The method according to claim 1, characterized in that, The step of obtaining the spraying waiting time for the current spraying sequence based on the position trajectory of each of the aforementioned bodies specifically includes: Set at least one painting robot as the target painting robot and set a delayed start time for the target painting robot; If, based on the body position trajectories of non-target painting robots (excluding the target painting robot) and the body position trajectory of the target painting robot during the delayed start time, it is determined that there is no trajectory overlap, then the delayed start time is taken as the painting waiting time.

5. A spraying device, characterized in that, include: The spraying area acquisition module is used to acquire the spraying areas corresponding to multiple spraying robots respectively; wherein, each spraying area includes multiple spraying sub-areas, and each spraying sub-area includes a spraying sub-trajectory; The spraying trajectory acquisition module is used to construct the spraying sequence of each of the spraying robots in the spraying area, and to acquire the spraying trajectory of each of the spraying robots under the current spraying sequence based on the spraying sequence and the spraying sub-trajectory. The waiting time acquisition module is used to acquire the corresponding body position trajectory of each of the spraying robots according to the spraying trajectory of each of the spraying robots in the current spraying sequence, and to acquire the spraying waiting time in the current spraying sequence according to the body position trajectory of each of the robots. The operation trajectory acquisition module is used to take the spraying trajectory of the current spraying sequence as the spraying operation trajectory if it is determined that the spraying waiting time under the current spraying sequence is less than or equal to a preset time threshold. The work trajectory acquisition module is specifically used to obtain the process parameter change values ​​of each spraying robot in the current spraying sequence based on the spraying process parameters of each spraying sub-region; wherein, the process parameter change value refers to the change value of the spraying process parameters between two consecutive spraying sub-sequences in the spraying sequence; determine whether the process parameter change values ​​of each spraying robot in the current spraying sequence are all less than or equal to a matching preset change threshold, and determine whether the motion parameters of each spraying robot in the current spraying sequence are all less than or equal to a matching preset parameter threshold; wherein, the motion parameters include joint rotation angles and / or spray gun movement distances; if it is determined that the motion parameters of at least one spraying robot are greater than the matching preset parameter threshold, or if it is determined that the process parameter change value of at least one spraying robot is greater than the matching preset change threshold, adjust the spraying sequence of each spraying robot in the spraying region, and adjust according to the adjusted... The spraying sequence and the spraying sub-trajectory are used to obtain the spraying trajectory of each spraying robot under the adjusted spraying sequence. Based on the spraying trajectory of each spraying robot under the adjusted spraying sequence, the corresponding body position trajectory is obtained, and the spraying waiting time under the adjusted spraying sequence is obtained based on the body position trajectory. This process continues until the spraying waiting time under the adjusted spraying sequence is less than or equal to a preset time threshold, and the motion parameters of each spraying robot are less than or equal to a matching preset parameter threshold, and the process parameter change values ​​of each spraying robot are less than or equal to a matching preset change threshold. Based on the motion parameters, process parameter change values, and spraying waiting time of each spraying robot under the current spraying sequence, the priority score of the current spraying sequence is obtained. If it is determined that the priority score under the current spraying sequence is less than or equal to a preset score threshold, the spraying trajectory under the current spraying sequence is taken as the spraying operation trajectory.

6. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor to enable the at least one processor to perform the spraying operation method according to any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the spraying operation method according to any one of claims 1-4.

Images