Robot spraying control method and robot spraying control device

Abstract

The invention discloses a robot spraying control method and a robot spraying control device. According to the embodiment of the invention, a spraying reproduction track is obtained; based on the spraying reproduction track, the robot is controlled to conduct spraying operation on the spraying object at at least two spraying testing speeds, and spraying results corresponding to the spraying testing speeds are obtained; determining a target spraying speed required when the robot sprays the spraying object on the basis of spraying results corresponding to the spraying test speeds; and on the basis of the spraying reproduction track and the target spraying speed, a motion control instruction used for controlling the robot to conduct spraying motion is generated. According to the embodiment of the invention, the working efficiency of the robot after teaching can be improved.

Description

Technical Field

[0001] The present application relates to the field of robot control, and in particular to a robot spraying control method and a robot spraying control device. Background Art

[0002] With the Internet, robots are increasingly used in people's lives. For example, robots can be taught so that after the teaching is completed, they can reproduce the corresponding actions in the teaching process to complete the corresponding tasks. At present, after the teaching is completed, the robot can only reproduce according to the teaching action and speed in the teaching process. Generally, in order to facilitate the robot to accurately reproduce the corresponding teaching action, the speed of the teaching action is slow during the teaching process, which leads to low efficiency when the robot reproduces the teaching process to work. Summary of the invention

[0003] The embodiments of the present application provide a robot spraying control method and a robot spraying control device, which can improve the working efficiency of the robot after teaching.

[0004] In a first aspect, an embodiment of the present application provides a robot spraying control method, the method comprising:

[0005] Get spraying reproduction trajectory;

[0006] Based on the spraying reproduction trajectory, the robot is controlled to spray the spraying object at at least two spraying test speeds to obtain spraying results corresponding to the spraying test speeds;

[0007] Based on the spraying results corresponding to the spraying test speeds, determining the target spraying speed required for the robot to spray the spraying object;

[0008] Based on the spray reproduction trajectory and the target spray speed, a motion control instruction for controlling the robot to perform spraying motion is generated.

[0009] In a second aspect, an embodiment of the present application further provides a robot spraying control device, the device comprising:

[0010] A trajectory acquisition module is used to obtain the spraying reproduction trajectory;

[0011] A testing module, for controlling the robot to spray the object at at least two spraying test speeds based on the spraying reproduction trajectory, and obtaining spraying results corresponding to the spraying test speeds;

[0012] A speed determination module, used for determining a target spraying speed required when the robot sprays the spraying object based on the spraying results corresponding to the spraying test speeds;

[0013] The control module is used to generate motion control instructions for controlling the robot to perform spraying motion based on the spraying reproduction trajectory and the target spraying speed.

[0014] In a third aspect, an embodiment of the present application further provides a robot, comprising a memory storing a computer program, and when the computer program is executed by a processor, the processor executes any one of the robot spray control methods provided in the embodiments of the present application.

[0015] In a fourth aspect, an embodiment of the present application also provides a computer-readable storage medium, which includes a computer program. When the computer program runs on a robot, the computer program is used to enable the robot to execute any one of the robot spray control methods provided in the embodiments of the present application.

[0016] In an embodiment of the present application, a spray reproduction trajectory is obtained; based on the above-mentioned spray reproduction trajectory, the robot is controlled to perform spraying operations on the spraying object at at least two spray test speeds respectively, and the spraying results corresponding to each of the above-mentioned spray test speeds are obtained; based on the spraying results corresponding to each of the above-mentioned spray test speeds, the target spraying speed required for the above-mentioned robot to spray the above-mentioned spraying object is determined; based on the above-mentioned spray reproduction trajectory and the above-mentioned target spraying speed, a motion control instruction for controlling the above-mentioned robot to perform spraying movement is generated, so that by setting at least two spray test speeds, the spraying effect of the robot is tested based on the spray test speed, so as to select a suitable target spraying speed therefrom, so as to control the robot to spray by the target spraying speed, and then the working efficiency of the robot after teaching is improved by adjusting the spraying speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 is a system schematic diagram of a robot system provided by an embodiment of the present application;

[0019] Figure 2 It is a schematic diagram of a teaching component provided in an embodiment of the present application;

[0020] Figure 3 is a schematic diagram of a functional module of a robot system provided in an embodiment of the present application;

[0021] Figure 4 This is a schematic flow chart of an embodiment of the robot spraying control method provided in the embodiments of the present application;

[0022] Figure 5 It is a structural schematic diagram of the robot spraying control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0024] Before explaining the embodiments of the present application in detail, some terms involved in the embodiments of the present application are first explained.

[0025] Among them, in the description of the embodiments of the present application, the terms "first", "second", etc. may be used in this article to describe various concepts, but unless otherwise specified, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another concept. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0026] See also Figure 1 , Figure 1 is a schematic diagram of a robot system provided in an embodiment of the present application. Figure 1 As shown, the robot system includes:

[0027] The teaching trajectory acquisition device includes a teaching component 100 and an image acquisition component 200. The image acquisition component 200 is used to acquire the teaching trajectory of the teaching component 100. The teaching component 100 can be moved by a person holding it to form a teaching trajectory.

[0028] Robot 300( Figure 1The robot is schematically shown by the robot's mechanical arm in the figure), which is configured to communicate with the teaching trajectory acquisition device, and can convert the collected teaching trajectory into a reproduction trajectory. Based on the reproduction trajectory, the robot 300 is controlled to spray the spray object at at least two spray test speeds respectively, and the spraying results corresponding to the above-mentioned spray test speeds are obtained; based on the spraying results corresponding to the above-mentioned spray test speeds, the target spraying speed required for the robot 300 to spray the above-mentioned spray object is determined; based on the above-mentioned spray reproduction trajectory and the above-mentioned target spraying speed, a motion control instruction for controlling the above-mentioned robot 300 to perform a spraying movement is generated, so that the teaching trajectory reproduction device 500 arranged at the end joint can reproduce the teaching trajectory based on the motion control instruction.

[0029] In some embodiments, the teaching component 100 includes at least three parts: an operation part, a marking part, and an operation sensing device. The operation part is used to realize the operation function in the teaching process, the marking part provides image materials such as marking points for the image acquisition component 200, and the operation sensing device is used to collect the operation information of the operation part in the teaching process. Figure 2 As shown, it is assumed that the teaching component 100 uses a spray gun as the working part, which includes a gun body 203 and a gun nozzle 204, and the marking part is set at one end of the working part, which includes a plurality of marking balls 201, and each marking ball 201 is relatively fixed to the working part through a connecting rod 202. Among them, there are at least 3 marking balls 201, and each connecting rod 202 is arranged in a staggered manner. Every three connecting rods 202 are not on the same plane, that is, every three marking balls 201 are not collinear, and every four marking balls 201 are not coplanar. Therefore, during the movement of the teaching component 100, there are always at least three marking balls 201 that can be captured by the image acquisition component 200. It should be noted that the marking part can also adopt other structures or settings, which can be adjusted according to the conditions required for image acquisition by the image acquisition component 200. This embodiment of the present application is not limited.

[0030] In some embodiments, the robot is a mechanical arm having at least four joints or a robot including a mechanical arm having at least four joints. Wherein, joint 400 refers to the motion joint of the mechanical arm, and a motion joint generally represents a degree of freedom of motion, or it can be understood that for each joint, the mechanical arm will obtain a degree of freedom of motion, such as translational freedom, rotational freedom, etc. The robot of the embodiment of the present application may include a four-axis collaborative robot, a six-axis collaborative robot or other robots. The robot comprises at least four joints, such as a head end joint, a plurality of middle joints and a terminal joint connected in sequence from the base to the end, wherein the terminal joint is generally capable of rotating operation, and an actuator (i.e., the teaching trajectory reproduction device 500 in the embodiment of the present application) can be installed on the terminal joint.

[0031] See also Figure 3 , Figure 3 Schematic diagram of a functional module of a robot system provided in an embodiment of the present application. Figure 3 As shown, the driving control unit 301 of the robot at least includes a processor 3011, a joint driver 3012 and a servo motor 3013, wherein the processor 3011 serves as the data processing center of the robot, and can be connected to the image acquisition component 302 in the teaching trajectory acquisition device, and the operation sensing device installed on the teaching component 303 in the teaching trajectory acquisition device. The processor 3011 receives and processes data from the image acquisition component 302 and the operation sensing device 304, and generates motion control instructions for the robot. The joint driver 3012 receives the control instructions of the processor 3011 to control the servo motor 3013 of each joint, and the servo motor 3013 drives the corresponding joint to move.

[0032] Further, in Figure 3 The middle driving control unit 301 is equipped with a teaching learning function. The teaching learning function is a process in which the teaching trajectory reproduction device 305 is driven to move based on the movement of each joint of the robot to reproduce the corresponding teaching trajectory. The teaching learning function includes the above-mentioned robot trajectory reproduction method.

[0033] It should be understood that Figure 1 The number of robots, the types and specific structures of robots, teaching trajectory acquisition devices and teaching tools are only schematic. According to the implementation requirements, there can be any number of robots, and any type and specific structure of robots, teaching trajectory acquisition devices and teaching tools.

[0034] The following is a detailed description in conjunction with the accompanying drawings. In this embodiment, the execution subject is a robot. It should be noted that the description order of the following embodiments is not intended to limit the preferred order of the embodiments. Although the logical order is shown in the flow chart, in some cases, the steps shown or described may be performed in an order different from that shown in the accompanying drawings.

[0035] Please refer to Figure 4 The specific process of the robot spraying control method can be as follows: Step 401 to Step 404, wherein:

[0036] In this embodiment, a robot is used as an example for description. This embodiment provides a robot spraying control method, such as Figure 4 As shown, the specific process of the robot spraying control method can be as follows:

[0037] 401. Obtain spray reproduction trajectory.

[0038] The spray reproduction trajectory can be obtained based on the spray teaching trajectory. For example, the spray teaching trajectory can be directly used as the spray reproduction trajectory, or the spray teaching trajectory can be converted to obtain the spray reproduction trajectory.

[0039] Among them, the above-mentioned spray teaching trajectory is the trajectory required for the robot to complete the spraying task. The teaching trajectory can be generated by a person holding a teaching component, which will not be repeated here.

[0040] As an example, the robot can convert the acquired spray teaching trajectory into the spray reproduction trajectory required for the spraying task, so as to reproduce the teaching trajectory and complete the spraying task. The spray teaching trajectory can be the teaching trajectory collected by the teaching trajectory collection device just before the current moment, and the spray teaching trajectory can also be pre-stored in the corresponding storage space, so as to obtain the spray teaching trajectory from the storage space when needed.

[0041] Among them, the above-mentioned step of converting the spray teaching trajectory into the spray reproduction trajectory may include: obtaining the coordinate system conversion relationship between the spatial coordinate system where the teaching trajectory is located (i.e., the first coordinate system described below) and the spatial coordinate system where the corresponding reproduction trajectory is located (i.e., the second coordinate system described below), and converting the teaching trajectory into the corresponding reproduction trajectory according to the coordinate system conversion relationship.

[0042] In some embodiments, the above-mentioned method of obtaining the spray teaching trajectory from the storage space may include: pre-associating and storing the teaching association information during the spray teaching with the spray teaching trajectory, so that when performing the spraying task, the teaching association information that matches the spray condition indication information can be determined from the storage space based on the spraying condition indication information required by the spraying task, and the spray teaching trajectory to which the matching teaching association information belongs can be obtained.

[0043] Among them, the above-mentioned teaching-related information includes but is not limited to at least one of the information such as the spray paint during teaching (such as water-based paint of a certain color, oil-based paint, etc.), the object material of the spray object during teaching (such as the cotton material of jeans, elastic fiber material, etc.), the spray pattern completed during teaching (such as a heart shape, a five-pointed star shape, etc.) and the teaching trajectory mark used to indicate the corresponding teaching trajectory (such as the trajectory file name during teaching).

[0044] Among them, the above-mentioned spray condition indication information includes but is not limited to at least one of the information such as the spraying paint required for the spraying task, the object material of the spraying object required to be sprayed by the spraying task, the spraying pattern required by the spraying task, and the teaching trajectory mark used to indicate the teaching trajectory required by the spraying task.

[0045] Therefore, in actual application, the appropriate spray teaching trajectory can be quickly and accurately found according to the actual paint used for spraying, the object material of the spraying object, etc., which improves the adaptability of the robot in sophisticated spraying application scenarios.

[0046] In some embodiments, the above-mentioned acquisition of the spray reproduction trajectory may include: first, collecting multiple teaching images of the teaching component during the teaching process through an image acquisition component, and then, based on the multiple teaching images, generating the posture information of the multiple teaching trajectory points of the above-mentioned teaching component in the first coordinate system; finally, based on the coordinate system conversion relationship, converting the posture information of the multiple teaching trajectory points into the posture information of the multiple reproduction trajectory points in the second coordinate system, so as to generate the above-mentioned spray reproduction trajectory based on the posture information of the multiple reproduction trajectory points.

[0047] Among them, the above-mentioned first coordinate system can be a coordinate system constructed based on the above-mentioned image acquisition component, and the above-mentioned second coordinate system can be a coordinate system constructed based on the above-mentioned robot.

[0048] It can be understood that the position information of each teaching trajectory point in the teaching trajectory may include position coordinates and posture, and the position coordinates and posture may be determined based on the coordinate system (i.e., the first coordinate system) where the image acquisition component is located; similarly, the position information of each reproduction trajectory point in the reproduction trajectory may include position coordinates and posture, and the position coordinates and posture may be determined based on the robot coordinate system (i.e., the second coordinate system). Therefore, before converting the teaching trajectory to the reproduction trajectory, it is necessary to obtain in advance the coordinate system conversion relationship between the coordinate system where the image acquisition component is located and the robot coordinate system. The coordinate system conversion relationship may be pre-calibrated (i.e., the position of the image acquisition component, the teaching platform, and the teaching trajectory reproduction device on the robot is fixed during the reproduction process and the teaching process). The coordinate system conversion relationship can also be obtained by real-time calibration before teaching. For example, the calibration process of the coordinate system conversion relationship includes: tool calibration based on the teaching component, tool calibration based on the teaching trajectory reproduction device, calibrating the coordinate system of the calibrated teaching component and the coordinate system of the calibrated teaching trajectory reproduction device in the same direction, and determining the coordinate system conversion relationship based on the two coordinate systems after consistent calibration.

[0049] Specifically, a third coordinate system may be constructed on the teaching component, and the third coordinate system is parallel to the second coordinate system; before converting the pose information of the plurality of teaching trajectory points into the pose information of the plurality of reproduced trajectory points in the second coordinate system based on the coordinate system conversion relationship, the method further includes:

[0050] Step 1: obtaining the posture information of the teaching component in the first coordinate system when the teaching component is at the first teaching point through the image acquisition component, and the first teaching point is the origin of the third coordinate system.

[0051] Step 2: when the teaching component moves to a second teaching point along the first coordinate axis of the third coordinate system, the position and posture information of the teaching component at the second teaching point in the first coordinate system is obtained by an image acquisition component;

[0052] Step three, when the teaching component moves to a third teaching point along the second coordinate axis of the third coordinate system, obtaining the posture information of the teaching component at the third teaching point in the first coordinate system through the image acquisition component;

[0053] Step 4, obtaining the position and posture information of the first teaching point, the second teaching point and the third teaching point in the second coordinate system;

[0054] Step five, based on the posture information of the first teaching point, the second teaching point and the third teaching point in the second coordinate system, and the posture information of the first teaching point, the second teaching point and the third teaching point in the first coordinate system, determine the coordinate system conversion relationship between the first coordinate system and the second coordinate system.

[0055] Specifically, since the third coordinate system is parallel to the second coordinate system, obtaining the position and posture information of the first teaching point, the second teaching point and the third teaching point in the second coordinate system can include: obtaining the position and posture information of the teaching component when it is at the first teaching point, the second teaching point and the third teaching point in the third coordinate system, and then, based on the position and posture information of the first teaching point, the second teaching point and the third teaching point in the third coordinate system, obtaining the position and posture information of the first teaching point, the second teaching point and the third teaching point in the second coordinate system.

[0056] For example, Figure 1 As shown, the designated point of the teaching component 100 (such as the nozzle of the spray gun) is used to rotate with the fixed point on the teaching platform 600, and the image acquisition component 200 acquires the position of each ball on the teaching component 100 in different postures, thereby establishing a rigid tool coordinate system located at the nozzle (i.e., the third coordinate system mentioned above) to obtain the position (Xcam, Ycam, Zcam) and posture (Rxcam, Rycam, Rzcam) of each point of the teaching component 100 (such as the spray gun) in the coordinate system (i.e., the first coordinate system mentioned above) where the image acquisition component 200 is located. In addition, a preset calibration method (such as TCP calibration method, four-point calibration method or six-point calibration method) is used to re-establish a robot coordinate system (i.e., the second coordinate system mentioned above) located in the teaching trajectory reproduction device 500 to describe the position (Xrob, Yrob, Zrob) and posture (Rxrob, Ryrob, Rzrob) of each point of the teaching trajectory reproduction device 500 in the robot coordinate system.

[0057] Then, fix the teaching component 100 to the end of the robotic arm, and take the end of the teaching component 100 as the first teaching point (such as the nozzle of a spray gun). In an optional example, the third coordinate system is established based on the end of the teaching component (such as the nozzle of a spray gun) as the origin. Therefore, in this example, the first teaching point is the origin of the third coordinate system, and then drive the robotic arm to translate along the X-axis (or Y-axis or Z-axis) of the third coordinate system to the second teaching point, and then drive the robotic arm to move along the Y-axis or Z-axis to the third teaching point. Finally, use these three teaching points as a reference to determine the posture transformation matrix (also called rotation transformation matrix) between the first coordinate system and the second coordinate system, that is, the coordinate system conversion relationship between the first coordinate system and the second coordinate system.

[0058] Optionally, in an optional example, the coordinate system conversion relationship can be determined based on the point method. Specifically, the nozzle of the teaching component 100 and the end of the teaching trajectory reproduction device 500 can be respectively aligned with the same preset point of the teaching platform 600, and the position coordinates of the point in different coordinate systems are recorded; then repeat this action to obtain the corresponding position coordinates in different coordinate systems for different preset points, and determine the above-mentioned coordinate system conversion relationship by taking the coordinate data of at least 13 different preset points. It should be noted that coordinate conversion can also be performed by other calibration methods. The method for obtaining the coordinate system conversion relationship provided in the above embodiment is only exemplary and does not constitute a limitation to this solution.

[0059] 402. Based on the spray reproduction trajectory, control the robot to spray the spray object at at least two spray test speeds to obtain spray results corresponding to the spray test speeds.

[0060] It can be understood that since in the existing scenario, after the teaching is completed, the robot can only reproduce according to the teaching actions and speeds during the teaching process, in this embodiment, the robot introduces a reproduction test method, that is, through at least two spraying test speeds and the spraying reproduction trajectory obtained above, to generate motion control instructions corresponding to each spraying test speed respectively, so as to control the robot to perform spraying movement according to the motion control instructions corresponding to each spraying test speed, that is, to control the robot to spray the spray object at each spraying test speed, so as to obtain the spraying result at each spraying test speed, and then set a suitable spraying speed for the robot based on the spraying result.

[0061] The spraying object is the spraying object required to be sprayed by the current spraying task, such as jeans, tops, shoes, jackets, etc., which can be set according to the scene requirements and are not limited here. Correspondingly, the spraying results include but are not limited to the spraying pattern sprayed on the spraying object, the paint penetration result of the sprayed paint on the spraying object, etc., which can be set according to the scene requirements and are not limited here.

[0062] In some embodiments, based on the above-mentioned spray reproduction trajectory, the robot is controlled to perform spray operations on the spray object at at least two spray test speeds respectively, and before obtaining the spray results corresponding to each of the above-mentioned spray test speeds, the robot can also determine the spray test speed required for the current robot to perform the spray test, such as the robot can determine a recommended spray speed range, and select a suitable spray test speed within the recommended spray speed range for the spray test.

[0063] Specifically, the robot can obtain the spray paint used by the robot when performing the spraying operation and the object material of the spraying object. Then, the robot can determine the recommended spraying speed range when the robot performs the spraying operation based on the spray paint and the object material, and select at least two spraying speeds within the recommended spraying speed range as the spraying test speed.

[0064] It should be noted that different spray coatings have different paint penetration rates when applied to different object materials. For example, in the case of a slow paint penetration rate, in order to avoid a large difference between the spray pattern in the above spraying results and the spray pattern required by the spraying task, such as breakpoints in the pattern due to untimely penetration of the spray paint, it is necessary to test at a lower spraying speed; for another example, in the case of a fast paint penetration rate, in order to avoid a low pattern smoothness in the spray pattern in the above spraying results, that is, an uneven pattern, such as a thicker coating in some positions in the pattern due to a fast paint penetration rate, it is necessary to test at a higher spraying speed. The specific details may vary according to the actual scenario.

[0065] It can be understood that since different spray coatings have different paint penetration rates when applied to different object materials, it is necessary to determine the recommended range of spray speeds for the robot to perform spraying operations based on the spray coatings and the object materials, so as to select at least two spray speeds from the recommended range for spraying testing.

[0066] In some embodiments, the above-mentioned determination of the recommended range of spraying speed when the robot performs the spraying operation based on the above-mentioned spray coating and the above-mentioned object material may include: the robot may select the target historical spraying reproduction data whose spraying result meets the spraying result condition from the robot's historical spraying reproduction data based on the above-mentioned spray coating and the above-mentioned object material, and the spraying result meets the spraying result condition for indicating that the spraying result meets the standard. Then, the robot may determine the recommended range of spraying speed based on the spraying speed in the target historical spraying reproduction data. If there is only one spraying speed, two speed values ​​with a speed difference of the speed difference threshold value from the spraying speed may be determined, and the range composed of the two speed values ​​is used as the recommended range of spraying speed. For example, if there are at least two spraying speeds, the maximum speed value and the minimum speed value of the at least two spraying speeds may be determined, and the range composed of the maximum speed value and the minimum speed value is used as the recommended range of spraying speed. Alternatively, the robot may also intelligently recommend the corresponding recommended range of spraying speed based on the above-mentioned spray coating and the above-mentioned object material through a trained neural network model.

[0067] In some embodiments, the pattern styles of different spray patterns are different. For example, some spray patterns have thinner lines, while some spray patterns have thicker lines. Therefore, in order to obtain a more accurate recommended range of spraying speed, the spray pattern can be further introduced when determining the recommended range of spraying speed, that is, based on the pattern style of the spray pattern, the recommended range of spraying speed when the above-mentioned robot performs spraying operation can be determined.

[0068] Specifically, the robot can determine the paint penetration indication parameter of the spray material under the object material based on the spray paint and the object material, and the paint penetration indication parameter is used to indicate the penetration speed of the spray material. Then, the robot obtains the spray pattern that the robot needs to complete on the spray object, that is, the spray pattern required by the spray task, and determines the recommended range of the spray speed when the robot performs the spraying operation based on the spray pattern and the paint penetration indication parameter.

[0069] In some embodiments, in order to facilitate relevant staff to adjust the spraying parameters such as spraying speed by themselves, in this embodiment, a display screen can be integrated into the above-mentioned robot, or, in an optional example, the robot can be connected to a control device, and the control device is integrated with a display screen. Optionally, the connection between the control device and the robot can be a wired connection or a wireless connection, and this example is not limited to this. In one example, the control device includes but is not limited to mobile terminals such as mobile phones, iPads, etc., and can also include fixed terminals such as computers. The above-mentioned acquisition of the spray paint used by the above-mentioned robot for spraying operations, and the object material of the above-mentioned spraying object, can include: based on the operation on the display screen, determining the spray paint used by the robot for spraying operations, and the object material of the above-mentioned spraying object.

[0070] For example, the material names of multiple spray materials and the material names of multiple object materials of spray objects can be stored in the storage medium of the robot or the control device in advance, so that relevant staff can operate the display screen to trigger the display screen to display the material names of multiple spray materials and the material names of multiple object materials of spray objects, so that relevant staff can choose from them, thereby using the spray material belonging to the material name selected by the relevant staff as the spray paint used by the above-mentioned robot when performing the spraying operation, and using the object material belonging to the material name selected by the relevant staff as the object material of the spray object when the above-mentioned robot performs the spraying operation.

[0071] Correspondingly, the above-mentioned determination of the recommended range of spraying speed when the above-mentioned robot performs a spraying operation based on the above-mentioned spray coating and the above-mentioned object material includes: displaying the recommended range of spraying speed based on the above-mentioned spray coating and the above-mentioned object material on the above-mentioned display screen; receiving an adjustment operation on the above-mentioned recommended range of spraying speed input on the above-mentioned display screen, updating the above-mentioned recommended range of spraying speed based on the above-mentioned adjustment operation, and obtaining an updated recommended range of spraying speed.

[0072] Specifically, a mapping relationship between spray paint and object material and a recommended range of spray speed can be constructed in advance and stored in a robot or a control device. Thus, after obtaining the recommended range of spray speed corresponding to the spray paint and the object material through a display screen, the recommended range of spray speed can be displayed through the display screen of the robot or the control device so that relevant staff can adjust the recommended range of spray speed when they need to make adjustments, thereby updating the recommended range of spray speed so that the updated recommended range of spray speed can better meet relevant needs.

[0073] Exemplarily, when the recommended range of spraying speed obtained based on the above-mentioned spray paint and the above-mentioned object material is displayed on the above-mentioned display screen, an information input window can be displayed on the display screen so that relevant staff can input adjustment information for the recommended range of spraying speed in the information input window to adjust the recommended range of spraying speed based on the adjustment information, thereby updating the recommended range of spraying speed.

[0074] In some embodiments, at least two spraying speeds are selected within the above-mentioned recommended spraying speed range as the above-mentioned spraying test speeds. The speeds may be selected randomly or according to speed selection rules. The specific settings may be made according to the needs and are not limited here.

[0075] Specifically, the robot can obtain the teaching speed corresponding to the spray teaching trajectory, and determine a target spray speed recommendation range higher than the teaching speed within the spray speed recommendation range. Then, the robot can obtain the number of spray tests corresponding to the robot, and based on the number of spray tests, evenly select a corresponding number of spray speeds within the target spray speed recommendation range as the spray test speed.

[0076] It is understandable that in order to improve the working efficiency of the robot, the robot needs to improve the reproduction speed. Therefore, generally, the test speed during the spray test needs to be higher than the teaching speed during teaching. Therefore, in this embodiment, the above-mentioned recommended range of spray speed can be adjusted based on the teaching speed to obtain the above-mentioned target spray speed recommended range.

[0077] Moreover, in order to globally clarify the spraying results at different speeds, the appropriate spraying speed can be uniformly selected from the target spraying speed recommended range, and the speed difference between the selected spraying speeds is the same. For example, the above target spraying speed recommended range is 20cm / s to 30cm / s, and the number of spraying tests is set to 6 times. Then, the corresponding number of spraying speeds uniformly selected within the above target spraying speed recommended range are 20cm / s, 22cm / s, 24cm / s, 26cm / s, 28cm / s and 30cm / s.

[0078] 403. Based on the spraying results corresponding to the spraying test speeds, determine the target spraying speed required for the robot to spray the spraying object.

[0079] In this embodiment, after obtaining the spraying results corresponding to each of the above-mentioned spray test speeds, the robot can detect the spraying results corresponding to each spray test speed in the spray test to determine at least one spraying result that meets the spraying result conditions, or display the spraying results corresponding to each spray test speed in the spray test for relevant staff to select at least one spraying result that meets the standards, thereby determining the target spraying speed required for the above-mentioned robot to spray the above-mentioned spray object based on at least one spraying result that meets the standards, thereby working at the target spraying speed, while ensuring the effect of the spraying result, also improving the work efficiency of the robot.

[0080] It can be understood that since the above-mentioned spraying results may include different types of results, such as the spray pattern sprayed on the above-mentioned spraying object and the paint penetration result of the spray paint on the above-mentioned spraying object, the corresponding spraying result conditions are different for judging whether different types of spraying results meet the standards. For example, for the spraying pattern, it can be detected based on at least one information such as the coating uniformity, smoothness, color, color difference, etc. of the pattern to determine whether the corresponding spraying result meets the standard. For example, for the paint penetration result, it can be detected based on the adhesion of the paint to determine whether the corresponding spraying result meets the standard.

[0081] In some embodiments, the target spraying speed may be determined by selecting from existing spraying test speeds, or by reprocessing the existing spraying test speeds and regenerating them, such as by interpolation processing.

[0082] Specifically, the above-mentioned determining the target spraying speed required for the above-mentioned robot to spray the above-mentioned spray object based on the spraying results corresponding to each of the above-mentioned spraying test speeds may include: the robot selects the target spraying speed from each of the above-mentioned spraying test speeds according to the speed selection rule based on the spraying results corresponding to each of the above-mentioned spraying test speeds.

[0083] The speed selection rule may be to select the fastest spraying speed from the spraying test speeds of the spraying results that meet the standards as the target spraying speed, or to select the spraying result with the best effect from the spraying results that meet the standards, and to use the spraying test speed of the spraying result with the best effect as the target spraying speed. The specific setting may be based on the needs and is not limited here. For example, the spraying result with the best effect may be the spraying result with the highest smoothness of the spraying pattern, or the spraying result with the smallest color difference on the spraying pattern, etc.

[0084] Specifically, the above-mentioned determination of the target spraying speed required for the robot to spray the above-mentioned spraying object based on the spraying results corresponding to each of the above-mentioned spraying test speeds may include: the robot may determine the candidate spraying test speeds for which the above-mentioned spraying results meet the standards based on the spraying results corresponding to each of the above-mentioned spraying test speeds. Then, the robot may select the candidate spraying test speed with the fastest speed or the best spraying result from the above-mentioned candidate spraying test speeds as the target spraying speed.

[0085] Specifically, the above-mentioned determination of the target spraying speed required for the robot to spray the above-mentioned spraying object based on the spraying results corresponding to each of the above-mentioned spraying test speeds may include: the robot selects a spraying result that meets the standard from the spraying results corresponding to each of the above-mentioned spraying test speeds based on the spraying results corresponding to each of the above-mentioned spraying test speeds; if there is only one spraying result that meets the standard, the spraying test speed to which the spraying result that meets the standard belongs is directly used as the target spraying speed; and if there are at least two spraying results that meet the standard, the two spraying results with the best effects may be selected from the spraying test speeds to which the spraying results that meet the standard belong, and the spraying test speeds to which the two spraying results with the best effects belong are averaged to obtain the speed after average processing, and the speed after average processing is used as the target spraying speed.

[0086] 404. Based on the spray reproduction trajectory and the target spray speed, generate a motion control instruction for controlling the robot to perform spraying motion.

[0087] In this embodiment, after obtaining the spraying reproduction trajectory and the target spraying speed, the robot can generate motion control instructions for controlling the robot's spraying movement based on the spraying reproduction trajectory and the target spraying speed, that is, instructions for controlling each joint of the robot to perform spraying movement, so as to control the robot to perform spraying movement, thereby improving the robot's work efficiency during spraying.

[0088] Among them, the device that controls the above-mentioned robot to perform spraying movement through motion control instructions can be a device that generates motion control instructions, or it can be a third-party device that does not generate motion control instructions. That is, the device that generates motion control instructions can send the motion control instructions to the third-party device, so that the third-party device receives the motion control instructions and controls the above-mentioned robot to perform spraying movement according to the motion control instructions. For example, the device that generates motion control instructions is a robot, and the device that controls the above-mentioned robot to perform spraying movement according to the motion control instructions is an execution device.

[0089] In some embodiments, the robot includes at least four joints and a teaching trajectory reproducing device arranged at the end joint, the motion control instruction includes a joint control instruction and an operation control instruction, the joint control instruction is used to control each joint of the robot to perform a spraying motion, and the operation control instruction is used to control the teaching trajectory reproducing device of the end joint of the robot to perform a teaching operation (e.g., a spraying operation); the motion control instruction for controlling the robot to perform a spraying motion based on the spraying reproduction trajectory and the target spraying speed may include: the robot may generate a joint control instruction for controlling each joint of the robot to perform a spraying motion based on the spraying reproduction trajectory. Then, the robot may generate an operation control instruction for controlling the teaching trajectory reproducing device arranged at the end joint based on the target spraying speed and the operation timing information corresponding to the spraying reproduction trajectory, so as to clarify the joint position of each joint corresponding to each sampling point at the target spraying speed through the operation control instruction and the joint control instruction, thereby performing a spraying motion.

[0090] Among them, the above-mentioned operation timing information can be determined based on the operation timing information corresponding to the teaching trajectory corresponding to the above-mentioned spray reproduction trajectory. The operation timing information of the teaching trajectory is collected by an operation sensing device configured on the teaching component. The operation sensing device is used to collect the operation timing information of the teaching component during the teaching process of the teaching trajectory, that is, by collecting multiple opening and closing operations of the teaching component, the operation timing information of the teaching component is constructed.

[0091] It should be noted that, according to the robot's target spraying speed, spraying reproduction trajectory and operation timing information, the corresponding operation control instructions may also include generating the target position (and posture) of the teaching trajectory reproduction device corresponding to each reproduction trajectory point in the reproduction trajectory according to the spraying reproduction trajectory. The target action angle of each joint is determined according to the target position (and posture).

[0092] Exemplarily, the teaching trajectory reproduction device is controlled to perform spraying movement within the operation time period according to the operation timing information. For example, the operation timing information includes {(0.5s, 1s), (2.5s, 4s)}, then the spray gun is turned on at 0.5s of the reproduction process, the spraying operation is performed until 1s of the reproduction process, and the spray gun is turned off. The spray gun is turned on again at 2.5s of the reproduction process, the spraying operation is performed until 4s of the reproduction process, and the spray gun is turned off.

[0093] In some embodiments, the process of generating joint control instructions for a robot may be: determining a position sequence of the robot in a second coordinate system based on the robot's reproduced trajectory and a second coordinate system where the reproduced trajectory is located, the position sequence including a plurality of position information of a teaching trajectory reproduction device arranged at a corresponding robot terminal joint in the second coordinate system; obtaining a mapping relationship between the robot's joint position and the second coordinate system; determining a joint position sequence of the robot based on the robot's position sequence and the mapping relationship; and generating joint control instructions for controlling the corresponding robot's joints to perform spraying movements based on the robot's joint position sequence.

[0094] Specifically, based on the robot's reproduced trajectory and the second coordinate system in which the reproduced trajectory is located, the spatial position information (such as the spatial coordinates in the second coordinate system) of each reproduced trajectory point in the reproduced trajectory can be determined. Based on the spatial position information of each reproduced trajectory point in the reproduced trajectory, the position information of the teaching trajectory reproduction device of the robot's end joint corresponding to each reproduced trajectory point can be determined, and the position sequence of the robot in the second coordinate system can be obtained based on multiple position information.

[0095] Among them, if the position sequence of the teaching trajectory reproduction device of the robot's end joint is known and combined with the homogeneous transformation matrix, the position information of each joint of the robot can be determined. It should be noted that based on the position information of each joint of the robot and through the kinematic positive solution (that is, according to the position information of each joint of the robot, the posture of the robot's end effector is calculated), the position sequence of the teaching trajectory reproduction device of the robot's end joint in a certain space can be calculated. Specifically, based on the position information of each joint of the robot, the homogeneous transformation matrix is ​​calculated through the kinematic positive solution, and the position information (such as position coordinates) of the teaching trajectory reproduction device of the robot's end joint is calculated through the homogeneous transformation matrix.

[0096] Furthermore, by obtaining the mapping relationship between the position of each joint of the robot and the second coordinate system, combined with the position sequence of the teaching trajectory reproduction device of the robot's end joints, the joint position information of each joint of the robot in the second coordinate system corresponding to each reproduced trajectory point can be determined, and the joint position sequence can be obtained based on multiple joint position information.

[0097] From the above content, it can be seen that a spray reproduction trajectory is obtained; based on the above-mentioned spray reproduction trajectory, the robot is controlled to spray the spray object at at least two spray test speeds respectively, and the spraying results corresponding to each of the above-mentioned spray test speeds are obtained; based on the spray results corresponding to each of the above-mentioned spray test speeds, the target spraying speed required for the above-mentioned robot to spray the above-mentioned spray object is determined; based on the above-mentioned spray reproduction trajectory and the above-mentioned target spraying speed, a motion control instruction for controlling the above-mentioned robot to perform spraying movement is generated, so that by setting at least two spray test speeds, the spraying effect of the robot is tested based on the spray test speed, so as to select a suitable target spraying speed therefrom, so as to control the robot to spray by the target spraying speed, and then the working efficiency of the robot after teaching is improved by adjusting the spraying speed.

[0098] In order to better implement the above method, an embodiment of the present application further provides a robot spraying control device, which can be specifically integrated into a robot.

[0099] This embodiment provides a robot spraying control device, such as Figure 5 As shown, the robot spraying control device may include:

[0100] The trajectory acquisition module 501 is used to acquire the spraying reproduction trajectory;

[0101] A test module 502 is used to control the robot to perform spraying operations on the spraying object at at least two spraying test speeds based on the spraying reproduction trajectory, and obtain spraying results corresponding to each of the spraying test speeds;

[0102] A speed determination module 503, for determining a target spraying speed required when the robot sprays the spraying object based on the spraying results corresponding to the spraying test speeds;

[0103] The control module 504 is used to generate a motion control instruction for controlling the robot to perform spraying motion based on the spraying reproduction trajectory and the target spraying speed.

[0104] In some embodiments, the robot spraying control device further includes a speed selection module, and the speed selection module is specifically used for:

[0105] Obtaining the spray paint used by the robot for spraying and the object material of the spraying object;

[0106] Based on the spray coating and the object material, a recommended range of spray speeds for the robot to perform spraying operations is determined, and at least two spray speeds are selected within the recommended range of spray speeds as the spray test speeds.

[0107] In some embodiments, the speed selection module is specifically used to:

[0108] Obtaining a teaching speed corresponding to the spray teaching trajectory, and determining a target spray speed recommended range higher than the teaching speed within the spray speed recommended range;

[0109] The number of spraying tests corresponding to the robot is obtained, and based on the number of spraying tests, a corresponding number of spraying speeds are uniformly selected within the target spraying speed recommended range as the spraying test speed.

[0110] In some embodiments, the speed selection module is specifically used to:

[0111] Based on the spray paint and the object material, determining a paint penetration indication parameter of the spray material under the object material, wherein the paint penetration indication parameter is used to indicate a penetration speed of the spray material;

[0112] A spraying pattern that the robot needs to complete on the spraying object is obtained, and based on the spraying pattern and the paint penetration indication parameter, a recommended range of spraying speed when the robot performs the spraying operation is determined.

[0113] In some embodiments, the robot is connected to a control device, the control device is integrated with a display screen, and the speed selection module is specifically used for:

[0114] Determine, based on the operation on the display screen, the spray paint used by the robot when performing the spraying operation, and the object material of the spraying object;

[0115] Displaying a recommended range of spraying speed based on the spraying paint and the object material on the display screen;

[0116] An adjustment operation for the recommended spraying speed range input on the display screen is received, and the recommended spraying speed range is updated based on the adjustment operation to obtain an updated recommended spraying speed range.

[0117] In some embodiments, the speed determination module 503 is specifically used to:

[0118] Based on the spraying results corresponding to the above spraying test speeds, determine a spraying test speed to be selected for which the above spraying results meet the standards;

[0119] From the above-mentioned spraying test speeds to be selected, the spraying test speed with the fastest speed or the best spraying result is selected as the target spraying speed.

[0120] In some embodiments, the robot comprises at least four joints and a teaching trajectory reproduction device arranged at the end joints, and the motion control instructions comprise joint control instructions and operation control instructions;

[0121] The control module 504 is specifically used for:

[0122] Based on the spraying reproduction trajectory, generating joint control instructions for controlling each joint of the robot to perform spraying movement;

[0123] Based on the above-mentioned target spraying speed and the operation timing information corresponding to the above-mentioned spraying reproduction trajectory, an operation control instruction for controlling the teaching trajectory reproduction device arranged at the end joint is generated.

[0124] In some embodiments, the trajectory acquisition module 501 is specifically used for:

[0125] The image acquisition component is used to collect multiple teaching images of the teaching component during the teaching process;

[0126] Based on the multiple teaching images, generating the position information of the multiple teaching trajectory points of the teaching component in the first coordinate system, wherein the first coordinate system is a coordinate system constructed based on the image acquisition component;

[0127] Based on the coordinate system conversion relationship, the position and posture information of the plurality of teaching trajectory points is converted into the position and posture information of the plurality of reproduced trajectory points in the second coordinate system, where the second coordinate system is a coordinate system constructed based on the robot;

[0128] The above-mentioned spray reproduction trajectory is generated based on the position and posture information of the multiple above-mentioned reproduction trajectory points.

[0129] In some embodiments, the teaching component constructs a third coordinate system, and the third coordinate system is parallel to the second coordinate system; the robot spraying control device further includes a relationship determination module, and the relationship determination module is specifically used for:

[0130] Acquire the posture information of the teaching component in the first coordinate system at the first teaching point through the image acquisition component, wherein the first teaching point is the origin of the third coordinate system;

[0131] When the teaching component moves to the second teaching point along the first coordinate axis of the third coordinate system, the position and posture information of the teaching component in the first coordinate system at the second teaching point is obtained through the image acquisition component;

[0132] When the teaching component moves to a third teaching point along the second coordinate axis of the third coordinate system, the position and posture information of the teaching component at the third teaching point in the first coordinate system is obtained by the image acquisition component;

[0133] Obtaining position information of the first teaching point, the second teaching point and the third teaching point in the second coordinate system;

[0134] Based on the posture information of the first teaching point, the second teaching point and the third teaching point in the second coordinate system, and the posture information of the first teaching point, the second teaching point and the third teaching point in the first coordinate system, the coordinate system conversion relationship between the first coordinate system and the second coordinate system is determined.

[0135] From the above, it can be seen that the robot spray control device of this embodiment obtains a spray reproduction trajectory; based on the above-mentioned spray reproduction trajectory, controls the robot to spray the spray object at at least two spray test speeds respectively, and obtains the spraying results corresponding to each of the above-mentioned spray test speeds; based on the spray results corresponding to each of the above-mentioned spray test speeds, determines the target spraying speed required for the above-mentioned robot to spray the above-mentioned spray object; based on the above-mentioned spray reproduction trajectory and the above-mentioned target spraying speed, generates motion control instructions for controlling the above-mentioned robot to perform spraying movement, so as to test the spraying effect of the robot based on the spray test speed by setting at least two spray test speeds, so as to select a suitable target spraying speed therefrom, so as to control the robot to spray by the target spraying speed, and then improve the working efficiency of the robot after teaching by adjusting the spraying speed.

[0136] Accordingly, an embodiment of the present application further provides a robot, which includes a processor having one or more processing cores, a memory having one or more computer-readable storage media, and a computer program stored in the memory and executable on the processor. The processor is electrically connected to the memory. Those skilled in the art will appreciate that the aforementioned robot structure does not constitute a limitation on the robot, and may include more or fewer components than the aforementioned, or a combination of certain components, or different component arrangements.

[0137] The processor is the control center of the robot. It uses various interfaces and lines to connect the various parts of the entire robot. It executes various functions of the robot and processes data by running or loading software programs and / or modules stored in the memory, and calling data stored in the memory, thereby monitoring the robot as a whole.

[0138] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0139] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be completed by a computer program, or by controlling related hardware through a computer program. The computer program may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0140] To this end, an embodiment of the present application provides a computer-readable storage medium, in which multiple computer programs are stored. The computer programs can be loaded by a processor to execute any one of the robot spraying control methods provided in the embodiments of the present application.

[0141] The computer-readable storage medium may include: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0142] Since the computer program stored in the computer-readable storage medium can execute any one of the robot spraying control methods provided in the embodiments of the present application, the beneficial effects that can be achieved by any one of the robot spraying control methods provided in the embodiments of the present application can be achieved. Please refer to the previous embodiments for details and will not be repeated here.

[0143] The above is a detailed introduction to a robot spraying control method, device, robot and computer-readable storage medium provided in the embodiments of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for technical personnel in this field, according to the ideas of the present application, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A robot spraying control method, characterized in that: The method comprises: Get spraying reproduction trajectory; Based on the spraying reproduction trajectory, the robot is controlled to perform spraying operations on the spraying object at at least two spraying test speeds respectively, and the spraying results corresponding to the spraying test speeds are obtained; Based on the spraying results corresponding to each of the spraying test speeds, determining a target spraying speed required for the robot to spray the spraying object; Based on the spraying reproduction trajectory and the target spraying speed, a motion control instruction for controlling the robot to perform spraying motion is generated.

2. The robot spraying control method according to claim 1, characterized in that: Based on the spraying reproduction trajectory, the robot is controlled to spray the spraying object at at least two spraying test speeds respectively, and before obtaining the spraying results corresponding to the spraying test speeds, the method further includes: Acquire the spray paint used by the robot when performing the spraying operation, and the object material of the spraying object; Based on the spray paint and the object material, a recommended range of spray speeds when the robot performs a spraying operation is determined, and at least two spray speeds within the recommended range of spray speeds are selected as the spray test speeds.

3. The robot spraying control method according to claim 2, characterized in that: The selecting at least two spraying speeds within the recommended spraying speed range as the spraying test speeds comprises: Obtaining a teaching speed corresponding to a spray teaching trajectory, and determining a target spray speed recommended range higher than the teaching speed within the spray speed recommended range; The number of spraying tests corresponding to the robot is obtained, and based on the number of spraying tests, a corresponding number of spraying speeds are uniformly selected within the target spraying speed recommendation range as the spraying test speed.

4. The robot spraying control method according to claim 2, characterized in that: The step of determining a recommended range of spraying speed when the robot performs a spraying operation based on the spray paint and the object material includes: Based on the spray paint and the object material, determining a paint penetration indication parameter of the spray material under the object material, wherein the paint penetration indication parameter is used to indicate a penetration speed of the spray material; A spraying pattern that the robot needs to complete on the spraying object is obtained, and a recommended range of spraying speed when the robot performs a spraying operation is determined based on the spraying pattern and the paint penetration indication parameter.

5. The robot spraying control method according to claim 2, characterized in that: The robot is connected to a control device, and a display screen is integrated on the control device. The method of obtaining the spray paint used by the robot for spraying and the object material of the spraying object includes: Determining the spray paint used by the robot when performing the spraying operation and the object material of the spraying object based on the operation on the display screen; The step of determining a recommended range of spraying speed when the robot performs a spraying operation based on the spray paint and the object material includes: Displaying a recommended range of spraying speed based on the spray paint and the object material on the display screen; An adjustment operation for the recommended spraying speed range input on the display screen is received, and the recommended spraying speed range is updated based on the adjustment operation to obtain an updated recommended spraying speed range.

6. The robot spraying control method according to claim 1, characterized in that: The step of determining a target spraying speed required for the robot to spray the spraying object based on the spraying results corresponding to each of the spraying test speeds comprises: Based on the spraying results corresponding to the spraying test speeds, determining a spraying test speed to be selected for which the spraying results meet the standards; From the spraying test speeds to be selected, the spraying test speed with the fastest speed or the best spraying result is selected as the target spraying speed.

7. The robot spraying control method according to claim 1, characterized in that: The robot comprises at least four joints and a teaching trajectory reproduction device arranged at the end joints, and the motion control instructions comprise joint control instructions and operation control instructions; The generating, based on the spraying reproduction trajectory and the target spraying speed, a motion control instruction for controlling the robot to perform spraying motion comprises: Based on the spraying reproduction trajectory, generating joint control instructions for controlling each joint of the robot to perform spraying movement; Based on the target spraying speed and the operation timing information corresponding to the spraying reproduction trajectory, an operation control instruction for controlling the teaching trajectory reproduction device arranged at the end joint is generated.

8. The robot spraying control method according to claim 1, characterized in that: The step of obtaining the spraying reproduction trajectory includes: The image acquisition component is used to collect multiple teaching images of the teaching component during the teaching process; Based on a plurality of teaching images, generating position information of a plurality of teaching trajectory points of the teaching component in a first coordinate system, wherein the first coordinate system is a coordinate system constructed based on the image acquisition component; Based on the coordinate system conversion relationship, the position and posture information of the plurality of teaching trajectory points is converted into the position and posture information of the plurality of reproduced trajectory points in a second coordinate system, where the second coordinate system is a coordinate system constructed based on the robot; The spray reproduction trajectory is generated based on the position and posture information of the plurality of reproduction trajectory points.

9. The robot spraying control method according to claim 8, characterized in that: The teaching component constructs a third coordinate system, and the third coordinate system is parallel to the second coordinate system; Before converting the position and posture information of the plurality of teaching trajectory points into the position and posture information of the plurality of reproducing trajectory points in the second coordinate system based on the coordinate system conversion relationship, the method further includes: Acquiring, by an image acquisition component, position information of the teaching component in the first coordinate system at a first teaching point, wherein the first teaching point is the origin of the third coordinate system; When the teaching component moves to a second teaching point along the first coordinate axis of the third coordinate system, obtaining, by means of an image acquisition component, position information of the teaching component in the first coordinate system at the second teaching point; When the teaching component moves to a third teaching point along the second coordinate axis of the third coordinate system, obtaining the posture information of the teaching component at the third teaching point in the first coordinate system through the image acquisition component; Acquire the position and posture information of the first teaching point, the second teaching point and the third teaching point in the second coordinate system; Based on the posture information of the first teaching point, the second teaching point and the third teaching point in the second coordinate system, and the posture information of the first teaching point, the second teaching point and the third teaching point in the first coordinate system, the coordinate system conversion relationship between the first coordinate system and the second coordinate system is determined.

10. A robot spraying control device, characterized in that: The device comprises: A trajectory acquisition module is used to obtain the spraying reproduction trajectory; A testing module, used to control the robot to perform spraying operations on the spraying object at at least two spraying test speeds based on the spraying reproduction trajectory, and obtain spraying results corresponding to each of the spraying test speeds; A speed determination module, used for determining a target spraying speed required when the robot sprays the spraying object based on the spraying results corresponding to each of the spraying test speeds; The control module is used to generate a motion control instruction for controlling the robot to perform spraying motion based on the spraying reproduction trajectory and the target spraying speed.

Images