Automatic spraying method and device

Abstract

The invention provides an automatic spraying method and device, and relates to the technical field of coating. The method specifically comprises the steps that a target obtaining mode in multiple preset obtaining modes is adopted, and the workpiece type of a to-be-sprayed workpiece on conveying equipment is obtained; acquiring a reference workpiece model and a first spraying track of the to-be-sprayed workpiece according to the type of the workpiece; performing simulation preprocessing operation on the reference workpiece model to obtain a simulation preprocessing result, and performing trajectory optimization on the first spraying trajectory according to the simulation preprocessing result to obtain a second spraying trajectory; conveying equipment is controlled to convey the to-be-sprayed workpiece to a paint spraying room, and pretreatment equipment is controlled to conduct pretreatment operation on the to-be-sprayed workpiece; and the spraying equipment is controlled to conduct spraying operation on the to-be-sprayed workpiece obtained after pretreatment operation through the second spraying track. The problem that in the prior art, an automatic spraying method is low in flexibility is solved, and the flexibility of the automatic spraying method is improved.

Description

Technical Field

[0001] The present application relates to the field of coating technology, and in particular to an automatic spraying method and device. Background Art

[0002] Coating technology is widely used in manufacturing, assembly and surface treatment industries. With the development of industrialization, the requirements for production efficiency and product quality are constantly increasing. Traditional manual spraying has low efficiency and unstable quality, so automatic spraying methods came into being.

[0003] The automatic spraying method in the related art usually first sets up a fixed spraying equipment, then sets the spraying parameters, prepares the coating materials, etc., and then starts the equipment to spray the workpiece to be sprayed. However, this method can only process workpieces of specific shapes or sizes, and there are usually many types of workpieces, and the number of the same parts is also large. The loading position is not fixed each time and there are deviations. Therefore, the existing automatic spraying method will have the problem of insufficient flexibility in spraying different types of workpieces and workpieces with non-fixed loading positions.

[0004] With regard to the problem of low flexibility of the automatic spraying method in the prior art, no effective technical solution has been proposed yet. Summary of the invention

[0005] The embodiments of the present application provide an automatic spraying method and device to at least solve the problem of low flexibility of the automatic spraying method in the prior art.

[0006] According to one aspect of an embodiment of the present application, an automatic spraying method is provided, including: using a target acquisition method from a plurality of preset acquisition methods to acquire the type of workpiece to be sprayed on a conveying device, wherein each preset acquisition method corresponds to at least one type of workpiece; acquiring a reference workpiece model and a first spraying trajectory of the workpiece to be sprayed according to the type of workpiece; performing a simulation preprocessing operation on the reference workpiece model to obtain a simulation preprocessing result, and performing trajectory optimization on the first spraying trajectory according to the simulation preprocessing result to obtain a second spraying trajectory; controlling the conveying device to transport the workpiece to be sprayed to a paint room, and controlling the preprocessing device to perform a preprocessing operation on the workpiece to be sprayed, wherein the simulation preprocessing operation is a simulation process of the preprocessing operation, and the preprocessing operation is used to improve the spraying effect; controlling the spraying device to use the second spraying trajectory to spray the workpiece to be sprayed after the preprocessing operation.

[0007] According to another aspect of an embodiment of the present application, an automatic spraying device is also provided, including: a first acquisition unit, used to adopt a target acquisition method among a plurality of preset acquisition methods to acquire the type of workpiece to be sprayed on a conveying device, wherein each preset acquisition method corresponds to at least one type of workpiece; a second acquisition unit, used to acquire a reference workpiece model and a first spraying trajectory of the workpiece to be sprayed according to the type of workpiece; an operation unit, used to perform a simulation preprocessing operation on the reference workpiece model to obtain a simulation preprocessing result, and perform trajectory optimization on the first spraying trajectory according to the simulation preprocessing result to obtain a second spraying trajectory; a first control unit, used to control the conveying device to transport the workpiece to be sprayed to the paint room, and control the preprocessing device to perform a preprocessing operation on the workpiece to be sprayed, wherein the simulation preprocessing operation is a simulation process of the preprocessing operation, and the preprocessing operation is used to improve the spraying effect; a second control unit, used to control the spraying device to adopt the second spraying trajectory to spray the workpiece to be sprayed after the preprocessing operation.

[0008] Optionally, the above-mentioned second acquisition unit includes a determination subunit, which is used to obtain the priority of the workpiece to be sprayed according to the type of workpiece, and determine the target storage location from multiple storage locations according to the priority, wherein each storage location corresponds to a priority; a first judgment subunit, which is used to perform a first judgment according to the target storage location to obtain a first judgment result, and determine whether to perform a second judgment according to the first judgment result to obtain a determination result, wherein the first judgment is used to determine whether a reference workpiece model is stored in the target storage location, and the second judgment is used to determine whether a first spraying trajectory is stored in the target storage location; an acquisition subunit, which is used to acquire the reference workpiece model and the first spraying trajectory according to the first judgment result and the determination result.

[0009] Optionally, the acquisition subunit includes a first calling module, which is used to call the reference workpiece model from the target storage position when the first judgment result indicates that the reference workpiece model is stored in the target storage position, and determine that the determination result indicates that a second judgment is to be performed; a second judgment subunit, which is used to perform a second judgment according to the target storage position to obtain a second judgment result; a first control module, which is used to control the conveying equipment to convey the workpiece to be sprayed through the light curtain gantry at a uniform speed to obtain the reference workpiece model when the first judgment result indicates that the reference workpiece model is not stored in the target storage position, and determine that the determination result indicates that no second judgment is to be performed; a storage module, which is used to store the reference workpiece model to the target storage position; and an acquisition module, which is used to acquire the first spraying trajectory according to the second judgment result and the reference workpiece model.

[0010] Optionally, the above-mentioned automatic spraying device also includes a third acquisition unit, which is used to obtain the surface information of the workpiece to be sprayed and the reference surface information of the reference workpiece model after calling the reference workpiece model from the target storage location; a comparison unit, which is used to compare the surface information and the reference surface information to obtain the surface similarity; and a model optimization unit, which is used to optimize the reference workpiece model according to the surface information when the surface similarity is less than the preset similarity, and determine the model after model optimization as the reference workpiece model.

[0011] Optionally, the above-mentioned acquisition module includes: a second calling module, which is used to call the first spraying trajectory from the target storage position when the second judgment result indicates that the first spraying trajectory is stored in the target storage position; a trajectory optimization module, which is used to obtain model optimization information of the reference workpiece model, and when the model optimization information indicates that the reference workpiece model is a model obtained through model optimization, perform trajectory optimization on the first spraying trajectory according to the reference workpiece model, and determine the spraying trajectory after trajectory optimization as the first spraying trajectory; a trajectory planning module, which is used to perform trajectory planning according to the reference workpiece model when the second judgment result indicates that the first spraying trajectory is not stored in the target storage position, obtain the first spraying trajectory, and store the first spraying trajectory in the storage position corresponding to the reference workpiece model in the target storage position.

[0012] Optionally, the above-mentioned first acquisition unit includes: a first scanning unit, which is used to perform a surface scan on the workpiece to be sprayed to obtain a scanning result; a second scanning unit, which is used to determine that the target acquisition mode is target scanning when the scanning result indicates that there is workpiece information, and perform a target scan on the workpiece to be sprayed to obtain the type of workpiece; a first determination module, which is used to determine that the target acquisition mode is a trigger determination mode when the scanning result indicates that there is no workpiece information and a trigger signal is received, and determine the type of workpiece according to the trigger signal; a second determination module, which is used to randomly determine the target acquisition mode from the sensor detection mode and the image recognition mode when the scanning result indicates that there is no workpiece information and no trigger signal is received, and adopt the target acquisition mode to acquire the type of workpiece.

[0013] Optionally, the above-mentioned operation unit includes a third determination module, which is used to obtain reference surface information of the reference workpiece model based on the reference workpiece model, and determine the simulation preprocessing operation corresponding to the workpiece to be sprayed from a variety of simulation operations based on the reference surface information and the preprocessing signal; a simulation trajectory planning module, which is used to perform simulation trajectory planning on the reference workpiece model according to the simulation preprocessing operation to obtain a simulation trajectory; and an operation module, which is used to perform simulation preprocessing operations on the reference workpiece model according to the simulation trajectory to obtain a target workpiece model and a simulation preprocessing result.

[0014] Optionally, the above-mentioned second control unit includes: a fourth acquisition unit, used to obtain the current posture information of the workpiece to be sprayed, wherein the current posture information is used to indicate the current position and posture of the workpiece to be sprayed in the paint room; a fifth acquisition unit, used to obtain reference posture information corresponding to the second spraying trajectory; a trajectory transformation unit, used to perform a trajectory transformation operation on the second spraying trajectory according to the current posture information and the reference posture information to obtain a target spraying trajectory; a second control module, used to control the spraying equipment to use the target spraying trajectory to perform a spraying operation on the workpiece to be sprayed.

[0015] According to another aspect of the embodiments of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the above automatic spraying method.

[0016] According to another aspect of the embodiments of the present application, an electronic device is also provided, 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, and the computer program is executed by the at least one processor so that the at least one processor executes the automatic spraying method as described above.

[0017] Through the above-mentioned automatic spraying method, it is possible to spray a variety of different types of workpieces to be sprayed, thereby improving the flexibility of the automatic spraying method. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 is a schematic diagram of a hardware environment of an optional automatic spraying method according to an embodiment of the present invention;

[0020] Figure 2 is a flow chart of an optional automatic spraying method according to an embodiment of the present invention;

[0021] Figure 3 is a schematic diagram of an optional automatic spraying method according to an embodiment of the present invention;

[0022] Figure 4 is a schematic diagram of another optional automatic spraying method according to an embodiment of the present invention;

[0023] Figure 5is a schematic diagram of another optional automatic spraying method according to an embodiment of the present invention;

[0024] Figure 6 is a schematic structural diagram of an optional automatic spraying device according to an embodiment of the present invention;

[0025] Figure 7 It is a schematic diagram of the structure of an optional electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings 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 ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0027] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. 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. It should be noted that, in the absence of conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0028] The automatic spraying method is a production line for completing automated spraying, but the automatic spraying method in the prior art has many problems. The first is that there are too many types of workpieces to be sprayed, probably tens of thousands of types, and the number of the same type of workpieces to be sprayed (for example, the same batch of workpieces to be sprayed) is also large. The loading position is not fixed each time and there is a deviation, which leads to a low reuse rate of the spraying trajectory of the spraying equipment and low production efficiency. At the same time, due to manual loading, the spraying process will inevitably have a mismatch between the spraying program of the spraying equipment and the workpiece to be sprayed. At this time, the existing automatic spraying method cannot flexibly perform batch spraying on a variety of workpieces to be sprayed (for example, different types of reducers and motors, etc.).

[0029] In order to solve the above problems, the present application embodiment provides an automatic spraying method. As an optional implementation, the automatic spraying method can be applied to, but not limited to, Figure 1In the automatic spraying system composed of the terminal device 102 and the server 104 shown in FIG. Figure 1 As shown, the terminal device 102 is connected to the server 104 via a network 110. The network 110 may include but is not limited to: a wired network, a wireless network. The terminal device 102 is also provided with a display 106, a processor 108 and a memory 112. The display 106 may be used to display the spraying effect of the spraying operation, etc. The processor 108 may be used to process the spraying request and the trigger signal, etc. The memory 112 may be used to store the relevant information involved in this application; the server 104 may be a single server, or a server cluster composed of multiple servers, or a cloud server. The server 104 includes a database 114 and a processing engine 116. Among them, the database 114 may be used to store the reference workpiece model and the first spraying trajectory, and the processing engine 116 may be used to process the reference workpiece model and the first spraying trajectory.

[0030] According to one aspect of the embodiment of the present invention, the automatic spraying system may further perform the following steps: First, the terminal device 102 executes S102 to send a spraying request to the server 104 via the network 110; then, the server 104 executes Figure 1 S104 to S112 are shown, thereby completing the automatic spraying of the workpiece to be sprayed.

[0031] Through the above-mentioned automatic spraying method, it is possible to spray a variety of different types of workpieces to be sprayed, thereby improving the flexibility of the automatic spraying method.

[0032] The above is only an example and is not limited in this embodiment.

[0033] As an optional implementation, please refer to Figure 2 The flowchart of the automatic spraying method shown in FIG. The method may include the following steps:

[0034] S202, using a target acquisition method among a plurality of preset acquisition methods to acquire the type of the workpiece to be sprayed on the conveying device, wherein each preset acquisition method corresponds to at least one type of workpiece;

[0035] S204, acquiring a reference workpiece model and a first spraying trajectory of the workpiece to be sprayed according to the type of the workpiece;

[0036] S206, performing a simulation preprocessing operation on the reference workpiece model to obtain a simulation preprocessing result, and optimizing the first spraying trajectory according to the simulation preprocessing result to obtain a second spraying trajectory;

[0037] S208, controlling the conveying device to convey the workpiece to be sprayed to the paint spraying room, and controlling the pretreatment device to perform a pretreatment operation on the workpiece to be sprayed, wherein the simulated pretreatment operation is a simulation process of the pretreatment operation, and the pretreatment operation is used to improve the spraying effect;

[0038] S210, controlling the spraying equipment to use a second spraying trajectory to spray the workpiece to be sprayed after the pretreatment operation.

[0039] The preset acquisition method in the above 202 is a plurality of pre-set methods for acquiring workpiece types. The plurality of preset acquisition methods can acquire the workpiece types of all existing workpieces. When a new workpiece appears and the plurality of preset acquisition methods cannot acquire the workpiece type of the new workpiece, the acquisition method corresponding to the new workpiece can be determined according to the new workpiece, and the acquisition method can be combined and stored with the plurality of preset acquisition methods for subsequent use. The combined acquisition methods can be, for example, set storage, list storage, etc.; the target acquisition method is an acquisition method corresponding to the workpiece to be sprayed among the plurality of preset acquisition methods. The conveying equipment is used to convey the workpiece to be sprayed. The same workpiece type can be understood as, but not limited to, the same workpiece model, and the workpiece model is a code for the workpiece in order to distinguish the same type of workpieces; each preset acquisition method corresponds to at least one workpiece type, which can be understood as, but not limited to, each preset acquisition method can acquire at least one workpiece type.

[0040] The reference workpiece model in 204 is the model of the workpiece to be sprayed. This reference workpiece model can be understood as, but not limited to, the original model of the workpiece to be sprayed, that is, the model most similar to the workpiece to be sprayed. The first spraying trajectory can be understood as, but not limited to, the spraying trajectory corresponding to the reference workpiece model, and this spraying trajectory can be used for both simulated spraying of the reference workpiece model and subsequent actual spraying of the workpiece to be sprayed. The workpieces are sprayed in batches, each batch of workpieces includes a plurality of workpieces of the same model, and workpieces of different batches may be the same or different, that is, after spraying a batch of workpieces of the current batch, the next batch of workpieces to be sprayed may be workpieces of different models from the current batch, then the reference workpiece model and the first spraying trajectory of the next batch of workpieces must be different from the reference workpiece model and the first spraying trajectory of the current batch of workpieces, then during this period, flexible switching is required to ensure the accuracy of spraying each workpiece.

[0041] Simulation is a process of simulating the real world through a computer model. Through simulation, relevant experiments that need to be conducted in a real environment can be conducted in a simulated experimental environment, thereby saving experimental materials and realizing a comprehensive observation of the entire experimental process. The simulation preprocessing operation in the above S206 is such a process; the simulation preprocessing operation includes simulation grinding, simulation polishing, simulation priming and other operations. After the simulation preprocessing operation is performed on the reference workpiece model, the surface of the reference workpiece model will change, and a new workpiece model will be obtained. Then, the first spraying trajectory can accurately realize the simulated spraying of the reference workpiece model, but it may not be able to accurately realize the simulated spraying of the new workpiece model. Therefore, it is necessary to optimize the first spraying trajectory according to the new workpiece model to obtain a second spraying trajectory corresponding to the new workpiece model.

[0042] After obtaining the second spraying trajectory, the conveying equipment can be controlled to convey the workpiece to be sprayed to the paint spraying room, and then the pretreatment equipment can be controlled to perform pretreatment operations on the workpiece to be sprayed. The pretreatment operation is an actual pretreatment operation corresponding to the simulation pretreatment operation, that is, if the simulation pretreatment operation is simulation grinding, then the pretreatment operation is grinding, the simulation pretreatment operation is simulation polishing, the pretreatment operation is polishing, the simulation pretreatment operation is simulation priming, the pretreatment operation is priming, etc. This pretreatment operation is used to improve the subsequent spraying effect. After that, the Kongshi spraying equipment can use the second spraying trajectory to spray the workpiece to be sprayed after the pretreatment operation.

[0043] The above automatic spraying method solves the problem of low flexibility of the automatic spraying method in the prior art and improves the flexibility of the automatic spraying method.

[0044] As an optional implementation, the above-mentioned obtaining a reference workpiece model and a first spraying trajectory of the workpiece to be sprayed according to the type of the workpiece includes:

[0045] S1, obtaining the priority of the workpiece to be sprayed according to the type of the workpiece, and determining a target storage position from a plurality of storage positions according to the priority, wherein each storage position corresponds to a priority;

[0046] S2, performing a first judgment according to the target storage position to obtain a first judgment result, and determining whether to perform a second judgment according to the first judgment result to obtain a determination result, wherein the first judgment is used to determine whether a reference workpiece model is stored in the target storage position, and the second judgment is used to determine whether a first spraying trajectory is stored in the target storage position;

[0047] S3, obtaining a reference workpiece model and a trajectory-optimized first spraying trajectory according to the first judgment result and the determination result.

[0048] In the above S1, each workpiece type corresponds to a priority, and different workpiece types correspond to different priorities. This priority can be pre-set or temporarily modified. At this time, the specific method of obtaining the priority includes: when a priority message is received, the priority carried in the priority message is determined as the priority of the workpiece to be sprayed; when no priority message is received, the priority of the workpiece to be sprayed is determined from a plurality of preset priorities. The multiple storage locations include disks, databases, and servers. Different storage locations correspond to different storage methods. The above disk corresponds to file system storage; the database corresponds to database storage; the server corresponds to object storage and distributed storage. Different storage locations correspond to different priorities. Each workpiece type corresponds to a priority. When storing, the storage method corresponding to the target storage location is used for storage.

[0049] The operation in S2 above can be understood, but is not limited to, as first determining whether the target storage location stores a reference workpiece model, and if the reference workpiece model exists, determining whether the target storage location stores a first spraying trajectory; if the reference workpiece model does not exist, it is not necessary to determine whether the first spraying trajectory is stored. After obtaining the first determination result (i.e., whether the reference workpiece model is stored), the determination result (i.e., whether the first spraying trajectory needs to be determined) can be determined, and finally the reference workpiece model and the first spraying trajectory can be obtained according to the first determination result and the determination result.

[0050] By using different storage methods and storage locations to store the reference workpiece models and the first spray trajectory corresponding to workpiece types of different priorities in the present application, the access speed for subsequent acquisition of the reference workpiece model can be improved. At the same time, by reasonably allocating storage methods, the storage cost can be effectively managed. At the same time, storing data of different priorities separately can not only reduce the impact on the entire system, but also better manage the stored data.

[0051] As an optional implementation manner, the above-mentioned obtaining the reference workpiece model and the first spraying trajectory according to the first judgment result and the determination result includes:

[0052] S1, when the first judgment result indicates that the reference workpiece model is stored in the target storage location, calling the reference workpiece model from the target storage location, and determining that the determination result indicates that a second judgment is to be performed;

[0053] S2, performing a second judgment according to the target storage location to obtain a second judgment result;

[0054] S3, when the first judgment result indicates that the reference workpiece model is not stored in the target storage location, controlling the conveying device to convey the workpiece to be sprayed through the light curtain gantry at a uniform speed to obtain the reference workpiece model, and determining that the determination result indicates that the second judgment is not to be performed;

[0055] S4, storing the reference workpiece model to a target storage location, and acquiring a first spraying trajectory according to the second judgment result and the reference workpiece model.

[0056] It should be noted that the workpieces to be sprayed enter the spray booth one by one through the accumulation chain conveyor, and at this time there are multiple workpieces to be sprayed waiting outside the spray booth, and then enter in sequence. Before entering the spray booth, a scanning device is set to scan and model the workpiece and complete the spray path planning. When the workpiece to be sprayed enters the spray booth, the workpiece is positioned, and then the path is fine-tuned according to the posture of the workpiece to complete the spraying of the workpiece. Types of workpieces to be sprayed include SEW reducers and motors.

[0057] Modeling of the workpiece to be sprayed needs to be done before the equipment to be sprayed enters the paint room. Therefore, the present application sets a gantry at a suitable position before the workpiece to be sprayed enters the paint room. Taking into account the cost and site, 4 SICK pico laser scanners are combined with position encoders to scan the overall 3D contour of the workpiece, and complete workpiece surface data collection is achieved, so as to accurately model the workpiece to be sprayed. That is, the conveyor chain carries the workpiece through the laser scanner scanning area at a constant speed. After entering the area, multiple laser scanners start working to collect laser point cloud data from different angles. As the workpiece walks out of the scanning area, the workpiece point cloud models collected from different angles are transmitted to the industrial computer, and then the point clouds collected from multiple perspectives need to be spliced ​​to form a complete point cloud model (that is, the above-mentioned reference workpiece model). In this application, the point clouds collected from multiple perspectives contain a certain overlapping area. This application first performs a rough registration of the scanned point clouds according to the relative posture relationship between each laser scanner, and then uses the ICP algorithm to perform precise registration of the point clouds based on the overlapping area, and splices the point clouds collected from different perspectives together to form a complete workpiece point cloud model. The workpiece point cloud model obtained by registration has interference points such as noise points and isolated points on the surface, which will affect the accuracy of subsequent path planning. Therefore, the point cloud data isolated point filtering algorithm, Gaussian filtering, density filtering and radius filtering are first used to filter out free points, and then the weighted local optimal projection (WLOP) algorithm is used to optimize the point cloud filtering and improve the quality of the workpiece surface, thereby obtaining a reference workpiece model. Figure 3 As shown, Figure 3 The support surface 301 shown is a surface for supporting various equipment, such as the ground, and the conveying device 307 conveys the workpiece 302 to be sprayed to move so that the workpiece to be sprayed passes through the light curtain gantry (a pair of light curtain gantry, i.e., Figure 3 The light curtain gantry 303 and the light curtain gantry 304 are shown in the figure, and the laser scanner 305 on the light curtain gantry 303 and the laser scanner 306 on the light curtain gantry 304 scan the workpiece 302 to be sprayed.

[0058] In order to scan the periphery of the workpiece to be sprayed and the end face of the workpiece to be sprayed at the same time, at least 4 laser scanners are set in this application, and the positions of multiple laser scanners are associated to achieve complete scanning of the workpiece to be sprayed. Taking 4 laser scanners as an example, the specific settings of the positions of the 4 laser scanners are as follows: Figure 4 As shown: laser scanner 1 and laser scanner 2 are parallel to the horizontal plane and are responsible for scanning the left and right side data of the workpiece to be sprayed. Laser scanner 3 and laser scanner 4 are at an angle of about 45 degrees to the end face of the workpiece and are responsible for scanning the front and back data of the workpiece to be sprayed.

[0059] The operations in S1 to S4 above can be understood, but not limited to, as follows: when a reference workpiece model is stored in the target storage location, the reference workpiece model can be directly called, and it can also be determined that the above determination result indicates a second judgment, and then it is determined whether the target storage location stores the first spraying trajectory; and when the reference workpiece model is not stored in the target storage location, it is necessary to model the workpiece to be sprayed, then it is necessary to execute the above S3 to control the conveying equipment to convey the workpiece to be sprayed through the light curtain gantry at a uniform speed, and scan and model the workpiece to be sprayed through the light curtain gantry, and then the reference workpiece model obtained by modeling can be stored in the target storage location, and it can also be determined that the second judgment is not required at this time. After accurately determining the determination results in different situations, the first spraying trajectory can be obtained according to the second judgment result and the reference workpiece model.

[0060] Acquiring the first spraying trajectory according to the second judgment result and the reference workpiece model specifically includes: when the second judgment result indicates that the first spraying trajectory is stored in the target storage position, calling the first spraying trajectory from the target storage position; acquiring the model optimization information of the reference workpiece model, and when the model optimization information indicates that the reference workpiece model is a model obtained through model optimization, optimizing the first spraying trajectory according to the reference workpiece model, and determining the optimized spraying trajectory as the first spraying trajectory; when the second judgment result indicates that the first spraying trajectory is not stored in the target storage position, performing trajectory planning according to the reference workpiece model to obtain the first spraying trajectory, and storing the first spraying trajectory in the target storage position corresponding to the reference workpiece model. If the reference workpiece model is a model that has not been optimized, that is, an existing model that is directly called, trajectory optimization is not required. If the reference workpiece model is an optimized model, trajectory planning is performed according to the optimized model. If it is not an optimized model, trajectory planning is performed directly according to the called model.

[0061] It should be noted that the above-mentioned model optimization information is used to indicate whether the reference workpiece model is a model obtained through model optimization. If the reference workpiece model is a model obtained through model optimization, the first spraying trajectory is optimized according to the reference workpiece model, and the trajectory after trajectory optimization is determined as the first spraying trajectory; if the reference workpiece model is a model obtained without model optimization (i.e., the reference workpiece model obtained by directly calling), there is no need to optimize the first spraying trajectory at this time. When the second judgment result indicates that the first spraying trajectory is not stored in the target storage location, trajectory planning is performed according to the reference workpiece model to obtain the first spraying trajectory, and according to the priority corresponding to the workpiece to be sprayed, the first spraying trajectory is stored in the target storage location corresponding to the reference workpiece model. It can be understood that if the reference workpiece model is a reference workpiece model after model optimization, trajectory planning is performed according to the reference workpiece model obtained after model optimization. If the reference workpiece model is not a reference workpiece model after model optimization, trajectory planning is performed directly according to the reference workpiece model obtained by calling. That is, trajectory planning is performed according to the reference workpiece model finally determined.

[0062] Through the above-mentioned implementation mode of the present application, by adopting the above-mentioned method of obtaining the reference workpiece model and the first spraying trajectory, it is possible to flexibly determine different types of workpiece models and also to determine an accurate first spraying trajectory.

[0063] As an optional implementation, after calling the reference workpiece model from the target storage location, the method further includes:

[0064] S1, obtaining surface information of the workpiece to be sprayed and reference surface information of the reference workpiece model;

[0065] S2, comparing the surface information with the reference surface information to obtain the surface similarity;

[0066] S3, when the surface similarity is less than a preset similarity, optimizing the reference workpiece model according to the surface information, and determining the optimized model as the reference workpiece model.

[0067] It should be noted that, because the spraying operation is aimed at the surface of the workpiece, the surface information of the reference workpiece model must be sufficiently similar to the surface information of the workpiece to be sprayed, so as to ensure that the workpiece to be sprayed can be sprayed more accurately in the later stage. The above surface information is used to indicate the roughness and potholes of the surface of the workpiece to be sprayed, etc. The above reference surface information is used to indicate the model roughness and model potholes of the reference workpiece model surface, etc. After executing the above S1, the surface information and the reference surface information can be compared for similarity to obtain the surface similarity. If the surface similarity is less than the preset similarity, it is necessary to plan the model of the reference workpiece model according to the surface information, and determine the optimized model as the reference workpiece model. Model optimization is used to optimize the reference workpiece model to a model that is more similar to the workpiece to be sprayed. When the surface similarity is greater than or equal to the preset similarity, there is no need to perform model optimization, that is, the model called is the reference workpiece model.

[0068] Through the above-mentioned implementation manner of the present application, it can be ensured that the model workpiece surface of the reference workpiece model is sufficiently similar to the workpiece surface of the workpiece to be sprayed, thereby ensuring the accuracy of spraying.

[0069] As an optional implementation, the target acquisition method among the plurality of preset acquisition methods is used to acquire the type of the workpiece to be sprayed on the conveying device, including:

[0070] S1, scanning the surface of the workpiece to be sprayed to obtain the scanning result;

[0071] S2, when the scanning result indicates that there is workpiece information, determining the target acquisition mode as target scanning, and performing target scanning on the workpiece to be sprayed to obtain the type of the workpiece;

[0072] S3, when the scanning result indicates that there is no workpiece information and a trigger signal is received, determining the target acquisition mode as a trigger determination mode, and determining the type of the workpiece according to the trigger signal;

[0073] S4, when the scanning result indicates that there is no workpiece information and no trigger signal is received, a target acquisition method is randomly determined from the sensor detection method and the image recognition method, and the workpiece type is acquired using the target acquisition method.

[0074] It should be noted that the surface scanning in the above S1 can be understood, but not limited to, as scanning whether there is a file storing the workpiece information in S2 on the surface of the workpiece to be sprayed, such as: the name, number, model, production date, etc. of the workpiece, and the file storing the workpiece information is, for example: QR code, barcode, etc.; the trigger signal in the above S4 can be understood, but not limited to, as the user inputs the workpiece type or selects the workpiece type through the client, and then sends the trigger signal carrying the workpiece type to the server; from the above S1 to S4, it can be seen that the multiple preset acquisition methods include target scanning, trigger determination method, sensor detection and image recognition method; each of the multiple preset acquisition methods has a different priority, and the priority of each preset acquisition method is pre-set, and in the methods in the above S1 to S4, the priority of the multiple preset acquisition methods is: target scanning>trigger determination method>sensor detection>image recognition method. In addition, in this application, the priority of the multiple preset acquisition methods can also be set to: trigger determination method>target scanning>sensor detection>image recognition method, and this application does not specifically limit the priority of these two acquisition methods.

[0075] Assuming that the target acquisition method is target scanning, taking the target scanning as QR code scanning as an example, the working principle of the QR code device is based on its ability to read and decode the information in the QR code. A QR code is a graphic code composed of black and white rectangles arranged in a specific pattern, which contains rich data content. The QR code device captures the QR code image through a built-in camera or scanner, and uses a decoding algorithm to convert the information in the image into computer-recognizable data.

[0076] When using a QR code device to identify the type of workpiece, the overall identification process is as follows: S2-1, first, a unique QR code needs to be generated for each workpiece type. This can be achieved through the QR code generation part in the device, encoding key information such as the name, specification, and production date of the workpiece type into the QR code. The generated QR code can be printed on the surface of the workpiece or on a label to facilitate subsequent scanning and identification; S2-2, next, deploy the QR code device at the production site. These devices can be fixed at a suitable position on the conveyor chain, or scanned handheld by workers when hanging workpieces. At the same time, ensure that the QR code device is connected to the automatic spraying system to transmit the identification results in real time; S2-3, after receiving the identification results, the automatic spraying system will judge the type of workpiece according to the preset rules, and then compare it with the workpiece type of the model stored in the target storage location to determine whether it is in the library.

[0077] Using QR code equipment to identify workpiece types has some obvious advantages. First, it improves the accuracy and efficiency of identification and avoids errors and delays caused by human factors. Second, the QR code equipment can update and modify the QR code information in real time to adapt to changes in the production process. Finally, through integration with the automatic spraying system, real-time collection and analysis of production data can be achieved, providing strong support for production decision-making.

[0078] According to the priority of the acquisition method in S1 to S4 above, the operations in S1 to S4 above can be understood as: first, the surface of the workpiece to be sprayed is scanned to obtain a surface scanning result. When the surface scanning result indicates that there is a file storing workpiece information (QR code or barcode, etc.) on the surface of the workpiece to be sprayed, the workpiece type can be obtained by scanning the QR code or barcode (i.e., target scanning); when the scanning result indicates that there is no workpiece information, but the workpiece type input by the user or selected by the user is received within the preset time period for receiving the trigger signal, the workpiece type input by the user or selected by the user can be determined as the workpiece type of the workpiece to be sprayed; when there is no file storing workpiece information on the workpiece surface, and the user has not input or selected the workpiece type In the following cases, it can be determined randomly, and the random determination method specifically includes: scanning the equipment in the paint spraying station, that is, it is determined according to the equipment in the paint spraying room, that is, if the paint spraying station is equipped with a sensor but not an image recognition device, the sensor detection method is determined as the target acquisition method, and the sensor detection method is used to obtain the workpiece type; if the paint spraying room is equipped with an image recognition device but not a sensor, the image recognition method is determined as the target acquisition method, and the target acquisition method is used to obtain the workpiece type; when the paint spraying room is equipped with both a sensor and an image recognition device, one of the sensor detection method and the image recognition method is randomly determined as the target acquisition method, and finally the determined target acquisition method is used to obtain the workpiece type.

[0079] Through the above-mentioned implementation mode of the present application, a most suitable preset acquisition method can be flexibly selected from a plurality of preset acquisition methods according to the situation to obtain the workpiece type, which not only ensures that the workpiece type can be accurately obtained, but also combines the configuration of specific equipment in the paint room to minimize the cost of specially configuring equipment to obtain the workpiece type.

[0080] As an optional implementation, the simulation preprocessing operation on the reference workpiece model includes:

[0081] S1, obtaining reference surface information of the reference workpiece model according to the reference workpiece model, and determining a simulation preprocessing operation corresponding to the workpiece to be sprayed from a plurality of simulation operations according to the reference surface information and the preprocessing signal;

[0082] S2, performing simulation trajectory planning on the reference workpiece model according to the simulation preprocessing operation to obtain a simulation trajectory;

[0083] S3, performing simulation preprocessing operations on the reference workpiece model according to the simulation trajectory to obtain a target workpiece model and a simulation preprocessing result.

[0084] The above-mentioned simulation preprocessing operation can be understood, but is not limited to, as a simulation process of grinding, polishing, priming, etc. before spraying, but the specific need for grinding, polishing or priming the workpiece needs to be determined based on the surface information of the workpiece to be sprayed, or it can be determined based on the user's task requirements (the user specifies whether to grind, polish or prime the workpiece to be sprayed, that is, the above-mentioned preprocessing signal, that is, the simulation preprocessing operation input or selected by the user).

[0085] Because the simulation trajectories corresponding to different simulation preprocessing operations are not exactly the same, for example, some workpiece surfaces have scratches, some workpiece surfaces have depressions, and some workpiece surfaces have protruding parts. Therefore, real-time simulation trajectory planning is required based on the actual simulation preprocessing operations determined to ensure the spraying accuracy of each workpiece to be sprayed. At the same time, although there will be slight differences in the surface of each workpiece to be sprayed, there will not be too much difference. Therefore, in this application, a reference workpiece model of each workpiece to be sprayed will be stored, that is, the reference workpiece model can be reused, and only the subsequent processing is different.

[0086] After obtaining the reference surface information of the reference workpiece model, the simulation preprocessing operation can be determined from a variety of simulation operations according to the reference surface information and the preprocessing signal; after determining the simulation preprocessing operation, it is necessary to plan the simulation trajectory of the reference workpiece model according to the simulation preprocessing operation to obtain the simulation trajectory, and then perform the simulation preprocessing operation on the reference workpiece model according to the simulation trajectory to obtain the final target workpiece model and the simulation preprocessing result. In the actual preprocessing operation, the preprocessing equipment can be controlled to perform the actual preprocessing operation on the workpiece to be sprayed using the simulation trajectory, thereby obtaining the actual workpiece to be sprayed before the actual spraying operation.

[0087] Through the above-mentioned implementation mode of the present application, before the actual spraying, after the simulation preprocessing, the actual preprocessing operation and spraying are performed according to the obtained simulation trajectory and simulation preprocessing results, thereby improving the subsequent spraying quality of the workpiece to be sprayed and ensuring the selection of appropriate preprocessing operations.

[0088] As an optional embodiment, the above-mentioned control of the spraying equipment to use the second spraying trajectory to spray the workpiece to be sprayed after the pretreatment operation includes:

[0089] S1, obtaining current posture information of the workpiece to be sprayed, wherein the current posture information is used to indicate the current position and posture of the workpiece to be sprayed in the paint spraying room;

[0090] S2, obtaining reference posture information corresponding to the second spraying trajectory;

[0091] S3, performing a trajectory transformation operation on the second spraying trajectory according to the current posture information and the reference posture information to obtain a target spraying trajectory;

[0092] S4, controlling the spraying equipment to perform spraying operation on the workpiece to be sprayed using the target spraying trajectory.

[0093] The above S1 to S4 can be understood as, but not limited to, that after each workpiece to be sprayed enters the paint room, its actual posture information will not be exactly the same as the posture information of the workpiece when the spray trajectory is planned (i.e., the reference posture information). Therefore, it is necessary to perform a trajectory transformation on the planned spray trajectory (i.e., the second spray trajectory) in real time according to the actual posture information of the workpiece to be sprayed after entering the paint room (i.e., the current posture information). Thus, a target spray trajectory corresponding to the current posture information of the workpiece to be sprayed in the paint room is obtained, so as to achieve accurate spraying of the spray trajectory.

[0094] Through the above-mentioned implementation mode of the present application, the second spraying trajectory is transformed by using the actual posture information of the workpiece to be sprayed after entering the paint spraying room, so as to obtain the target spraying trajectory corresponding to the current posture information of the workpiece to be sprayed in the paint spraying room, thereby ensuring the accuracy of spraying each workpiece to be sprayed.

[0095] The following Figure 5 Take the above process of obtaining the reference workpiece model and entering the paint room as an example to explain in detail:

[0096] like Figure 5 As shown in the figure, for each workpiece to be sprayed, there is a preliminary accumulation and release chain conveyor, then it waits at a fixed position, enters the spray room in sequence, and finally leaves the spray room after spraying. The overall solution process includes:

[0097] The preliminary conveying and waiting process (which can be understood here but is not limited to being understood as the process of obtaining the reference workpiece model and the first spraying trajectory): first, a manual loading process is required, that is, the workpiece to be sprayed is placed on the conveying equipment (the workpiece to be sprayed is hung on the conveying chain). In the process of the conveying equipment conveying the workpiece to be sprayed, a target acquisition method from a plurality of preset acquisition methods is used to obtain the type of workpiece (for example, the type of the workpiece is identified by the QR code on the workpiece, that is, the above-mentioned target scanning, and then the type of workpiece is transmitted to the system), and a target storage location is determined from a plurality of storage locations according to the priority of the workpiece type, and then a determination is made as to whether a reference workpiece model corresponding to the workpiece type is stored in the target storage location (that is, the system (also referred to as a server) determines whether a reference workpiece model corresponding to the workpiece type is stored in the target storage location (for example, a model database) at this time).

[0098] If the reference workpiece model is not stored, the conveying equipment is controlled to convey the workpiece to be sprayed through the light curtain gantry at a uniform speed, so as to scan and model the workpiece to be sprayed to obtain a reference workpiece model. After obtaining the reference workpiece model, on the one hand, the reference workpiece model is stored in the target storage position, and on the other hand, trajectory planning (i.e., spraying trajectory planning) is performed according to the reference workpiece model obtained by modeling to obtain a first spraying trajectory. After that, the first spraying trajectory is stored in the target storage position, and the reference workpiece model obtained by modeling and the first spraying trajectory obtained by trajectory planning are called to the paint spraying room for subsequent spraying. That is, if a reference workpiece model is stored, when the workpiece is blocked by a light curtain gantry scanning system composed of multiple line lasers during the transmission process, the plc signal is triggered to turn on the scanning system, and after the sprayed workpiece passes through the light curtain gantry at a uniform speed, the point cloud model at this time (i.e. the above-mentioned reference workpiece model) can be constructed; then, when the workpiece to be sprayed stops and waits, the system automatically plans the spraying trajectory based on its point cloud model (i.e. the above-mentioned reference workpiece model), and transmits the model and trajectory to the system model database (i.e. the above-mentioned target storage location) for storage; when the workpiece enters a fixed position in the paint spraying room and stabilizes, the two robotic arms (i.e. the above-mentioned spraying equipment) move to a fixed position with the TOF camera fixed at their ends to shoot the workpiece, determine the posture information at this time (i.e. the above-mentioned current posture information), and compare it with the previous model posture information (i.e. the above-mentioned reference posture information), and calculate the rotation and translation matrix that the workpiece to be sprayed should be transformed at this time; then, based on the rotation and translation matrix, the previously planned trajectories of the dual robotic arms are transformed (i.e., as shown in the figure below). Figure 5 The spraying trajectory transformation shown in the figure generates the robot post-code to control the robot to start spraying.

[0099] If a reference workpiece model is stored, it is determined whether the target storage location stores the first spraying trajectory. If the first spraying trajectory is not stored, the reference workpiece model is called from the target storage location, and then trajectory planning is performed according to the called reference workpiece model. Then, the called reference workpiece model and the first spraying trajectory obtained by trajectory planning are called to the paint room for subsequent spraying; if the first spraying trajectory is stored, the reference workpiece model called from the target storage location and the first spraying trajectory are called to the paint room for subsequent spraying (that is, if a reference workpiece model is stored, the model in the database is directly called according to the workpiece type for trajectory planning or the preset spraying trajectory is called, and the workpiece directly passes through the conveyor chain and enters the waiting position).

[0100] Entering the paint spraying room: First, the paint spraying position is stopped, that is, the workpiece to be sprayed needs to stop at a fixed position when waiting for paint spraying after entering the paint spraying room; then the workpiece posture is confirmed, that is, the current posture information of the workpiece to be sprayed is obtained, and at the same time, the reference posture information corresponding to the preset spraying trajectory (that is, the second spraying trajectory after the above-mentioned first spraying trajectory is optimized) is obtained; then the spraying trajectory is transformed according to the reference posture information and the current posture information to obtain the target spraying trajectory, and then the spraying equipment is controlled according to the target spraying trajectory (that is, as shown in FIG. Figure 5 The robot shown) performs the actual spraying of the workpiece to be sprayed.

[0101] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described action sequence, because according to the present invention, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0102] According to another aspect of the embodiment of the present invention, an automatic spraying device for implementing the above automatic spraying method is also provided. Figure 6 As shown, the device comprises:

[0103] A first acquisition unit 602 is used to acquire the type of the workpiece to be sprayed on the conveying device by using a target acquisition method among multiple preset acquisition methods, wherein each preset acquisition method corresponds to at least one workpiece type;

[0104] A second acquisition unit 604 is used to acquire a reference workpiece model and a first spraying trajectory of the workpiece to be sprayed according to the type of the workpiece;

[0105] The operation unit 606 is used to perform simulation preprocessing operation on the reference workpiece model to obtain a simulation preprocessing result, and optimize the first spraying trajectory according to the simulation preprocessing result to obtain a second spraying trajectory;

[0106] The first control unit 608 is used to control the conveying device to convey the workpiece to be sprayed to the paint spraying room, and control the pretreatment device to perform a pretreatment operation on the workpiece to be sprayed, wherein the simulated pretreatment operation is a simulation process of the pretreatment operation, and the pretreatment operation is used to improve the spraying effect;

[0107] The second control unit 610 is used to control the spraying equipment to perform a spraying operation on the workpiece to be sprayed after the pretreatment operation using a second spraying trajectory.

[0108] The specific manner in which each unit in the above device embodiment performs operations has been described in detail in the embodiment of the method, and will not be elaborated on again here.

[0109] According to another aspect of the embodiment of the present invention, an electronic device for implementing the above-mentioned automatic spraying method is also provided. The electronic device can be as follows: Figure 7 The terminal device or server shown in the figure. This embodiment is described by taking the electronic device as a terminal device as an example. Figure 7 As shown, the electronic device includes: at least one processor 704; and a memory 702 that is communicatively connected to the at least one processor 704; wherein the memory 702 stores a computer program that can be executed by the at least one processor 704, and the computer program is executed by the at least one processor 704 so that the at least one processor 704 performs the steps in any one of the above-mentioned method embodiments.

[0110] Optionally, in this embodiment, the electronic device may be located in at least one network device among a plurality of network devices of a computer network.

[0111] Optionally, in this embodiment, the processor may be configured to execute the automatic spraying method via a computer program.

[0112] Alternatively, a person skilled in the art may understand that: Figure 7 The structure shown is for illustration only, and the electronic device may also be a smart phone (such as an Android phone, an iOS phone, etc.), a tablet computer, a PDA, a mobile Internet device (Mobile Internet Devices, MID), a PAD, or other terminal devices. Figure 7 The structure of the electronic device is not limited. Figure 7 More or fewer components (such as network interfaces, etc.) as shown in, or with Figure 7 Different configurations are shown.

[0113] Among them, the memory 702 can be used to store software programs and modules, such as the program instructions / modules corresponding to the automatic spraying method and device in the embodiment of the present invention, and the processor 704 executes various functional applications and data processing by running the software programs and modules stored in the memory 702, that is, realizing the above-mentioned automatic spraying method. The memory 702 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 702 may further include a memory remotely arranged relative to the processor 704, and these remote memories may be connected to the terminal via a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof. Among them, the memory 702 can be specifically used for storing various data involved in the above-mentioned automatic spraying method, but is not limited to. As an example, the above-mentioned electronic device is used to implement the above-mentioned automatic spraying method, and the above-mentioned memory 702 may include but is not limited to the first acquisition unit 602, the second acquisition unit 604, the operation unit 606, the first control unit 608, and the second control unit 610 in the above-mentioned automatic spraying device. In addition, other module units in the above-mentioned automatic spraying device may also be included but not limited to, which will not be described in detail in this example.

[0114] Optionally, the transmission device 706 is used to receive or send data via a network. Specific examples of the network may include wired networks and wireless networks. In one example, the transmission device 706 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices and routers via a network cable so as to communicate with the Internet or a local area network. In one example, the transmission device 706 is a radio frequency (Radio Frequency, RF) module, which is used to communicate with the Internet wirelessly. In addition, the electronic device also includes: a display 708, and a connection bus 710, which is used to connect the various module components in the electronic device.

[0115] According to one aspect of the present application, a computer-readable storage medium is provided, and a processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the above-mentioned automatic spraying method.

[0116] Those skilled in the art will appreciate that the implementation of all or part of the processes in the above method embodiments can be accomplished by instructing related hardware through a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it can include processes such as those in the above method embodiments.

[0117] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An automatic spraying method, characterized in that: include: Using a target acquisition method among a plurality of preset acquisition methods to acquire the type of the workpiece to be sprayed on the conveying device, wherein each of the preset acquisition methods corresponds to at least one type of workpiece; Acquire a reference workpiece model and a first spraying trajectory of the workpiece to be sprayed according to the type of the workpiece; Performing a simulation preprocessing operation on the reference workpiece model to obtain a simulation preprocessing result, and performing trajectory optimization on the first spraying trajectory according to the simulation preprocessing result to obtain a second spraying trajectory; Controlling the conveying device to convey the workpiece to be sprayed to the paint spraying room, and controlling the pretreatment device to perform a pretreatment operation on the workpiece to be sprayed, wherein the simulated pretreatment operation is a simulation process of the pretreatment operation, and the pretreatment operation is used to improve the spraying effect; The spraying equipment is controlled to use the second spraying trajectory to perform a spraying operation on the workpiece to be sprayed after the pretreatment operation.

2. The method according to claim 1, characterized in that Acquiring a reference workpiece model and a first spraying trajectory of the workpiece to be sprayed according to the type of the workpiece includes: Acquire the priority of the workpiece to be sprayed according to the type of the workpiece, and determine a target storage location from a plurality of storage locations according to the priority, wherein each storage location corresponds to a priority; Performing a first judgment according to the target storage location to obtain a first judgment result, and determining whether to perform a second judgment according to the first judgment result to obtain a determination result, wherein the first judgment is used to determine whether the reference workpiece model is stored in the target storage location, and the second judgment is used to determine whether the first spraying trajectory is stored in the target storage location; The reference workpiece model and the first spraying trajectory are acquired according to the first judgment result and the determination result.

3. The method according to claim 2, characterized in that Acquiring the reference workpiece model and the first spraying trajectory according to the first judgment result and the determination result includes: In a case where the first judgment result indicates that the reference workpiece model is stored in the target storage location, calling the reference workpiece model from the target storage location, and determining that the determination result indicates performing the second judgment; Perform a second judgment according to the target storage location to obtain a second judgment result; When the first judgment result indicates that the reference workpiece model is not stored in the target storage location, controlling the conveying device to convey the workpiece to be sprayed through the light curtain gantry at a uniform speed to obtain the reference workpiece model, and determining that the determination result indicates that the second judgment is not performed; The reference workpiece model is stored in the target storage location, and the first spraying trajectory is acquired according to the second judgment result and the reference workpiece model.

4. The method according to claim 3, characterized in that After calling the reference workpiece model from the target storage location, the method further includes: Acquiring surface information of the workpiece to be sprayed and reference surface information of the reference workpiece model; Comparing the surface information with the reference surface information to obtain surface similarity; In the case that the surface similarity is less than a preset similarity, the reference workpiece model is optimized according to the surface information, and the optimized model is determined as the reference workpiece model.

5. The method according to claim 3, characterized in that: Acquiring the first spraying trajectory according to the second judgment result and the reference workpiece model includes: When the second judgment result indicates that the first spraying trajectory is stored in the target storage location, calling the first spraying trajectory from the target storage location; Acquire model optimization information of a reference workpiece model, and when the model optimization information indicates that the reference workpiece model is a model obtained through model optimization, perform trajectory optimization on the first spraying trajectory according to the reference workpiece model, and determine the spraying trajectory after trajectory optimization as the first spraying trajectory; When the second judgment result indicates that the first spraying trajectory is not stored in the target storage location, trajectory planning is performed according to the reference workpiece model to obtain the first spraying trajectory, and the first spraying trajectory is stored in a storage location in the target storage location corresponding to the reference workpiece model.

6. The method according to claim 1, characterized in that The target acquisition method among multiple preset acquisition methods is used to acquire the type of the workpiece to be sprayed on the conveying equipment, including: Scanning the surface of the workpiece to be sprayed to obtain a scanning result; In the case where the scanning result indicates that workpiece information exists, determining that the target acquisition mode is target scanning, and performing target scanning on the workpiece to be sprayed to obtain the workpiece type; When the scanning result indicates that there is no workpiece information and a trigger signal is received, determining the target acquisition mode as a trigger determination mode, and determining the workpiece type according to the trigger signal; When the scanning result indicates that there is no workpiece information and no trigger signal is received, the target acquisition method is randomly determined from the sensor detection method and the image recognition method, and the workpiece type is acquired using the target acquisition method.

7. The method according to claim 1, characterized in that Performing simulation preprocessing operations on the reference workpiece model to obtain a target workpiece model and simulation preprocessing results, including: Acquiring reference surface information of the reference workpiece model according to the reference workpiece model, and determining a simulation preprocessing operation corresponding to the workpiece to be sprayed from a plurality of simulation operations according to the reference surface information and the preprocessing signal; Performing simulation trajectory planning on the reference workpiece model according to the simulation preprocessing operation to obtain a simulation trajectory; The simulation preprocessing operation is performed on the reference workpiece model according to the simulation trajectory to obtain the target workpiece model and the simulation preprocessing result.

8. The method according to claim 1, characterized in that Controlling the spraying equipment to use the second spraying trajectory to spray the workpiece to be sprayed after the pretreatment operation, including: Acquire current position and posture information of the workpiece to be sprayed, wherein the current position and posture information is used to indicate the current position and posture of the workpiece to be sprayed in the paint spraying room; Obtaining reference posture information corresponding to the second spraying trajectory; Performing a trajectory transformation operation on the second spraying trajectory according to the current posture information and the reference posture information to obtain a target spraying trajectory; The spraying equipment is controlled to perform a spraying operation on the workpiece to be sprayed using the target spraying trajectory.

9. An automatic spraying device, characterized in that: include: A first acquisition unit is used to acquire the type of the workpiece to be sprayed on the conveying device by adopting a target acquisition method among a plurality of preset acquisition methods, wherein each of the preset acquisition methods corresponds to at least one type of workpiece; A second acquisition unit, used for acquiring a reference workpiece model and a first spraying trajectory of the workpiece to be sprayed according to the type of the workpiece; An operating unit, configured to perform a simulation preprocessing operation on the reference workpiece model to obtain a simulation preprocessing result, and perform trajectory optimization on the first spraying trajectory according to the simulation preprocessing result to obtain a second spraying trajectory; a first control unit, configured to control a conveying device to convey the workpiece to be sprayed to a paint spraying room, and to control a pretreatment device to perform a pretreatment operation on the workpiece to be sprayed, wherein the simulated pretreatment operation is a simulation process of the pretreatment operation, and the pretreatment operation is used to improve a spraying effect; The second control unit is used to control the spraying equipment to perform a spraying operation on the workpiece to be sprayed after the pretreatment operation using the second spraying trajectory.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the automatic spraying method described in any one of claims 1-8.

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