Rail type intelligent spraying method and device

Abstract

The invention relates to the technical field of spraying robots, in particular to a rail type intelligent spraying method and device, and the device comprises a rail, a trolley, a rotary tower, a large arm, a small arm, a manipulator and a spraying gun; the method comprises the steps of determining movement data of a trolley by acquiring center point coordinates of a target area; when it is judged that the movement of the trolley does not meet the preset standard according to the deviation value, the movement speed of the trolley is reduced or the spraying device is controlled to stop working; when the movement of the trolley meets the preset standard, the manipulator drives the spray gun to spray the target area; after spraying of the target area is completed, the target area is divided into a plurality of sub-areas for curing, and the coating thickness of each sub-area and the spraying coverage rate of the target area are obtained; according to the spraying coverage rate of the target area, when the spraying of the coating does not meet the preset standard, verification is performed according to the coating utilization rate, or an adjustment strategy is determined according to the surface smoothness evaluation value, and the spraying quality is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of spraying robots, and particularly to an orbital intelligent spraying method and device thereof. Background Art

[0002] In industrial production, spraying technology is widely used in fields such as automobile manufacturing, furniture production, and building decoration for coating the surfaces of objects to meet anti-corrosion, aesthetic, or functional requirements. Traditional spraying operations mostly rely on manual operation, suffering from problems such as low efficiency, unstable spraying quality, and serious paint waste. With the development of automation technology, orbital spraying robots have gradually become an effective means to solve these problems.

[0003] An orbital spraying robot is an automated device for surface spraying operations. It moves along a preset track and combines a manipulator and a spray gun to achieve high-precision spraying.

[0004] There may be a deviation between the spray gun at the end and the center point of the target area, resulting in uneven spraying or incomplete coverage.

[0005] Chinese Patent Application Publication No.: CN111921752A discloses an industrial automation spraying robot, including: a straight-line rail vehicle arranged on one side of the workpiece to be sprayed; an industrial robot arranged at the top of the moving working part of the straight-line rail vehicle; a self-adjusting telescopic plate, with the working end of the industrial robot fixedly connected to the center position of the side surface of the self-adjusting telescopic plate; a spraying machine, with its working end arranged vertically and equidistantly from the industrial robot at the top of the installation side of the self-adjusting telescopic plate; a self-adjusting rotary mounting frame, with its fixed end horizontally arranged in the middle position of the installation side of the self-adjusting telescopic plate; high-pressure air nozzles, with their working ends inclined downward and arranged vertically and equidistantly in the installation part of the self-adjusting rotary mounting frame, and the high-pressure air nozzles are communicated with the output end of an electric air pump; a negative pressure collection box horizontally arranged at the bottom of the installation groove of the self-adjusting telescopic plate and communicated with a negative pressure pipe at the bottom. This device can collect the dust washed down by high-pressure gas, improving the spraying effect.

[0006] It can be seen that the above technical solution does not consider the problem of deviation between the spray gun at the end of the manipulator and the target area, affecting the spraying accuracy and lacking real-time monitoring of the spraying process, resulting in poor spraying quality. Summary of the Invention

[0007] Therefore, the present invention provides an orbital intelligent spraying method and device thereof to overcome the problems in the prior art that the deviation between the spray gun at the end of the manipulator and the target area is not considered, affecting the spraying accuracy and lacking real-time monitoring of the spraying process, resulting in poor spraying quality.

[0008] To achieve the above object, on the one hand, the present invention provides an orbital intelligent spraying method, including: Obtain the coordinates of the center point of the target area, and determine the movement data of the trolley according to the coordinates. The movement data includes the movement direction, distance, acceleration, and movement speed. Move the trolley from the first starting position and the second starting position of the track to the target position respectively, and obtain the straight-line distance between the center point of the spray gun and the center point of the target area, which are recorded as the first distance and the second distance respectively. Among them, the first starting position and the second starting position are symmetric about the center point of the target area. Based on the first distance and the second distance, obtain the offset value of the end of the manipulator. When it is determined that the movement of the trolley does not meet the preset standard according to the offset value, reduce the movement speed of the trolley or control the spraying device to stop working. When it is determined that the movement of the trolley meets the preset standard, the manipulator drives the spray gun to spray the target area at a preset spraying movement speed, preset paint flow rate, and preset atomization pressure. After the target area is sprayed, divide the target area into several sub-areas for curing, and obtain the coating thickness of each sub-area and the spraying coverage rate of the target area. When it is determined that the spraying of the paint does not meet the preset standard according to the spraying coverage rate, obtain the paint utilization rate according to the paint usage amount and the paint coverage amount, and check whether the spraying of the paint meets the preset standard by the paint utilization rate, or determine the adjustment strategy according to the surface smoothness evaluation value of the sub-area. The adjustment strategy includes reducing the spraying movement speed, or stopping spraying and giving an early warning.

[0009] Further, the process of determining that the movement of the trolley does not meet the preset standard according to the offset value of the end of the manipulator includes: Compare the offset value with the first preset offset value and the second preset offset value respectively. If the offset value is greater than or equal to the first preset offset value and less than the second preset offset value, reduce the movement speed of the trolley moving to the next target area according to the difference between the offset value and the first preset offset value. If the offset value is greater than or equal to the second preset offset value, determine that the manipulator is faulty, control the spraying device to stop working and give an early warning. The offset value is the arithmetic mean of the first distance and the second distance.

[0010] Further, the reduction amplitude of the movement speed of the trolley is positively correlated with the offset difference, where the offset difference is the difference between the offset value and the first preset offset value.

[0011] Further, it is determined that the spraying of the paint does not meet the preset standard according to the comparison result that the spraying coverage rate of the paint is less than the second preset coverage rate, where the spraying coverage rate is the ratio of the number of sub-areas with a coating thickness greater than the preset thickness to the total number of sub-areas.

[0012] Further, when the spraying coverage rate is less than the first preset coverage rate, an adjustment strategy is determined according to the surface smoothness evaluation value of the sub-region, and when the spraying coverage rate is greater than or equal to the first preset coverage rate and less than the second preset coverage rate, it is determined whether the spraying of the coating material meets the preset standard according to the coating material utilization rate.

[0013] Further, when it is determined according to the surface smoothness evaluation value of the sub-region that the spraying of the coating material does not meet the preset standard, the adjustment strategy is to reduce the spraying moving speed, or stop spraying and issue a warning.

[0014] Further, the surface smoothness evaluation value is determined by the gray values of the pixel points on the surface of the sub-region.

[0015] Further, it is determined that the spraying of the coating material does not meet the preset standard according to the comparison result that the coating material utilization rate is less than the preset utilization rate, and the atomization pressure of the next target area is reduced according to the difference between the preset utilization rate and the coating material utilization rate; the coating material utilization rate is the ratio between the coating material coverage and the coating material usage.

[0016] Further, there are several atomization pressure adjustment methods for reducing the atomization pressure of the next target area, and each adjustment method has a different reduction amplitude for the atomization pressure.

[0017] On the other hand, the present invention provides a spraying device applicable to an orbital intelligent spraying method, including: an orbit; A trolley arranged on the orbit; A rotary tower arranged above the trolley, a boom whose bottom is connected to the rotary tower and which rotates in a pitching manner relative to the rotary tower, a forearm whose bottom is connected to the top of the boom and which rotates in a pitching manner relative to the boom, and a manipulator whose one end is connected to the top of the forearm and which rotates relative to the forearm, and a spray gun is installed at the end of the manipulator; A data acquisition module, including a ranging unit arranged at the end of the manipulator for obtaining a first distance and a second distance; a thickness measurement unit for measuring the coating thickness of each sub-region; a pixel gray value acquisition unit for obtaining the gray values of the pixel points on the surface of each sub-region; A deviation correction control module, which is respectively connected to the data acquisition module and the trolley, and is used for reducing the moving speed of the trolley or controlling the spraying device to stop working when it is determined according to the deviation value that the movement of the trolley does not meet the preset standard; A spraying quality detection module, which is respectively connected to the data acquisition module, the spray gun and the trolley, and is used for determining whether the spraying of the coating material meets the preset standard according to the coating material utilization rate when it is determined according to the spraying coverage rate that the spraying of the coating material does not meet the preset standard, or for determining an adjustment strategy according to the surface smoothness evaluation value of the sub-region, wherein the adjustment strategy includes reducing the spraying moving speed, or stopping spraying and issuing a warning.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows. The present invention calculates the offset value of the end of the manipulator by obtaining the central point coordinates of the target area, and precisely controls the relative position of the spray gun and the target area through the offset value, reducing the spraying deviation. During the spraying process, the coating thickness, coverage rate, and surface smoothness are detected in real time, and the spraying movement speed and atomization pressure are adjusted according to the detection results to ensure the spraying quality.

[0019] Further, compared with the method of obtaining the offset amount only through a single movement, the present invention obtains the first distance and the second distance respectively based on two symmetric movements to calculate the offset value. Single measurement is vulnerable to random factors, and calculating the offset value through two movements can effectively eliminate errors, thereby improving the measurement accuracy.

[0020] Further, the present invention determines the movement state of the trolley according to the offset value, and dynamically adjusts the movement speed of the trolley or stops working, thereby improving the intelligent level of the spraying device.

[0021] Further, the present invention examines the spraying effect according to the spraying coverage rate of the target area, discovers and corrects the spraying quality problems in time, thereby ensuring the spraying quality.

[0022] Further, the present invention sets the paint utilization rate and re-determines whether the paint spraying meets the preset standard according to the paint utilization rate, reducing paint waste, thereby ensuring the effective utilization of the paint.

[0023] Further, the present invention determines to stop spraying and issue a warning when the spraying is unqualified according to the surface smoothness evaluation value, or reduces the spraying movement speed, thereby improving the spraying effect.

[0024] Further, the present invention sets a surface smoothness evaluation value, which is an index used to quantify the surface smoothness of the spraying, thereby ensuring the scientific nature of the evaluation process.

[0025] Further, the present invention reduces the atomization pressure of the next target area according to the difference between the preset utilization rate and the paint utilization rate, realizing precise control of the reduction amplitude of the atomization pressure. Description of the Drawings

[0026] Figure 1 It is a flowchart of an orbital intelligent spraying method according to an embodiment of the present invention; Figure 2 It is a flowchart for determining whether the movement of the trolley meets the preset standard according to an embodiment of the present invention; Figure 3 It is a flowchart for determining whether the paint spraying meets the preset standard according to the spraying coverage rate of the paint according to an embodiment of the present invention; Figure 4Schematic structural diagram of a spraying device applicable to an orbital intelligent spraying method according to an embodiment of the present invention; In the figure, 1 is an orbit, 2 is a trolley, 3 is a slewing tower, 4 is a boom, 5 is a small arm, 6 is a manipulator, and 7 is a spray gun. Specific embodiments

[0027] In order to make the objectives and advantages of the present invention clearer and more understandable, the present invention will be further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0028] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention and do not limit the protection scope of the present invention.

[0029] It should be noted that the data in this embodiment are obtained through comprehensive analysis and evaluation of the historical detection data and corresponding historical detection results of the present invention in the three months before this detection. Those skilled in the art can understand that the determination method of the present invention for a single above-mentioned parameter can be to select the value with the highest proportion according to the data distribution as the preset standard parameter, use weighted summation to obtain the value as the preset standard parameter, substitute each historical data into a specific formula and use the value obtained by the formula as the preset standard parameter or other selection methods, as long as it satisfies that the method of the present invention can clearly define different specific situations in the single determination process through the obtained values.

[0030] Please refer to Figure 1 、 Figure 2 、 Figure 3 and Figure 4 as shown, which are respectively the flowchart of an orbital intelligent spraying method according to an embodiment of the present invention; the flowchart of determining whether the movement of the trolley in an embodiment of the present invention meets the preset standard; the flowchart of determining whether the spraying of the paint meets the preset standard according to the spraying coverage rate of the paint in an embodiment of the present invention; and the schematic structural diagram of a spraying device applicable to an orbital intelligent spraying method according to an embodiment of the present invention.

[0031] On the one hand, an embodiment of the present invention provides an orbital intelligent spraying method, including: Please refer to Figure 1 as shown, in step S01, the coordinates of the center point of the target area are taken, and the movement data of the trolley 2 are determined according to the coordinates. The movement data include movement direction, distance, acceleration, and movement speed; Step S02: Move the trolley 2 from the first starting position and the second starting position of the track 1 to the target position respectively, and obtain the straight-line distance between the center point of the spray gun 7 and the center point of the target area, which are recorded as the first distance and the second distance respectively. The first starting position and the second starting position are symmetric about the center point of the target area. Step S03: Obtain the offset value of the end of the manipulator based on the first distance and the second distance. When it is determined that the movement of the trolley 2 does not meet the preset standard according to the offset value, reduce the movement speed of the trolley 2 or control the spraying device to stop working. Step S04: When it is determined that the movement of the trolley 2 meets the preset standard, the manipulator 6 drives the spray gun 7 to spray the target area at a preset spraying movement speed, a preset paint flow rate, and a preset atomization pressure. Step S05: After the target area is sprayed, divide the target area into several sub-areas for curing, and obtain the coating thickness of each sub-area and the spraying coverage rate of the target area. Step S06: When it is determined that the spraying of the paint does not meet the preset standard according to the spraying coverage rate, obtain the paint utilization rate based on the paint usage amount and the paint coverage amount, and check whether the spraying of the paint meets the preset standard by the paint utilization rate. Or, determine the adjustment strategy according to the surface smoothness evaluation value of the sub-area. The adjustment strategy includes reducing the spraying movement speed or stopping spraying and issuing a warning.

[0032] In this embodiment, the preset spraying movement speed in step S04 is 0.5 m / s, the preset paint flow rate is 10 L / h, and the preset atomization pressure is 4 bar.

[0033] In this embodiment, a laser distance sensor is installed at the end of the manipulator, a laser beam is emitted to the center point of the target area, and the straight-line distance is calculated by measuring the laser reflection time to obtain the first distance and the second distance respectively.

[0034] In this embodiment, during the movement in step S03, the acceleration value, the movement duration, and the movement speed of the trolley 2 are the same as those of the trolley 2 in step S02.

[0035] During the movement of the trolley 2 along the track 1 in steps S02 and S03, the center point of the spray gun 7 at the end of the manipulator is always perpendicular to the surface of the target area.

[0036] Specifically, the process of determining whether the movement of the trolley 2 meets the preset standard according to the offset value of the end of the manipulator includes: Compare the offset value with the first preset offset value of 0.2 mm and the second preset offset value of 0.8 mm respectively. If the offset value is less than the first preset offset value, it is determined that the movement of the trolley 2 meets the preset standard. If the offset value is greater than or equal to the first preset offset value and less than the second preset offset value, it is determined that the movement of the trolley 2 does not meet the preset standard, and the movement speed of the trolley 2 moving to the next target area is reduced according to the difference between the offset value and the first preset offset value; If the offset value is greater than or equal to the second preset offset value, it is determined that the movement of the trolley 2 does not meet the preset standard, and it is determined that the non - compliance with the preset standard is a failure of the manipulator 6, and the spraying device is controlled to stop working and a warning is issued; The offset value is the arithmetic mean of the first distance and the second distance.

[0037] In this embodiment, when the trolley moves at a high speed, the inertial effect will cause overshoot or oscillation near the target position, resulting in a deviation between the actual position of the end of the manipulator and the theoretical trajectory. Reducing the movement speed of the trolley can reduce the inertial force, thereby reducing overshoot and oscillation phenomena and improving the positioning accuracy.

[0038] In this embodiment, the value range of the first preset offset value is (0.1mm, 0.4mm), and the value range of the second preset offset value is (0.5mm, 1.0mm). Preferably, the first preset offset value is selected as 0.2mm and the second preset offset value is selected as 0.8mm. However, the above values are not limited to this, and those skilled in the art can also adjust the values according to actual needs.

[0039] Specifically, the reduction amplitude of the movement speed of the trolley 2 is positively correlated with the offset difference. Among them, the positive correlation is, for example, a linear positive correlation or a non - linear positive correlation. The linear slope of the linear positive correlation is not specifically limited. It can be understood that the greater the offset difference, the greater the reduction amplitude of the movement speed of the trolley 2; the offset difference is the difference between the offset value and the first preset offset value.

[0040] Specifically, it is determined whether the spraying of the paint meets the preset standard according to the spraying coverage rate of the paint, where If the spraying coverage rate is less than the first preset coverage rate of 60%, it is determined that the spraying of the paint does not meet the preset standard, and an adjustment strategy is determined according to the surface smoothness evaluation value of the sub - area; If the spraying coverage rate is greater than or equal to the first preset coverage rate and less than the second preset coverage rate of 85%, it is determined that the spraying of the paint does not meet the preset standard, and it is determined whether the spraying of the paint meets the preset standard according to the paint utilization rate; If the spraying coverage rate is greater than or equal to the second preset coverage rate, it is determined that the spraying of the paint meets the preset standard; The spraying coverage rate is the ratio of the number of sub - areas with a coating thickness greater than the preset thickness of 120μm to the total number of sub - areas.

[0041] In this embodiment, the coating thickness is obtained by an ultrasonic thickness gauge.

[0042] Specifically, the values of the first preset coverage rate and the second preset coverage rate can be adjusted according to the needs of those skilled in the art for the detection and evaluation accuracy of the spraying quality. The higher the need for the detection and evaluation accuracy of the spraying quality, the larger the values of the first preset coverage rate and the second preset coverage rate. Preferably, the value range of the first preset coverage rate is (45%, 60%), and the value range of the second preset coverage rate is (70%, 99%).

[0043] Specifically, an adjustment strategy is determined when the spraying of the coating does not meet the preset standard according to the surface smoothness evaluation value of the sub-region, where if the surface smoothness evaluation value is less than the preset surface smoothness evaluation value 10, it is determined that there are no defects on the surface of the sub-region, and the spraying moving speed is reduced according to the difference between the surface smoothness evaluation value and the preset surface smoothness evaluation value; if the surface smoothness evaluation value is greater than or equal to the preset surface smoothness evaluation value, it is determined that there are potholes on the surface of the sub-region, the spraying is stopped and a warning is issued.

[0044] Specifically, the surface smoothness evaluation value is calculated by the following formula:

[0045] In the formula, P represents the surface smoothness evaluation value; n represents the total number of pixel points on the surface of the sub-region; C i represents the gray value of the i-th pixel point; represents the average value of the sum of the gray values of all pixel points in the sub-region; i = 1, 2, 3,..., n.

[0046] In this embodiment, the value of the preset surface smoothness evaluation value is obtained by taking the average of the historical detection data in the three months before this detection of the present invention.

[0047] In this embodiment, a high-resolution industrial camera is used to take the surface image of the target area after spraying. Each sub-region contains a number of pixel points, and the gray value of each pixel point is obtained through image processing software. The image processing software can be MATLAB or OpenCV, and no specific limitation is made, as long as the gray value extraction requirement is met.

[0048] Specifically, it is checked whether the spraying of the coating meets the preset standard according to the coating utilization rate, where if the coating utilization rate is less than the preset utilization rate 80%, it is determined that the spraying of the coating does not meet the preset standard, and the atomization pressure of the next target area is reduced according to the difference between the preset utilization rate and the coating utilization rate; if the coating utilization rate is greater than or equal to the preset utilization rate, it is determined that the spraying of the coating meets the preset standard; The paint utilization rate is the ratio between the paint coverage and the paint usage.

[0049] Specifically, the paint coverage is calculated by the following formula:

[0050] In the formula, B represents the paint coverage; h i represents the coating thickness of the i-th sub-region; S i represents the area of the i-th sub-region; ρ represents the paint density; i = 1, 2, 3, ……, n.

[0051] In this embodiment, the area of the i-th sub-region is obtained by the cooperation of a laser scanner and Geomagic software; the coating thickness of the i-th sub-region is obtained by an ultrasonic thickness gauge; the paint usage is the product of the preset spraying flow rate and the spraying duration.

[0052] Specifically, there are several atomization pressure adjustment methods for reducing the atomization pressure of the next target area. Among them, if the paint utilization difference is less than the first preset paint utilization difference of 0.15, the atomization pressure is reduced to the corresponding value using the first pressure adjustment coefficient of 0.98; if the paint utilization difference is greater than or equal to the first preset paint utilization difference and less than the second preset paint utilization difference of 0.35, the atomization pressure is reduced to the corresponding value using the second pressure adjustment coefficient of 0.96; if the paint utilization difference is greater than or equal to the second preset paint utilization difference, the atomization pressure is reduced to the corresponding value using the third pressure adjustment coefficient of 0.94; The paint utilization difference is the difference between the preset utilization rate and the paint utilization rate.

[0053] On the other hand, the present invention provides a spraying device applicable to an orbital intelligent spraying method, including: a track 1, a trolley 2 arranged on the track 1, a rotary tower 3 arranged above the trolley 2, a boom 4 whose bottom is connected to the rotary tower 3 and which rotates in a pitching manner relative to the rotary tower 3, a small arm 5 whose bottom is connected to the top of the boom 4 and which rotates in a pitching manner relative to the boom 4, and a manipulator 6 whose one end is connected to the top of the small arm 5 and which rotates relative to the small arm 5, and a spray gun 7 is installed at the end of the manipulator 6; a data acquisition module, including a ranging unit arranged at the end of the manipulator for obtaining a first distance and a second distance; a thickness measurement unit for measuring the coating thickness of each sub-region; a pixel gray value acquisition unit for obtaining the pixel gray value of the surface of each sub-region; A deviation correction control module, which is respectively connected to the data acquisition module and the trolley 2, and is used to reduce the moving speed of the trolley 2 or control the spraying device to stop working when it is determined that the movement of the trolley 2 does not meet the preset standard according to the offset value; The spraying quality detection module is respectively connected to the data acquisition module, the spray gun 7 and the trolley 2, and is used to determine whether the spraying of the paint meets the preset standard according to the paint utilization rate when it is determined that the spraying of the paint does not meet the preset standard according to the spraying coverage rate, or to determine an adjustment strategy according to the surface smoothness evaluation value of the sub-region, where the adjustment strategy includes reducing the spraying moving speed, or stopping spraying and sending out a warning.

[0054] In this embodiment, the pixel gray value acquisition unit uses a high-resolution industrial camera to capture the surface image of the target area after spraying. Each sub-region contains a number of pixel points, and the gray value of each pixel point is obtained through image processing software. The image processing software can be MATLAB or OpenCV, and no specific limitation is made, as long as the gray value extraction requirement is met; the thickness measurement unit is an ultrasonic thickness gauge; the distance measurement unit is a laser distance sensor.

[0055] In this embodiment, no specific limitation is made on the specific structures of the deviation correction control module and the spraying quality detection module. It and each unit therein can be composed of logic components, and the logic components include field programmable components, computers or microprocessors in the computer.

[0056] So far, the technical solution of the present invention has been described in conjunction with the preferred embodiments shown in the drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or replacements to the relevant technical features, and the technical solutions after these changes or replacements will all fall within the protection scope of the present invention.

[0057] The above are only the preferred embodiments of the present invention and are not used to limit the present invention; for those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A track-type intelligent spraying method, characterized in that: include: Obtain the coordinates of the center point of the target area, and determine the movement data of the car according to the coordinates, the movement data including the movement direction, distance, acceleration and movement speed; The trolley is moved from a first starting position and a second starting position of the track to a target position respectively, and a straight-line distance between a center point of the spray gun and a center point of the target area is obtained, which are recorded as a first distance and a second distance respectively, wherein the first starting position and the second starting position are symmetrical along the center point of the target area; The offset value of the end of the manipulator is obtained based on the first distance and the second distance, and when it is determined according to the offset value that the movement of the trolley does not meet the preset standard, the movement speed of the trolley is reduced or the spraying device is controlled to stop working; When it is determined that the movement of the trolley meets the preset standard, the manipulator drives the spray gun to spray the target area according to the preset spray movement speed, preset paint flow rate and preset atomization pressure; After the target area is sprayed, the target area is divided into several sub-areas for curing to obtain the coating thickness of each sub-area and the spray coverage of the target area; When it is determined according to the spray coverage rate that the spraying of the paint does not meet the preset standard, the paint utilization rate is obtained according to the paint usage and the paint coverage, and whether the spraying of the paint meets the preset standard is checked according to the paint utilization rate, or an adjustment strategy is determined according to the surface smoothness evaluation value of the sub-area, wherein the adjustment strategy includes reducing the spraying movement rate, or stopping the spraying and issuing an early warning.

2. The track-type intelligent spraying method according to claim 1, characterized in that: The process of determining whether the movement of the vehicle does not meet the preset standard based on the offset value of the end of the manipulator includes: Comparing the offset value with a first preset offset value and a second preset offset value respectively; If the offset value is greater than or equal to the first preset offset value and less than the second preset offset value, the moving speed of the vehicle moving to the next target area is reduced according to the difference between the offset value and the first preset offset value; If the offset value is greater than or equal to the second preset offset value, the robot is judged to be faulty, the spraying device is controlled to stop working and an early warning is issued; The offset value is the arithmetic mean of the first distance and the second distance.

3. The track-type intelligent spraying method according to claim 2, characterized in that: The reduction amplitude of the moving speed of the trolley is positively correlated with the offset difference, wherein the offset difference is the difference between the offset value and the first preset offset value.

4. The track-type intelligent spraying method according to claim 3, characterized in that: The spraying of the paint is determined to be not in compliance with the preset standard based on the comparison result that the spraying coverage of the paint is less than the second preset coverage, wherein the spraying coverage is the ratio between the number of sub-areas with a coating thickness greater than the preset thickness and the total number of sub-areas.

5. The track-type intelligent spraying method according to claim 4, characterized in that: When the spraying coverage is less than the first preset coverage, the adjustment strategy is determined according to the surface smoothness evaluation value of the sub-area; and when the spraying coverage is greater than or equal to the first preset coverage and less than the second preset coverage, whether the spraying of the paint meets the preset standard is checked according to the paint utilization rate.

6. The track-type intelligent spraying method according to claim 5, characterized in that: When it is determined according to the surface smoothness evaluation value of the sub-area that the spraying of the paint does not meet the preset standard, the adjustment strategy is to reduce the spraying movement rate, or stop spraying and issue an early warning.

7. The track-type intelligent spraying method according to claim 6, characterized in that: The surface smoothness evaluation value is determined by the grayscale value of the pixel points on the surface of the sub-region.

8. The track-type intelligent spraying method according to claim 5, characterized in that: According to the comparison result that the paint utilization rate is less than the preset utilization rate, it is determined that the spraying of the paint does not meet the preset standard, and the atomization pressure of the next target area is reduced according to the difference between the preset utilization rate and the paint utilization rate; the paint utilization rate is the ratio between the paint coverage amount and the paint usage amount.

9. The track-type intelligent spraying method according to claim 8, characterized in that: Several atomization pressure adjustment methods are provided for reducing the atomization pressure of the next target area, and each adjustment method has a different reduction range for the atomization pressure.

10. A spraying device suitable for the track-type intelligent spraying method according to any one of claims 1 to 9, characterized in that: include: track; A trolley set on tracks; A slewing tower is arranged above the trolley, a boom whose bottom is connected to the slewing tower and can pitch and rotate relative to the slewing tower, a forearm whose bottom is connected to the top of the boom and can pitch and rotate relative to the boom, and a manipulator whose one end is connected to the top of the forearm and can rotate relative to the forearm, and a spray gun is installed at the end of the manipulator; The data acquisition module includes a distance measuring unit arranged at the end of the manipulator for obtaining the first distance and the second distance; a thickness measuring unit for measuring the coating thickness of each sub-area; and a pixel grayscale acquisition unit for obtaining the grayscale value of the pixel point on the surface of each sub-area; A deviation correction control module, which is connected to the data acquisition module and the trolley respectively, and is used to reduce the moving speed of the trolley or control the spraying device to stop working when it is determined according to the offset value that the movement of the trolley does not meet the preset standard; A spraying quality detection module is respectively connected to the data acquisition module, the spray gun and the trolley, and is used to determine whether the spraying of the paint meets the preset standard according to the paint utilization rate when the spraying of the paint does not meet the preset standard according to the spraying coverage rate, or to determine an adjustment strategy according to the surface smoothness evaluation value of the sub-area, wherein the adjustment strategy includes reducing the spraying movement rate, or stopping the spraying and issuing an early warning.

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