Track-type intelligent spraying method and device

Abstract

The present invention relates to the technical field of spraying robots, and in particular to a track-type intelligent spraying method and device thereof, wherein the device comprises: a track, a trolley, a slewing tower, a large arm, a small arm, a manipulator and a spray gun; the present invention determines the movement data of the trolley by obtaining the coordinates of the center point of a target area; when it is determined according to an offset value that the movement of the trolley does not meet a preset standard, 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 the target area is sprayed, the target area is divided into several sub-areas for solidification, and the coating thickness of each sub-area and the spray coverage rate of the target area are obtained; when it is determined according to the spray coverage rate of the target area that the spraying of the paint does not meet the preset standard, the paint utilization rate is checked, or an adjustment strategy is determined according to a surface smoothness evaluation value, thereby improving the spraying quality.

Description

Technical Field

[0001] The present invention relates to the technical field of spraying robots, and in particular to a track-type intelligent spraying method and device thereof. Background Art

[0002] In industrial production, spray coating technology is widely used in fields such as automotive manufacturing, furniture production, and architectural decoration to coat surfaces for corrosion protection, aesthetics, or functionality. Traditional spray coating operations rely heavily on manual labor, resulting in low efficiency, inconsistent coating quality, and significant paint waste. With the advancement of automation technology, track-mounted spray robots are becoming an effective solution to these problems.

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

[0004] The spray gun at the end may be offset from the center point of the target area, resulting in uneven spraying or incomplete coverage.

[0005] Chinese patent application publication number: CN111921752A, discloses an industrial automated spraying robot, including: a straight rail car, 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 rail car; a self-adjusting telescopic plate, the working end of the industrial robot is fixedly connected to the center position of the side of the self-adjusting telescopic plate; a sprayer, the working end and the industrial robot are arranged vertically and equidistantly at the top of the mounting side of the self-adjusting telescopic plate; a self-adjusting rotating mounting frame, the fixed end is horizontally arranged in the middle position of the mounting side of the self-adjusting telescopic plate; a high-pressure gas nozzle, the working end is tilted downward and vertically arranged at equal intervals on the mounting part of the self-adjusting rotating mounting frame, the high-pressure gas nozzle is connected to the output end of the electric air pump; a negative pressure collection box, horizontally arranged at the bottom end of the mounting groove of the self-adjusting telescopic plate and the bottom is connected to the negative pressure pipe, the device can collect dust flushed down by the high-pressure gas, thereby improving the spraying effect.

[0006] It can be seen that the above technical solution does not take into account the problem of deviation between the spray gun at the end of the robot and the target area, which affects the spraying accuracy and lacks real-time monitoring of the spraying process, resulting in poor spraying quality. Summary of the Invention

[0007] To this end, the present invention provides a track-type intelligent spraying method and device thereof to overcome the problem in the prior art that the deviation between the spray gun at the end of the robot and the target area is not taken into account, which affects the spraying accuracy and lacks real-time monitoring of the spraying process, resulting in poor spraying quality.

[0008] To achieve the above objectives, the present invention provides a track-type intelligent spraying method, comprising:

[0009] Get the coordinates of the center point of the target area and determine the movement data of the car based on the coordinates. The movement data includes movement direction, distance, acceleration and movement speed;

[0010] 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, wherein the first starting position and the second starting position are symmetrical about the center point of the target area;

[0011] Calculating an offset value of the end of the manipulator based on the first distance and the second distance, and reducing the movement speed of the trolley or controlling the spraying device to stop working when determining that the movement of the trolley does not meet a preset standard according to the offset value;

[0012] When it is determined that the movement of the trolley meets the preset standards, 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;

[0013] After the target area is sprayed, it 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;

[0014] When it is determined according to the spray coverage 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 the paint utilization rate is used to check whether the spraying of the paint meets the preset standard, 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.

[0015] Furthermore, 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:

[0016] Comparing the offset value with a first preset offset value and a second preset offset value respectively;

[0017] If the offset value is greater than or equal to the first preset offset value and less than the second preset offset value, reducing the movement speed of the vehicle moving to the next target area according to the difference between the offset value and the first preset offset value;

[0018] 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;

[0019] The offset value is the arithmetic mean of the first distance and the second distance.

[0020] Furthermore, 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.

[0021] Furthermore, 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 whose coating thickness is greater than the preset thickness and the total number of sub-areas.

[0022] Furthermore, when the spray coverage is less than the first preset coverage, the adjustment strategy is determined based on the surface smoothness evaluation value of the sub-area; and when the spray coverage is greater than or equal to the first preset coverage and less than the second preset coverage, the spraying of the paint is checked based on the paint utilization rate to see whether it meets the preset standard.

[0023] Furthermore, when it is determined based on 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 speed, or to stop spraying and issue an early warning.

[0024] Furthermore, the surface smoothness evaluation value is determined by the grayscale value of the pixel points on the surface of the sub-region.

[0025] Furthermore, based on 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.

[0026] Furthermore, several atomization pressure regulating modes are provided for reducing the atomization pressure of the next target area, and each regulating mode has a different reduction range for the atomization pressure.

[0027] In another aspect, the present invention provides a spraying device suitable for a track-type intelligent spraying method, comprising: a track;

[0028] a trolley set on tracks;

[0029] A slewing tower is arranged above the trolley, a boom whose bottom is connected to the slewing tower and pitches and rotates relative to the slewing tower, a forearm whose bottom is connected to the top of the boom and pitches and rotates relative to the boom, and a manipulator whose one end is connected to the top of the forearm and rotates relative to the forearm, and a spray gun is installed at the end of the manipulator;

[0030] The data acquisition module includes a distance measuring unit provided 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;

[0031] a deviation correction control module, which is connected to the data acquisition module and the trolley respectively, and is used to reduce the movement speed of the trolley or control the spraying device to stop working when it is determined based on the offset value that the movement of the trolley does not meet the preset standard;

[0032] 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 coverage rate determines that the spraying of the paint does not meet the preset standard, 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.

[0033] Compared with the existing technology, the beneficial effect of the present invention lies in that the present invention calculates the offset value of the end of the robot by obtaining the center point coordinates of the target area, and accurately controls the relative position of the spray gun and the target area through the offset value, thereby reducing the spraying deviation; during the spraying process, the coating thickness, coverage and surface smoothness are detected in real time, and the spraying movement rate and atomization pressure are adjusted according to the detection results to ensure the spraying quality.

[0034] Furthermore, the present invention is provided with a method for obtaining the offset value based on two symmetrical movements, which is different from the method for obtaining the offset value through only a single movement. The first distance and the second distance are respectively obtained based on two symmetrical movements to calculate the offset value. A single measurement is easily interfered by random factors, and calculating the offset value through two movements can effectively eliminate errors, thereby improving measurement accuracy.

[0035] Furthermore, the present invention determines the moving state of the trolley according to the offset value, dynamically adjusts the moving speed of the trolley or stops working, thereby improving the intelligence level of the spraying device.

[0036] Furthermore, the present invention checks the spraying effect according to the spraying coverage of the target area, and promptly discovers and corrects spraying quality problems, thereby ensuring the spraying quality.

[0037] Furthermore, the present invention reduces paint waste by setting a paint utilization rate and secondarily determining whether the paint spraying meets a preset standard based on the paint utilization rate, thereby ensuring effective use of the paint.

[0038] Furthermore, the present invention stops spraying and issues an early warning when it determines based on the surface smoothness evaluation value that the spraying does not meet the standards, or reduces the spraying movement rate, thereby improving the spraying effect.

[0039] Furthermore, the present invention provides a surface smoothness evaluation value, which is an indicator for quantifying the smoothness of the sprayed surface, thereby ensuring the scientific nature of the evaluation process.

[0040] Furthermore, the present invention reduces the atomization pressure of the next target area according to the difference between the preset utilization rate and the coating utilization rate, thereby achieving precise control of the reduction range of the atomization pressure. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 This is a flow chart of a track-type intelligent spraying method according to an embodiment of the present invention;

[0042] Figure 2 This is a flow chart of an embodiment of the present invention for determining whether the movement of the vehicle meets the preset standard;

[0043] Figure 3 This is a flow chart of an embodiment of the present invention for determining whether the spraying of a coating meets a preset standard based on the spraying coverage of the coating;

[0044] Figure 4 This is a structural schematic diagram of a spraying device suitable for a track-type intelligent spraying method according to an embodiment of the present invention;

[0045] In the figure, 1. Track; 2. Trolley; 3. Rotating tower; 4. Upper arm; 5. Lower arm; 6. Manipulator; 7. Spray gun. DETAILED DESCRIPTION

[0046] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below with reference to embodiments. It should be understood that the specific embodiments described herein are merely used to explain the present invention and are not intended to limit the present invention.

[0047] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0048] It should be pointed out that the data in this embodiment are all obtained by comprehensive analysis and evaluation of the historical test data of the present invention in the three months before this test and the corresponding historical test results. Those skilled in the art can understand that the method of determining the above-mentioned single parameter of the method of the present invention can be to select the value with the highest proportion as the preset standard parameter according to the data distribution, use weighted summation to use the obtained 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 the method of the present invention can clearly define the different specific situations in the single determination process through the obtained value.

[0049] See also Figure 1 、 Figure 2 、 Figure 3 as well as Figure 4 As shown, they are respectively a flow chart of a track-type intelligent spraying method according to an embodiment of the present invention; a flow chart of determining whether the movement of the trolley meets the preset standard according to an embodiment of the present invention; a flow chart of determining whether the spraying of the paint meets the preset standard according to the spray coverage of the paint according to an embodiment of the present invention; a structural schematic diagram of a spraying device suitable for a track-type intelligent spraying method according to an embodiment of the present invention.

[0050] On the one hand, an embodiment of the present invention provides a track-type intelligent spraying method, comprising:

[0051] See also Figure 1 As shown, in step S01, the coordinates of the center point of the target area are obtained, and the movement data of the vehicle 2 is determined according to the coordinates. The movement data includes the movement direction, distance, acceleration and movement speed;

[0052] Step S02: Move the trolley 2 from the first starting position and the second starting position of the track 1 to the target position, 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 symmetrical about the center point of the target area.

[0053] Step S03, calculating an offset value of the end of the manipulator based on the first distance and the second distance, and reducing the moving speed of the trolley 2 or controlling the spraying device to stop working when it is determined according to the offset value that the movement of the trolley 2 does not meet the preset standard;

[0054] 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 according to the preset spray movement speed, preset paint flow rate and preset atomization pressure;

[0055] Step S05: After the target area is sprayed, the target area is divided into several sub-areas for curing, and the coating thickness of each sub-area and the spray coverage of the target area are obtained;

[0056] Step S06, when it is determined that the spraying of the paint does not meet the preset standard based on the spray coverage rate, the paint utilization rate is obtained based on the paint usage and the paint coverage, and the paint utilization rate is used to check whether the spraying of the paint meets the preset standard, or, an adjustment strategy is determined based on 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.

[0057] In this embodiment, the preset spraying movement speed in step S04 is 0.5 m / s, the preset coating flow rate is 10 L / h, and the preset atomization pressure is 4 bar.

[0058] In this embodiment, a laser ranging sensor is installed at the end of the manipulator to emit a laser beam to the center point of the target area. The straight-line distance is calculated by measuring the laser reflection time to obtain the first distance and the second distance respectively.

[0059] In this embodiment, the acceleration value, movement duration and movement speed of the vehicle 2 during the movement process of step S03 are the same as the acceleration value, movement duration and movement speed of the vehicle 2 in step S02.

[0060] During the movement of the trolley 2 along the track 1 in step S02 and step 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.

[0061] Specifically, the process of determining whether the movement of the vehicle 2 meets the preset standard according to the offset value of the manipulator end includes:

[0062] Compare the offset value with a first preset offset value of 0.2 mm and a second preset offset value of 0.8 mm respectively;

[0063] If the offset value is less than the first preset offset value, it is determined that the movement of the vehicle 2 meets the preset standard;

[0064] 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 cart 2 does not meet the preset standard, and the movement speed of the cart 2 moving to the next target area is reduced according to the difference between the offset value and the first preset offset value;

[0065] 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 failure to meet the preset standard is a fault of the manipulator 6, and the spraying device is controlled to stop working and an early warning is issued;

[0066] The offset value is the arithmetic mean of the first distance and the second distance.

[0067] In this embodiment, when the car moves at a higher speed, the inertia will cause it to overshoot or oscillate near the target position, thereby causing the actual position of the manipulator end to deviate from the theoretical trajectory. Reducing the movement rate of the car can reduce the inertia force, thereby reducing the overshoot and oscillation phenomenon and improving positioning accuracy.

[0068] 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 of 0.2mm and the second preset offset value of 0.8mm are selected, but the above values are not limited to this. Those skilled in the art can also adjust the values according to actual needs.

[0069] Specifically, the reduction amplitude of the moving speed of the trolley 2 is positively correlated with the offset difference, wherein the positive correlation is, for example, a linear positive correlation or a nonlinear positive correlation, and the linear slope of the linear positive correlation is not specifically limited. It can be understood that the larger the offset difference is, the greater the reduction amplitude of the moving speed of the trolley 2 is; the offset difference is the difference between the offset value and the first preset offset value.

[0070] Specifically, whether the coating spraying meets the preset standards is determined based on the coating spraying coverage, wherein:

[0071] If the spraying coverage is less than the first preset coverage 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;

[0072] If the spraying coverage is greater than or equal to the first preset coverage and less than 85% of the second preset coverage, it is determined that the spraying of the paint does not meet the preset standard, and the spraying of the paint is checked according to the paint utilization rate to see whether it meets the preset standard;

[0073] If the spraying coverage is greater than or equal to the second preset coverage, it is determined that the spraying of the paint meets the preset standard;

[0074] The spray coverage is the ratio between the number of sub-areas with a coating thickness greater than a preset thickness of 120 μm and the total number of sub-areas.

[0075] In this embodiment, the coating thickness is obtained by an ultrasonic thickness gauge.

[0076] Specifically, the values of the first preset coverage rate and the second preset coverage rate can be adjusted by technical personnel in this field based on the requirements for the spray quality detection and evaluation accuracy. The higher the requirements for the spray quality detection and evaluation accuracy, 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%).

[0077] Specifically, the adjustment strategy when the coating spraying does not meet the preset standard is determined according to the surface smoothness evaluation value of the sub-area, wherein,

[0078] If the surface smoothness evaluation value is less than the preset surface smoothness evaluation value of 10, it is determined that the surface of the sub-area has no defects, and the spray movement rate is reduced according to the difference between the surface smoothness evaluation value and the preset surface smoothness evaluation value;

[0079] If the surface smoothness evaluation value is greater than or equal to the preset surface smoothness evaluation value, it is determined that potholes appear on the surface of the sub-area, spraying is stopped and an early warning is issued.

[0080] Specifically, the surface smoothness evaluation value is calculated using the following formula:

[0081]

[0082] Where P represents the surface smoothness evaluation value; n represents the total number of pixels on the sub-area surface; C i Represents the grayscale value of the i-th pixel; Represents the average value of the grayscale values of all pixels in the sub-area; i=1, 2, 3, ..., n.

[0083] In this embodiment, the preset surface smoothness evaluation value is obtained by taking the average value of historical test data of the present invention three months before the current test.

[0084] In this embodiment, a high-resolution industrial camera is used to capture the surface image of the target area after spraying. Each sub-area contains a number of pixels, and the grayscale value of each pixel is obtained through image processing software. The image processing software can be MATLAB or OpenCV, and there is no specific limitation. It only needs to meet the grayscale value extraction requirements.

[0085] Specifically, the coating spraying is checked to see if it meets the preset standards based on the coating utilization rate, where:

[0086] If the paint utilization rate is less than 80% of the preset utilization rate, it is determined that the paint spraying 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;

[0087] If the paint utilization rate is greater than or equal to the preset utilization rate, it is determined that the paint spraying meets the preset standard;

[0088] The coating utilization rate is the ratio between the coating coverage and the coating usage.

[0089] Specifically, paint coverage is calculated using the following formula:

[0090]

[0091] Where B represents the coating coverage; h i represents the coating thickness of the i-th sub-area; S i represents the area of the i-th sub-area; ρ represents the coating density; i=1, 2, 3,…, n.

[0092] In this embodiment, the area of the i-th sub-area is obtained by combining a laser scanner and Geomagic software; the coating thickness of the i-th sub-area is obtained by an ultrasonic thickness gauge; and the amount of paint used is the product of a preset spray flow rate and a spraying time.

[0093] Specifically, there are several atomization pressure adjustment methods for reducing the atomization pressure of the next target area, among which,

[0094] If the paint utilization difference is less than the first preset paint utilization difference of 0.15, the atomization pressure is reduced to a corresponding value using a first pressure adjustment coefficient of 0.98;

[0095] 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 a corresponding value using a second pressure adjustment coefficient of 0.96;

[0096] If the paint utilization difference is greater than or equal to the second preset paint utilization difference, reducing the atomization pressure to a corresponding value using a third pressure adjustment coefficient of 0.94;

[0097] The paint utilization difference is the difference between the preset utilization rate and the paint utilization rate.

[0098] On the other hand, the present invention provides a spraying device suitable for a track-type intelligent spraying method, comprising: a track 1, a trolley 2 arranged on the track 1, a slewing tower 3 arranged above the trolley 2, a large arm 4 whose bottom is connected to the slewing tower 3 and which pitches and rotates relative to the slewing tower 3, a small arm 5 whose bottom is connected to the top of the large arm 4 and which pitches and rotates relative to the large arm 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, a spray gun 7 being installed at the end of the manipulator 6; a data acquisition module, comprising a distance measuring unit arranged at the end of the manipulator for obtaining a first distance and a 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 a pixel point on the surface of each sub-area;

[0099] a deviation correction control module, which is connected to the data acquisition module and the trolley 2 respectively, and is used to reduce the movement speed of the trolley 2 or control the spraying device to stop working when it is determined based on the offset value that the movement of the trolley 2 does not meet the preset standard;

[0100] A 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 the spraying coverage rate determines that the spraying of the paint does not meet the preset standard, 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.

[0101] In this embodiment, the pixel grayscale acquisition unit uses a high-resolution industrial camera to capture the surface image of the target area after spraying. Each sub-area contains a number of pixels, and the grayscale value of each pixel is obtained through image processing software. The image processing software can be MATLAB or OpenCV, and there is no specific limitation. It only needs to meet the grayscale value extraction requirements; the thickness measurement unit is an ultrasonic thickness gauge; and the ranging unit is a laser ranging sensor.

[0102] In this embodiment, the specific structures of the deviation correction control module and the spray quality detection module are not limited. They themselves and each unit therein can be composed of logic components, and the logic components include field programmable components, computers or microprocessors in computers.

[0103] Thus far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present invention.

[0104] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection 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 vehicle based on the coordinates. The movement data includes 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, wherein the first starting position and the second starting position are symmetrical about the center point of the target area; Calculating an offset value of the end of the manipulator based on the first distance and the second distance, and reducing the movement speed of the trolley or controlling the spraying device to stop working when determining that the movement of the trolley does not meet a preset standard according to the offset value; When it is determined that the movement of the trolley meets the preset standards, 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, it 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 that the spraying of the paint does not meet the preset standard according to the spraying coverage rate, the paint utilization rate is obtained according to the paint usage amount and the paint coverage amount, 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; The process of determining whether the movement of the robot does not meet the preset standards based on the offset value of the robot end 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, reducing the movement speed of the vehicle 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, 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; 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; 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.

2. The track-type intelligent spraying method according to claim 1, characterized in that: When the spray 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 spray 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.

3. The track-type intelligent spraying method according to claim 2, characterized in that: When it is determined based on 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 to stop spraying and issue an early warning.

4. The track-type intelligent spraying method according to claim 3, 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.

5. The track-type intelligent spraying method according to claim 4, 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.

6. The track-type intelligent spraying method according to claim 5, 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.

7. A spraying device suitable for the track-type intelligent spraying method according to any one of claims 1 to 6, 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 pitches and rotates relative to the slewing tower, a forearm whose bottom is connected to the top of the boom and pitches and rotates relative to the boom, and a manipulator whose one end is connected to the top of the forearm and rotates 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 provided 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 movement speed of the trolley or control the spraying device to stop working when it is determined based on 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 coverage rate determines that the spraying of the paint does not meet the preset standard, 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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