Spraying method and spraying system for pretreatment of automobile body

Abstract

The invention discloses an automobile body pretreatment spraying method and system. The method comprises the steps that image information of an automobile body entering a groove body is scanned on the basis of a 3D vision technology, and the automobile body position and curved surface characteristics of the automobile body entering the groove body are analyzed on the basis of the image information; constructing a spraying control model based on big data, inputting the vehicle body position and the curved surface features into the spraying control model, and outputting spraying process parameters and a spraying path; controlling a mechanical arm to drive a nozzle to move and spray along a spraying path based on the spraying process parameters, and acquiring spraying state information in real time; spraying process parameters and nozzle parameter information are dynamically adjusted based on the spraying state information, and a spraying result is obtained; the spraying result is transmitted to the terminal in real time according to a preset mode; the position and the curved surface characteristics of the vehicle body are obtained in real time through the 3D vision technology, so that the spraying process parameters are accurately output according to the spraying control model, the spraying head is accurately controlled to move for spraying, and the spraying effect is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automotive painting, and particularly to a pre-treatment spraying method and a spraying system for an automotive body. Background Art

[0002] The traditional spraying system in the pre-treatment tank for automotive painting has the following problems:

[0003] Poor spraying uniformity: The fixed spraying angle cannot adapt to the curved surface changes of different vehicle models, resulting in uneven coverage;

[0004] High energy consumption: The water pump operates continuously at full power and cannot adjust the flow rate according to real-time demands;

[0005] Difficult maintenance: Blockage of spray holes or leakage of pipelines need to be manually checked, resulting in a long downtime;

[0006] Large amount of wastewater discharge: Lack of a recycling mechanism, causing great environmental protection pressure. Summary of the Invention

[0007] The purpose of the present invention is to provide a pre-treatment spraying method and a spraying system for an automotive body to solve the problems in the prior art.

[0008] To achieve the above purpose, a technical solution adopted by the present invention is: A pre-treatment spraying method for an automotive body, comprising the following steps:

[0009] S1. Based on 3D vision technology, scan the image information of the vehicle body entering the tank, and analyze the body position and curved surface characteristics of the vehicle body entering the tank based on the image information;

[0010] S2. Based on big data, construct a spraying control model, input the body position and curved surface characteristics into the spraying control model, and output the spraying process parameters and spraying path;

[0011] S3. Based on the spraying process parameters, control the robotic arm to drive the spray head to move along the spraying path for spraying, and obtain the spraying status information in real time;

[0012] S4. Dynamically adjust the spraying process parameters and spray head parameter information based on the spraying status information to obtain the spraying result;

[0013] S5. Transmit the spraying result to the terminal in real time according to a predetermined manner.

[0014] Preferably, in step S1, the image information scanning and analysis step specifically includes:

[0015] Obtain a calibration image based on a calibrated camera, and analyze whether the internal parameters and external parameters of the 3D camera meet the set condition information based on the calibration image;

[0016] If the set condition information is satisfied, the vehicle body is scanned based on a 3D camera according to a preset scanning path and frequency to obtain three-dimensional point cloud data and a scanned image;

[0017] Convert the three-dimensional point cloud data from the camera coordinate system to the tank body coordinate system, determine the position coordinates of the vehicle body in the tank body, and obtain the vehicle body position information;

[0018] Preprocess the collected point cloud data, and extract features from the preprocessed point cloud data based on a point cloud processing algorithm to obtain the surface features of the vehicle body;

[0019] If the set condition information is not satisfied, correction information is generated, and the internal parameters or / and external parameters are adjusted based on the correction information. The internal parameters include the focal length and the principal point position, and the external parameters include the camera position, the rotation direction, and the exposure time.

[0020] Preferably, in one solution, the method for constructing and training the spray control model in step S2 is as follows:

[0021] Select an initial model framework and construct a loss function;

[0022] Generate a data set based on historical spray data, and divide the data set into a training set, a test set, and a validation set according to a set ratio;

[0023] Iteratively train the initial model framework based on the training set, calculate the loss value of the loss function, and determine whether the loss value is less than a set loss threshold;

[0024] If it is less than the set loss threshold, a spray control model is generated;

[0025] If it is greater than the set loss threshold, evaluate the output result of the model based on the test set, verify the evaluation result based on the validation set to obtain a verification result, and dynamically adjust the hyperparameters of the model based on the verification result.

[0026] Preferably, in one solution, in step S3, controlling the robot arm to drive the nozzle to move along the spray path based on the spray process parameters specifically includes:

[0027] Obtain the spray process parameters, and analyze the spray pressure, flow rate, and time based on the spray process parameters;

[0028] Establish a robot arm movement path based on the vehicle body position and surface features to obtain a spray path;

[0029] Obtain the robot arm position information, control the nozzle to move along the spray path based on the robot arm position information, and obtain the nozzle position information in real time;

[0030] Match the spray process parameters corresponding to the current position based on the nozzle position information, and calculate the matching degree;

[0031] Determine whether the matching degree is greater than or equal to a set matching degree threshold;

[0032] If it is greater than or equal to the set matching degree threshold, perform a spraying treatment on the vehicle body based on the spraying process parameters;

[0033] If it is less than the set matching degree threshold, adjust the nozzle position information or the spraying process parameters.

[0034] Preferably, in one solution, in step S4, the spraying process parameters and the nozzle parameter information are dynamically adjusted based on the spraying state information to obtain a spraying result, which specifically includes:

[0035] Obtain the spraying state information, and analyze the current spraying process information and the current nozzle state information based on the spraying state information;

[0036] Compare the current spraying process information with the set process information to obtain a first difference information;

[0037] Compare the current nozzle state information with the set state information to obtain a second difference information;

[0038] Perform a fusion process on the first difference information and the second difference information to obtain a fused difference information;

[0039] Compare the fused difference information with the set difference condition information to obtain an adjustment coefficient;

[0040] Adjust the spraying process parameters and the nozzle parameter information based on the adjustment coefficient to obtain a spraying result.

[0041] Preferably, in one solution, in step S4, the spraying liquid detection step includes:

[0042] Obtain the real-time concentration information of the spraying liquid, and compare the real-time concentration information with the set concentration threshold;

[0043] If the real-time concentration information is greater than or equal to the set concentration threshold, control the opening value of the water pump based on the spraying flow rate;

[0044] If the real-time concentration information is less than the set concentration threshold, supplement the spraying liquid with chemicals.

[0045] Preferably, in one solution, step S5 transmits the spraying result to the terminal in a predetermined manner in real time, which specifically includes:

[0046] Obtain the spraying result, and analyze the impurity information of the spraying liquid based on the spraying result;

[0047] Set a filtering condition based on the impurity information, filter the impurities according to the filtering condition, and obtain the temperature information of the spraying liquid in real time;

[0048] Recover heat based on temperature information to obtain a recovery result, and transmit impurity information and the recovery result to the terminal in real time.

[0049] Preferably, in one solution, obtain impurity information of the spraying liquid medicine, and analyze impurity parameters based on the impurity information. The impurity parameters include impurity particle size and impurity concentration;

[0050] Obtain the nozzle hole size information of the nozzle, compare the nozzle hole size information with the impurity particle size, and analyze the nozzle blockage state information;

[0051] Analyze the pressure change information of the liquid discharged from the nozzle hole based on the nozzle blockage state information;

[0052] Generate a blockage warning information based on the pressure change information;

[0053] Dynamically adjust the spraying pressure and spraying flow rate based on the blockage warning information.

[0054] To achieve the above object, another technical solution adopted by the present invention is: an automobile body pretreatment spraying system, which is applied to an automobile body pretreatment spraying method, and includes:

[0055] A tank body, which is used to store the liquid medicine after spraying;

[0056] A robotic arm, which is arranged outside the tank body, and a nozzle is arranged at the end of the robotic arm;

[0057] A recovery tank, which is connected to the tank body;

[0058] A water supply pump, which is connected to the nozzle, and the water supply pump is used to control the spraying pressure and spraying flow rate of the nozzle;

[0059] A filtering device, which is connected to the recovery tank, and the filtering device is used to filter the liquid after spraying, and the recovery tank is used to recover the filtered spraying liquid.

[0060] Preferably, in one solution, a self-cleaning mechanism is arranged inside the nozzle. The self-cleaning mechanism uses reverse pulse airflow to perform self-cleaning inside the nozzle. A plurality of nozzle holes are arranged at the end of the nozzle, and the aperture of the nozzle holes is 0.5 mm - 1.2 mm.

[0061] Due to the application of the above technical solution, the beneficial effects of the present application compared with the prior art are as follows:

[0062] An automobile body pretreatment spraying method and spraying system of the present application can obtain the position and surface characteristics of the vehicle body in real time through 3D vision technology, so as to accurately output spraying process parameters according to the spraying control model, and then accurately control the movement and spraying of the nozzle, improving the spraying effect. Brief Description of the Drawings

[0063] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art.

[0064] Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0065] Figure 1 It is a schematic flow chart of the pre-treatment spraying method for an automobile body according to the present invention;

[0066] Figure 2 It is a flow chart of the image information scanning and analysis method for the pre-treatment spraying method of an automobile body according to the present invention;

[0067] Figure 3 It is a flow chart of the spraying control model construction and training method for the pre-treatment spraying method of an automobile body according to the present invention;

[0068] Figure 4 It is a block diagram of the pre-treatment spraying system for an automobile body according to the present invention. Detailed Description of the Embodiments

[0069] In order to enable those skilled in the art to better understand the solutions of this application, the following will clearly and completely describe the technical solutions in the embodiments of this application with reference to the drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all of them. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0070] It should be noted that the terms "first", "second", etc. in the description and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances for the embodiments of this application described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0071] In this application, the orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", etc. is based on the orientation or positional relationship shown in the drawings. These terms are mainly used to better describe the present invention and its embodiments, and are not used to limit that the indicated device, element or component must have a specific orientation, or be constructed and operated in a specific orientation.

[0072] Moreover, in addition to being able to represent the orientation or positional relationship, some of the above terms may also be used to represent other meanings. For example, the term "upper" may also be used to represent a certain attachment relationship or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in the present invention can be understood according to specific circumstances.

[0073] In addition, the terms "mount", "set", "provided with", "connect", "connected", "socketed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or there is internal communication between two devices, elements or components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0074] It should be noted that, without conflict, the embodiments in this application and the features in the embodiments can be combined with each other. The following will refer to the drawings and combine with embodiments to detail this application.

[0075] Embodiment 1

[0076] Figures 1-3 A method for pre-treatment spraying of an automobile body according to the present invention includes the following steps:

[0077] S1. Scan the image information of the vehicle body entering the tank based on 3D vision technology, and analyze the vehicle body position and surface characteristics of the vehicle body entering the tank based on the image information;

[0078] S2. Build a spraying control model based on big data, input the vehicle body position and surface characteristics into the spraying control model, and output spraying process parameters and spraying paths;

[0079] S3. Control the robotic arm to drive the nozzle to move and spray along the spraying path based on the spraying process parameters, and obtain the spraying state information in real time;

[0080] S4. Dynamically adjust the spraying process parameters and nozzle parameter information based on the spraying state information to obtain the spraying result;

[0081] S5, transmit the spray results to the terminal in real time according to a predetermined method.

[0082] According to an embodiment of the present invention, the image information scanning and analysis step in step S1 specifically includes:

[0083] S101, obtain a calibration image based on a calibrated camera, and analyze whether the internal parameters and external parameters of the 3D camera meet the set condition information based on the calibration image;

[0084] S102, if the set condition information is met, scan the vehicle body based on the 3D camera according to a preset scanning path and frequency to obtain three-dimensional point cloud data and a scanned image;

[0085] S103, convert the three-dimensional point cloud data from the camera coordinate system to the tank coordinate system, determine the position coordinates of the vehicle body in the tank, and obtain the vehicle body position information;

[0086] S104, preprocess the collected point cloud data, and extract features from the preprocessed point cloud data based on a point cloud processing algorithm to obtain the surface features of the vehicle body;

[0087] S105, if the set condition information is not met, generate correction information, and adjust the internal parameters or / and external parameters based on the correction information. The internal parameters include the focal length and the position of the principal point, and the external parameters include the camera position, the rotation direction, and the exposure time.

[0088] According to an embodiment of the present invention, the method for constructing and training the spray control model in step S2 is as follows:

[0089] S201, select an initial model framework and construct a loss function;

[0090] S202, generate a data set based on historical spray data, and divide the data set into a training set, a test set, and a validation set according to a set ratio;

[0091] S203, perform iterative training on the initial model framework based on the training set, calculate the loss value of the loss function, and determine whether the loss value is less than a set loss threshold;

[0092] S204, if it is less than the set loss threshold, generate a spray control model;

[0093] S205, if it is greater than the set loss threshold, evaluate the output result of the model based on the test set, verify the evaluation result based on the validation set to obtain a verification result, and dynamically adjust the hyperparameters of the model based on the verification result.

[0094] According to an embodiment of the present invention, in step S3, controlling the manipulator to drive the nozzle to move along the spray path for spraying based on the spray process parameters specifically includes:

[0095] Obtain the spraying process parameters, and analyze the spraying pressure, flow rate and time based on the spraying process parameters;

[0096] Establish the moving path of the robotic arm based on the body position and surface characteristics to obtain the spraying path;

[0097] Obtain the robotic arm position information, control the nozzle to move along the spraying path based on the robotic arm position information, and obtain the nozzle position information in real time;

[0098] Match the spraying process parameters corresponding to the current position based on the nozzle position information, and calculate the matching degree;

[0099] Judge whether the matching degree is greater than or equal to the set matching degree threshold;

[0100] If it is greater than or equal to the set matching degree threshold, perform spraying treatment on the body based on the spraying process parameters;

[0101] If it is less than the set matching degree threshold, adjust the nozzle position information or the spraying process parameters.

[0102] According to the embodiment of the present invention, in step S4, dynamically adjusting the spraying process parameters and the nozzle parameter information based on the spraying state information to obtain the spraying result specifically includes:

[0103] Obtain the spraying state information, and analyze the current spraying process information and the current nozzle state information based on the spraying state information;

[0104] Compare the current spraying process information with the set process information to obtain the first difference information;

[0105] Compare the current nozzle state information with the set state information to obtain the second difference information;

[0106] Perform fusion processing based on the first difference information and the second difference information to obtain the fusion difference information;

[0107] Compare the fusion difference information with the set difference condition information to obtain the adjustment coefficient;

[0108] Adjust the spraying process parameters and the nozzle parameter information based on the adjustment coefficient to obtain the spraying result.

[0109] According to the embodiment of the present invention, in step S4, the spraying liquid medicine detection step includes:

[0110] Obtain the real-time concentration information of the spraying liquid medicine, and compare the real-time concentration information with the set concentration threshold;

[0111] If the real-time concentration information is greater than or equal to the set concentration threshold, control the opening value of the water pump based on the spraying flow rate;

[0112] If the real-time concentration information is less than the set concentration threshold, the spraying liquid medicine is supplemented with medicine.

[0113] According to an embodiment of the present invention, step S5 transmits the spraying result to the terminal in real time in a predetermined manner, which specifically includes:

[0114] Obtain the spraying result, and analyze the impurity information of the spraying liquid based on the spraying result;

[0115] Set the filtering condition based on the impurity information, filter the impurities according to the filtering condition, and obtain the temperature information of the spraying liquid in real time;

[0116] Recover the heat based on the temperature information to obtain a recovery result, and transmit the impurity information and the recovery result to the terminal in real time.

[0117] According to an embodiment of the present invention, obtain the impurity information of the spraying liquid medicine, analyze the impurity parameters based on the impurity information, and the impurity parameters include impurity particle size and impurity concentration;

[0118] Obtain the nozzle hole size information of the nozzle, compare the nozzle hole size information with the impurity particle size, and analyze the nozzle blockage state information;

[0119] Analyze the pressure change information of the liquid discharged from the nozzle hole based on the nozzle blockage state information;

[0120] Generate a blockage warning information based on the pressure change information;

[0121] Dynamically adjust the spraying pressure and spraying flow rate based on the blockage warning information.

[0122] As Figure 4 shown, to achieve the above object, another technical solution adopted by the present invention is: an automobile body pretreatment spraying system, which is applied to an automobile body pretreatment spraying method, and includes:

[0123] A tank body for storing the liquid medicine after spraying;

[0124] A robotic arm is arranged outside the tank body, and a nozzle is arranged at the end of the robotic arm;

[0125] A recovery tank is connected to the tank body;

[0126] A water supply pump is connected to the nozzle, and the water supply pump is used to control the spraying pressure and spraying flow rate of the nozzle;

[0127] A filtering device is connected to the recovery tank, and the filtering device is used to filter the liquid after spraying, and the recovery tank is used to recover the filtered spraying liquid.

[0128] According to an embodiment of the present invention, a self-cleaning mechanism is provided inside the nozzle. The self-cleaning mechanism utilizes reverse pulsed air flow to perform self-cleaning inside the nozzle. A plurality of spray holes are provided at the end of the nozzle, and the aperture of the spray holes is 0.5 mm - 1.2 mm.

[0129] In summary, for a vehicle body pre-treatment spraying method and spraying system of the present application, the position and surface characteristics of the vehicle body are obtained in real time through 3D vision technology, so as to accurately output spraying process parameters according to the spraying control model, and then accurately control the movement and spraying of the nozzle to improve the spraying effect.

[0130] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A method for pre-treatment spraying of an automobile body, characterized in that , including the following steps: S1. Scan the image information of the vehicle body entering the tank based on 3D vision technology, and analyze the vehicle body position and surface characteristics of the vehicle body entering the tank based on the image information; S2. Build a spray control model based on big data, input the vehicle body position and surface characteristics into the spray control model, and output spray process parameters and spray paths; S3. Control the robotic arm to drive the nozzle to move along the spray path for spraying based on the spray process parameters, and obtain the spray status information in real time; S4. Dynamically adjust the spray process parameters and nozzle parameter information based on the spray status information to obtain the spray result; S5. Transmit the spray result to the terminal in real time according to a predetermined method.

2. The spray method for pre-treatment of an automobile body according to claim 1, wherein, The specific steps of image information scanning and analysis in step S1 include: Obtain a calibration image based on a calibrated camera, and analyze whether the internal parameters and external parameters of the 3D camera meet the set condition information based on the calibration image; If the set condition information is met, scan the vehicle body based on the 3D camera according to the preset scanning path and frequency to obtain three-dimensional point cloud data and scanning images; Convert the three-dimensional point cloud data from the camera coordinate system to the tank coordinate system, determine the position coordinates of the vehicle body in the tank, and obtain the vehicle body position information; Preprocess the collected point cloud data, and extract features from the preprocessed point cloud data based on the point cloud processing algorithm to obtain the surface characteristics of the vehicle body; If the set condition information is not met, generate correction information, and adjust the internal parameters or / and external parameters based on the correction information. The internal parameters include focal length and principal point position, and the external parameters include camera position, rotation direction, and exposure time.

3. The spray method for pre-treatment of an automobile body according to claim 2, wherein, The method for building and training the spray control model in step S2 is as follows: Select an initial model framework and build a loss function; Generate a data set based on historical spray data, and divide the data set into a training set, a test set, and a validation set according to a set ratio; Iteratively train the initial model framework based on the training set, calculate the loss value of the loss function, and determine whether the loss value is less than the set loss threshold; If it is less than the set loss threshold, generate a spray control model; If it is greater than the set loss threshold, evaluate the output result of the model based on the test set, verify the evaluation result based on the validation set to obtain the verification result, and dynamically adjust the hyperparameters of the model based on the verification result.

4. The method for pre-treatment spraying of an automobile body according to claim 3, characterized in that, In step S3, controlling the robotic arm to drive the nozzle to move along the spray path for spraying based on the spray process parameters specifically includes: Obtain the spray process parameters, and analyze the spray pressure, flow rate, and time based on the spray process parameters; Establish a robotic arm movement path based on the vehicle body position and surface characteristics to obtain the spray path; Obtain the robotic arm position information, control the nozzle to move along the spray path based on the robotic arm position information, and obtain the nozzle position information in real time; Match the spray process parameters corresponding to the current position based on the nozzle position information, and calculate the matching degree; Determine whether the matching degree is greater than or equal to the set matching degree threshold; If it is greater than or equal to the set matching degree threshold, perform spray treatment on the vehicle body based on the spray process parameters; If it is less than the set matching degree threshold, adjust the nozzle position information or the spray process parameters.

5. The spray method for the pretreatment of an automobile body according to claim 4, characterized in that In step S4, the spraying process parameters and nozzle parameter information are dynamically adjusted based on the spraying state information to obtain a spraying result, which specifically includes: Obtain the spraying state information, and analyze the current spraying process information and the current nozzle state information based on the spraying state information; Compare the current spraying process information with the set process information to obtain the first difference information; Compare the current nozzle state information with the set state information to obtain the second difference information; Perform a fusion process based on the first difference information and the second difference information to obtain the fusion difference information; Compare the fusion difference information with the set difference condition information to obtain an adjustment coefficient; Adjust the spraying process parameters and nozzle parameter information based on the adjustment coefficient to obtain a spraying result.

6. The automotive body pretreatment spraying method according to claim 5, wherein In step S4, the spraying liquid detection step includes: Obtain the real-time concentration information of the spraying liquid, and compare the real-time concentration information with the set concentration threshold; If the real-time concentration information is greater than or equal to the set concentration threshold, control the opening value of the water pump based on the spraying flow rate; If the real-time concentration information is less than the set concentration threshold, supplement the spraying liquid with chemicals.

7. The automotive body pre-treatment spraying method according to claim 6, wherein, Step S5 transmits the spraying result to the terminal in a predetermined manner in real time, which specifically includes: Obtain the spraying result, and analyze the impurity information of the spraying liquid based on the spraying result; Set the filtering condition based on the impurity information, filter the impurities according to the filtering condition, and obtain the temperature information of the spraying liquid in real time; Recover the heat based on the temperature information to obtain a recovery result, and transmit the impurity information and the recovery result to the terminal in real time.

8. The method for pre-treatment spraying of an automobile body according to claim 7, characterized in that, Obtain the impurity information of the spraying liquid, and analyze the impurity parameters based on the impurity information. The impurity parameters include impurity particle size and impurity concentration; Obtain the nozzle hole size information of the nozzle, compare the nozzle hole size information with the impurity particle size, and analyze the nozzle blockage state information; Analyze the pressure change information of the liquid discharged from the nozzle hole based on the nozzle blockage state information; Generate a blockage warning information based on the pressure change information; Dynamically adjust the spraying pressure and spraying flow rate based on the blockage warning information.

9. An automotive body pretreatment spraying system, which is applied to the automotive body pretreatment spraying method described in any one of claims 1-8, and is characterized in that, It includes: A tank body for storing the sprayed liquid medicine; A robotic arm arranged outside the tank body, with a nozzle at the end of the robotic arm; A recovery tank connected to the tank body; A water supply pump connected to the nozzle, and the water supply pump is used to control the spraying pressure and spraying flow rate of the nozzle; A filtering device connected to the recovery tank, and the filtering device is used to filter the sprayed liquid, and the recovery tank is used to recover the filtered sprayed liquid.

10. A pre-treatment spraying system for an automobile body according to claim 9, characterized in that, A self-cleaning mechanism is arranged inside the nozzle. The self-cleaning mechanism uses reverse pulsed air flow to perform self-cleaning inside the nozzle. A plurality of nozzle holes are arranged at the end of the nozzle, and the aperture of the nozzle holes is 0.5 mm - 1.2 mm.

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