595 results about "3d camera" patented technology

The invention belongs to the technical field of machine vision fusion application, and particularly relates to a composite robot CNC feeding and discharging method and device. Comprising a composite robot and a CNC machine tool; the composite robot comprises a movable chassis, a mechanical arm, a feeding and discharging clamping jaw, a 3D camera and a 2D camera. The 3D camera and the 2D camera are mounted on a mounting platform at the tail end of the mechanical arm; the 2D camera and the 3D camera are added in the first deployment stage and the nth deployment stage to assist deployment, teaching of each CNC machine tool is not needed, the 3D camera is dismounted in the feeding and discharging stage, only the 2D camera is used in the feeding and discharging stage, and the cost is lower; and meanwhile, a 2D positioning identification plate or a 3D positioning identification plate is adopted, the feeding base does not need to be photographed, and the influence of cutting liquid, metal filings, discharging workpieces and the like on the camera algorithm precision is avoided.

The invention is suitable for the field of image processing, and discloses a fast fusion method for point cloud data of multiple 3D cameras, terminal equipment and a storage medium. The multi-3D-camera point cloud data fast fusion method comprises the steps that calibration data of a plurality of 3D cameras are collected, the calibration data comprise an RGB image, a depth image and an internal reference matrix, and a calibration plate needs to appear in the view fields of the 3D cameras at the same time; generating a three-dimensional point cloud coordinate point set according to the calibration data, and calculating a transformation matrix between the reference camera coordinate system and the non-reference camera coordinate system according to the three-dimensional point cloud coordinate point set; and according to the transformation matrix, registering the three-dimensional point cloud coordinate point set to a preset reference camera coordinate system to obtain merged target point cloud data, the target point cloud data including RGB color values. According to the invention, multi-view complementation is realized, a physical blind area of a single camera can be covered, and the problem of point cloud missing caused by insufficient view field and shielding is solved.

The invention discloses an assemblage multi-robot collaborative welding system in ship sections, and relates to the technical field of industrial robot collaborative control, the assemblage multi-robot collaborative welding system comprises an industrial internet platform, the industrial internet platform is in communication connection with the following modules: a visual inspection modeling module, which is used for scanning the surface of a workpiece through a 3D camera, constructing a point cloud model, and establishing a point cloud model; matching the point cloud model with a design drawing, and identifying a deviation between an actual workpiece and the drawing; and the path planning and correcting module is used for planning a collision-free welding path in combination with the visual detection data and the motion range of the robot. Through high-precision visual inspection scanning and an SLAM matching algorithm, a workpiece point cloud model is constructed in real time and is accurately aligned with a design drawing, the welding seam position and the workpiece geometric deviation can be accurately recognized, a collision-free welding path is generated in combination with robot kinematics constraint and a safety boundary, it is ensured that the pose of the tail end of a welding gun is attached to the surface of the workpiece, and the welding quality is improved. Welding deviation is reduced, and process stability is ensured.

The invention relates to the technical field of industrial vehicle intelligence, in particular to an intelligent flexible forklift system based on multi-mode sensing and self-adaptive path planning. The intelligent forklift comprises an intelligent forklift body, a vehicle-mounted integrated control system, a multi-mode sensing and navigation module, a self-adaptive decision-making and path planning module, a cooperative communication and task management module and a cloud scheduling and management platform, and the intelligent forklift body is provided with a pallet fork mechanism with a 3D camera and a force sensor; the vehicle-mounted integrated control system serves as a core to achieve multi-module data interaction and instruction output, the multi-mode sensing and navigation module generates an environment situation map through multi-source data fusion, the self-adaptive decision-making and path planning module completes path planning, obstacle avoidance and pre-verification, the cooperative communication and task management module achieves multi-vehicle cooperation and task disassembly, and the multi-mode sensing and navigation module generates an environment situation map through multi-source data fusion. And the cloud scheduling and management platform realizes global monitoring and management. According to the method, the adaptability to complex scenes and the operation safety are improved, and accurate forking and flexible path planning are realized.

The invention relates to the technical field of welding, and discloses a teaching-free angle steel welding method which comprises the following steps that S1, a robot carries a 3D camera to execute self-adaptive high-angle shooting exploration, and workpiece point cloud data are obtained until recognition succeeds or exceeds a preset exploration range; s2, dividing the ROI into grids according to the view field of the camera by taking the distance of the point cloud detected for the first time as a reference; s3, performing expansion type multi-angle photographing from the initial grid to the periphery, stopping scanning when meeting an empty grid, and obtaining an effective area point cloud of the workpiece; s4, performing regional progressive registration on the point clouds of the adjacent shooting regions, and eliminating registration drift through closed-loop detection and pose image optimization; and S5, calculating the normal and curvature of the point cloud. According to the intelligent angle steel welding method, the robot carries the 3D camera to execute self-adaptive high-angle shooting exploration to obtain the point cloud data of the workpiece, and therefore the problems that due to the fact that manual teaching or off-line programming is mostly adopted in a traditional intelligent angle steel welding method, the welding efficiency is low, complex workpiece path planning consumes long time, and precision fluctuation is large are solved.

A ship sub-assembly weld seam identification method, comprising: creating a point cloud weld seam identification training dataset by means of point cloud discretization, virtual sampling, weld-zone semi-automatic interactive annotation, and style transfer-based augmentation of ship sub-assembly CAD data; training a point cloud weld seam identification model, and exporting a weld seam identification model data file; using a 3D point cloud camera array as a sampling camera to collect workpiece 3D point cloud data of a sub-assembly workpiece to be welded at the production site; by means of the weld seam identification model data file, obtaining weld seam annotation position data and positioning a weld seam; and issuing a welding process plan and instruction to control a welding robotic arm and a control device therefor to complete sub-assembly workpiece welding. Also provided are a ship sub-assembly weld seam identification system, a computer device, and a computer-readable storage medium. The method overcomes the shortcomings in conventional 3D weld seam identification methods such as point cloud incompleteness and identification failures caused by steel types and the imaging angles of 3D cameras, thereby greatly improving the adaptability of automatic weld seam identification methods to complex workpieces.

The invention discloses a large-size complex surface type high-speed scanning measurement device based on a white light interference technology and a method thereof, and relates to the technical field of crossing of optical precision measurement and machine vision, and the device comprises an intelligent measurement module which integrates a large-view-field vision camera, a 3D camera and a white light interferometer, the large-view-field vision camera is used for acquiring a global two-dimensional image of a measured object and automatically identifying features to trigger a measurement program, and the 3D camera is used for acquiring three-dimensional point cloud data of the measured object; according to the invention, the intelligent measurement module integrates multiple devices, a large-view-field camera triggering program, point cloud acquisition by the 3D camera and high-precision measurement by the white light interferometer, so that multi-source data collaboration is realized. The dynamic scanning optimization module adjusts step lengths and grid priorities according to curvature regions, improves an algorithm to generate a path, improves scanning efficiency and pertinence, achieves combination of global and local measurement through cooperation of multiple devices, meets the multi-precision requirements of complex surface types, improves measurement efficiency, and guarantees the precision of key regions.

The invention relates to a railway track abrasion detection method and system, and aims to realize accurate and efficient detection of turnout sharp point rail abrasion. A detection device carrying a 3D camera, a speed sensor, a signal processing module and a data processing terminal is arranged in a turnout area to be detected, parameter configuration is completed, in the constant-speed moving process, the speed sensor generates a trigger signal according to the specified distance, the 3D camera is driven to synchronously collect point cloud data of the two-dimensional contour of the cross section of the sharp point rail, and a three-dimensional data stream is formed; after data are denoised, section registration splicing and three-dimensional model reconstruction are completed in combination with distance stamps, an actual measurement model and a standard contour model are superposed and compared, abrasion parameters are calculated, and the maximum abrasion point and position are recognized; and finally presenting the abrasion data in the forms of a color cloud picture, a table and the like, and automatically generating a standard detection report containing the contents of line information, defect types and the like. According to the method, automation and visualization of abrasion detection are achieved, the detection precision is high, the efficiency is high, and reliable data support is provided for track maintenance.

The invention belongs to the technical field of unmanned aerial vehicle battery replacement, and provides an unmanned aerial vehicle automatic battery replacement method and system based on 3D visual guidance, and the method comprises the steps: constructing a target feature template of each region of a battery compartment and a feed battery based on obtained standard image data; performing multi-stage pyramid matching on the obtained to-be-matched point cloud data and the constructed target feature template, and reconstructing a point cloud data set and standard image data subjected to multi-stage pyramid matching; calculating the pose deviation value of the feed battery, and combining the pose deviation value of the feed battery to obtain the actual position of the feed battery; the target position and posture information are updated according to the feed battery posture deviation value, a mechanical arm is controlled to move to the target position according to the updated posture information, and the feed battery is grabbed and placed at the designated position; and controlling the mechanical arm to grab the fully-stored battery and then return to the specified image data acquisition position, controlling the 3D camera to carry out secondary scanning, repeating the steps, and putting the fully-stored battery into the battery compartment of the unmanned aerial vehicle to complete automatic battery replacement operation.

The embodiment of the invention relates to the technical field of automatic unstacking robots, and discloses an unstacking method and system, a controller and a computer readable storage medium, and the method comprises the steps: obtaining RGB image information and point cloud information of an ROI region through a 3D camera, recognizing a to-be-unstacked article in the RGB image information, and generating a grabbing point; the camera coordinates of the grabbing points, the length and width information of the box body of the top layer to be unstacked and the height information of the top surface of the box body are obtained through the point cloud information; and the grabbing step is executed, after the current grabbed box leaves the stack, the height difference of the original position of the current box is obtained through the 3D camera again, the detection height value of the current box is obtained, laser radar verification is selectively adopted according to different conditions, and finally efficient unstacking is achieved. By means of the technical scheme, the problem that in the unstacking process in the prior art, the detection efficiency and the operation precision are difficult to consider at the same time is solved.

The invention provides a cement conveyor volume measurement method based on deep learning point cloud segmentation. The method comprises the following steps: obtaining 3D point cloud data by using a laser line scanning 3D camera, and determining RGB values of pixels corresponding to the 3D point cloud data to obtain 3D point cloud with color features; inputting the 3D point cloud with the color features into an improved Point-Net + + neural network for 3D point cloud segmentation, and obtaining 3D point cloud data only containing the cement surface in the conveyor after segmentation; constructing a triangulation network based on the cement irregular surface in the segmented 3D point cloud data by adopting a triangulation method, and performing volume calculation according to the constructed triangulation network; wherein the improved Point-Net + + neural network is constructed on the basis of a framework of an original Point-Net + + point cloud segmentation network, and comprises a core point convolution, a context sensing module and a Focal Loss loss function. Therefore, the performance of a point cloud segmentation algorithm is improved, and even under complex conditions, the surface point cloud data of the cement material in the conveyor can still be accurately segmented for volume measurement.

A bearing defect detection system and method based on multi-combination lightsource and multi-view multi-channel YOLO network structure detection algorithm, in which the system includes a rotating platform, a multi-combination lightsource, a light source controller, a 2D camera and lens, an industrial control machine processing unit; The rotating mechanism is used for the rotation of the bearing at any 360 degrees, the light source adopts a set of adjustable coaxial or ring light sources, the camera is all 2D cameras, for pits, scratches, burrs and other three-dimensional defects, improved by multi-view multi-channel YOLO network structure detection algorithm, replacing the current expensive 3D camera detection methods, improve detection accuracy, reduce system costs.

The invention discloses a method and a system for generating a long video with a controllable camera track based on a video diffusion model. Comprising a camera track and initial frame preparation stage, a point cloud construction and multi-view image generation stage, a scale factor alignment optimization stage, a camera motion prior injection and noise initialization stage, a diffusion inversion generation stage and a sliding window time consistency fusion stage. Three-dimensional camera track modeling, projection reconstruction and diffusion processes are combined, a video content generation process is explicitly guided to be aligned with a track path set by a user, and long video generation which is reasonable in structure, natural in vision and continuous in time is achieved.

The invention provides a welding seam quality detection method and device based on multi-modal data, equipment and a medium. The method comprises the steps that target point cloud data and target temperature data for a target welding area are obtained; fusing the target point cloud data and the target temperature data to obtain target infrared point cloud data; and according to the target infrared point cloud data, generating a welding seam detection result aiming at the welding seam quality in the target welding area. According to the invention, the problem of insufficient weld data extraction caused by single three-dimensional image point cloud data acquired by the 3D camera and easy influence by the surrounding environment in a laser scanning detection method can be solved; and the problems of poor detection precision and low universality which are finally caused by large welding seam extraction difficulty and large deviation of an extraction result in a visual detection algorithm can also be solved. In addition, the automatic detection mode can solve the problems that in a traditional method, the real-time performance is poor and the efficiency is low due to the fact that the appearance quality of the weld joint needs to be manually detected in an off-line mode.

The invention discloses a method for detecting the head height of a bolt, and the method comprises the following steps: carrying out the projection of the head of the bolt through employing a structured light 3D camera, and obtaining the three-dimensional point cloud data of the head of the bolt; after abnormal points are processed, a bolt head area template is constructed; bolt head positioning is carried out on the bolt head area template and the actual detection area; selecting a plurality of local point cloud data in the bolt head area, and setting the local point cloud data as bolt head positions; selecting a plurality of local point cloud data on the outer side of the bolt head area, and setting the local point cloud data as bolt reference surface positions; and calculating the distance between the bolt head position and the bolt reference surface position by using a point-to-plane algorithm. The bolt head height detection method provided by the invention has the advantages of one-key operation, simple operation, fast measurement speed, automatic data and picture storage, and solving of pain points which cannot be traced by conventional contact measurement.

The invention discloses a track non-contact intelligent detection system and method based on multi-source data fusion, relates to the technical field of track detection, and aims at efficiently completing track detection with low cost. The system comprises a frame body, a plurality of line structured light 3D cameras, a synchronous controller, a processing computer and a speedometer; the linear structured light 3D cameras are arranged on the two sides of the frame body, and the optical axes of the linear structured light 3D cameras are arranged to be perpendicular to the axis direction of the steel rail to be measured; the synchronous controller, the processing computer and the speedometer are integrated at the bottom of the frame body, and the synchronous controller and the speedometer are respectively connected with the structured light 3D camera through cables.

The invention relates to the technical field of automation, in particular to a real-time multi-target visual positioning and mechanical arm cooperation system for intelligent material sorting, which comprises a visual perception and information acquisition module, a data processing and path planning module, a mechanical arm execution module and a man-machine interaction module. By combining the 2D camera and the 3D camera, 360-degree full-view-angle material sensing can be achieved, and the possibility of repeated grabbing errors of the mechanical arm can be reduced through the design of judging whether grabbing succeeds or not after the mechanical arm is controlled to execute the grabbing step every time.

The invention relates to the technical field of pipeline production, and aims to solve the technical problems of leak detection, high labor intensity of manual repair and the like. In order to solve the technical problem, the invention provides the pipeline robot and the method for detecting and repairing the defects of the inner wall of the pipeline. The pipeline robot comprises a robot body walking in a pipeline; the three-dimensional detection assembly is arranged at the front end of the robot body; a laser of the three-dimensional detection assembly emits a laser beam and forms a light ring on the inner wall of the to-be-detected pipeline; the 3D camera is used for shooting light rings; the lifting assembly is connected with the robot body and the three-dimensional detection assembly to drive the three-dimensional detection assembly to lift; the repairing assembly is arranged at the tail end of the robot body. A polishing brush of the repairing assembly is connected with a rotary power part so as to drive the polishing brush to rotate in the horizontal plane and the vertical plane. According to the invention, surface defects can be detected with high precision and high efficiency, detection and repair are integrated, and labor intensity is reduced.

The utility model discloses a multifunctional mobile platform for detecting, interfering, trapping, striking and picking up an unmanned aerial vehicle. The multifunctional mobile platform comprises a mobile platform and portable reconnaissance and striking equipment which is arranged on the mobile platform and is used for striking the unmanned aerial vehicle, the mobile platform is provided with a positioning navigation antenna for autonomous navigation; the mobile platform is provided with a navigation laser radar for ground environment detection. An unmanned aerial vehicle countering antenna and an unmanned aerial vehicle countering controller are arranged on the mobile platform, and the unmanned aerial vehicle countering controller is in communication connection with the unmanned aerial vehicle countering antenna; a pickup unit is arranged on the moving platform, the pickup unit comprises a mechanical arm mounted on the moving platform, a pickup clamping jaw assembled at the end of the mechanical arm and a 3D camera, and the pickup clamping jaw, the 3D camera and the mechanical arm are in communication connection with the unmanned aerial vehicle countering controller. According to the utility model, the unmanned aerial vehicle countering controller sends a control instruction to the 3D camera and carries out visual search on the forced landing unmanned aerial vehicle; and a control instruction is sent to the mechanical arm and the picking clamping jaw to pick the unmanned aerial vehicle.

The invention particularly discloses a fractured rock mass grouting three-dimensional visualization test device and method, and relates to the technical field of rock mass engineering. The device comprises a test box body, a liquid inlet and outlet system, a monitoring system and a dynamic water environment simulation assembly, the test box body is made of a transparent acrylic material and is composed of an upper cover plate, a lower cover plate, a front cover plate, a rear cover plate, a baffle and two side cover plates, and a core experiment module is arranged in the test box body; the liquid inlet and outlet system is sequentially connected with the liquid holding device, the peristaltic pump, the valve, the Doppler flow velocity sensor and the test box body through rubber pipes; the monitoring system integrates an image collection unit and a data monitoring unit, an industrial-grade 3D camera and a binocular camera achieve visualization of the displacement process, and a fiber bragg grating pressure sensor synchronously collects fracture pressure data and transmits the fracture pressure data to a computer through a multifunctional data collection module. The device can be used for observing the displacement process of the slurry in the three-dimensional fracture in real time, synchronously monitoring key parameters, adapting to complex test working conditions and providing reliable support for grouting law research.

The invention relates to the technical field of automatic production, in particular to an automatic unstacking method for air conditioner condenser cores. According to the technical scheme, the method comprises the following steps that a 3D camera is arranged above a condenser core feeding platform, and the side faces of cooling fins of a condenser core are recognized; a robot is used for driving a clamp to clamp and move the uppermost condenser core to a discharging conveying line according to the two fin side faces, recognized by the 3D camera, of the condenser core; a 2D camera is arranged on the discharging conveying line to recognize and detect the end type of the condenser core, and finally the robot obliquely places the condenser core on the discharging conveying line in the direction that the U-shaped pipe end faces downwards according to the end type of the condenser core. The method has the beneficial effects that the recognition efficiency can be improved on the premise of ensuring the recognition accuracy; and in addition, a 3D recognition method and a 2D recognition method are optimized, the recognition efficiency is further improved, and the automatic unstacking effect is improved.

The invention discloses an intelligent ward patrol robot, and relates to the technical field of intelligent medical robots, the intelligent ward patrol robot comprises a robot body, and the robot body is internally provided with a multi-mode sensing unit, an edge calculation unit, a federal learning unit and a decision execution unit. According to the multi-mode sensing unit, a polarization type 3D camera, a 60 GHz millimeter wave radar and an environment sensor array are integrated in a robot body. By installing the multi-mode sensing unit, the non-contact emotion recognition function is achieved, in combination with contact detection of the intelligent bracelet on the signs of the patient, the bottleneck of non-contact emotion and sign cooperative monitoring is broken through, the emotion sensing ability of the patient is improved, and the medical service quality is improved.

The utility model discloses dimension visual detection equipment based on a 3D camera, and relates to the technical field of detection equipment. The device comprises transportation assemblies, the top of each transportation assembly is provided with a detection assembly, a clamping assembly and an overturning assembly are arranged between the two transportation assemblies, the bottom of each transportation assembly is provided with a lifting assembly, and the lifting end of each lifting assembly is connected with the corresponding clamping assembly. The clamping assembly is jacked through the lifting assembly, so that the clamping end of the clamping assembly can be adjusted according to the height of the automobile parts, and when the overturning assembly drives the automobile parts with different heights to overturn through the clamping assembly, the clamping end of the clamping assembly can be adjusted when the clamping assembly rotates to a preset position. And the automobile parts are also in direct contact with the conveying end of the conveying assembly, so that the automobile parts are prevented from being extruded by the clamping assembly and the conveying assembly, and meanwhile, the automobile parts are prevented from being damaged due to extrusion.

The invention discloses a rotating shaft calibrating and machining method and a machining platform, is applied to the machining platform provided with a 3D camera and a multi-axis movement mechanism, and belongs to the technical field of mechanical machining.The rotating shaft calibrating and machining method comprises the steps that the multi-axis movement mechanism is controlled to drive a calibrating ball to revolve around a rotating shaft, controlling the 3D camera to obtain point cloud data generated by rotation of the calibration ball, and constructing a first transformation matrix from a 3D pixel coordinate system of the 3D camera to a multi-axis space coordinate system of the multi-axis movement mechanism according to the rotation coordinates of the calibration ball driven by the multi-axis movement mechanism and the point cloud data; controlling the 3D camera to obtain a height map scanned by the processing object, extracting a plurality of track feature points according to the height map, and outputting space track data corresponding to the multi-axis space coordinate system according to the track feature points in combination with the first transformation matrix; and the processing platform is controlled to process the processing object according to the space trajectory data, so that the processing precision of the processing object is improved.

A robot laser cleaning track planning method for curved surface parts comprises the steps that images of the curved surface parts are obtained through a 2D camera and a 3D camera, and the images are spliced to obtain a 2D image and a 3D point cloud; identifying dirt position information in the 2D image; converting the dirt position information of the 2D image into a 3D point cloud, and extracting a 3D dirt block; processing each dirt block in the 3D dirt blocks to obtain a track key point; and generating a robot laser cleaning track according to the track key points. According to the trajectory planning method disclosed by the invention, automatic dirt detection is realized by utilizing machine vision, the motion trajectory of the robot is automatically planned, and automatic laser cleaning is realized.

The invention discloses a robot hand-eye positioning method and device based on a 3D camera and a medium, and the method comprises the steps: carrying out the real-time scanning of a scene where a target object is located through the 3D camera, so as to determine the point cloud data of the target object; predicting the motion state of the target object according to a predetermined prediction model to obtain a prediction track, matching the prediction track with the point cloud data scanned in real time to determine a prediction difference, and adjusting the prediction model according to the prediction difference; if the target object is shielded, determining historical point cloud data of the target object, and adjusting the prediction model according to the historical point cloud data; the target object is predicted again through the adjusted prediction model to obtain a prediction result, a preset hand-eye matrix is determined, the prediction result and the hand-eye matrix are mapped to dynamically generate a path of the target object, and an end effector of the robot is controlled to reach a corresponding prediction position according to the path. And grabbing is realized at the predicted position.

A three-dimensional high-precision fixed-point printing method, including: printing, by a printer, a designated calibration pattern to a printing platform; obtaining, by photographing with a 3D camera, a two-dimensional picture and a 3D point cloud; and obtaining a conversion matrix between a printer coordinate system and a camera coordinate system at least based on the two-dimensional picture and the 3D point cloud, where the conversion matrix is regarded as external parameters of the 3D camera.

The invention relates to a tooth profile end face rounding device special for an aero-engine gear and a machining method. The tooth profile end face rounding device comprises a movable platform, a 3D camera, a positioning tool, a special cutter and a computer. Data acquisition is carried out on the gear end face tooth profile in the sealed box body through the 3D camera, the computer generates an accurate machining path according to the acquired data, and then end face tooth profile rounding machining is carried out on the gear on the numerical control machine tool through the special tool. The positioning tool is provided with four gear positioning stations, four gears can be machined at the same time, and the machining efficiency is improved. The positioning tool comprises a bottom plate, a positioning block and a positioning flange, and six-degree-of-freedom complete positioning of the gear is achieved through precise matching. The device has the advantages of being high in machining precision, high in machining efficiency, high in adaptability, stable in machining quality and the like, and meets the machining requirements of aero-engine gears of different specifications and types.

Improved methods and a system for feeding containers and caps into a filling line and a capping line are provided. A 3D vision inspection system identifies a container located proximal to a top of a heap within a containers bin. A first set of robotic arms picks the identified container, places it onto a conveyor input in an upright orientation with the open end of the container facing upwards. The container is then transferred into a conveyor or accumulation table for transport to a filling station. Similarly, a third 3D camera identifies caps within a caps bin. A second set of robotic arms picks the identified caps, places them onto an alignment station, and orients them for placement into the capping line. The system incorporates Artificial Intelligence (AI)-based computer vision models for object identification and orientation, enhancing the reliability and efficiency of automated bottling and capping operations.

The invention discloses a region segmentation and spraying track planning method and system of a mobile composite spraying robot and a storage medium, and belongs to the technical field of industrial robots. The method comprises the steps that a workpiece point cloud is obtained through a three-dimensional camera and preprocessed; extracting a central region based on statistical characteristics, and segmenting the point cloud into plane and curved surface sub-regions by adopting an improved RANSAC algorithm; generating a grating path for the plane area, and generating a path for the curved surface area through Poisson reconstruction, adaptive slicing and two-dimensional projection planning; uniformly controlling the attitude of the spray gun and the normal included angle, and sectionally setting the slice spacing according to the curvature radius; and finally, multi-station spraying is completed through cooperation of the AGV moving platform. According to the full-automatic spraying device, the dependence of traditional spraying on a CAD model is overcome, the technical problems that large workpieces are difficult to cover and the uniformity of curved surface spraying is poor are solved, and high-quality and full-automatic spraying of large complex components is achieved.