The invention relates to the technical field of spraying control, and discloses a
wind power tower wall surface spraying method and
system, and the method comprises the steps: scanning a
wind power tower wall surface through a sensor, obtaining the
surface contour data of the
wind power tower wall surface, and forming reference geometric information; curvature distribution characteristics of the reference geometric information are extracted, key path points are extracted according to the curvature distribution characteristics,
robot kinematics constraints are introduced to carry out
smoothing and coverage completeness
integrated processing on the key path points, and therefore a spraying path is generated; establishing a mapping relation between the curvature of the spraying path and
nozzle parameters, and setting initial values of atomization pressure and
coating flow based on the mapping relation; in the spraying execution process, the real-time thickness
monitoring data and the preset thickness are fused to generate a parameter adjusting instruction, and an
actuator is driven to conduct online correction on spraying parameters; according to the method, accurate
adaptation of the spraying path and the outline of the tower drum and dynamic matching of spraying parameters are achieved, it is ensured that the thickness of the
coating always fits the preset standard, and the stability and
controllability of the spraying process are improved.