CN115476333A - A positioning method and system for a spraying robot - Google Patents

Abstract

The invention provides a positioning method and system for a spraying robot. By acquiring measurement data uploaded by a sensor, and analyzing the edge distance and the edge angle, the real-time pose of the sensor relative to the spraying surface of a workpiece is obtained. Through a set of lidar sensors, the positional relationship between the sensor and the workpiece surface is obtained, and since the installation position relationship between the sensor and the robot chassis is relatively fixed, the positional relationship between the robot chassis and the workpiece surface can be analyzed. Positioning is only related to the surface of the workpiece, free from interference from external factors, no need for pre-scanning and mapping or manual operation (sticking magnets or ribbons), no need for the chassis to be positioned relative to the ground, and then the robot arm is then positioned relative to the spraying surface, the robot can spray according to the workpiece The surface self-adaptive spraying operation improves the positioning accuracy and stability of the spraying robot and reduces the operation complexity.

Description

A positioning method and system for a spraying robot

technical field

The invention relates to the technical field of robot control, in particular to a positioning method and system for a spraying robot.

Background technique

With the rapid development of science and technology, and the inevitable demand for digital transformation of enterprises. As an industrial robot for special operations, spraying robots can not only greatly reduce the labor intensity of workers and improve the working environment, but also meet the requirements of high-efficiency, environmental protection, high-quality and high-quantity spraying, which is an inevitable trend in the development of automated spraying in the future. At present, the spraying of small workpieces or specific scenes (garages, etc.) is easier to achieve, because small workpieces do not need to be moved, and the characteristics of specific scenes are obviously easy to locate. For large-scale workpieces, such as bridge segments, the spraying of tens of meters of workpieces involves the positioning and navigation of the mobile chassis relative to the spraying surface to ensure that the spraying pose of the manipulator conforms to the spraying path planning, otherwise it is difficult to ensure that the chassis is parallel to the spraying surface, thus Lead to spray quality problems. Moreover, the factory building for such large workpieces is generally relatively empty, with few features, and the placement of workpieces is different each time. A set of sensors is needed to detect the characteristics of the workpiece in real time so as to perform closed-loop control of the position navigation of the chassis in real time. However, the surface of the workpiece is generally relatively flat, and there may be no obvious features in a large range. How to ensure the positioning and navigation of the mobile robot relative to the spraying surface when walking, so as to ensure the quality of spraying, is a current technical problem.

In the prior art, the general solutions are magnetic stripes, ribbons, slam (Simultaneous localization and mapping, simultaneous localization and mapping), etc. However, these methods all have: 1) the accuracy is average, usually only centimeter or even decimeter-level accuracy can be achieved, and the workpiece placement has deviations every time, and there is an error between the coordinates of the workpiece and the robot map coordinates, which is difficult to detect and requires additional sensors; 2) The operation is complicated. In the case of magnetic strips or ribbons, operations such as re-positioning are required each time, and the harsh spraying environment may cause paint coverage or other interferences to cause accuracy problems. In the case of slam, because the general large-scale workpiece workshop is large in size and empty, with few feature points, and may change every time it is sprayed, it is necessary to re-operate the robot to walk along the workshop to scan and build maps after each environmental change, which is complicated to operate. Trouble; 3) The stability is poor, and slam is prone to various problems, such as loss of positioning, loss of origin, and difficulty in passing through narrow paths.

Contents of the invention

The problem to be solved by the invention is how to improve the positioning accuracy and stability of the spraying robot and reduce the operation complexity.

In order to solve the above problems, on the one hand, the present invention provides a positioning method for a spraying robot, including:

Acquiring measurement data uploaded by the sensor; wherein the measurement data includes the edge distance from the sensor to the edge position of the workpiece and the edge angle of the edge position of the workpiece relative to the sensor;

According to the edge distance and the edge angle analysis, the real-time pose of the sensor relative to the sprayed surface of the workpiece is obtained;

According to the real-time pose of the sensor and the positional relationship between the sensor and the robot chassis, the real-time pose of the chassis relative to the sprayed surface of the workpiece is obtained;

Obtaining the preset path trajectory of the robot chassis, analyzing and obtaining the control amount of the chassis operation according to the preset path trajectory and the real-time pose of the chassis;

The running track of the robot is corrected according to the control amount of the running of the chassis.

Further, the analyzing and obtaining the real-time pose of the sensor relative to the sprayed surface of the workpiece according to the edge distance and the edge angle includes:

Obtain the projection distance from the projection point of the sensor on the surface of the workpiece to the edge position of the workpiece according to the edge distance and the edge angle analysis;

Obtaining sensor space coordinates and sensor rotation matrix according to the analysis of the edge distance, the edge angle and the projection distance;

The real-time pose of the sensor relative to the sprayed surface of the workpiece is obtained according to the sensor space coordinates and the sensor rotation matrix.

Further, the obtaining the projection distance from the projection point of the sensor on the surface of the workpiece to the edge position of the workpiece according to the edge distance and the edge angle analysis includes:

In combination with the law of cosines, according to the analysis of the edge distance and the edge angle, the projection distance from the projection point of the sensor on the surface of the workpiece to the edge position of the workpiece is obtained; wherein the projection distance is:

Wherein, said L1 represents the distance from the sensor projection point to the workpiece calibration edge; d0 represents the distance between the sensor and the workpiece surface when the sensor deflection angle is 0°; d1 represents the straight-line distance from the sensor to the calibration edge line; _θ1 represents the calibration edge corresponding The edge angle of , that is, the angle between the line from the sensor to the calibration edge and d0.

Further, the sensor rotation matrix is:

Among them, α=90-(θ ₁ +θ ₁ ');

R represents the rotation matrix of the chassis rotating around the y-axis; the forward direction of the robot chassis is defined as the positive direction, α represents the angle between the forward direction of the robot chassis and the x-axis; θ ₁ ' represents the angle between the straight line L1 and d1.

Further, the real-time pose of the sensor is:

Among them, R represents the sensor rotation matrix, and P represents the sensor space coordinates;

The real-time pose of the chassis is:

Among them, R0 represents the chassis rotation matrix, P0 represents the space coordinates of the chassis, and T0' represents the rotation matrix of the sensor relative to the chassis.

Further, the control amount is:

u=K _p *(tt _j )+K _d *(dt-dt _j );

Among them, u represents the control amount, t=[α,P0]' represents the real-time pose of the chassis, tj=[αj,Pj]' represents the preset path trajectory, Kp represents the gain coefficient, Kd represents the differential coefficient, dt represents the chassis speed or Angular velocity; dtj represents the preset velocity or angular velocity.

Further, the positioning method of the spraying robot also includes:

According to the real-time pose of the sensor and the positional relationship between the sensor and the base of the manipulator, the real-time pose of the base of the base of the manipulator relative to the sprayed surface of the workpiece is obtained;

Obtaining the preset spraying path of the base of the manipulator, analyzing and obtaining the real-time pose of the end of the manipulator according to the preset spraying path and the real-time pose of the base;

Send the real-time pose of the end of the robotic arm to the robotic arm controller to control the robotic arm.

Further, the real-time pose of the base is:

Among them, R1 represents the rotation matrix of the manipulator base, P1 represents the space coordinates of the manipulator base, R represents the sensor rotation matrix, P represents the sensor space coordinates, and T1’ represents the rotation matrix of the sensor relative to the manipulator base.

Further, the real-time pose of the end of the mechanical arm is:

T=inv(T1)*Tk;

Wherein, the T1 represents the real-time pose of the base, and TK represents the preset spraying path of the base of the robotic arm.

In another aspect, the present invention also provides a positioning system for a spraying robot, including:

A data acquisition module, configured to acquire measurement data uploaded by the sensor; wherein the measurement data includes the edge distance from the sensor to the edge position of the workpiece and the edge angle of the edge position of the workpiece relative to the sensor;

The sensor pose analysis module is used to analyze and obtain the real-time pose of the sensor relative to the sprayed surface of the workpiece according to the edge distance and the edge angle analysis;

The chassis pose analysis module is used to obtain the real-time pose of the chassis relative to the workpiece sprayed surface according to the real-time pose of the sensor and the positional relationship between the sensor and the robot chassis;

The control quantity analysis module is used to obtain the preset path trajectory of the robot chassis, and analyze and obtain the control quantity of the chassis operation according to the preset path trajectory and the real-time pose of the chassis;

A correction module, configured to correct the running track of the robot according to the control amount of the running of the chassis.

Compared with the prior art, the present invention has the following beneficial effects:

A positioning method and system for a spraying robot provided by the present invention can obtain the positional relationship between the sensor and the workpiece surface through, for example, a set of laser radar sensors, and since the installation positional relationship between the sensor and the robot chassis is relatively fixed, it can further Analyze the positional relationship between the robot chassis and the workpiece surface. At this time, the positioning of the robot is only related to the workpiece surface and is not disturbed by external factors. It does not require pre-scanning and mapping or manual operations (sticking magnets or ribbons), and no chassis After positioning relative to the ground, the robotic arm is then positioned relative to the spraying surface. The robot can adapt to the spraying operation according to the spraying surface of the workpiece, improving the positioning accuracy and stability of the spraying robot and reducing the complexity of the operation.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will give a brief introduction to the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 shows the spraying flowchart of traditional spraying robot;

Fig. 2 shows a flow chart of a chassis positioning method for a painting robot in an embodiment of the present invention;

Fig. 3 shows the schematic diagram of the positional relationship between the spraying robot and the large workpiece in the embodiment of the present invention;

Fig. 4 shows a schematic diagram of the position of the sensor in the XY plane in the embodiment of the present invention;

Fig. 5 shows a schematic diagram of the spatial position of the sensor in the XZ plane in the embodiment of the present invention;

Fig. 6 shows a schematic structural diagram of a positioning system of a spraying robot in an embodiment of the present invention;

Fig. 7 shows the working flow chart of the spraying robot in the embodiment of the present invention.

detailed description

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

The specific process of the traditional ribbon, magnetic stripe or slam solution is shown in Figure 1. After each workpiece is placed, it needs to be manually measured to attach the magnetic stripe or ribbon. This link requires manual operation and the accuracy is poor. If you use slam, you may need to re-build the map, because the position of the pier supporting the workpiece may be different each time. Then the robot needs to specify the starting position, which can be done by remote control or self-navigation, and then spraying operation. After completion, repeat the operation after the next workpiece is in place. The essence of these positioning methods is that the chassis is positioned relative to the earth coordinate system, not relative to the spraying surface. If the spraying requirements are high, it is necessary to install additional redundant sensors on the robotic arm for precise positioning of the spraying.

Fig. 2 shows a flow chart of a chassis positioning method for a painting robot in an embodiment of the present invention, the positioning method of the painting robot includes:

Step 1: Obtain measurement data uploaded by the sensor; wherein the measurement data includes the edge distance from the sensor to the edge position of the workpiece and the edge angle of the edge position of the workpiece relative to the sensor;

Step 2: According to the edge distance and the edge angle analysis, the real-time position and orientation of the sensor relative to the sprayed surface of the workpiece is obtained;

Step 3: According to the real-time pose of the sensor and the positional relationship between the sensor and the robot chassis, obtain the real-time pose of the chassis relative to the sprayed surface of the workpiece;

Step 4: Obtain the preset path trajectory of the robot chassis, and analyze and obtain the control amount of the chassis operation according to the preset path trajectory and the real-time pose of the chassis;

Step 5: Correcting the running track of the robot according to the control amount of the running of the chassis.

Specifically, take the schematic diagram of the positional relationship between the spraying robot and the large workpiece shown in Figure 3 as an example. Two single-line laser radars are installed on the pillars fixed to the robot chassis. The two laser radars detect the edge of the workpiece for positioning and navigation. Taking the spraying of a cuboid box as an example (other complex structural workpieces can be simplified into a convex body and decomposed into several rectangles for problem simplification), in Figure 3, two single-line lasers placed horizontally and vertically are deployed on the robot chassis Radar, and two laser radars complement each other. Usually, the detection radius of the laser can reach more than ten meters or even tens of meters, so the four edges of the workpiece can be detected. Usually, the scanning frequency of lidar can reach tens of hertz, so the chassis can calculate according to the radar scanning information, and perform closed-loop control in real time. It should be noted that the single-line radar sensor can replace any other sensor that scans to the edge, and there is no limitation here.

Through a set of lidar sensors, for example, the positional relationship between the sensor and the workpiece surface can be obtained, and since the installation position relationship between the sensor and the robot chassis is relatively fixed, the positional relationship between the robot chassis and the workpiece surface can be analyzed. When the positioning of the robot is only related to the surface of the workpiece, it is not disturbed by external factors. It does not require pre-scanning and mapping or manual operation (sticking magnets or ribbons), and it does not need to position the chassis relative to the ground and then position the robot arm relative to the spraying surface. According to the self-adaptive spraying operation on the sprayed surface of the workpiece, the positioning accuracy and stability of the spraying robot are improved and the operation complexity is reduced.

Further, step 2: analyzing and obtaining the real-time pose of the sensor relative to the sprayed surface of the workpiece according to the edge distance and the edge angle includes:

Step 20: Obtain the projection distance from the projection point of the sensor on the workpiece surface to the edge position of the workpiece according to the edge distance and the edge angle analysis.

According to the schematic diagram of the position relationship shown in Figure 3, a spatial coordinate system is established at the apex of the lower left corner of the box, where the origin of the coordinate system coincides with the apex of the box, where the X-axis of the coordinate system coincides with the long side of the shape, and the Y-axis of the coordinate system coincides with the long side of the body. The height of the box coincides, and the Z axis of the coordinate system coincides with the wide side of the box. Figure 4 shows a schematic diagram of the position of the sensor in the XY plane in the embodiment of the present invention. From the xy coordinate plane in the figure, the projection distance between the sensor and the four sides of the workpiece is L1, L2, L3, and L4. From this, it can be known that the coordinates of the sensor point P in the XY coordinate plane are (L1, L3).

Fig. 5 shows a schematic diagram of the spatial position of the sensor in the XZ plane in the embodiment of the present invention. Generally, the radar will provide the angle and distance information of each point scanned, and the angle and distance of the four edge positions relative to the sensor can be easily judged by the distance mutation. The distance (θ, d), and the distance d0 when the sensor is 0°, the forward direction and speed of the chassis are Vx.

L1-L4 can be calculated according to the cosine theorem, and the projection distance from the projection point of the sensor on the workpiece surface to the edge position of the workpiece can be obtained according to the edge distance and the edge angle analysis; where the projection distance L1 is taken as an example:

Wherein, said L1 represents the distance from the sensor projection point to the workpiece calibration edge; d0 represents the distance between the sensor and the workpiece surface when the sensor deflection angle is 0°; d1 represents the straight-line distance from the sensor to the calibration edge line; _θ1 represents the calibration edge corresponding The edge angle of , that is, the angle between the line from the sensor to the calibration edge and d0.

Step 21: Analyzing and obtaining the sensor space coordinates and the sensor rotation matrix according to the edge distance, the edge angle, and the projection distance.

The sensor space coordinates are:

in,

Define the forward direction of the robot chassis as the positive direction, its rotation angle around the y-axis and the angle between the xz plane and the x-axis is α, and the rotation matrix of the sensor around the y-axis is:

Among them, α=90-(θ ₁ +θ ₁ ')

R represents the rotation matrix of the chassis rotating around the y-axis; the forward direction of the robot chassis is defined as the positive direction, and α represents the angle between the forward direction Vx of the robot chassis and the x-axis. It should be noted that, in Figure 5, d0 is always the same as Vx Vertically, when Vx deflects, an angle is formed between Vx and the straight line where L1L2 is located or deviates from the straight line where L1L2 is located; θ ₁ ′ indicates the included angle between straight line L1 and d1.

Step 22: Obtain the real-time pose of the sensor relative to the sprayed surface of the workpiece according to the sensor space coordinates and the sensor rotation matrix.

Since the sensor and the chassis are fixedly connected, in the coordinate system, the sensor and the chassis can calculate the rotation matrix T0' of the chassis relative to the sensor through the designed size, and combine the relationship between the sensor and the workpiece surface, and further calculate the relative The real-time pose of the workpiece surface is:

Among them, R0 represents the chassis rotation matrix, P0 represents the space coordinates of the chassis, and T0' represents the rotation matrix of the sensor relative to the chassis.

表示传感器实时位姿，其中，R表示传感器旋转矩阵，P表示传感器空间坐标。In the final expression of T0,

Represents the real-time pose of the sensor, where R represents the sensor rotation matrix, and P represents the sensor space coordinates.

During the spraying process, two situations can be adopted: spraying while walking or spraying while stopping. Because the chassis attitude can only rotate along the y-axis, the trajectory of the robot chassis is simplified, expressed as being related to the angle and position of the y-axis. The robot chassis needs to plan a path trajectory tj=[αj,Pj]' in advance, where αj represents the forward direction of the chassis The included angle with the y-axis, Pj represents the position coordinates of the chassis relative to the origin of the coordinate system.

The chassis is based on the real-time pose t=[α,P0]’, α is equal to the angle of rotation around the y-axis calculated in real time in the above formula, P0 is equal to the real-time position of the chassis in the above formula T0, and a real-time closed loop is performed, and the calculated control amount is:

u=K _p *(tt _j )+K _d *(dt-dt _j );

Among them, u represents the control amount, which can be determined according to the specific input speed or torque of the chassis; t=[α,P0]' represents the real-time pose of the chassis, tj=[αj,Pj]' represents the preset path trajectory, and Kp represents the gain coefficient , Kd represents the differential coefficient, dt represents the derivation of the real-time pose of the chassis or the speed or angular velocity of the chassis; dtj represents the preset speed or angular velocity. The running track of the robot is corrected according to the control amount of the running of the chassis.

In an embodiment of the present invention, the positioning method of the spraying robot also includes:

Step 6: According to the real-time pose of the sensor and the positional relationship between the sensor and the base of the manipulator, obtain the real-time pose of the base of the base of the manipulator relative to the sprayed surface of the workpiece;

Similarly, since the connection relationship between the base of the manipulator and the base of the robot is relatively fixed, the positional relationship between the base of the manipulator and the sensor is fixed. Through the design size, it is the same as the process of calculating the real-time pose of the robot chassis above. The real-time pose of the base of the robotic arm is:

Among them, R1 represents the rotation matrix of the manipulator base, P1 represents the space coordinates of the manipulator base, R represents the sensor rotation matrix, P represents the sensor space coordinates, and T1’ represents the rotation matrix of the sensor relative to the manipulator base.

Step 7: Obtain the preset spraying path of the base of the robotic arm, and analyze and obtain the real-time pose of the end of the robotic arm according to the preset spraying path and the real-time pose of the base.

Similarly, the robotic arm should also have a planned preset spraying path tk=Tk, where Tk is a four-dimensional pose matrix in the same form as T1. The control of the robot arm can be controlled by calculating the pose of the end of the robot arm relative to the base of the robot arm. for:

T=inv(T1)*Tk;

Wherein, inv(T1) is an operation for inverting T1. This T contains the pose of the end of the manipulator relative to the base of the manipulator.

Step 8: Send the real-time pose of the end of the robotic arm to the robotic arm controller, and the controller can calculate the angles of each joint and control the robotic arm.

Fig. 6 shows a schematic structural diagram of a positioning system of a spraying robot in an embodiment of the present invention, the positioning system of the spraying robot includes:

The data acquisition module 100 is used to acquire the measurement data uploaded by the sensor; wherein the measurement data includes the edge distance from the sensor to the edge position of the workpiece and the edge angle of the edge position of the workpiece relative to the sensor;

The sensor pose analysis module 200 is used to analyze and obtain the real-time pose of the sensor relative to the sprayed surface of the workpiece according to the edge distance and the edge angle analysis;

The chassis pose analysis module 300 is used to obtain the real-time pose of the chassis relative to the workpiece spraying surface according to the real-time pose of the sensor and the positional relationship between the sensor and the robot chassis;

The control quantity analysis module 400 is used to obtain the preset path trajectory of the robot chassis, and analyze and obtain the control quantity of the chassis operation according to the preset path trajectory and the real-time pose of the chassis;

The correction module 500 is configured to correct the running trajectory of the robot according to the control amount of the chassis running.

Fig. 7 shows the work flow chart of the spraying robot in the embodiment of the present invention, the workpiece is placed in the specified position, the accuracy requirement for the workpiece placement is relatively loose at this time, only the workpiece needs to be near the specified position, and the robot also starts at this time Starting from the starting point, the sensor starts to measure and collect data at or before departure, feeds the data back to the system, and corrects and adjusts the path trajectory of the robot and the pose of the end of the mechanical arm in real time. After the spraying is completed, keep a certain distance from the workpiece, and use the sensor to locate the workpiece to ensure that the workpiece is not damaged during the process of placing the workpiece, and realize unmanned operation.

Although the present invention has been described in detail with reference to the aforementioned embodiments, those of ordinary skill in the art should understand that: it can still modify the technical solutions described in the aforementioned embodiments, or perform equivalent replacements for some of the technical features; and these The modification or replacement does not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims (10)

1. A positioning method for a spraying robot, characterized in that, comprising: Acquiring measurement data uploaded by the sensor; wherein the measurement data includes the edge distance from the sensor to the edge position of the workpiece and the edge angle of the edge position of the workpiece relative to the sensor; According to the edge distance and the edge angle analysis, the real-time pose of the sensor relative to the sprayed surface of the workpiece is obtained; According to the real-time pose of the sensor and the positional relationship between the sensor and the robot chassis, the real-time pose of the chassis relative to the sprayed surface of the workpiece is obtained; Obtaining the preset path trajectory of the robot chassis, and analyzing and obtaining the control amount of the chassis operation according to the preset path trajectory and the real-time pose of the chassis; The running track of the robot is corrected according to the control amount of the running of the chassis. 2. the positioning method of spraying robot according to claim 1, is characterized in that, described according to described edge distance and described edge angle analysis and obtains the sensor real-time pose of described sensor relative to workpiece spraying surface comprises: Obtain the projection distance from the projection point of the sensor on the surface of the workpiece to the edge position of the workpiece according to the edge distance and the edge angle analysis; Obtaining sensor space coordinates and sensor rotation matrix according to the analysis of the edge distance, the edge angle and the projection distance; The real-time pose of the sensor relative to the sprayed surface of the workpiece is obtained according to the sensor space coordinates and the sensor rotation matrix. 3. The positioning method of the spraying robot according to claim 2, characterized in that, according to the analysis of the edge distance and the edge angle, the projection point of the sensor on the workpiece surface to the edge position of the workpiece is obtained The throw distances include: In combination with the law of cosines, according to the analysis of the edge distance and the edge angle, the projection distance from the projection point of the sensor on the surface of the workpiece to the edge position of the workpiece is obtained; wherein the projection distance is:

Among them, L1 represents the distance from the sensor projection point to the calibration edge of the workpiece; d0 represents the distance between the sensor and the workpiece surface when the sensor deflection angle is 0°; d1 represents the straight-line distance from the sensor to the calibration edge; _θ1 represents the edge corresponding to the calibration edge Angle, that is, the angle between the line connecting the sensor to the calibration edge and d0. 4. the positioning method of spraying robot according to claim 3, is characterized in that, described sensor rotation matrix is:

Among them, α=90-(θ ₁ +θ ₁ ');

R represents the rotation matrix of the chassis rotating around the y-axis; the forward direction of the robot chassis is defined as the positive direction, α represents the angle between the forward direction of the robot chassis and the x-axis; θ ₁ ' represents the angle between the straight line L1 and d1. 5. the positioning method of spraying robot according to claim 4, is characterized in that, described sensor real-time pose is:

Among them, R represents the sensor rotation matrix, and P represents the sensor space coordinates; The real-time pose of the chassis is:

Among them, R0 represents the chassis rotation matrix, P0 represents the space coordinates of the chassis, and T0' represents the rotation matrix of the sensor relative to the chassis. 6. the positioning method of spraying robot according to claim 5, is characterized in that, described control amount is: u=K _p *(tt _j )+K _d *(dt-dt _j ); Among them, u represents the control amount, t=[α,P0]' represents the real-time pose of the chassis, tj=[αj,Pj]' represents the preset path trajectory, Kp represents the gain coefficient, Kd represents the differential coefficient, dt represents the chassis speed or Angular velocity; dtj represents the preset velocity or angular velocity. 7. the positioning method of spraying robot according to claim 1, is characterized in that, also comprises: According to the real-time pose of the sensor and the positional relationship between the sensor and the base of the manipulator, the real-time pose of the base of the base of the manipulator relative to the sprayed surface of the workpiece is obtained; Obtaining the preset spraying path of the base of the manipulator, analyzing and obtaining the real-time pose of the end of the manipulator according to the preset spraying path and the real-time pose of the base; Send the real-time pose of the end of the robotic arm to the robotic arm controller to control the robotic arm. 8. the positioning method of spraying robot according to claim 7, is characterized in that, described base real-time pose is:

Among them, R1 represents the rotation matrix of the manipulator base, P1 represents the space coordinates of the manipulator base, R represents the sensor rotation matrix, P represents the sensor space coordinates, and T1’ represents the rotation matrix of the sensor relative to the manipulator base. 9. The positioning method of the spraying robot according to claim 8, wherein the real-time pose of the end of the mechanical arm is: T=inv(T1)*Tk; Wherein, the T1 represents the real-time pose of the base, and TK represents the preset spraying path of the base of the robotic arm. 10. A positioning system for a spraying robot, comprising: A data acquisition module, configured to acquire measurement data uploaded by the sensor; wherein the measurement data includes the edge distance from the sensor to the edge position of the workpiece and the edge angle of the edge position of the workpiece relative to the sensor; The sensor pose analysis module is used to analyze and obtain the real-time pose of the sensor relative to the sprayed surface of the workpiece according to the edge distance and the edge angle analysis; The chassis pose analysis module is used to obtain the real-time pose of the chassis relative to the workpiece sprayed surface according to the real-time pose of the sensor and the positional relationship between the sensor and the robot chassis; The control quantity analysis module is used to obtain the preset path trajectory of the robot chassis, and analyze and obtain the control quantity of the chassis operation according to the preset path trajectory and the real-time pose of the chassis; A correction module, configured to correct the running track of the robot according to the control amount of the running of the chassis.

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