CN116128878A - Intelligent spraying track generation method and system based on automobile sheet metal - Google Patents

Abstract

The invention discloses an intelligent spraying track generation method and system based on automobile sheet metal, and relates to the technical field of spraying track generation; the intelligent spray track generation method comprises the steps of collecting a spray area of an automobile, analyzing and spraying a primer track, analyzing and spraying a middle primer track, analyzing and spraying a finish track, spraying a spray area, inspecting and repairing the spray track; the spraying sequence and the spraying track of the spraying robot in the spraying of the priming paint, the intermediate priming paint and the finishing paint of each area to be sprayed in the target spraying automobile are analyzed and sprayed, so that the spraying quality of the target spraying automobile is analyzed, the spraying unqualified area is subjected to complementary spraying, the defects existing in the prior art are overcome, intelligent and automatic spraying in the automobile sheet metal is realized, the pertinence of the spraying robot in analyzing the spraying tracks in different spraying processes is ensured, and meanwhile, the spraying efficiency and the effect are also greatly improved.

Description

Intelligent spraying track generation method and system based on automobile sheet metal

Technical Field

The invention relates to the technical field of spray track generation, in particular to an intelligent spray track generation method and system based on automobile metal plates.

Background

The automobile sheet metal is one of maintenance modes after the automobile appearance is damaged, and when the automobile is repaired through the automobile sheet metal, the paint spraying treatment on the damaged area of the automobile is an important process for repairing the automobile body, and meanwhile, along with the development of technology, paint spraying robots are more and more popular in the automobile repair industry, so that the spray track of the paint spraying robots in the automobile sheet metal is required to be analyzed.

In the prior art, the spraying track analysis of the spraying robot mainly generates the spraying track according to the model and the color of the automobile, and obviously, the generation mode has at least the following problems:

1. the automobile sheet metal paint spraying process comprises a primer treatment, a middle primer treatment and a finish paint spraying, the corresponding effects of different paint spraying processes are different, the spraying track of a paint spraying robot is not subjected to targeted analysis according to different paint spraying processes in the prior art, the vehicle spraying effect is reduced, on the other hand, the area and the position of each area to be sprayed in the primer treatment are not analyzed, the rationality of the paint spraying sequence when the paint spraying robot corresponds to the primer can not be ensured, the paint spraying time in the subsequent paint spraying process is further influenced, and the paint spraying efficiency of the paint spraying robot is reduced.

2. The middle priming paint treatment has the function of filling defects, the prior art does not analyze the spraying sequence of the middle priming paint corresponding to the spraying robot according to the spraying thickness and the spraying amount of each area to be sprayed in the automobile, and further influences the uniformity of the priming setting time in each area to be sprayed, thereby influencing the time for starting spraying of the follow-up finishing paint, failing to reduce the total time of vehicle spraying, and influencing the attaching effect of the finishing paint to a certain extent.

Disclosure of Invention

To solve the above problems; the invention aims to provide an intelligent spraying track generation method and system based on automobile metal plates.

In order to solve the technical problems, the invention adopts the following technical scheme: the invention provides an intelligent spraying track generation method based on automobile sheet metal in a first aspect, which comprises the following steps: step one, collecting a spray painting area of an automobile: and acquiring images corresponding to the target paint spraying automobiles in the specified automobile maintenance factories, and further extracting all areas to be painted corresponding to the target paint spraying automobiles.

Step two, analyzing and spraying a primer track: the method comprises the steps of obtaining the corresponding area and position of each area to be painted in a target paint-spraying automobile, analyzing the paint spraying sequence of the primer corresponding to each area to be painted in the target paint-spraying automobile, and further analyzing the paint spraying track of the primer corresponding to each area to be painted in the target paint-spraying automobile, so that the primer is sprayed.

Thirdly, analyzing and spraying a primer-coated track: the method comprises the steps of obtaining the thickness and the paint spraying amount of the intermediate primer corresponding to each area to be painted in a target paint spraying automobile, analyzing the paint spraying sequence of the intermediate primer corresponding to each area to be painted in the target paint spraying automobile, further analyzing the paint spraying track of the intermediate primer corresponding to each area to be painted in the target paint spraying automobile, and spraying the intermediate primer.

Fourthly, analyzing and spraying the track of the finish paint: the method comprises the steps of obtaining the colors to be sprayed corresponding to all areas to be sprayed in a target spray-painted automobile and the colors to be sprayed corresponding to all spray-painted robots in a specified automobile maintenance factory, analyzing the spray-painted track of each spray-painted robot in all areas to be sprayed in the target spray-painted automobile, and spraying the finish paint.

Step five, checking a paint spraying area: and acquiring images of the target spray paint automobile corresponding to all areas to be sprayed after the spray paint is finished, and further screening out all target repair spray areas corresponding to the target spray paint automobile.

Step six, analyzing and spraying the supplementary spraying track: and analyzing the complementary spraying track of each target complementary spraying area in the target spray-painted automobile by each spray-painted robot, and further carrying out complementary spraying.

Optionally, the analyzing the paint spraying sequence of the primer corresponding to each area to be painted in the target paint spraying automobile comprises the following specific analyzing process: according to the position of each region to be painted in the target painted automobile, the distance between each region to be painted and each adjacent region to be painted is obtained and recorded as

I represents the number corresponding to the area to be painted, < >>

，

Numbers corresponding to adjacent areas to be painted, < ->

And further analyzing and obtaining the paint spraying priority evaluation coefficients of the corresponding priming paint of each region to be painted in the target paint spraying automobile.

Arranging the paint spraying priority evaluation coefficients of the priming paint corresponding to each region to be painted in the target paint spraying automobile according to a descending order, taking the region to be painted with the first rank as a first priming paint spraying region, comparing the paint spraying priority evaluation coefficients of the first priming paint spraying region corresponding to each adjacent region to be painted, and selecting the adjacent region to be painted corresponding to the largest paint spraying priority evaluation coefficient as a second priming paint spraying region, thereby obtaining the paint spraying order of the priming paint corresponding to each region to be painted in the target paint spraying automobile according to the analysis mode of the second priming paint spraying region.

Optionally, the analysis obtains a paint spraying priority evaluation coefficient of the corresponding primer coat of each area to be painted in the target paint spraying automobile, and the specific analysis process is as follows: by calculation formula

Obtaining a paint spraying priority evaluation coefficient of the corresponding primer in each region to be painted in the target painted automobile +.>

Wherein->

Representing the corresponding area of the ith area to be painted in the target painted automobile, L is the set distance between the reference areas to be painted,/for the target painted automobile >

、

Respectively setting weight factors corresponding to the areas of the areas to be sprayed and the distances between the areas to be sprayed.

Optionally, the analyzing the paint spraying track of the primer corresponding to each area to be painted in the target paint spraying automobile comprises the following specific analyzing process: extracting the outline corresponding to each region to be painted in the target paint spraying automobile based on the image corresponding to the target paint spraying automobile, and comparing the outline corresponding to each region to be painted with the primer painting track corresponding to each region to be painted stored in the cloud database to obtain the primer painting track corresponding to each region to be painted in the target paint spraying automobile.

Optionally, the analyzing the paint spraying sequence of the primer in each area to be painted in the target paint spraying automobile corresponds to the specific analyzing process as follows: and analyzing and obtaining a paint spraying priority evaluation coefficient of the middle priming paint corresponding to each region to be painted in the target paint spraying automobile according to the thickness and the paint spraying amount of the middle priming paint corresponding to each region to be painted in the target paint spraying automobile.

The paint spraying priority evaluation coefficients of the middle priming paint corresponding to each region to be painted in the target paint spraying automobile are compared with each other, the region to be painted corresponding to the largest paint spraying priority evaluation coefficient is selected as a first middle priming paint spraying region, the paint spraying priority evaluation coefficients of the first middle priming paint spraying region corresponding to each adjacent region to be painted are compared, the adjacent region to be painted corresponding to the largest paint spraying priority evaluation coefficient is selected as a second middle priming paint spraying region, and the paint spraying sequence of the middle priming paint corresponding to each region to be painted in the target paint spraying automobile is obtained in this way.

Optionally, the analyzing the paint spraying track of the primer in each area to be painted in the target paint spraying automobile comprises the following specific analyzing process: extracting standard paint spraying tracks corresponding to the intermediate priming paint in each paint spraying thickness in the outline of each paint spraying area from the cloud database, and further obtaining standard paint spraying tracks corresponding to the intermediate priming paint in each area to be painted in the target paint spraying automobile.

And analyzing and obtaining each reference paint spraying track of each intermediate primer corresponding to each area to be painted in the target paint spraying automobile according to the paint spraying area outline, the paint spraying thickness and the paint spraying track of the intermediate primer corresponding to each historical paint spraying stored in the cloud database.

Obtaining standard paint track points from standard paint track of primer in the corresponding middle paint region of each target paint spraying automobile, obtaining reference paint track points in each reference paint spraying track in a similar way, further guiding each standard paint track point of primer in the corresponding middle paint region of each target paint spraying automobile and each reference paint spraying track point in each reference paint spraying track into a set three-dimensional coordinate system to obtain three-dimensional coordinates of each standard paint track point of primer in the corresponding middle paint region of each target paint spraying automobile and each reference paint spraying track point in each reference paint spraying track, and calculating the three-dimensional coordinates of each standard paint track point of primer in the corresponding middle paint spraying region of each target paint spraying automobile and each reference paint spraying track point in each reference paint spraying track through weighted average to obtain the position coordinates of each paint spraying track point of primer in the corresponding middle paint spraying region of each target paint spraying automobile, thereby obtaining the primer in the corresponding middle paint spraying region of each target paint spraying automobile.

Optionally, the analyzing the paint spraying track of each painting robot in each area to be painted in the target paint spraying automobile comprises the following specific analyzing process: and obtaining each region to be sprayed corresponding to each paint spraying robot according to the paint spraying color corresponding to each paint spraying robot and the color to be sprayed corresponding to each region to be sprayed in the target paint spraying automobile.

The spraying times of the spraying robots corresponding to the areas to be sprayed are obtained, and then the spraying sequence of the spraying robots corresponding to the areas to be sprayed is obtained according to the spraying times and the areas of the spraying robots corresponding to the areas to be sprayed.

Based on the outline, the painting times and the painting track of the painting area corresponding to each historical painting of each painting robot stored in the cloud database, analyzing and obtaining the painting track of each painting robot in each painting area to be painted in the target painting automobile according to the analysis mode of the painting track of each painting area to be painted in the target painting automobile.

Optionally, the screening process is as follows: based on the image of each region to be sprayed corresponding to the target spray-painted automobile after the spray painting is finished, analyzing to obtain the spray quality evaluation coefficient of each region to be sprayed corresponding to the target spray-painted automobile, comparing the spray quality evaluation coefficient of each region to be sprayed with a preset standard spray quality evaluation coefficient, if the spray quality evaluation coefficient of a certain region to be sprayed is smaller than the preset standard spray quality evaluation coefficient, judging that the spray quality of the target complementary spray region is unqualified, positioning a sub region with unqualified spray quality in the region to be sprayed, marking the sub region as a target complementary spray region, and obtaining each target complementary spray region corresponding to the target spray-painted automobile in this way.

Optionally, the analysis of the repair spray trajectory of each target repair spray area in the target spray vehicle by each spray robot is performed by the following specific analysis process: extracting the complementary spraying color and the complementary spraying paint consistency of the target complementary spraying areas corresponding to the target spray-painted automobiles, obtaining the complementary spraying areas corresponding to the spray-painted robots based on the spray-painted colors corresponding to the spray-painted robots, and simultaneously obtaining the complementary spraying paint consistency of the complementary spraying areas corresponding to the target complementary spraying areas corresponding to the spray-painted robots, and further sequencing the complementary spraying paint consistency of the complementary spraying areas corresponding to the target complementary spraying areas corresponding to the spray-painted robots from large to small, so as to obtain the complementary spraying sequence of the complementary spraying areas corresponding to the target complementary spraying areas corresponding to the spray-painted robots according to the sequencing result.

Based on the outline, the painting times and the painting track of the painting area corresponding to each historical painting of each painting robot stored in the cloud database, and according to the analysis mode of the painting track of the primer in the corresponding middle painting of each area to be painted in the target painting automobile, the repair painting track of each painting robot to each target repair painting area in the target painting automobile is obtained through analysis.

The invention provides an intelligent spraying track generation system based on automobile sheet metal in a second aspect, which comprises the following components: the automobile paint spraying area acquisition module is used for acquiring each area to be painted corresponding to the target paint spraying automobile.

The primer track analysis and spraying module is used for analyzing the spraying sequence of the primer corresponding to each region to be sprayed in the target spray-painted automobile, and further analyzing the spraying track of the primer corresponding to each region to be sprayed in the target spray-painted automobile, so that the primer is sprayed.

The middle priming paint track analysis and spraying module is used for analyzing the spraying sequence of the middle priming paint corresponding to each region to be sprayed in the target spray-painted automobile, further analyzing the spraying track of the middle priming paint corresponding to each region to be sprayed in the target spray-painted automobile, and spraying the middle priming paint.

The paint track analysis and spraying module is used for obtaining paint colors to be sprayed corresponding to all areas to be sprayed in the target paint spraying automobile and paint colors to be sprayed corresponding to all paint spraying robots in an appointed automobile maintenance factory, analyzing paint spraying tracks of all the paint spraying robots in all the areas to be sprayed in the target paint spraying automobile, and spraying the paint.

The paint spraying area inspection module is used for collecting images of the target paint spraying automobile corresponding to all areas to be painted after paint spraying is finished, and then screening out all target repair spraying areas corresponding to the target paint spraying automobile.

And the spray repair track analysis and spray coating module is used for analyzing the spray repair track of each target spray repair area in the target spray painting automobile by each spray painting robot so as to perform spray repair.

The cloud database is used for storing the primer painting track corresponding to the outline of each painting area and the standard painting track corresponding to the middle priming paint thickness, storing the outline of the painting area, the painting thickness and the painting track corresponding to each historical painting, and storing the outline of the painting area, the painting times and the painting track corresponding to each historical painting of each painting robot.

Compared with the prior art, the invention has the beneficial effects that:

1. according to the intelligent spraying track generation method and system based on the automobile sheet metal, the spraying sequence and the spraying track of the spraying robot in the spraying of the priming paint, the intermediate priming paint and the finishing paint of each area to be sprayed in the target spraying automobile are analyzed and sprayed, so that the spraying quality of the target spraying automobile is analyzed, the spraying unqualified area is subjected to complementary spraying, the defects of the prior art are overcome, intelligent and automatic spraying in the automobile sheet metal is realized, the pertinence of the spraying robot in analyzing the spraying track in different spraying processes is ensured, and the spraying efficiency and effect are greatly improved.

2. According to the invention, in the process of analyzing and spraying the track of the primer, the spray painting sequence of the primer is analyzed according to the area and the position of each region to be sprayed in the primer treatment, so that the rationality of the spray painting sequence of the primer corresponding to the primer by the spray painting robot is ensured, and the spray painting efficiency of the spray painting robot is further improved.

3. According to the method, in the middle priming paint track analysis and spraying, the spraying sequence of the middle priming paint is analyzed according to the thickness and the spraying amount of the middle priming paint corresponding to each area to be sprayed in the target spray-painted automobile, and the spraying track corresponding to each area to be sprayed is analyzed according to the standard spraying track and the historical spraying track corresponding to each area to be sprayed, so that the uniformity of priming paint setting time in each area to be sprayed is ensured, the influence on the starting spraying time of the subsequent finish paint is reduced, the spraying effect of the middle priming paint is improved, and the influence on the attaching effect of the finish paint is reduced to a certain extent.

4. According to the method, in the track analysis and spraying of the finish paint, the spraying color and the spraying times of each area to be sprayed are analyzed, so that the spraying sequence of the finish paint is analyzed, the spraying effect and the efficiency of the finish paint are guaranteed, and quality disqualification of each subsequent area to be sprayed due to different drying time is reduced.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart of the steps of the method of the present invention.

FIG. 2 is a schematic diagram showing the connection of the system modules according to the present invention.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Referring to fig. 1, the invention provides an intelligent spraying track generation method based on automobile sheet metal, which comprises the following steps: step one, collecting a spray painting area of an automobile: acquiring images corresponding to a target paint spraying automobile in a specified automobile maintenance factory, and further extracting each area to be painted corresponding to the target paint spraying automobile;

it should be noted that, the image corresponding to the target paint spraying automobile in the specified automobile maintenance factory is collected through the high-definition camera, and then each area to be painted corresponding to the target paint spraying automobile is located from the image.

Step two, analyzing and spraying a primer track: the method comprises the steps of obtaining the corresponding area and position of each area to be painted in a target paint-spraying automobile, analyzing the paint spraying sequence of the primer corresponding to each area to be painted in the target paint-spraying automobile, and further analyzing the paint spraying track of the primer corresponding to each area to be painted in the target paint-spraying automobile, so that the primer is sprayed.

In the above, the area and the position corresponding to each area to be painted in the target painted automobile are obtained, and the specific obtaining process is as follows: and acquiring the corresponding area and position of each area to be painted in the target paint spraying automobile from the corresponding image of the target paint spraying automobile.

In a specific embodiment, the paint spraying sequence of the corresponding primer in each region to be painted in the target paint spraying automobile is analyzed, and the specific analysis process is as follows: according to the position of each region to be painted in the target painted automobile, the distance between each region to be painted and each adjacent region to be painted is obtained and recorded as

I represents the number corresponding to the area to be painted, < >>

，

Numbers corresponding to adjacent areas to be painted, < ->

And further analyzing and obtaining the paint spraying priority evaluation coefficients of the corresponding priming paint of each region to be painted in the target paint spraying automobile.

Arranging the paint spraying priority evaluation coefficients of the priming paint corresponding to each region to be painted in the target paint spraying automobile according to a descending order, taking the region to be painted with the first rank as a first priming paint spraying region, comparing the paint spraying priority evaluation coefficients of the first priming paint spraying region corresponding to each adjacent region to be painted, and selecting the adjacent region to be painted corresponding to the largest paint spraying priority evaluation coefficient as a second priming paint spraying region, thereby obtaining the paint spraying order of the priming paint corresponding to each region to be painted in the target paint spraying automobile according to the analysis mode of the second priming paint spraying region.

In a further specific embodiment, the paint spraying priority evaluation coefficient of the corresponding primer in each area to be painted in the target paint spraying automobile is obtained by analysis, and the specific analysis process is as follows: by calculation formula

Obtaining a paint spraying priority evaluation coefficient of the corresponding primer in each region to be painted in the target painted automobile +.>

Wherein->

Representing the corresponding area of the ith area to be painted in the target painted automobile, L is the set distance between the reference areas to be painted,/for the target painted automobile>

、

Respectively setting weight factors corresponding to the areas of the areas to be sprayed and the distances between the areas to be sprayed.

In another specific embodiment, the paint spraying track of the corresponding primer in each region to be painted in the target paint spraying automobile is analyzed, and the specific analysis process is as follows: extracting the outline corresponding to each region to be painted in the target paint spraying automobile based on the image corresponding to the target paint spraying automobile, and comparing the outline corresponding to each region to be painted with the primer painting track corresponding to each region to be painted stored in the cloud database to obtain the primer painting track corresponding to each region to be painted in the target paint spraying automobile.

According to the invention, in the process of analyzing and spraying the track of the primer, the spray painting sequence of the primer is analyzed according to the area and the position of each region to be sprayed in the primer treatment, so that the rationality of the spray painting sequence of the primer corresponding to the primer by the spray painting robot is ensured, and the spray painting efficiency of the spray painting robot is further improved.

Thirdly, analyzing and spraying a primer-coated track: the method comprises the steps of obtaining the thickness and the paint spraying amount of the intermediate primer corresponding to each area to be painted in a target paint spraying automobile, analyzing the paint spraying sequence of the intermediate primer corresponding to each area to be painted in the target paint spraying automobile, further analyzing the paint spraying track of the intermediate primer corresponding to each area to be painted in the target paint spraying automobile, and spraying the intermediate primer.

In the above, the thickness and the paint spraying amount of the intermediate coating primer corresponding to each area to be painted in the target paint spraying automobile are obtained, and the specific obtaining process is as follows: the method comprises the steps of collecting an image set of a target paint spraying automobile through a high-definition camera, further constructing a three-dimensional model corresponding to the target paint spraying automobile, further obtaining the concave thickness of each area to be painted from the three-dimensional model corresponding to the target paint spraying automobile, taking the concave thickness as the thickness of the middle priming paint, and further multiplying the concave thickness of each area to be painted by the area to obtain the paint spraying amount of each area to be painted.

In a specific embodiment, the paint spraying sequence of the primer coating corresponding to each region to be painted in the target paint spraying automobile is analyzed, and the specific analysis process is as follows: and analyzing and obtaining a paint spraying priority evaluation coefficient of the middle priming paint corresponding to each region to be painted in the target paint spraying automobile according to the thickness and the paint spraying amount of the middle priming paint corresponding to each region to be painted in the target paint spraying automobile.

In the above, the paint spraying priority evaluation coefficient of the primer coating in the corresponding middle paint spraying region of each target paint spraying automobile is obtained through analysis, and the specific analysis process is as follows: substituting the thickness of the intermediate primer and the paint spraying amount corresponding to each area to be painted in the target paint spraying automobile into a calculation formula

In the process, the paint spraying priority evaluation coefficient of the corresponding intermediate priming paint of each area to be painted in the target paint spraying automobile is obtained>

Wherein->

、

Respectively representing the thickness and the paint spraying amount of the intermediate coating corresponding to the ith area to be painted in the target painted automobile,

、

Respectively setting weight factors corresponding to the thickness of the middle priming paint and the paint spraying amount, wherein n represents the number of areas to be painted.

The paint spraying priority evaluation coefficients of the middle priming paint corresponding to each region to be painted in the target paint spraying automobile are compared with each other, the region to be painted corresponding to the largest paint spraying priority evaluation coefficient is selected as a first middle priming paint spraying region, the paint spraying priority evaluation coefficients of the first middle priming paint spraying region corresponding to each adjacent region to be painted are compared, the adjacent region to be painted corresponding to the largest paint spraying priority evaluation coefficient is selected as a second middle priming paint spraying region, and the paint spraying sequence of the middle priming paint corresponding to each region to be painted in the target paint spraying automobile is obtained in this way.

In yet another specific embodiment, the paint spraying track of each region to be painted in the target paint spraying automobile corresponding to the primer is analyzed, and the specific analysis process is as follows: extracting standard paint spraying tracks corresponding to the intermediate priming paint in each paint spraying thickness in the outline of each paint spraying area from the cloud database, and further obtaining standard paint spraying tracks corresponding to the intermediate priming paint in each area to be painted in the target paint spraying automobile.

In the above, the standard paint spraying track of the primer coating corresponding to each region to be painted in the target paint spraying automobile is obtained, and the specific analysis process is as follows: comparing the area profile corresponding to each area to be painted in the target painted automobile with each paint spraying thickness in each area profile to be painted, if the area profile corresponding to a certain area to be painted in the target painted automobile is the same as the area profile to be painted, taking each paint spraying thickness in the area profile to be painted as each paint spraying thickness in the reference area profile corresponding to the area to be painted in the target painted automobile, further comparing the thickness of the middle-painted primer corresponding to each area to be painted in the target painted automobile with each paint spraying thickness in the reference area profile corresponding to the middle-painted primer, and if the thickness of the middle-painted primer corresponding to a certain area to be painted in the target painted automobile is the same as the thickness of the middle-painted primer corresponding to the reference area profile, taking the standard paint spraying track corresponding to the middle-painted primer in the reference area profile to be painted as the standard paint spraying track corresponding to the middle-painted primer in the target painted automobile, and obtaining the standard paint spraying track corresponding to the middle-painted primer in the target painted automobile.

And analyzing and obtaining each reference paint spraying track of each intermediate primer corresponding to each area to be painted in the target paint spraying automobile according to the paint spraying area outline, the paint spraying thickness and the paint spraying track of the intermediate primer corresponding to each historical paint spraying stored in the cloud database.

In the above, each reference paint spraying track of the primer in the corresponding middle painting of each region to be painted in the target paint spraying automobile is obtained through analysis, and the specific analysis process is as follows: comparing the area outline and the middle priming paint thickness corresponding to each area to be painted in the target paint spraying automobile with the paint spraying area outline and the paint spraying thickness corresponding to each historical paint spraying area, and if the area outline and the middle priming paint thickness corresponding to a certain area to be painted in the target paint spraying automobile are the same as the paint spraying area outline and the paint spraying thickness corresponding to a certain historical paint spraying area, taking the paint spraying track corresponding to the historical paint spraying as the reference paint spraying track of the middle priming paint corresponding to the area to be painted in the target paint spraying automobile, thereby obtaining each reference paint spraying track of the middle priming paint corresponding to each area to be painted in the target paint spraying automobile.

Obtaining standard paint track points from standard paint track of primer in the corresponding middle paint region of each target paint spraying automobile, obtaining reference paint track points in each reference paint spraying track in a similar way, further guiding each standard paint track point of primer in the corresponding middle paint region of each target paint spraying automobile and each reference paint spraying track point in each reference paint spraying track into a set three-dimensional coordinate system to obtain three-dimensional coordinates of each standard paint track point of primer in the corresponding middle paint region of each target paint spraying automobile and each reference paint spraying track point in each reference paint spraying track, and calculating the three-dimensional coordinates of each standard paint track point of primer in the corresponding middle paint spraying region of each target paint spraying automobile and each reference paint spraying track point in each reference paint spraying track through weighted average to obtain the position coordinates of each paint spraying track point of primer in the corresponding middle paint spraying region of each target paint spraying automobile, thereby obtaining the primer in the corresponding middle paint spraying region of each target paint spraying automobile.

According to the method, in the middle priming paint track analysis and spraying, the spraying sequence of the middle priming paint is analyzed according to the thickness and the spraying amount of the middle priming paint corresponding to each area to be sprayed in the target spray-painted automobile, and the spraying track corresponding to each area to be sprayed is analyzed according to the standard spraying track and the historical spraying track corresponding to each area to be sprayed, so that the uniformity of priming paint setting time in each area to be sprayed is ensured, the influence on the starting spraying time of the subsequent finish paint is reduced, the spraying effect of the middle priming paint is improved, and the influence on the attaching effect of the finish paint is reduced to a certain extent.

Fourthly, analyzing and spraying the track of the finish paint: the method comprises the steps of obtaining the colors to be sprayed corresponding to all areas to be sprayed in a target spray-painted automobile and the colors to be sprayed corresponding to all spray-painted robots in a specified automobile maintenance factory, analyzing the spray-painted track of each spray-painted robot in all areas to be sprayed in the target spray-painted automobile, and spraying the finish paint.

The method comprises the steps of obtaining the paint colors to be sprayed corresponding to all areas to be sprayed in a target paint spraying automobile and the paint colors to be sprayed corresponding to all paint spraying robots in an appointed automobile maintenance factory, wherein the specific obtaining process is as follows: comparing the image corresponding to the target paint spraying vehicle with each vehicle standard model in the automobile management center to obtain a standard model corresponding to the target paint spraying vehicle, positioning the color to be sprayed corresponding to each area to be painted from the standard model corresponding to the target paint spraying vehicle according to the position of each area to be painted in the target paint spraying vehicle, and obtaining the paint spraying color corresponding to each paint spraying robot from the paint spraying robot management center.

It should be noted that, the RGB values of each area to be painted are obtained from the standard model corresponding to the target paint spraying vehicle, and then the color to be sprayed corresponding to each area to be painted is determined according to the RGB values.

It should be noted that, the paint spraying requires the participation of different paint spraying robots, the paint spraying colors corresponding to the different paint spraying robots are different, the primer and the middle primer are both fixed paint spraying robots, and the paint spraying colors of the fixed paint spraying robots are fixed.

In a specific embodiment, the paint spraying track of each painting robot in each region to be painted in the target paint spraying automobile is analyzed, and the specific analysis process is as follows: and obtaining each region to be sprayed corresponding to each paint spraying robot according to the paint spraying color corresponding to each paint spraying robot and the color to be sprayed corresponding to each region to be sprayed in the target paint spraying automobile.

The spraying times of the spraying robots corresponding to the areas to be sprayed are obtained, and then the spraying sequence of the spraying robots corresponding to the areas to be sprayed is obtained according to the spraying times and the areas of the spraying robots corresponding to the areas to be sprayed.

In the above, the spraying times of each spraying robot corresponding to each area to be sprayed are obtained, and the specific obtaining process is as follows: the method comprises the steps of obtaining standard RGB values corresponding to all areas to be painted from a standard model corresponding to a target paint spraying automobile, further obtaining RGB values corresponding to all areas to be painted of all paint spraying robots, and comparing the RGB values corresponding to all areas to be painted of all the paint spraying robots with the set spraying times corresponding to all the RGB values corresponding to the paint spraying robots, so that the spraying times corresponding to all the areas to be painted of all the paint spraying robots are obtained.

In the above, the paint spraying sequence of each painting robot corresponding to each region to be painted is obtained through analysis, and the specific analysis process is as follows: substituting the spraying times and the area of each spraying robot corresponding to each area to be sprayed into a calculation formula

In the process, a paint spraying priority evaluation coefficient +.>

Wherein->

、

Respectively showing the spraying times and the spraying areas of the region to be sprayed corresponding to the jth spraying robot, j showing the numbers corresponding to the spraying robots,/for the region to be sprayed>

U represents the number of the area to be painted corresponding to the painting robot,/-for the painting area>

Z represents the number of areas to be painted corresponding to the painting robot, < >>

、

Respectively setting the weight factors corresponding to the spraying times and the areas of the spraying robot corresponding to the areas to be sprayed.

Comparing the paint spraying priority evaluation coefficients of the paint spraying robots corresponding to the areas to be painted, and further analyzing the paint spraying sequence of the paint spraying robots corresponding to the areas to be painted according to the analysis mode of the paint spraying sequence of the primer coating in the corresponding areas to be painted in the target paint spraying automobile.

Based on the outline, the painting times and the painting track of the painting area corresponding to each historical painting of each painting robot stored in the cloud database, analyzing and obtaining the painting track of each painting robot in each painting area to be painted in the target painting automobile according to the analysis mode of the painting track of each painting area to be painted in the target painting automobile.

According to the method, in the track analysis and spraying of the finish paint, the spraying color and the spraying times of each area to be sprayed are analyzed, so that the spraying sequence of the finish paint is analyzed, the spraying effect and the efficiency of the finish paint are guaranteed, and quality disqualification of each subsequent area to be sprayed due to different drying time is reduced.

Step five, checking a paint spraying area: and acquiring images of the target spray paint automobile corresponding to all areas to be sprayed after the spray paint is finished, and further screening out all target repair spray areas corresponding to the target spray paint automobile.

In a specific embodiment, each target complementary spraying area corresponding to the target spray-painted automobile is screened out, and the specific screening process is as follows: based on the image of each region to be sprayed corresponding to the target spray-painted automobile after the spray painting is finished, analyzing to obtain the spray quality evaluation coefficient of each region to be sprayed corresponding to the target spray-painted automobile, comparing the spray quality evaluation coefficient of each region to be sprayed with a preset standard spray quality evaluation coefficient, if the spray quality evaluation coefficient of a certain region to be sprayed is smaller than the preset standard spray quality evaluation coefficient, judging that the spray quality of the target complementary spray region is unqualified, positioning a sub region with unqualified spray quality in the region to be sprayed, marking the sub region as a target complementary spray region, and obtaining each target complementary spray region corresponding to the target spray-painted automobile in this way.

In the above, the spraying quality evaluation coefficients of the target spray paint automobile corresponding to each region to be sprayed with paint are obtained through analysis, and the specific analysis process is as follows: arranging each monitoring point in the image of each target paint spraying automobile corresponding to each region to be painted after paint spraying is finished, thereby obtaining the tone, brightness and saturation corresponding to each monitoring point in each region to be painted, and respectively marking as

、

And->

Wherein g represents the number corresponding to the monitoring point, < ->

。

Based on a standard model corresponding to the target paint spraying automobile, obtaining standard color tone, standard brightness and standard saturation corresponding to each monitoring point in each area to be painted, and respectively marking as

、

And->

。

According to the calculation formula

Obtaining the spray quality evaluation coefficient of the target spray painting automobile corresponding to each area to be sprayed>

Wherein->

、

、

Weight factors corresponding to the set hue, brightness and saturation respectively, < >>

And (5) evaluating the weight factors corresponding to the coefficients for the set spraying quality.

According to the method and the device for analyzing the spraying quality of the areas to be sprayed in the target spray-painted automobile, the spraying quality and effect of the target spray-painted automobile are effectively guaranteed, the satisfaction degree of the owners of the target spray-painted automobile is improved, and the public praise of an automobile maintenance company is effectively guaranteed.

In the above, the sub-area with unqualified spraying quality in the area to be sprayed with paint is positioned, and the specific positioning process is as follows: based on the spraying quality evaluation coefficients of all monitoring points in the area to be sprayed, all quality disqualification monitoring points in the area to be sprayed are obtained, and then the area where all quality disqualification monitoring points in the area to be sprayed are located is used as a spraying quality disqualification subarea in the area to be sprayed.

Step six, analyzing and spraying the supplementary spraying track: and analyzing the complementary spraying track of each target complementary spraying area in the target spray-painted automobile by each spray-painted robot, and further carrying out complementary spraying.

In a specific embodiment, the spray painting robots analyze the spray painting trajectory of each target spray painting region in the target spray painting automobile, and the specific analysis process is as follows: extracting the complementary spraying color and the complementary spraying paint consistency of the target complementary spraying areas corresponding to the target spray-painted automobiles, obtaining the complementary spraying areas corresponding to the spray-painted robots based on the spray-painted colors corresponding to the spray-painted robots, and simultaneously obtaining the complementary spraying paint consistency of the complementary spraying areas corresponding to the target complementary spraying areas corresponding to the spray-painted robots, and further sequencing the complementary spraying paint consistency of the complementary spraying areas corresponding to the target complementary spraying areas corresponding to the spray-painted robots from large to small, so as to obtain the complementary spraying sequence of the complementary spraying areas corresponding to the target complementary spraying areas corresponding to the spray-painted robots according to the sequencing result.

In the above, the method extracts the complementary spraying color and the complementary spraying paint consistency of the target spray paint automobile corresponding to each target complementary spraying area, and the specific extraction process is as follows: and (3) taking the color corresponding to the to-be-sprayed paint region where each target complementary spraying region is located as a complementary spraying color, and comparing the spraying quality evaluation coefficient corresponding to each target complementary spraying region with the corresponding complementary spraying paint consistency of each set spraying quality evaluation coefficient to obtain the corresponding complementary spraying paint consistency of each target complementary spraying region.

Based on the outline, the painting times and the painting track of the painting area corresponding to each historical painting of each painting robot stored in the cloud database, and according to the analysis mode of the painting track of the primer in the corresponding middle painting of each area to be painted in the target painting automobile, the repair painting track of each painting robot to each target repair painting area in the target painting automobile is obtained through analysis.

Referring to fig. 2, an intelligent spraying track generating system based on automobile metal plates includes: the system comprises an automobile paint spraying area acquisition module, a primer track analysis and spraying module, a middle primer track analysis and spraying module, a finish track analysis and spraying module, a paint spraying area inspection module, a repair spray track analysis and spraying module and a cloud database.

The cloud database is respectively connected with a primer track analysis and spraying module, a middle priming track analysis and spraying module, a finish track analysis and spraying module and a complementary spraying track analysis and spraying module, the primer track analysis and spraying module is also connected with an automobile paint spraying area acquisition module and a middle priming track analysis and spraying module, the finish track analysis and spraying module is also respectively connected with the middle priming track analysis and spraying module and a paint spraying area inspection module, and the paint spraying area inspection module is also connected with the complementary spraying track analysis and spraying module.

The automobile paint spraying area acquisition module is used for acquiring each area to be painted corresponding to the target paint spraying automobile;

the primer track analysis and spraying module is used for analyzing the spraying sequence of the primer corresponding to each region to be sprayed in the target spray-painted automobile, and further analyzing the spraying track of the primer corresponding to each region to be sprayed in the target spray-painted automobile, so that the primer is sprayed.

The middle priming paint track analysis and spraying module is used for analyzing the spraying sequence of the middle priming paint corresponding to each region to be sprayed in the target spray-painted automobile, further analyzing the spraying track of the middle priming paint corresponding to each region to be sprayed in the target spray-painted automobile, and spraying the middle priming paint.

The paint track analysis and spraying module is used for obtaining paint colors to be sprayed corresponding to all areas to be sprayed in the target paint spraying automobile and paint colors to be sprayed corresponding to all paint spraying robots in an appointed automobile maintenance factory, analyzing paint spraying tracks of all the paint spraying robots in all the areas to be sprayed in the target paint spraying automobile, and spraying the paint.

The paint spraying area inspection module is used for collecting images of the target paint spraying automobile corresponding to all areas to be painted after paint spraying is finished, and then screening out all target repair spraying areas corresponding to the target paint spraying automobile.

And the spray repair track analysis and spray coating module is used for analyzing the spray repair track of each target spray repair area in the target spray painting automobile by each spray painting robot so as to perform spray repair.

The cloud database is used for storing the primer painting track corresponding to the outline of each painting area and the standard painting track corresponding to the middle priming paint thickness, storing the outline of the painting area, the painting thickness and the painting track corresponding to each historical painting, and storing the outline of the painting area, the painting times and the painting track corresponding to each historical painting of each painting robot.

According to the embodiment of the invention, the spraying sequence and the spraying track of the spraying robot in the spraying of the priming paint, the intermediate priming paint and the finishing paint of each area to be sprayed in the target spray-painted automobile are analyzed and sprayed, so that the spraying quality of the target spray-painted automobile is analyzed, and the spraying unqualified area is subjected to complementary spraying, thereby overcoming the defects of the prior art, realizing intelligent and automatic spray painting in automobile sheet metal, ensuring the pertinence of the spraying robot to the analysis of the spraying track in different spray-painted flows, and greatly improving the spraying efficiency and effect.

It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

Claims (10)

1. The intelligent spraying track generation method based on the automobile sheet metal is characterized by comprising the following steps of:

step one, collecting a spray painting area of an automobile: acquiring images corresponding to a target paint spraying automobile in a specified automobile maintenance factory, and further extracting each area to be painted corresponding to the target paint spraying automobile;

step two, analyzing and spraying a primer track: the method comprises the steps of obtaining the corresponding area and position of each area to be painted in a target paint-spraying automobile, analyzing the paint spraying sequence of the primer corresponding to each area to be painted in the target paint-spraying automobile, and further analyzing the paint spraying track of the primer corresponding to each area to be painted in the target paint-spraying automobile, so that the primer is sprayed;

thirdly, analyzing and spraying a primer-coated track: the method comprises the steps of obtaining the thickness and the paint spraying amount of the intermediate primer corresponding to each area to be painted in a target paint spraying automobile, analyzing the paint spraying sequence of the intermediate primer corresponding to each area to be painted in the target paint spraying automobile, further analyzing the paint spraying track of the intermediate primer corresponding to each area to be painted in the target paint spraying automobile, and spraying the intermediate primer;

Fourthly, analyzing and spraying the track of the finish paint: obtaining the paint colors to be sprayed corresponding to all areas to be sprayed in a target paint spraying automobile and the paint colors to be sprayed corresponding to all paint spraying robots in a specified automobile maintenance factory, analyzing the paint spraying tracks of all the paint spraying robots in all the areas to be sprayed in the target paint spraying automobile, and spraying finishing paint;

step five, checking a paint spraying area: after the paint spraying is finished, the images of the target paint spraying automobiles corresponding to all areas to be painted are collected, and then all target repair areas corresponding to the target paint spraying automobiles are screened out;

step six, analyzing and spraying the supplementary spraying track: and analyzing the complementary spraying track of each target complementary spraying area in the target spray-painted automobile by each spray-painted robot, and further carrying out complementary spraying.

2. The intelligent spraying track generation method based on the automobile sheet metal, as set forth in claim 1, is characterized in that the analysis target sprays paint the corresponding primer paint sequence of each area to be sprayed with paint in the automobile, and the specific analysis process is as follows:

according to the position of each region to be painted in the target painted automobile, the distance between each region to be painted and each adjacent region to be painted is obtained and recorded as

I represents the number corresponding to the area to be painted, < >>

，

Numbers corresponding to adjacent areas to be painted, < - >

Further analyzing and obtaining paint spraying priority evaluation coefficients of the corresponding primer coats of all areas to be painted in the target paint spraying automobile;

arranging the paint spraying priority evaluation coefficients of the priming paint corresponding to each region to be painted in the target paint spraying automobile according to a descending order, taking the region to be painted with the first rank as a first priming paint spraying region, comparing the paint spraying priority evaluation coefficients of the first priming paint spraying region corresponding to each adjacent region to be painted, and selecting the adjacent region to be painted corresponding to the largest paint spraying priority evaluation coefficient as a second priming paint spraying region, thereby obtaining the paint spraying order of the priming paint corresponding to each region to be painted in the target paint spraying automobile according to the analysis mode of the second priming paint spraying region.

3. The intelligent spraying track generation method based on the automobile sheet metal is characterized in that the analysis obtains the paint spraying priority evaluation coefficient of the corresponding primer in each area to be painted in the target paint spraying automobile, and the specific analysis process is as follows:

by calculation formula

Obtaining a paint spraying priority evaluation coefficient of the corresponding primer in each region to be painted in the target painted automobile +.>

Wherein->

Representing the corresponding area of the ith area to be painted in the target painted automobile, L is the set distance between the reference areas to be painted,/for the target painted automobile >

、

Respectively setting weight factors corresponding to the areas of the areas to be sprayed and the distances between the areas to be sprayed. />

4. The intelligent spraying track generation method based on the automobile sheet metal is characterized in that the analysis target sprays the spraying track of the primer corresponding to each area to be sprayed in the automobile, and the specific analysis process is as follows:

extracting the outline corresponding to each region to be painted in the target paint spraying automobile based on the image corresponding to the target paint spraying automobile, and comparing the outline corresponding to each region to be painted with the primer painting track corresponding to each region to be painted stored in the cloud database to obtain the primer painting track corresponding to each region to be painted in the target paint spraying automobile.

5. The intelligent spraying track generation method based on the automobile sheet metal, as set forth in claim 1, is characterized in that the analysis target sprays paint the corresponding primer spraying sequence of each area to be sprayed in the automobile, and the specific analysis process is as follows:

according to the thickness and the paint spraying amount of the intermediate primer corresponding to each area to be painted in the target paint spraying automobile, analyzing to obtain a paint spraying priority evaluation coefficient of the intermediate primer corresponding to each area to be painted in the target paint spraying automobile;

The paint spraying priority evaluation coefficients of the middle priming paint corresponding to each region to be painted in the target paint spraying automobile are compared with each other, the region to be painted corresponding to the largest paint spraying priority evaluation coefficient is selected as a first middle priming paint spraying region, the paint spraying priority evaluation coefficients of the first middle priming paint spraying region corresponding to each adjacent region to be painted are compared, the adjacent region to be painted corresponding to the largest paint spraying priority evaluation coefficient is selected as a second middle priming paint spraying region, and the paint spraying sequence of the middle priming paint corresponding to each region to be painted in the target paint spraying automobile is obtained in this way.

6. The intelligent spraying track generation method based on the automobile sheet metal is characterized in that the analysis target sprays paint tracks of the primer in the corresponding to each area to be sprayed in the automobile, and the specific analysis process is as follows:

extracting standard paint spraying tracks corresponding to the intermediate priming paint in each paint spraying thickness in each paint spraying area outline from a cloud database, and further obtaining standard paint spraying tracks corresponding to the intermediate priming paint in each area to be painted in the target paint spraying automobile;

according to the outline of the paint spraying area, the paint spraying thickness and the paint spraying track of the middle priming paint corresponding to each historical paint spraying stored in the cloud database, analyzing to obtain each reference paint spraying track of the middle priming paint corresponding to each area to be painted in the target paint spraying automobile;

Obtaining standard paint track points from standard paint track of primer in the corresponding middle paint region of each target paint spraying automobile, obtaining reference paint track points in each reference paint spraying track in a similar way, further guiding each standard paint track point of primer in the corresponding middle paint region of each target paint spraying automobile and each reference paint spraying track point in each reference paint spraying track into a set three-dimensional coordinate system to obtain three-dimensional coordinates of each standard paint track point of primer in the corresponding middle paint region of each target paint spraying automobile and each reference paint spraying track point in each reference paint spraying track, and calculating the three-dimensional coordinates of each standard paint track point of primer in the corresponding middle paint spraying region of each target paint spraying automobile and each reference paint spraying track point in each reference paint spraying track through weighted average to obtain the position coordinates of each paint spraying track point of primer in the corresponding middle paint spraying region of each target paint spraying automobile, thereby obtaining the primer in the corresponding middle paint spraying region of each target paint spraying automobile.

7. The intelligent spraying track generation method based on the automobile sheet metal, as set forth in claim 6, is characterized in that the analysis of the spraying track of each spraying robot in each area to be sprayed in the target spraying automobile comprises the following specific analysis process:

According to the paint spraying colors corresponding to the paint spraying robots and the colors to be sprayed corresponding to the areas to be sprayed in the target paint spraying automobile, obtaining the areas to be sprayed corresponding to the paint spraying robots;

the spraying times of the spraying robots corresponding to the areas to be sprayed are obtained, and then the spraying sequence of the spraying robots corresponding to the areas to be sprayed is obtained according to the spraying times and the areas of the spraying robots corresponding to the areas to be sprayed;

based on the outline, the painting times and the painting track of the painting area corresponding to each historical painting of each painting robot stored in the cloud database, analyzing and obtaining the painting track of each painting robot in each painting area to be painted in the target painting automobile according to the analysis mode of the painting track of each painting area to be painted in the target painting automobile.

8. The intelligent spraying track generation method based on the automobile sheet metal, as set forth in claim 7, wherein the screening of each target complementary spraying area corresponding to the target spray-painted automobile is carried out by the following specific screening process:

based on the image of each region to be sprayed corresponding to the target spray-painted automobile after the spray painting is finished, analyzing to obtain the spray quality evaluation coefficient of each region to be sprayed corresponding to the target spray-painted automobile, comparing the spray quality evaluation coefficient of each region to be sprayed with a preset standard spray quality evaluation coefficient, if the spray quality evaluation coefficient of a certain region to be sprayed is smaller than the preset standard spray quality evaluation coefficient, judging that the spray quality of the target complementary spray region is unqualified, positioning a sub region with unqualified spray quality in the region to be sprayed, marking the sub region as a target complementary spray region, and obtaining each target complementary spray region corresponding to the target spray-painted automobile in this way.

9. The intelligent spraying track generation method based on the automobile sheet metal, as set forth in claim 8, wherein the analysis of the spraying tracks of the target spraying areas in the target spraying automobile by the spraying robots is carried out by the following specific analysis process:

extracting the complementary spraying color and the complementary spraying paint consistency of each target complementary spraying area corresponding to the target spray-painted automobile, obtaining each target complementary spraying area corresponding to each spray-painted robot based on the paint spraying color corresponding to each spray-painted robot, and simultaneously obtaining the complementary spraying paint consistency of each target complementary spraying area corresponding to each spray-painted robot, and further sequencing the complementary spraying paint consistency of each target complementary spraying area corresponding to each spray-painted robot from large to small, so as to obtain the complementary spraying sequence of each target complementary spraying area corresponding to each spray-painted robot according to the sequencing result;

based on the outline, the painting times and the painting track of the painting area corresponding to each historical painting of each painting robot stored in the cloud database, and according to the analysis mode of the painting track of the primer in the corresponding middle painting of each area to be painted in the target painting automobile, the repair painting track of each painting robot to each target repair painting area in the target painting automobile is obtained through analysis.

10. Intelligent spraying track generation system based on car panel beating, its characterized in that includes:

the automobile paint spraying area acquisition module is used for acquiring each area to be painted corresponding to the target paint spraying automobile;

the primer track analysis and spraying module is used for analyzing the spraying sequence of the primer corresponding to each region to be sprayed in the target spray-painted automobile, and further analyzing the spraying track of the primer corresponding to each region to be sprayed in the target spray-painted automobile, so that the primer is sprayed;

the middle priming paint track analysis and spraying module is used for analyzing the spraying sequence of the middle priming paint corresponding to each region to be sprayed in the target spray-painted automobile, further analyzing the spraying track of the middle priming paint corresponding to each region to be sprayed in the target spray-painted automobile, and spraying the middle priming paint;

the paint track analysis and spraying module is used for obtaining paint colors corresponding to all areas to be painted in the target paint spraying automobile and paint colors corresponding to all paint spraying robots in a specified automobile maintenance factory, analyzing paint spraying tracks of all the paint spraying robots in all the areas to be painted in the target paint spraying automobile and spraying paint;

the paint spraying area inspection module is used for collecting images of the target paint spraying automobile corresponding to all areas to be painted after paint spraying is finished, and further screening out all target repair spraying areas corresponding to the target paint spraying automobile;

The spray repair track analysis and spraying module is used for analyzing the spray repair track of each target spray repair area in the target spray painting automobile by each spray painting robot so as to perform spray repair;

the cloud database is used for storing the primer painting track corresponding to the outline of each painting area and the standard painting track corresponding to the middle priming paint thickness, storing the outline of the painting area, the painting thickness and the painting track corresponding to each historical painting, and storing the outline of the painting area, the painting times and the painting track corresponding to each historical painting of each painting robot.

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