CN115464660A

CN115464660A - Path planning method, device and equipment of spraying robot and storage medium

Info

Publication number: CN115464660A
Application number: CN202211308712.0A
Authority: CN
Inventors: 张威; 高路房; 傅晟; 林彦好; 苏木荣; 黄伟冰; 李哲; 高彪; 刘娟
Original assignee: Shenzhen Evomotion Co ltd
Current assignee: Shenzhen Evomotion Co ltd
Priority date: 2022-10-25
Filing date: 2022-10-25
Publication date: 2022-12-13
Anticipated expiration: 2042-10-25
Also published as: CN115464660B

Abstract

The application discloses a path planning method, a device, equipment and a storage medium of a spraying robot, wherein the path planning method of the spraying robot comprises the following steps: acquiring a chassis moving path through a building information model system, and controlling the spraying robot to move according to the chassis moving path; determining the distance between the spraying object and acquiring the initial state of the spraying object; acquiring the current state of a spraying object, and analyzing the current state by combining a chassis moving path; based on the analysis result, acquiring a spraying moving path of the mechanical arm and spraying a spraying object; and acquiring the spraying state of the sprayed object in real time, and adjusting the spraying moving path based on the spraying state to continuously spray the sprayed object until the sprayed object is sprayed. The method solves the problems that the spraying robot can hardly perceive the spraying state and make adjustment, so that the spraying efficiency of the spraying robot is low and the accuracy is low in the spraying process.

Description

Path planning method, device and equipment of spraying robot and storage medium

Technical Field

The invention relates to the technical field of automatic spraying, in particular to a path planning method, a path planning device, a path planning equipment and a storage medium for a spraying robot.

Background

In the building industry, the painting operation of the walls or ceilings of rooms is usually carried out manually by related workers, which not only has low working efficiency and poor painting effect, but also causes damage to the health of the workers to different degrees.

The spraying robot can be used for assisting in spraying the wall surface at present, and the spraying path planning of the spraying robot is often preset. When the spraying robot has spraying defects, such as: neglected coating or spraying effect is lower etc. and spraying robot can't discover and make the adjustment mostly, and this leads to in the spraying process, the spraying of spraying robot inefficiency and the lower problem of precision.

Disclosure of Invention

The embodiment of the invention provides a path planning method, a path planning device, path planning equipment and a storage medium of a spraying robot, and aims to solve the problems that the spraying robot cannot perceive and adjust the spraying state, so that the spraying efficiency of the spraying robot is low and the accuracy is low in the spraying process.

In one aspect, the present application provides a path planning method for a painting robot, the method including:

acquiring a chassis moving path through a building information model system, and controlling the spraying robot to move according to the chassis moving path;

determining the distance between the spraying object and a laser radar device and acquiring the initial state of the spraying object;

acquiring the current state of a spraying object through a camera, and analyzing the current state by combining a chassis moving path;

based on the analysis result, acquiring a spraying moving path of the mechanical arm and spraying a spraying object;

and acquiring the spraying state of the sprayed object in real time, and adjusting the spraying moving path based on the spraying state to continuously spray the sprayed object until the sprayed object is sprayed.

In another aspect, the present application provides a path planning apparatus for a painting robot, the apparatus including:

the chassis moving path moving module is used for acquiring a chassis moving path through the building information model system and controlling the spraying robot to move according to the chassis moving path;

the initial state acquisition module is used for determining the distance between the laser radar and the spraying object and acquiring the initial state of the spraying object;

the state analysis module is used for acquiring the current state of the spraying object through the camera and analyzing the current state by combining the chassis moving path;

the spraying module is used for acquiring a spraying moving path of the mechanical arm and spraying a spraying object based on the analysis result;

and the spraying moving path adjusting module is used for acquiring the spraying state of the sprayed object in real time, adjusting the spraying moving path based on the spraying state and continuously spraying the sprayed object until the sprayed object is sprayed.

In some embodiments, the spray module is further configured to: acquiring the area of a spraying object; and adjusting the spraying amplitude and the movable radius of the mechanical arm based on the area of the spraying area.

In some embodiments, the spray movement path adjustment module is further configured to: determining whether the spraying state has a missing coating condition according to a spraying image acquired by a camera; if yes, determining the area position of the missing coating condition, and controlling the mechanical arm to return to the area position; and adjusting the spraying amplitude and the movable radius of the mechanical arm based on the area of the missing coating condition.

In some embodiments, the status analysis module is further configured to: acquiring object textures of a spraying object through a depth camera, and analyzing the object textures by combining a chassis moving path; and acquiring a current image of the spraying object through the RGB camera, and analyzing the current image by combining a chassis moving path.

In some embodiments, the state analysis module is further configured to: sensing the surrounding environment through a sensor to obtain target parameters of the surrounding environment; adjusting the spraying parameters based on the target parameters; and spraying by adopting the adjusted spraying parameters, and acquiring and storing spraying pattern information.

In some embodiments, the state analysis module is further configured to: taking the target parameters, the spraying parameters and the spraying graphic information as input parameters of the model, training a deep learning model, and outputting the optimal spraying parameters; and generating a target parameter-optimal spraying parameter data table based on the target parameters and the optimal spraying parameters.

In some embodiments, the apparatus is further configured to: responding to a spraying finishing instruction returned by the mechanical arm, and controlling the spraying robot to continuously move along the chassis moving path; and controlling the spraying robot to stop moving in response to a spraying starting instruction of the mechanical arm.

An electronic device comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the computer program to realize the path planning method of the spraying robot.

A computer-readable storage medium, in which a computer program is stored, which, when executed by a processor, implements the path planning method for a painting robot described above.

According to the path planning method, the device, the equipment and the storage medium of the spraying robot, the chassis moving path is obtained through the building information model system, the spraying robot can move according to the chassis moving path, the spraying information of the spraying object is determined through the laser radar and the camera, the spraying information is more accurate, meanwhile, the spraying moving path is obtained in real time based on the analysis result, adjustment can be made, the spraying robot is more flexible, the spraying effect is better, the working efficiency is high, and the spraying cost is saved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.

Fig. 1 is a schematic diagram illustrating an application environment of a path planning method for a painting robot according to an embodiment of the present invention;

FIG. 2 is a first flowchart illustrating a path planning method for a painting robot according to a first embodiment of the present invention;

FIG. 3 is a second flowchart of a path planning method for a painting robot according to a second embodiment of the present invention;

FIG. 4 is a schematic diagram of a path planning apparatus of a painting robot according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of an electronic device according to an embodiment of the invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The path planning method for the spraying robot provided by the embodiment of the invention can be applied to an application environment shown in fig. 1, and is applied to a path planning system for the spraying robot, wherein the path planning system for the spraying robot comprises the spraying robot and a control end, and the spraying robot is communicated with the control end through a network. And the control end provides a local service program for the spraying robot. Further, the control end is a computer program, an APP program of the intelligent device or a third-party applet embedded with other APPs. The control end can be installed on but not limited to electronic equipment such as various personal computers, notebook computers, smart phones, tablet computers, spraying robots and portable wearable equipment. The control end can be realized by an independent control end or a control end cluster consisting of a plurality of control ends.

In an embodiment, as shown in fig. 2, a path planning method for a painting robot is provided, which is described by taking the application of the method to the control end in fig. 1 as an example, and specifically includes the following steps:

and S10, acquiring a chassis moving path through a building information model system, and controlling the spraying robot to move according to the chassis moving path.

In the embodiment, in order to establish a virtual three-dimensional model of the construction engineering, a core of a Building Information model system (BIM) provides a complete construction engineering Information base consistent with an actual situation for the model by using a digitization technology. The spraying objects are walls, ceilings and the like in the space structure.

Specifically, the method obtains the specific spatial structure, position and shape of the spraying object by establishing a spatial three-dimensional model through a building information model system. A chassis moving path is set in the BIM system, and the control end acquires and controls the spraying robot to move according to the chassis moving path and moves to the front of the set wall position.

And S20, determining the distance between the spraying object and the laser radar and acquiring the initial state of the spraying object.

In this embodiment, the laser radar is a radar system that detects characteristic quantities such as a position and a speed of a target by emitting a laser beam. The working principle is to transmit a detection signal (laser beam) to the target, then compare the received signal reflected from the target (target echo) with the transmitted signal, and after appropriate processing, obtain the relevant information of the target. The initial state comprises the texture, the area and the space structure of the spraying object, whether a window, a door and the like exist.

Specifically, the distance between the laser radar device carried by the spraying robot and a spraying object (wall surface) is determined, the initial state of the spraying object is obtained, and the rough structure information of the spraying object is preliminarily determined.

And S30, acquiring the current state of the spraying object through a camera, and analyzing the current state by combining a chassis moving path.

Specifically, in the present embodiment, a camera is located at the spray head on the robot arm of the spraying robot for further detailed scanning and analysis of specific information of the spraying object. And on a certain path position of the chassis moving path, wall information in a scanning area range is obtained, and the specific position, size, wall smoothness, wall spraying area, texture and the like of a window or a door on the wall are further determined in detail. The camera transmits the wall information to the control end for analysis.

And S40, acquiring a spraying moving path of the mechanical arm based on the analysis result and spraying the spraying object.

The change of the spraying moving path comprises the overlapping and jumping of the moving path and the change of the speed and the direction of the moving path.

Specifically, in the present embodiment, the spraying robot may perform the spraying operation while acquiring the spraying moving path, that is, the acquiring the spraying moving path and performing the spraying operation are synchronized. Therefore, the wall surface information can be monitored and acquired in real time, and the information acquired by the spraying robot is accurate.

S50, acquiring the spraying state of the sprayed object in real time, and adjusting a spraying moving path based on the spraying state to continuously spray the sprayed object until the sprayed object is sprayed.

In this embodiment, the spraying state may be wall texture after spraying, paint thickness, whether there is missing coating, whether there is sagging, and the like.

Specifically, after a certain area of a wall surface is sprayed, the spraying state of the area is obtained in real time through a camera and is sent to a control end, if the spraying defect of the area is obtained, an adjusting instruction is sent to a mechanical arm, and the mechanical arm adjusts a spraying moving path based on the instruction. And (5) continuously spraying after adjusting the spraying moving path, and finishing the spraying object by combining the moving path of the chassis.

According to the path planning method of the spraying robot, the chassis moving path is obtained through the building information model system, the spraying robot can move according to the chassis moving path, the spraying information of the spraying object is determined through the laser radar and the camera, the spraying information is more accurate, meanwhile, the spraying moving path is obtained in real time based on the analysis result, adjustment can be made, the spraying robot is more flexible, the spraying effect is better, the working efficiency is high, and the spraying cost is saved.

In an embodiment, as shown in fig. 3, in step S40, that is, in acquiring a spraying moving path of the robot arm and spraying the spraying object based on the analysis result, the method specifically includes the following steps:

s401, acquiring the area of a spraying object.

S402, adjusting the spraying amplitude and the movable radius of the mechanical arm based on the area of the spraying area.

In this embodiment, the area of the spraying area is an area to which the radius of the mechanical arm can be sprayed, for example, if a chassis moving path corresponding to the chassis of the spraying robot stops, the mechanical arm can move left and right (or move up and down) in a longest distance, and meanwhile, the spraying width can make the spraying have a width, a strip-shaped paint spraying pattern can be formed on a wall surface after the spraying, and the obtained area of the spraying area at least can include an area of the size of the paint spraying pattern with the longest length and the widest width, which is defined by the moving radius of the mechanical arm. The area of the size of a painting pattern with the longest length and the widest width, defined by the radius of motion of the robot arm, is customized to the minimum area of the painting area.

Specifically, if the area of the region to be painted, which is acquired by the camera, is smaller than the minimum area of the painted region, the reason that the area is encountered by objects such as windows and doors or located at the edge of the wall surface may be the cause of this situation. The area of the area to be sprayed needs to be calculated and the spraying amplitude and the movable radius need to be adjusted, so that the spraying area does not exceed the area of the area to be sprayed. The mechanical arm can be suitable for fixing a single joint, moving the single joint, fixing double joints (the arm can be bent once), moving double joints (the arm can be bent once and can move at the body connection part) and the like. If the fixed double-joint arm is fixed, the movable radius of the longest length can be obtained according to the set fixed distance from the spray head to the wall surface, the arm length and the pythagorean theorem. And the actual moving radius of the mechanical arm is adjusted by acquiring the bent moving track route of the arm.

And if the area of the area needing spraying acquired by the camera is larger than or equal to the area of the minimum spraying area, planning a spraying moving path according to the acquired area sequence.

The steps S401 to S402 are used for adjusting the spraying amplitude and the movable radius of the mechanical arm so as to prevent objects such as windows and doors from being sprayed or prevent the objects located at the edge of the wall surface from exceeding the spraying path during spraying

The wall surface ensures the accuracy and the working efficiency of spraying.

In some embodiments, as shown in fig. 3, in step S50, the method further includes the steps of obtaining a spraying state of the spraying object after being sprayed in real time, and adjusting a spraying moving path based on the spraying state:

s501, determining whether the spraying state has a coating omission condition according to the spraying image collected by the camera.

And S502, if yes, determining the area position of the coating missing situation, and controlling the mechanical arm to return to the area position.

And S503, adjusting the spraying amplitude and the movable radius of the mechanical arm based on the area of the coating missing condition, and adjusting the spraying moving path.

Specifically, in this embodiment, if a missing coating situation occurs in a spraying image collected by the camera, the control end acquires spraying image information, sends a return instruction to the mechanical arm, controls the mechanical arm to return to an area position, acquires a specific area of the missing coating area based on the acquired spraying image information, and adjusts a spraying width and a moving radius of the mechanical arm.

The steps S501 to S403 are effective in detecting the missing coating condition of the coating state, so as to ensure the working effect of the coating robot and reduce the working intensity of the worker.

In some embodiments, as shown in fig. 3, in step S30, that is, acquiring a current state of the spraying object by using a camera, and analyzing the current state by combining a chassis moving path, the method specifically includes the following steps:

s301, acquiring object textures of the spraying object through the depth camera, and analyzing the object textures by combining a chassis moving path.

S302, acquiring a current image of the spraying object through the RGB camera, and analyzing the current image by combining a chassis moving path.

In this embodiment, the texture of the object may be smoothness, pattern and pattern of the wall surface before spraying, and uniformity, smoothness, thickness and the like of the paint left on the wall surface after spraying. The current image can be an image and a space of the wall surface before spraying, an image and a space structure formed on the wall surface after spraying, and the like. The depth camera and the RGB camera may be located at a nozzle of the mechanical arm.

Specifically, due to the relations of the chassis moving path, the wall surface area size, the distance between the depth camera and the wall surface, and the like, the depth camera and the RGB camera can scan and acquire partial areas of the wall surface, and scan and acquire other areas after moving according to the chassis moving path. The depth camera and the RGB camera are mutually assisted, and based on the depth camera and the RGB camera, the control end can acquire wall information more accurately.

Steps S301 to S302 have an effect that the method can more accurately acquire wall surface information using the depth camera and the RGB camera.

In some embodiments, as shown in fig. 3, after step S30, that is, after acquiring the current state of the spraying object by using the camera and analyzing the current state by combining the chassis moving path, the method specifically includes the following steps:

and S303, sensing the surrounding environment through a sensor to obtain target parameters of the surrounding environment.

S304, adjusting the spraying parameters based on the target parameters.

S305, spraying is carried out by adopting the adjusted spraying parameters, and spraying graph information is obtained and stored.

In this embodiment, the target parameters include humidity, temperature, and the like in the air. The spraying parameters comprise parameters such as spraying pressure, spraying amount, nozzle size, spraying speed and the like. The target parameters have certain influence on the spraying effect. For example: when the humidity in the air is high, the paint is dried for a longer time than when the humidity is normal at ordinary times, and may even cause sagging.

Specifically, the ambient environment is sensed by the sensor, and the temperature, humidity, and the like in the ambient environment are acquired. And acquiring a target parameter-optimal spraying parameter data table, and adjusting spraying parameters, wherein the spraying parameters can ensure that the spraying effect after spraying is better. And spraying by adopting the adjusted spraying parameters, and acquiring and storing spraying pattern information for subsequent updating.

The steps S303 to S305 have an effect of making the spraying effect better by combining the target parameter and the spraying parameter.

In some embodiments, as shown in fig. 3, before step S304, that is, before adjusting the spraying parameters based on the target parameters, the method specifically includes the following steps:

s3041, training a deep learning model by taking the target parameters, the spraying parameters and the spraying graphic information as input parameters of the model, and outputting the optimal spraying parameters.

S3042, generating a target parameter-optimal spraying parameter data table based on the target parameters and the optimal spraying parameters.

In the embodiment, deep learning is to learn the intrinsic rules and the expression levels of sample data, and information obtained in the learning process is data such as characters, images and sounds, so that a machine can have analysis and learning capabilities like a human being and can recognize and analyze data such as characters, images and sounds. The spraying pattern information can be images and image data information with good spraying effect of the spraying robot.

Specifically, a large amount of target parameters, spraying parameters and corresponding spraying graph information are obtained from a database, the target parameters and the spraying parameters are trained, the intermediate spraying graph information is updated in an iterative mode, and the error loss value of the intermediate spraying graph information and the corresponding spraying graph information is obtained. And when the error loss value converges to a certain degree, namely the intermediate spraying pattern information is approximately the same as the corresponding spraying pattern information, acquiring the corresponding optimal spraying parameters. And generating a target parameter-optimal spraying parameter data table for subsequent data acquisition and storage according to the target parameter and the optimal spraying parameter.

The steps S3041 to S3042 function to reduce the influence of the target parameter on the spraying effect, and perform learning through the deep learning model to make the spraying effect better.

In some embodiments, as shown in fig. 3, the method of the present application specifically includes the following steps:

and S60, responding to a spraying finishing instruction returned by the mechanical arm, and controlling the spraying robot to continuously move along the chassis moving path.

And S70, responding to a spraying starting instruction of the mechanical arm, and controlling the spraying robot to stop moving.

Specifically, in the present embodiment, two control manners are provided.

The first method is that in response to a spraying completion instruction returned by a mechanical arm, a spraying robot is controlled to continuously move to a certain area range in a wall along a chassis moving path, at the moment, the spraying starting instruction comprises a pre-starting instruction and a starting instruction, wall image information is obtained through a laser radar, a camera and the like, the spraying moving path can be planned, the mechanical arm sends the pre-starting instruction to the spraying robot, at the moment, a control end controls the spraying robot to stop moving, after waiting for a period of time, a machine body is stabilized and a mechanical arm is moved, the mechanical arm sends the starting instruction to the spraying robot, and at the moment, the control end controls the mechanical arm to spray.

And secondly, responding to a spraying finishing instruction returned by the mechanical arm, controlling the spraying robot to continuously move to a specified position along a chassis moving path, controlling the spraying robot to stop moving and controlling the mechanical arm to start the spraying, and controlling the mechanical arm of the spraying robot to spray by the control end.

Steps S60 to S70 function to control the painting robot to paint in conjunction with the chassis movement path.

It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

In an embodiment, a path planning device of a spraying robot is provided, and the path planning device of the spraying robot corresponds to the path planning method of the spraying robot in the above embodiment one to one. As shown in fig. 4, the path planning apparatus of the painting robot includes a chassis moving path moving module 10, an initial state obtaining module 20, a state analyzing module 30, a painting module 40, and a painting moving path adjusting module 50. The functional modules are explained in detail as follows:

the chassis moving path moving module 10 is used for acquiring a chassis moving path through the building information model system and controlling the spraying robot to move according to the chassis moving path;

an initial state obtaining module 20, configured to determine a distance to the spraying object by using a laser radar and obtain an initial state of the spraying object;

the state analysis module 30 is used for acquiring the current state of the spraying object through the camera and analyzing the current state by combining the chassis moving path;

the spraying module 40 is used for acquiring a spraying moving path of the mechanical arm and spraying a spraying object based on the analysis result;

and the spraying moving path adjusting module 50 is configured to obtain a spraying state of the spraying object after being sprayed in real time, and adjust a spraying moving path based on the spraying state, so as to continue to spray the spraying object until the spraying of the spraying object is completed.

For specific definition of the path planning device of the spraying robot, reference may be made to the above definition of the path planning method of the spraying robot, and details are not described herein again. All or part of each module in the path planning device of the spraying robot can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent of a processor in the electronic device, or can be stored in a memory in the electronic device in a software form, so that the processor can call and execute operations corresponding to the modules.

In one embodiment, an electronic device is provided, which may be a control end, and the internal structure diagram of the electronic device may be as shown in fig. 5. The electronic device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the electronic device is configured to provide computing and control capabilities. The memory of the electronic equipment comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the electronic device is used for data related to a path planning method of the spraying robot. The network interface of the electronic device is used for connecting and communicating with an external terminal through a network. The computer program is executed by a processor to implement a path planning method for a spray robot.

In an embodiment, an electronic device is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the processor implements the path planning method of the painting robot according to the above embodiments, such as S10 to S50 shown in fig. 2. Alternatively, the processor, when executing the computer program, implements the functions of each module/unit of the path planning apparatus for the painting robot in the above embodiments, such as the functions of the modules 10 to 50 shown in fig. 4. To avoid repetition, further description is omitted here.

In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and the computer program is executed by a processor to implement the path planning method of the spraying robot according to the above embodiment, such as S10 to S50 shown in fig. 2. Alternatively, the computer program, when executed by the processor, implements the functions of the modules/units in the path planning apparatus for a painting robot in the above-described apparatus embodiments, such as the functions of the modules 10 to 50 shown in fig. 4. To avoid repetition, the description is omitted here.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments of the present application may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct Rambus Dynamic RAM (DRDRAM), and Rambus Dynamic RAM (RDRAM), among others.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules, so as to perform all or part of the functions described above.

The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.

Claims

1. A path planning method for a painting robot, comprising:

acquiring the current state of the spraying object through a camera, and analyzing the current state by combining the chassis moving path;

based on the analysis result, acquiring a spraying moving path of the mechanical arm and spraying the spraying object;

and acquiring the spraying state of the sprayed object in real time, and adjusting the spraying moving path based on the spraying state to continuously spray the sprayed object until the spraying of the sprayed object is finished.

2. The path planning method according to claim 1, wherein the acquiring a spraying movement path of a robot arm and spraying the spraying object based on the analysis result includes:

acquiring the area of a spraying area of the spraying object;

and adjusting the spraying amplitude and the movable radius of the mechanical arm based on the area of the spraying area.

3. The path planning method according to claim 1, wherein the acquiring a spraying state of the spraying object after the spraying in real time and adjusting the spraying movement path based on the spraying state further includes:

determining whether the spraying state has a missing coating condition according to the spraying image acquired by the camera;

if yes, determining the area position of the coating omission condition, and controlling the mechanical arm to return to the area position;

and adjusting the spraying amplitude and the movable radius of the mechanical arm based on the area of the missing coating condition, and adjusting the spraying moving path.

4. The method for planning a path of a painting robot according to claim 1, wherein the acquiring a current state of the painting object by a camera and analyzing the current state in combination with the chassis movement path further comprises:

acquiring object textures of the spraying object through a depth camera, and analyzing the object textures by combining the chassis moving path;

and acquiring a current image of the spraying object through the RGB camera, and analyzing the current image by combining the chassis moving path.

5. The method for planning the path of the painting robot according to claim 1, wherein after the acquiring a current state of the painting object by a camera and analyzing the current state in combination with the moving path of the chassis, the method further comprises:

sensing the surrounding environment through a sensor to obtain target parameters of the surrounding environment;

adjusting a spraying parameter based on the target parameter;

and spraying by adopting the adjusted spraying parameters, and acquiring and storing spraying pattern information.

6. The method of claim 5, wherein before adjusting the spraying parameters based on the target parameters, the method further comprises:

taking the target parameters, the spraying parameters and the spraying graphic information as input parameters of a model, training a deep learning model, and outputting optimal spraying parameters;

and generating a target parameter-optimal spraying parameter data table based on the target parameter and the optimal spraying parameter.

7. The path planning method for a painting robot according to claim 1, further comprising:

responding to a spraying finishing instruction returned by the mechanical arm, and controlling the spraying robot to continuously move along the chassis moving path;

and responding to a spraying starting instruction of the mechanical arm, and controlling the spraying robot to stop moving.

8. A path planning device for a painting robot, comprising:

the chassis moving path moving module is used for acquiring a chassis moving path through a building information model system and controlling the spraying robot to move according to the chassis moving path;

the state analysis module is used for acquiring the current state of the spraying object through a camera and analyzing the current state by combining the chassis moving path;

the spraying module is used for acquiring a spraying moving path of the mechanical arm and spraying the spraying object based on the analysis result;

and the spraying moving path adjusting module is used for acquiring the spraying state of the sprayed object in real time, adjusting the spraying moving path based on the spraying state and continuously spraying the sprayed object until the spraying of the sprayed object is finished.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements a path planning method for a painting robot according to any one of claims 1 to 7.

10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out a method for path planning for a painting robot according to any one of claims 1 to 7.