Double-robot spraying system and method based on point cloud model reconstruction

The invention discloses a double-robot spraying system and method based on point cloud model reconstruction, and belongs to the technical field of robot spraying, and the system comprises an upper computer, a workpiece conveying module, a point cloud detection and model reconstruction module and a robot spraying module. The method comprises the steps that an upper computer collects workpiece images in a point cloud detection area, line point clouds corresponding to the images are generated, workpiece lifting hook point clouds and workpiece point clouds are obtained through processing, and three-dimensional model reconstruction is conducted according to the workpiece lifting hook point clouds and the workpiece point clouds; and the upper computer extracts a model feature surface, performs dual-robot task allocation on the feature surface, performs dual-robot trajectory planning according to an allocated task, and sends robot trajectory data to the robot controller to perform tracking spraying of a workpiece. A