Method and system for automatically generating working program of surface cleaning manipulator

The invention relates to the technical field of manipulator control, and discloses a method and a system for automatically generating a working program of a surface cleaning manipulator. The method comprises the following steps: acquiring a group of motion photos completed by a jet nozzle in a preset demonstration process through a depth camera; performing image processing on the motion picture to obtain image coordinates of the identification points in the motion picture; the image coordinates are input into a constructed first transformation matrix, and pose data points of the manipulator are obtained; the manipulator program file is generated according to the pose data points in combination with the control file, the manipulator completes the motion trail of the manipulator in the demonstration process according to the manipulator program file, the pose relation between the depth camera and the manipulator is directly obtained through the image coordinates through the first transformation matrix, and the m