Spraying environment is harsh, long-term work is easy to cause harm to the human body, the customer of the spraying line for automation transformation. The 3D vision system dynamically scans all kinds of door panels delivered by the conveyor line, automatically generates the corresponding spraying trajectory, and guides the robot to carry out the spraying operation. In the process of operation, no need to teach the machine manually, through the 3D vision system planning to realize different sizes and specifications of door panels of the common line processing, reduce labour costs, improve the utilization rate of the entire line.