A green intelligent paint-repairing integrated system and method

Abstract

The present application relates to a kind of green intelligent paint repair integrated system, including paint spraying front-end subsystem module, paint spraying robot subsystem module and intelligent paint spraying platform subsystem module, the paint spraying front-end subsystem module, paint spraying robot subsystem module, intelligent paint spraying platform subsystem module are sequentially connected;Paint spraying front-end subsystem module prepares work for the operation of paint spraying robot subsystem module, paint spraying robot subsystem module is used for paint spraying work, and intelligent paint spraying platform subsystem module is used for quick drying paint surface and paint spraying air purification;A kind of green intelligent paint repair integrated system of the present application can realize intelligent integration: car owner is guided by intelligent interaction with user terminal system HMI interface, completes navigation, after reaching service site, user hosts car, and automatic parking system will be parked in service station for paint repair, and user can easily realize the integrated process of car paint repair without complex and redundant operation.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of automobile refinish, in particular to the field of a green intelligent refinish integrated system and method. BACKGROUND

[0002] With the rapid development of the automobile industry, the automobile repair and maintenance industry has also developed rapidly. As an important technology in this industry, automobile refinish technology plays an important role in ensuring the appearance of the car, prolonging the service life and improving the safety performance of driving. However, in the process of studying automobile refinish technology, we found that the traditional manual refinish technology has problems such as high operation difficulty, low efficiency, high cost, etc. Therefore, how to effectively solve these problems and improve the efficiency and quality of automobile refinish technology has become a hot research issue.

[0003] Currently, automobile refinish technology mainly includes two types: traditional manual refinish and artificial spraying refinish. Traditional manual refinish refers to using manual painting or filling to repair scratches, dents, rust and oxidation on the surface of the car. This method is simple to operate, but it is low in efficiency, labor-intensive, and prone to color difference and uneven coating thickness. With the development of technology, traditional manual refinish technology has been gradually eliminated. Artificial spraying refinish refers to spraying paint onto the surface of the car through mechanical equipment. Compared with manual refinish, spraying technology has the advantages of high efficiency, high precision, wide application range, etc. However, the spraying technology has high skill requirements for the operator, and the equipment cost and maintenance cost are also relatively high. The mainstream automobile refinish technology has high dependence on manpower, color difference and aberration of refinish paint surface, and impurities and fog marks on the sheet metal surface.

[0004] Traditional automobile refinish services are mainly completed by professional service institutions such as 4S stores and automobile repair factories, which have a series of disadvantages such as high repair cost, low service consciousness, uneven technical level, non-transparent price, and low time efficiency; and the traditional model refinish operation has high skill requirements for employees, a poor working environment, high pollution, great harm, low employment willingness, and does not meet people's pursuit of a healthy life and the country's call for green development. Under the background of the continuous improvement of global industrial intelligence, the traditional refinish industry urgently needs a green intelligent refinish integrated system to improve the low efficiency and non-transparent price of the traditional model, and to strengthen the protection of the health of the operating personnel and the operating environment. SUMMARY

[0005] The present application proposes a green intelligent refinish integrated system and method to solve the problems of poor working environment, low working efficiency, poor service consciousness of workers, non-transparent price, color difference and aberration of refinish paint surface, and impurities and fog marks on the sheet metal surface in the traditional refinish industry.

[0006] In order to solve the above problems, the technical scheme of the present application provides a green intelligent paint repair integrated system, which has the following innovative points: it comprises a paint spraying front-end subsystem module, a paint spraying robot subsystem module and an intelligent paint spraying platform subsystem module, which are connected in sequence; the paint spraying front-end subsystem module prepares for the operation of the paint spraying robot subsystem module, the paint spraying robot subsystem module is used for paint spraying work, and the intelligent paint spraying platform subsystem module is used for quick paint drying and paint spraying air purification.

[0007] The paint spraying front-end subsystem module comprises a user terminal system and an automatic parking system, the output end of the user terminal system is connected to the automatic parking system, the user terminal system is used to complete user information collection and navigation guidance, and the automatic parking system is used to complete the parking of the vehicle to be repaired into the station;

[0008] The paint spraying robot subsystem module comprises a scratch recognition system, a paint spraying preposition device, a surface paint automatic dispensing system and a mechanical arm motion control system, which are connected in sequence and are respectively used for paint surface scratch recognition, automobile working condition judgment, surface paint automatic dispensing and automatic paint spraying;

[0009] The intelligent paint spraying platform subsystem module comprises an ultraviolet curing system and an air purification system, and the ultraviolet curing system is connected to the air purification system.

[0010] In order to solve the above problems, the present application also provides a green intelligent paint repair integrated method, which has the following innovative points:

[0011] (1) Collecting user information and navigation guidance: the user logs in the user terminal system, and the green intelligent paint repair integrated system service station cloud map is loaded in the user terminal system; the user uploads the vehicle paint repair area picture to the user terminal system in the user terminal system; after the user terminal system analyzes the picture, the user can see the estimated price of the paint repair area on the user terminal system; after the user makes an order, the user terminal system sends the paint repair navigation guidance to the user, guides the car to the nearest system service station, and feeds back the relative position information of the vehicle to be repaired to the service station to the automatic parking system after arriving at the station;

[0012] (2) Automatic parking into the station: the automatic parking system adopts an automatic parking robot, which can realize automatic driving of the vehicle in a specified area, ensure that the vehicle enters the accurate position area of the intelligent paint spraying platform, and feed back the accurate position information of the vehicle to the paint spraying robot subsystem after entering the accurate area;

[0013] (3) Scratch recognition: The scratch recognition system detects the scratch position and color information of the vehicle. The scratch image on the vehicle is collected by a binocular camera and a convolutional neural network, and the scratch position and paint color information are identified. The scratch position information is presented to the pre-spraying device;

[0014] (4) Working condition judgment: The pre-spraying device receives the scratch position information of the vehicle, and the infrared sensor accurately positions the scratch position of the vehicle. Image data of the area to be repainted is collected and modeled. By comparing the model with the maximum threshold value set in the pre-spraying device, it is analyzed whether the metal surface working condition of the area to be sprayed can be operated for subsequent spraying. If the working condition meets the standard, the paint color information is presented to the automatic topcoat dispensing system. Otherwise, the painting platform is exited.

[0015] (5) Automatic topcoat dispensing: An automatic topcoat dispensing system is used, which includes a control center and a dispensing mechanism. The control center analyzes the paint color information collected by the binocular camera to obtain a rough dispensing formula. The dispensing mechanism performs rough adjustment on the corresponding paint color masterbatch, and continuously adjusts it through the color sensor feedback link during the dispensing process until the topcoat meets the painting standard.

[0016] (6) Automatic painting by mechanical arm: The mechanical arm motion control system combines with the PID control algorithm to process the deviation between the given position information and the actual position information, reduce the position control error, and finally realize accurate painting through the normal operation of the mechanical arm.

[0017] (7) Paint drying: After painting is completed, the ultraviolet curing system uses ultraviolet curing technology, i.e. UV curing technology, to make the paint surface produce radiation polymerization and cross-linking photochemical reaction, and complete rapid paint drying.

[0018] (8) Air purification: After the painting is completed, the air purification function in the platform is used to perform circulating air purification operation until the air quality of the painting platform meets the national standard, the painting platform is unsealed, the painting is completed, and the user takes the vehicle.

[0019] Further, the specific method of scratch recognition in step (3) is as follows: the model of the binocular camera is CAM-AR0135-3T16. The binocular camera is used to determine the area where the scratch may exist, and then further identify the scratch. Specifically, when identifying the input image, first input the image to be detected into the target detection model with trained parameters. The model will obtain multiple areas suspected to have scratches. Then, these areas are input into the classification model one by one for identification. If any area is determined to have a scratch, the entire image can be identified as having a scratch.

[0020] Further, the working condition judgment method in the step (4) is specifically as follows: the spraying pre-device receives the scratch position information of the automobile, accurately positions and collects the image data of the automobile area to be repainted through the infrared sensor, acquires the flatness, separation degree and concave-convex difference distance data of the metal plate surface to be repainted through real-time modeling based on the collected image data, and judges whether the metal plate surface working condition of the area to be sprayed can be subjected to subsequent spraying operation through comparison between the maximum threshold values of the flatness, separation degree and concave-convex difference distance of the metal plate surface and the real-time modeling data.

[0021] Further, the automatic surface paint matching method in the step (5) is specifically as follows: the automatic surface paint matching system generates the coarse matching formula and the fine matching formula of the color master required for the matching surface paint in the image processing and color sensor feedback compensation mode; the coarse matching formula is generated through image classification processing based on the support vector machine classifier of the color feature, the local feature of the image collected by the binocular camera is extracted to form a feature code, then the feature word histogram formed by the local feature code of each image is taken as the image feature, the classification model is obtained through support vector machine training; in order to improve the generalization ability and classification accuracy of the support vector machine, the particle swarm algorithm is used to optimize the support vector machine kernel parameter, then the image to be classified is classified through the classifier, so that the coarse matching formula is completed, after the coarse matching formula is completed, the sampling is continuously carried out through the color sensor to judge whether the matching surface paint is correct, if not, the control actuator continues to supplement the material for fine compensation according to the feedback information until the sampling is correct, so that the fine matching formula is obtained.

[0022] Further, the automatic surface paint matching system in the step (5) adopts the automatic surface paint matching system based on the ARM processor and the programmable controller.

[0023] Further, the mechanical arm motion control system in the step (6) adopts the PC+STM32 two-level control system structure; the host computer is the host computer control software designed based on Visual C++, the lower computer is the robot controller, and the main control chip of the robot controller is the STM32 microprocessor.

[0024] Compared with the prior art, the present application has the following advantages:

[0025] 1. Intelligent integration: the user completes navigation guidance through intelligent interaction with the user terminal system HMI interface, after reaching the service site, the user entrusts the automobile, and the automatic parking system parks the automobile in the service station for repainting, so that the user can easily realize the integrated process of automobile repainting without complex and redundant operations.

[0026] 2. High quality: the face paint active matching system is adopted, the paint is continuously matched through the sensor feedback adjustment, the color difference and the aberration of the paint surface are reduced to the maximum extent; the mechanical arm automatic paint spraying is adopted, the deviation between the given position information and the actual position information is processed by combining the PID control algorithm, the position control error is reduced, the normal operation of the mechanical arm is realized, the paint spraying is accurate and the paint in the paint bottle is in the high pressure state, the paint is fully atomized, the appearance of the metal surface impurities and the mist marks is reduced to the maximum extent, and the high quality paint repair service is realized.

[0027] 3. Time saving: after the paint spraying is completed, the ultraviolet curing system adopts the ultraviolet curing technology, that is, the UV curing technology, the radiation polymerization and crosslinking photochemical reaction of the paint surface are generated, the paint surface is quickly dried, and compared with the traditional paint drying technology, 50% of the waiting time can be saved.

[0028] 4. Clean and pollution-free: after the paint repair is completed, the air purification function in the platform is adopted, the low-temperature plasma-photocatalytic purification is adopted, the circulating air purification operation is performed, until the air quality of the paint spraying platform reaches the national standard, the waste gas and other pollutants generated after the completion of the paint spraying operation can be treated to the maximum extent, so that the environment air of the paint spraying room is clean and pollution-free. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0030] Figure 1 is a structural block diagram of a green intelligent paint repair integrated system of the present application.

[0031] Figure 2 is a green intelligent paint repair integrated method flow chart of the present application.

[0032] Figure 3 is a working principle diagram of the scratch identification method of the present application.

[0033] Figure 4 is a software working flow chart of the face paint active matching system of the present application.

[0034] Figure 5 is a mechanical arm motion control flow chart of the present application. DETAILED DESCRIPTION

[0035] In order to illustrate the technical solutions described in the present application, the present application will be further described below with reference to the drawings.

[0036] The present application provides a green intelligent paint repair integrated system, and a specific system block diagram is as followsFigure 1 As shown, it includes a front-end painting subsystem module, a painting robot subsystem module, and an intelligent painting platform subsystem module, which are connected in sequence. The front-end painting subsystem module prepares for the operation of the painting robot subsystem module, the painting robot subsystem module is used for painting, and the intelligent painting platform subsystem module is used for rapid drying of the paint surface and air purification during painting.

[0037] The front-end subsystem module for painting includes a user terminal system and an automatic parking system. The output of the user terminal system is connected to the automatic parking system. The user terminal system is used to collect user information and provide navigation guidance, while the automatic parking system is used to park the vehicle to be painted into the station.

[0038] The painting robot subsystem module includes a scratch recognition system, a pre-painting device, an automatic topcoat mixing system, and a robotic arm motion control system. The scratch recognition system, the pre-painting device, the automatic topcoat mixing system, and the robotic arm motion control system are connected in sequence and are used for paint scratch recognition, vehicle condition judgment, automatic topcoat mixing, and automatic painting, respectively.

[0039] The intelligent spray painting platform subsystem module includes an ultraviolet curing system and an air purification system, with the ultraviolet curing system connected to the air purification system.

[0040] This invention also provides a green and intelligent integrated paint repair method, the specific flowchart of which is as follows: Figure 2 As shown, it includes the following steps:

[0041] (1) Collect user information and navigation guidance: The user logs into the user terminal system, which loads the cloud map of the green intelligent paint repair integrated system service station. The user uploads the picture of the area to be repaired on the vehicle to the user terminal system. After the user terminal system parses the picture, the user can see the estimated price of the area to be repaired on the user terminal system. After the user makes an appointment and places an order, the user terminal system initiates paint repair navigation guidance to the user, guiding the car to the nearest system service station. After arriving at the station, the system feeds back the relative position information of the vehicle to be repaired and the service station to the automatic parking system.

[0042] (2) Automatic parking: The automatic parking system uses an automatic parking robot, which can realize the automatic driving of the vehicle in the designated area, ensuring that the vehicle enters the accurate location area on the intelligent painting platform. After entering the accurate area, the vehicle's precise location information is fed back to the painting robot subsystem.

[0043] (3) Scratch recognition: The scratch recognition system detects the scratch position and color information of the vehicle, and the binocular camera and convolutional neural network are used to collect the scratch image on the vehicle and identify the scratch position and paint color information, and the scratch position information is presented to the pre-spraying device;

[0044] The binocular camera in the embodiment is CAM-AR0135-3T16, which is used to determine the area where the scratch may exist, and then identify the scratch. Specifically, when identifying the input image, the to-be-detected image is first input into the target detection model with trained parameters, and the model obtains a plurality of areas suspected to have scratches. Then, the areas are input into the classification model one by one for identification. If any area is determined to be a scratch, the whole image can be identified as having a scratch. The working principle diagram of the scratch identification is shown in FIG. 8. Figure 3

[0045] (4) Working condition judgment: The pre-spraying device receives the scratch position information of the vehicle, and makes the infrared sensor accurately position the scratch position of the vehicle, and collects image data of the to-be-repaired paint area of the vehicle and builds a model. Whether the metal surface working condition of the to-be-sprayed area of the vehicle can be subjected to subsequent spraying operation is analyzed by comparing the model with the maximum threshold value set in the pre-spraying device. If the working condition meets the standard, the paint color information is presented to the topcoat automatic dispensing system, otherwise the painting platform is exited.

[0046] The pre-spraying device receives the scratch position information of the vehicle, accurately positions and collects image data of the to-be-repaired paint area of the vehicle through the infrared sensor, and obtains the flatness, separation degree and concave-convex distance data of the to-be-repaired metal surface through real-time modeling based on the collected image data. The pre-spraying device is provided with maximum threshold values of the flatness, separation degree and concave-convex distance of the metal surface, and whether the metal surface working condition of the to-be-sprayed area can be subjected to subsequent spraying operation is judged by comparing the real-time modeling data.

[0047] (5) Topcoat automatic dispensing: The topcoat automatic dispensing system is used, which comprises a control center and a dispensing mechanism. The control center analyzes the paint color information collected by the binocular camera to obtain a rough dispensing formula, and the dispensing mechanism performs rough adjustment on the corresponding proportion of the paint color masterbatch, and continuously performs fine adjustment through the color sensor feedback link in the dispensing process until the topcoat reaches the painting standard.

[0048] ​The automatic finish dispensing system in the embodiment adopts an image processing and color sensor feedback compensation mode to generate a coarse formula and a fine formula of a color master required for modulating a finish; the coarse formula is generated by image classification processing based on a color feature support vector machine classifier, local features of images collected by a binocular camera are first extracted to form feature codes, then a feature word histogram formed by the local feature codes of each image is taken as an image feature, and a classification model is obtained by training through a support vector machine; in order to improve the generalization ability and classification accuracy of the support vector machine, a particle swarm algorithm is used to optimize the kernel parameters of the support vector machine, then the image to be classified is classified through the classifier, so that the coarse formula is completed, after the coarse formula is completed, sampling is continuously performed through the color sensor to judge whether the modulated finish is correct, if not, the control execution mechanism continues to supplement the material according to the feedback information to perform fine compensation until the sampling is correct, so that the fine formula is obtained.

[0049] Preferably, the automatic finish dispensing system of the application adopts an automatic finish dispensing system based on an ARM processor and a programmable controller, and the system software work flow chart is as shown in Figure 4

[0050] (6) Automatic paint spraying of the mechanical arm: the mechanical arm motion control system combines a PID control algorithm to process the deviation between the given position information and the actual position information, reduce the position control error, and finally realize accurate paint spraying through the normal operation of the mechanical arm;

[0051] The mechanical arm motion control system of the application adopts a PC+STM32 two-level control architecture; the host computer runs a host computer control software designed based on Visual C++, and the lower computer is a robot controller, and the main control chip of the robot controller is an STM32 microprocessor;

[0052] The mechanical arm motion control flow chart is as shown in Figure 5 The host computer realizes the motion control and interaction of the mechanical arm control system; the robot controller is mainly responsible for the motion control of the robot, wherein the I / O interface is used to send the pulse quantity and frequency to the robot servo system to complete the control of the mechanical arm servo system, and finally realize the joint linkage control of the robot; the PID control algorithm is used to process the deviation between the given position information and the actual position information, reduce the position control error; the mechanical arm is driven by a servo motor and feeds back information to an encoder for position verification, and finally realizes the normal operation of the mechanical arm for automatic paint spraying.

[0053] (7) Finish drying: after paint spraying is completed, the ultraviolet curing system adopts ultraviolet curing technology, i.e., UV curing technology, to make the finish produce radiation polymerization and cross-linking photochemical reaction, and complete the rapid drying of the finish;

[0054] ​(8) Air purification: after the completion of the platform in the air purification function, using low temperature plasma-photocatalytic purification, circulating air purification operation, until the spray booth air quality to meet national standards, spray booth closed, the completion of the paint, the user to take the car.

[0055] The above-described embodiments are merely preferred embodiments of the present application and are not intended to limit the concept and scope of the present application. Various modifications and improvements to the technical solutions of the present application made by those of ordinary skill in the art without departing from the design concept of the present application shall fall within the protection scope of the present application. The technical content claimed by the present application has been fully recorded in the technical requirements.

Claims

1. A green and intelligent integrated paint repair method, characterized in that, Includes the following steps: S1. User Information Collection and Navigation Guidance: Users log into the user terminal system, which contains a cloud map of the green intelligent integrated paint repair system service stations. Users upload images of the areas of their vehicles to be repaired to the user terminal system. After the system parses the images, users can see the estimated price for the repaired areas. After placing an order, the system sends navigation guidance to the user, directing the car to the nearest service station. Upon arrival at the service station, the system feeds back the relative location information between the vehicle and the service station to the automatic parking system. S2. Automated Parking: The automated parking system uses an automated parking robot, which can enable vehicles to drive automatically within a designated area, ensuring that the vehicle enters the accurate location area on the intelligent painting platform. After entering the accurate area, the system feeds back the precise location information of the vehicle to the painting robot subsystem. S3. Scratch Recognition: The scratch recognition system detects the location and color information of scratches on the vehicle. It uses a binocular camera and a convolutional neural network to acquire scratch images on the car, identify the location of the scratches and the paint color information, and then presents the scratch location information to the pre-painting device. S4. Working Condition Judgment: The pre-painting device receives information about the location of a car scratch, uses infrared sensors to accurately locate the scratch, and collects image data of the area to be repainted, creating a model. By comparing the model with a maximum threshold set within the pre-painting device, it analyzes whether the sheet metal surface of the area to be painted is suitable for subsequent painting operations. If the working condition meets the standard, the paint color information is presented to the automatic topcoat mixing system; otherwise, the painting platform is exited. S5. Automatic Topcoat Mixing: An automatic topcoat mixing system is adopted, which includes a control center and a mixing mechanism. The control center analyzes the paint color information collected by the binocular camera to obtain a coarse formula. The mixing mechanism performs coarse mixing of the paint masterbatch in the corresponding proportion and continuously performs fine-tuning through the color sensor feedback link during the mixing process until the topcoat meets the painting standard. S6. Automatic painting with robotic arm: The robotic arm motion control system combines a PID control algorithm to process the deviation between the given position information and the actual position information, reduce position control errors, and ultimately achieve precise painting through the normal operation of the robotic arm; S7. Paint Drying: After painting, the ultraviolet curing system uses ultraviolet curing technology, namely UV curing technology, to cause radiation polymerization and cross-linking photochemical reactions in the paint surface, thus completing the rapid drying of the paint surface; S8. Air Purification: After the paint touch-up is completed, the air purification function in the platform adopts low-temperature plasma-photocatalytic purification to carry out circulating air purification operation until the air quality of the paint spraying platform reaches the national standard. The paint spraying platform is then unsealed, the paint touch-up is completed, and the user can pick up the vehicle.

2. The green and intelligent integrated paint repair method according to claim 1, characterized in that, The specific method for scratch recognition in step S3 is as follows: The model of the binocular camera is CAM-AR0135-3T16. The binocular camera is used to first determine the area where scratches may exist, and then further identify the scratches. Specifically, when recognizing the input image, the image to be detected is first input into the target detection model with trained parameters. The model will obtain multiple areas that are suspected to have scratches. These areas are then input into the classification model for recognition one by one. If any area is judged as a scratch, then the entire image can be identified as having scratches.

3. The green and intelligent integrated paint repair method according to claim 1, characterized in that, The specific method for judging the working condition in step S4 is as follows: the pre-painting device receives the information of the car's scratch location, accurately locates and collects image data of the area of ​​the car to be repaired by infrared sensors, and uses the collected image data to model in real time to obtain data on the flatness, separation and unevenness of the sheet metal surface to be repaired; the pre-painting device has a maximum threshold for the flatness, separation and unevenness of the sheet metal surface and the unevenness of the sheet metal surface, and judges whether the working condition of the sheet metal surface in the area to be sprayed can be used for subsequent spraying operations by comparing it with the real-time modeling data.

4. The green and intelligent integrated paint repair method according to claim 1, characterized in that, The specific method for automatic topcoat mixing in step S5 is as follows: The automatic topcoat mixing system uses image processing and color sensor feedback compensation to generate a coarse and fine-tuning formula for the color masterbatch required for mixing the topcoat. The coarse formula is generated by image classification processing using a support vector machine classifier based on color features. First, local features of the images captured by the binocular camera are extracted to form feature codes. Then, the feature word histogram formed by the local feature codes of each image is used as image features and trained by the support vector machine to obtain a classification model. To improve the generalization ability and classification accuracy of the support vector machine, the particle swarm optimization algorithm is used to optimize the kernel parameters of the support vector machine. Then, the image to be classified is classified by the classifier to complete the coarse formula. After the coarse formula is completed, the color sensor continuously samples to determine whether the topcoat is mixed correctly. If it is incorrect, the control actuator continues to replenish material for fine-tuning compensation based on the feedback information until the sampling judgment is correct, thus obtaining the fine-tuning formula.

5. The green and intelligent integrated paint repair method according to claim 1, characterized in that, The automatic paint mixing system in step S5 is an automatic paint mixing system based on an ARM processor and a programmable logic controller.

6. The green and intelligent integrated paint repair method according to claim 1, characterized in that, The robotic arm motion control system in step S6 adopts a PC+STM32 two-level control architecture; the host computer runs host computer control software designed based on Visual C++, and the slave computer is a robot controller, the main control chip of which is an STM32 microprocessor.

7. A green and intelligent integrated paint repair system, applied to the green and intelligent integrated paint repair method according to any one of claims 1-6, characterized in that... The system includes a front-end painting subsystem module, a painting robot subsystem module, and an intelligent painting platform subsystem module, which are connected sequentially. The front-end painting subsystem module prepares for the operation of the painting robot subsystem module, which is used for painting operations. The intelligent painting platform subsystem module is used for rapid drying of the paint surface and air purification during painting. The aforementioned front-end system module for painting includes a user terminal system and an automatic parking system. The output of the user terminal system is connected to the automatic parking system. The user terminal system is used to collect user information and provide navigation guidance, while the automatic parking system is used to park the vehicle to be painted into the station. The painting robot subsystem module includes a scratch recognition system, a pre-painting device, an automatic topcoat mixing system, and a robotic arm motion control system. These components are connected in sequence and are used for paint scratch recognition, vehicle condition assessment, automatic topcoat mixing, and automatic painting, respectively. The intelligent spray painting platform subsystem module includes an ultraviolet curing system and an air purification system, wherein the ultraviolet curing system is connected to the air purification system.

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