Robot-based coating film making system and method, electronic equipment and storage medium

Abstract

The invention discloses a robot-based coating film making system and method, electronic equipment and a storage medium, and relates to the field of automatic control of film making. The system comprises a film-making control terminal, a robot, a recovery device, and a sampling table, a stirring table and a blade coating table which are connected in sequence, wherein the robot, the sampling table, the stirring table and the blade coating table are respectively in communication connection with the film-making control terminal; the robot comprises a controller, a mechanical arm and an image acquisition device, a corresponding target template and a target scraper are determined through the controller according to related information of a to-be-detected coating, a film making path is planned according to the target template and the target scraper, and the mechanical arm completes film making operation according to the film making path to obtain a corresponding target cured coating. And calculating the thickness of the target cured coating film according to the basic information of the to-be-measured coating to ensure that the thickness of the target cured coating film is within a thickness range required by a preset standard. By implementing the technical scheme provided by the invention, the effect of improving the accuracy and reliability of paint performance detection data is achieved.

Description

Technical Field

[0001] This application relates to the technical field of automated control for film making, and particularly to a robot-based coating film making method, system, electronic device, and storage medium. Background Art

[0002] Before the waterproof coating is tested, film preparation is an essential key step in the early stage. The purpose is to form a coating film with a uniform thickness, homogeneous interior, and no bubbles in the mold substrate. After curing under specified conditions, it is processed into specimens of various specifications for testing.

[0003] Currently, it is mainly manual to weigh samples. After weighing each component of the coating to be tested according to the ratio, it is mixed and stirred, and then manually scraped with a squeegee until the cured film thickness meets the standard requirements. However, manual scraping is likely to cause uneven film thickness and defects such as bubbles inside the film, resulting in artificial defects in the prepared cured film, so that the physical properties of the coating cannot be truly and accurately reflected during testing. Summary of the Invention

[0004] This application provides a robot-based coating film making method, which has the effect of improving the film making quality of the coating to enhance the accuracy and reliability of the coating performance test data.

[0005] In a first aspect, this application provides an intelligent film making system based on a robot. The system includes a film making control terminal, a robot, a recovery device, and a sampling table, a stirring table, and a scraping table connected in sequence. The robot, the sampling table, the stirring table, and the scraping table are respectively in communication connection with the film making control terminal; the robot includes a controller, a robotic arm, and an image acquisition device; The controller is configured to receive a film making instruction, generate an image acquisition instruction based on the film making instruction, and receive the measured images corresponding to each coating container to be tested on the sampling table collected by the image acquisition device in response to the image acquisition instruction, and determine the basic information of the coating to be tested in each coating container to be tested based on the measured images; it is also configured to control the robotic arm to collect each coating to be tested into the same coating container to be tested, and transfer the coating container to be tested to the stirring table for mixing and stirring to obtain a film making coating slurry; it is also configured to determine a corresponding target template based on the film making coating slurry, and control the robotic arm to obtain the target template and place the target template on the scraping table; it is also configured to control the robotic arm to inject the film making coating slurry into the target template; it is also configured to determine a corresponding target squeegee based on the target template, determine the film making path of the target squeegee according to the target squeegee and the target template, generate a film making control instruction according to the film making path, and control the robotic arm to complete the film making operation based on the film making control instruction to obtain the target cured film corresponding to the film making coating; The image acquisition device is used to acquire the images to be measured of the paint containers to be measured on the sampling table in response to the image acquisition instruction of the controller; it is also used to transmit the images to be measured to the controller; The robotic arm is used to transfer each paint to be measured from the sampling table to the mixing table for mixing and stirring, inject the film-forming paint slurry after mixing and stirring into the target template, and complete the film-forming operation in response to the film-forming control instruction of the controller; The recovery device is used to recover the residual film-forming paint slurry and the paint containers to be measured.

[0006] By adopting the above technical solutions, the accuracy and efficiency of the film-forming operation are improved, the errors caused by manual intervention are reduced, thereby improving the accuracy and reliability of the performance detection of the paint to be measured; by collecting and analyzing the images to be measured of the paint containers to be measured through the image acquisition device, the basic information of the paint to be measured is accurately determined, providing reliable data support for subsequent mixing and stirring; the automated operation of the robotic arm realizes the collection, transfer, mixing and stirring of the paint to be measured and the film-forming operation, improving the work efficiency and reducing the labor intensity; through the cooperation of the target template and the target scraper, the film-forming path is accurately controlled to ensure that the obtained target cured coating film meets the expected requirements; the setting of the recovery device effectively treats the residual film-forming paint slurry and the paint containers to be measured, improving the environmental protection and resource utilization rate of the system.

[0007] Optionally, the controller is further used to determine the thickness of the target cured coating film according to the film-forming paint slurry, compare the thickness of the target cured coating film with the preset standard required thickness range, and when the thickness of the target cured coating film is not within the preset standard required thickness range, generate a film-forming plan based on the film-forming paint, and respond to the confirmation instruction of the film-forming control terminal for the film-forming plan to control the robotic arm to perform film-forming again.

[0008] By adopting the above technical solutions, the thickness of the target cured coating film is compared with the preset standard required thickness range to determine whether the thickness of the target cured coating film completed in the current film-forming reaches the standard, and the thickness of the target cured coating film is determined according to the film-forming paint slurry. After the wet film of the film-forming paint in the target template is completed by the robotic arm, it needs to be cured to form the target cured coating film, and the curing time is relatively long. When the curing is completed, the thickness of the target cured coating film is detected, and then it is judged whether film-forming needs to be performed again, which will prolong the film-forming cycle of the paint to be detected. Therefore, the robot pre-selects the corresponding function in the database according to the paint information to be measured to calculate the thickness of the finally prepared target cured coating film to judge whether it meets the standard requirements, which can formulate the paint film-forming plan in advance, thereby improving the production efficiency.

[0009] Optionally, the controller calculates the thickness of the cured coating film based on the following formula: ; where y represents the target cured coating film thickness of the coating to be measured, represents the solid content of the coating to be measured, represents the density of the coating to be measured, represents the density of the cured coating film of the coating to be measured, and x represents the wet film thickness of the coating to be measured.

[0010] By adopting the above technical solution, based on the basic information of each coating to be measured, information such as the solid content and density of the film-forming coating slurry after mixing and stirring are determined, and the target cured coating film thickness is quickly determined, thereby improving production efficiency.

[0011] Optionally, the system further includes a vibration table, the vibration table is communicatively connected to the film-forming control terminal, and the controller is further configured to control the robotic arm to transfer the coating slurry to be measured to the vibration table.

[0012] By adopting the above technical solution, after the stirring device on the stirring table completes mixing and stirring to form the film-forming coating slurry, the robot transfers the film-forming coating slurry to the vibration table, and the vibration table vibrates the film-forming coating slurry to eliminate the air bubbles in the film-forming coating slurry, thereby ensuring the internal uniformity of the target cured coating film.

[0013] Optionally, the robotic arm includes a clamping portion and a supporting portion. The clamping portion includes a connecting head and at least two clamping jaws fixed to the connecting head. The clamping jaws are oppositely arranged so as to form a clamping space between the clamping jaws, and an adjusting mechanism is fixedly installed on the clamping surface of each clamping jaw. The adjusting mechanism includes a driving motor, a driving wheel and a driven wheel. The driving wheel and the driven wheel are respectively fixedly installed at two ends of the clamping jaw. A conveyor belt is tightly sleeved on the driving wheel and the driven wheel. The surface of the conveyor belt is provided with anti-slip textures. The driving motor is electrically connected to the controller, and the output shaft of the driving motor is fixedly connected to the driving wheel. The image acquisition device is fixedly installed on the connecting head facing the clamping jaw, and the image acquisition device is located on the extension line of the symmetry axis of the two clamping jaws.

[0014] By adopting the above technical solution, during the process of the image acquisition device acquiring the to-be-tested images of each to-be-tested coating, since the inspection operator places the to-be-tested coating on the sampling table, the identification code is not in a state directly facing the robot. Therefore, in the to-be-tested images acquired by the robot, there may be a situation where the basic information of the to-be-tested coating cannot be obtained. At this time, the manipulator is controlled to clamp the to-be-tested coating container, and then the driving motor is controlled to rotate, thereby driving the conveyor belt to convey. During the transmission process, the conveyor belt drives the to-be-tested coating container to rotate. At the same time, the image acquisition device on the connection head continuously acquires images of the to-be-tested coating container and transmits them back to the controller, so as to ensure that when the controller analyzes the to-be-tested images, it can recognize the identification code on the to-be-tested coating container, thereby obtaining the basic information of the to-be-tested coating in the identification code.

[0015] Optionally, the adjusting mechanism further includes an elastic adjusting member. The elastic adjusting member includes an adjusting wheel and an adjusting rod. The adjusting wheel is fixedly connected to the adjusting rod, and the adjusting rod is fixedly installed on the clamp. The adjusting wheel abuts against the conveyor belt.

[0016] By adopting the above technical solution, the setting of the elastic adjusting member makes the clamping space formed by the clamping part of the manipulator variable, so as to adapt to the clamping of to-be-tested coating containers of different sizes.

[0017] Optionally, the robot further includes a main body frame. The recycling device is fixedly installed on the main body frame. The recycling device includes a recycling cylinder and a receiving plate. The receiving plate is hinged to the bottom of the side of the recycling cylinder close to the main body frame. A regulating ring is fixedly installed at the top of the side of the recycling cylinder close to the main body frame. A regulating bolt is threadedly connected in the regulating ring. A regulating rope is fixedly installed on the regulating bolt. The free end of the regulating rope is fixedly installed at the free end of the receiving plate. A wear-reducing ring for the regulating rope to pass through is fixedly installed on the recycling cylinder. A sliding member matching the clamp is fixedly installed at the top of the regulating bolt. A guiding angle extending outwards is fixedly installed at the top of the side of the recycling cylinder away from the main body support.

[0018] By adopting the above technical solution, after pouring the film-forming coating into the target template, the paint container to be tested can be recycled into the recycling device, and residual paint will be generated during the process of controlling the target squeegee to scrape the film-forming coating on the target template. The target squeegee scrapes the residual paint into the recycling device; and the up and down movement of the adjusting bolt in the adjusting ring can realize the sealing and separation of the receiving plate and the recycling cylinder, so as to realize the recycling and pouring of the residual paint slurry. When the adjusting bolt moves upward, it drives the adjusting rope, and the adjusting rope pulls the receiving plate upward, so as to realize the sealing of the receiving plate and the recycling cylinder. When the adjusting bolt moves downward, the length of the adjusting rope remains unchanged, and the free end of the receiving plate will leave the recycling cylinder, so as to realize the pouring of the residual paint slurry in the recycling cylinder. And the up and down movement of the adjusting bolt is realized through the cooperation of the clamping part of the robotic arm and the sliding part at the top of the adjusting bolt, so as to realize the full-automatic recycling and pouring of the residual paint slurry, and avoid the residual paint slurry staying on the scraping table and causing dirt, which affects the subsequent use of the scraping table.

[0019] In the second aspect of the present application, a robot-based paint film-forming method is provided, which is applied to a robot. The method includes: Respond to the film-forming instruction, and obtain the to-be-tested images of at least one to-be-tested paint container based on the film-forming instruction. Among them, the to-be-tested paint container is used to hold the to-be-tested paint, and corresponding identification codes are pasted on each of the to-be-tested paint containers; Based on the to-be-tested images, determine the basic information of the corresponding to-be-tested paint in each of the to-be-tested paint containers. Among them, the basic information at least includes the name and weight of the to-be-tested paint; Based on the basic information, determine the film-forming paint information corresponding to the film-forming paint slurry formed by mixing and stirring each of the to-be-tested paints; Traverse in a predefined template library according to the film-forming paint information, determine the template with the highest adaptability to the film-forming paint slurry as the target template, and determine the corresponding target squeegee according to the target template; Determine the film-forming path of the target squeegee according to the target template and the target squeegee; Based on the film-forming path, complete the film-forming operation of the to-be-tested paint to obtain the target cured paint film corresponding to the to-be-tested paint; Determine the thickness of the target cured paint film based on the film-forming paint information; Compare the thickness of the target cured paint film with the preset standard required thickness range; When the thickness of the target cured paint film is within the preset standard required thickness range, end the film-forming; When the thickness of the target cured paint film is not within the preset standard required thickness range, a re-film-forming instruction is generated based on the film-forming paint information, and the above steps are repeated until the thickness of the target cured paint film is within the preset standard required thickness range.

[0020] In a third aspect of the present application, an electronic device is provided, which includes a processor, a memory, a user interface, and a network interface. The memory is used to store instructions. The user interface and the network interface are used to communicate with other devices. The processor is used to execute the instructions stored in the memory, so that the electronic device executes the method described in the second aspect and any possible implementation manner in the second aspect.

[0021] In a fourth aspect of the present application, a computer-readable storage medium is provided. The computer-readable storage medium stores instructions, and when the instructions are executed, the method described in the second aspect and any possible implementation manner in the second aspect is executed.

[0022] In summary, one or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: 1. A composite robot is adopted. The composite robot determines the target template, target squeegee, and the film-forming path of the target squeegee required for film formation according to the basic information of the paint to be tested, effectively solving the technical problem in the prior art that the film formation of the paint is realized manually, resulting in non-uniformity inside the target cured paint film, and further achieving the technical effect of improving the quality of the target cured paint film to enhance the accuracy and reliability of the physical property detection data of the paint; 2. Calculate the corresponding target cured paint film thickness according to the film-forming paint, so as to quickly determine whether the target cured paint film thickness meets the preset standard required thickness range. When it does not meet the preset standard required thickness range, film formation is carried out again according to the film-forming program until the target cured paint film thickness meets the preset standard required thickness range, thereby improving production efficiency; 3. The setting of the adjustment mechanism of the mechanical arm clamping part can ensure that the identification code of the paint to be tested is included in the image to be tested collected by the image acquisition device. The setting of the recovery device can recover the residual paint slurry and the paint containers for each paint to be tested during the film-forming process, avoiding the contamination of the sampling table, stirring table, and scraping table and affecting the film formation. Description of the Drawings

[0023] Figure 1 is a schematic structural diagram of a robot-based paint film-forming system provided by an embodiment of the present application; Figure 2 is a schematic structural diagram of the robot of the robot-based paint film-forming system disclosed in an embodiment of the present application; Figure 3 is a schematic structural diagram of the mechanical arm of the robot of the robot-based paint film-forming system disclosed in an embodiment of the present application clamping a paint container to be tested; Figure 4 is a schematic structural diagram of the mechanical arm of the robot of the robot-based paint film-forming system disclosed in an embodiment of the present application; Figure 5 It is a schematic diagram of the robotic arm and clamp structure of the robot in the coating film forming system based on a robot disclosed in the embodiments of the present application; Figure 6 It is a schematic diagram of the structure of the recovery device in the coating film forming system based on a robot disclosed in the embodiments of the present application; Figure 7 It is a schematic diagram of the structure for the robotic arm to adjust the state of the recovery device in the coating film forming system based on a robot disclosed in the embodiments of the present application; Figure 8 It is a schematic flow chart of the coating film forming method based on a robot disclosed in the embodiments of the present application; Figure 9 It is a schematic diagram of the structure of an electronic device disclosed in the embodiments of the present application.

[0024] Explanation of reference numerals: 1, main body frame; 11, controller; 2, robotic arm; 21, support part; 22, clamping part; 221, connecting head; 222, clamp; 2221, driving wheel; 2222, driven wheel; 2223, conveyor belt; 2224, driving motor; 2225, adjusting mechanism; 3, image acquisition device; 4, recovery device; 41, recovery cylinder; 42, receiving plate; 43, adjusting ring; 44, adjusting bolt; 45, adjusting rope; 46, loss reduction ring; 47, sliding part, 48; guide plate; 500, electronic device; 501, processor; 502, communication bus; 503, user interface; 504, network interface; 505, memory. Detailed implementation manners

[0025] In order to enable those skilled in the art to better understand the technical solutions in this specification, the following will clearly and completely describe the technical solutions in the embodiments of this specification with reference to the accompanying drawings in the embodiments of this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments.

[0026] In the description of the embodiments of the present application, words such as "for example" or "for illustration" are used to represent examples, illustrations or explanations. Any embodiment or design solution described as "for example" or "for illustration" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Exactly, using words such as "for example" or "for illustration" is intended to present relevant concepts in a specific manner.

[0027] In the description of the embodiments of the present application, the term "a plurality of" means two or more. For example, a plurality of systems means two or more systems, and a plurality of screen terminals means two or more screen terminals. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the technical features indicated. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. The terms "include", "comprise", "have" and their variants all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0028] The technical solution provided by the present application can be applied to the scenario of preparing a cured coating film that meets the standard requirements by sampling, weighing, stirring, film forming, and curing waterproof materials, so as to realize the performance detection of waterproof materials. The sampling and weighing of the paint to be tested are manually completed by the operator. When sampling, the name of the paint to be tested is determined, and a barcode scale similar to that for weighing items in a supermarket is set at the sampling location. The barcode scale is provided with a human-computer interaction display screen, a weight detection sensor, and a main control. The names of each paint to be tested are pre-stored in the barcode scale. When the paint to be tested is placed on the barcode scale, the corresponding name is selected on the human-computer interaction display screen, and the weight detection sensor detects the weight of the paint to be tested and forms a corresponding identification code. The operator pastes the identification code on the surface of the container of the paint to be tested so that the robot can determine the name and weight of the paint to be tested by identifying the identification code.

[0029] In the embodiments of the present application, the film forming control terminal may include an intelligent interactive tablet, a mobile phone, a tablet computer, a laptop computer, a desktop computer, an all-in-one computer, a vehicle multimedia, a server, or a workstation, etc.

[0030] The present application provides a paint film forming system based on a robot. Refer to Figure 1 , Figure 1 which is a schematic structural diagram of a paint film forming system based on a robot disclosed in the embodiments of the present application. The system includes a film forming control terminal, a robot, a sampling table, a stirring table, a vibrating table, a scraping table, and a recycling device. The robot, the sampling table, the stirring table, the vibrating table, and the scraping table are respectively communicatively connected to the film forming control terminal to achieve real-time communication with the film forming control terminal.

[0031] Specifically, the robot includes a controller 11, a robotic arm 2, and an image acquisition device 3. The controller 11 serves as the center of the entire system. The operator touches the film-making control terminal to start the robot for film-making. After the robot receives the film-making instruction, the controller 11 controls the robot to move to the sampling table, and then controls the image acquisition device 3 to collect the test images of each paint container to be tested on the sampling table. It receives the test images transmitted back by the image acquisition device 3 and analyzes the test images to determine the identification codes on each paint container to be tested, and determines basic information such as the name and weight of the paint to be tested corresponding to each paint container to be tested according to the identification codes; then controls the robotic arm 2 to gather the paints to be tested into the same paint container to be tested, and transfers the paint container to be tested to the stirring table for mixing and stirring. After the mixing and stirring are completed, a film-making paint slurry is formed. It controls the robotic arm 2 to transfer the film-making paint slurry to the vibrating table, and eliminates the bubbles in the film-making paint slurry through the vibration of the vibrating table; and determines the corresponding target template according to the film-making paint information, controls the robotic arm 2 to place the target template on the scraping table and inject the film-making paint slurry into the target template for scraping; after the target template is determined, determines the corresponding target scraper according to the target template, then plans the film-making path of the target scraper according to the target scraper and the target template, generates the corresponding film-making control instruction according to the film-making path, and controls the robotic arm 2 to complete the film-making operation according to the film-making control instruction, so as to complete the target cured coating film corresponding to the paint to be tested. During the preparation of the target cured coating film, the controller 11 also determines the target cured coating film thickness according to the film-making paint information, and compares the target cured coating film thickness with the preset standard required thickness range. When the target cured coating film thickness is within the preset standard required thickness range, it indicates that the target cured coating film meets the product standard requirements; when the target cured coating thickness is not within the preset standard required thickness range, a film-making plan is regenerated according to the paint to be tested, and the film-making plan is sent to the film-making control terminal, and in response to the confirmation instruction of the film-making control terminal for the film-making plan, controls the robotic arm 2 to perform secondary film-making on the basis of the film-making paint, so that the target cured coating film thickness is within the preset standard required thickness range, ensuring that the target cured coating film meets the standard requirements for physical performance testing of the product.

[0032] The robotic arm 2 is used to transfer each paint to be tested from the sampling table to the mixing table for mixing and stirring, inject the film-forming paint slurry after mixing and stirring into the target template, and complete the film-forming operation in response to the film-forming control instruction of the controller 11. The robotic arm 2 includes a clamping part 22 and a supporting part 21. The clamping part 22 includes a connecting head 221 and at least two clamping jaws 222 fixed on the connecting head 221. The clamping jaws 222 are oppositely arranged on the connecting head 221 to form a clamping space, and an adjusting mechanism 2225 is fixedly installed on the clamping surface of each clamping jaw 222. The adjusting structure includes a driving motor 2224, a driving wheel 2221, a driven wheel 2222 and a conveyor belt 2223. The output shaft of the driving motor 2224 is fixedly connected to the driving wheel 2221 to drive the driving wheel 2221 to rotate through the driving motor 2224. The driving wheel 2221 and the driven wheel 2222 are respectively fixedly installed at both ends of the clamping jaw 222. The conveyor belt 2223 is tightly sleeved on the driving wheel 2221 and the driven wheel 2222. When the driving motor 2224 works, it drives the driving wheel 2221 to rotate, thereby driving the conveyor belt 2223 to drive, so that the object clamped between the clamping jaws 222 rotates; and an elastic adjusting member is fixedly installed between the driving wheel 2221 and the driven wheel 2222. The elastic adjusting member includes an adjusting wheel and an adjusting rod. One end of the adjusting rod is fixedly installed on the clamping jaw 222, and the other end of the adjusting rod is fixedly connected to the adjusting wheel. The adjusting wheel abuts against the conveyor belt 2223 to form a state where the conveyor belt 2223 is tightly sleeved on the adjusting wheel.

[0033] In order to enhance the friction of the conveyor belt 2223 and enable the conveyor belt 2223 to drive the clamped object to rotate during transmission, anti-slip textures are provided on the surface of the conveyor belt 2223.

[0034] In order to ensure that the image acquisition device 3 can acquire the image to be tested of the paint container to be tested, the image acquisition device 3 is fixedly installed on the connecting head 221 facing the clamping jaw 222, and the image acquisition device 3 is located on the center line of the clamping space formed by the clamping jaw 222, ensuring that when the clamping jaw 222 clamps the paint container to be tested, the clamping jaw 222 will not affect the shooting range of the image acquisition device 3. The image acquisition device 3 includes, but is not limited to, a camera and a camera.

[0035] The robot includes a main body frame 1, and a recycling device is fixedly installed on the main body frame 1. The recycling device includes a recycling cylinder 41 and a receiving plate 42. The receiving plate 42 is hinged to the bottom of the recycling cylinder 41 on the side close to the main body frame 1 of the recycling cylinder 41. And at the top of the recycling cylinder 41 on the side close to the main body frame 1, an adjusting ring 43 is fixedly installed. An adjusting bolt 44 is threadedly connected in the adjusting ring 43. An adjusting rope 45 is fixedly installed on the adjusting bolt 44. The free end of the adjusting rope 45 is fixedly connected to the free end of the receiving plate 42. A wear-reducing ring 46 through which the adjusting rope 45 can pass is fixedly installed on the recycling cylinder 41. The installation position of the wear-reducing ring 46 is in the middle between the adjusting ring 43 and the free end of the receiving plate 42. The adjusting rope 45 passes through the wear-reducing ring 46 without friction with the recycling cylinder 41. And at the top of the adjusting bolt 44, a sliding member 47 matching the clamp 222 is fixedly installed. By clamping the sliding member 47 with the clamp 222, the driving motor 2224 drives the conveyor belt 2223 to drive, thereby driving the sliding member 47 to rotate. The rotation of the sliding member 47 causes the adjusting bolt 44 to move up and down under the action of the adjusting ring, thereby driving the adjusting rope 45 to move up and down, and further driving the closing and opening between the receiving plate 42 and the recycling cylinder 41 to complete the recycling and cleaning of the residual coating slurry and the coating containers to be tested of each coating to be tested.

[0036] The robot communicates with the film-making control terminal in real time. When the robot transfers the coating container to be tested from the sampling table to the stirring table, the robot sends a stirring request signal to the film-making control terminal. Then the film-making control terminal controls the stirring table to start and stir the coating to be tested in the coating container to be tested on the stirring table. The rotation speed and duration of the stirring of the stirring table are preset in the film-making control terminal. After controlling the stirring table to complete the stirring according to the preset rotation speed and preset overtime duration, the film-making control terminal sends a prompt signal of completed mixing and stirring to the robot. Then the robot transfers the film-making coating after stirring to the vibrating table and sends a vibration request signal to the film-making control terminal. The film-making control terminal vibrates the film-making coating according to the preset vibration frequency and preset vibration duration to eliminate the bubbles in the film-making coating. After the vibration is completed, the robot injects the film-making coating slurry into the target template and grabs the target scraper to complete the film-making operation according to the film-making path.

[0037] The basic information includes but is not limited to the name and weight of the coating to be tested, and the basic information is determined by analyzing the identification code.

[0038] The generation of the film-making instruction can be that the operator touches and starts film-making on the human-machine interaction interface of the robot. When the controller 11 of the robot receives the confirmation instruction to start film-making, it automatically starts film-making. It can also be a control signal formed by the operator inputting the confirmation instruction to start the robot's film-making on the film-making control terminal that communicates with the robot in real time. After the robot receives this control signal, it starts film-making. It can also be a control signal formed by the management personnel inputting the confirmation instruction to start the robot's film-making on the mobile terminal that communicates with the robot in real time. After the robot receives the control signal, it automatically starts film-making, etc. Any way of realizing robot control can be used.

[0039] It is easy to think that the images to be measured collected by the robot may include the images of the paint containers to be measured and the images of non-paint containers to be measured. In order to speed up the confirmation speed of the paint containers to be measured, at least one material placing area can be opened on the sampling table. After the operator completes the preparation and weighing of the paint to be measured, the paint container to be measured filled with the paint to be measured is placed in the material placing area. After the robot collects the image on the sampling table, the image to be measured of the paint container to be measured can be quickly determined according to the division of the material placing area and the non-material placing area. The material placing area can be a placing groove opened on the sampling table or a placing plate installed, and the position information of the placing groove or the placing plate is pre-stored in the robot, so that the robot can quickly determine the image to be measured of the paint container to be measured when analyzing the image to be measured.

[0040] Paints include solid paints and liquid paints. The paint to be measured can be composed of one component, two components, or even multiple components. In the embodiment of the present application, taking the paint composed of two components as an example of the paint to be measured, it includes paint component A and paint component B. Before inputting the film-making instruction to the robot, the operator weighs paint component A and paint component B according to the film-making ratio, and obtains the corresponding identification codes a and b corresponding to paint component A and paint component B respectively. Then, the identification code a is pasted on the outer wall of the paint container a of paint component A, and the identification code b is pasted on the outer wall of the paint container b of paint component B. After the robot receives the film-making instruction, it moves to the position where the sampling table is located to collect the image to be measured, and the image to be measured at least includes the paint container a and the paint container b.

[0041] During the process of processing the image to be measured, the controller 11 obtains the image of the paint container to be measured by performing target detection, image segmentation, etc. on the image to be measured. Then, it locates the identification code on the image of the paint container to be measured, determines the identification code corresponding to each paint container to be measured, and analyzes the information of the identification code to obtain basic information such as the name and weight of the paint to be measured corresponding to each paint container to be measured, so as to provide accurate data support for subsequent operations.

[0042] Among them, the object detection methods include but are not limited to Haar cascade, HOG+SVM, Faster R-CNN, YOLO, and SSD. The image segmentation methods include but are not limited to Mask R-CNN.

[0043] For example, the collected image to be measured contains at least the images of the paint container a to be measured and the paint container b to be measured. By analyzing the identification code a of the paint container a in the image to be measured, it is determined that the paint component A to be measured is contained in the paint container a to be measured and the weight of the paint component A to be measured. By continuing to analyze the identification code b on the paint container b to be measured, it is determined that the paint component B to be measured is contained in the paint container b to be measured and the weight of the paint component B to be measured.

[0044] The calculation formula for the dry film thickness is pre-stored in the controller 11: ; Among them, y represents the target cured film thickness of the paint to be measured, represents the solid content of the paint to be measured, represents the density of the paint to be measured, represents the density of the cured film of the paint to be measured, and x represents the wet film thickness of the paint to be measured.

[0045] The characteristics of each paint are pre-stored in the robot. After determining the names and weights of the paints to be measured through the images to be measured, the information such as the weight, solid content, and density of the cured film of the film-forming paint obtained by mixing and stirring the paints to be measured can be determined according to the characteristics of the corresponding paints to be measured. Then, through traversing in the predefined template library according to the paint information, the template with the highest compatibility with the film-forming paint is matched, and this template is determined as the target template. Then, the corresponding target squeegee is selected according to the size of the target template.

[0046] Among them, the film-forming coating information includes the weight, solid content, density of the film-forming coating, and density of the cured coating film corresponding to the film-forming coating formed after mixing and stirring each coating to be tested. For example, for the JS product, the process of forming the film-forming coating slurry is as follows: the JS coating corresponding to the JS product includes a liquid component A and a powder component B. After the inspector completes the weight ratio of the liquid component A and the powder component B to form an identification code and pastes it on the surface of container A of the liquid component A and the surface of container B of the powder component B respectively, after the robot confirms that the coatings to be tested are the liquid component A and the powder component B, it realizes the mixing and stirring of the liquid component A and the powder component B according to the corresponding mixing and stirring steps, thereby forming the film-forming coating slurry of the JS product. The stirring process of the JS coating can be divided into the following three steps: First, stir the liquid component A at a rotation speed of (200 - 500) rpm for 1 - 2 minutes, and add the powder component B while stirring; then, stir the coating mixture of the liquid component A and the powder component B at a rotation speed of (800 - 1200) rpm for not less than 3 minutes to form a uniform slurry, and then stir at a rotation speed of (100 - 200) rpm for 2 minutes to form the film-forming coating slurry. The weight, solid content, density of the film-forming coating in this state, and the density of the cured coating film formed after film formation and other information are used as the film-forming coating information to calculate the target cured coating film thickness of the coating to be tested.

[0047] In the embodiments of the present application, the following several commonly used waterproof coatings are selected, and the above formula is used to calculate and compare with the dry film thickness after actual sample preparation to complete the verification of the formula. Retain the solid content a, which is strongly correlated with the dry film thickness, and fit a linear curve within the common thickness range of the film thickness (0.5 mm - 2.5 mm), and the maximum deviation meets the standard requirements.

[0048] JS coating: The product solid content a = 0.77. Let the wet film thickness be x and the target cured coating film thickness be y. The functional relationship is y = kx, and the following data is used for fitting: Serial number Wet film thickness (mm) Target cured coating film thickness (mm) 1 0.7 0.51 2 1.3 0.98 3 2.5 3.33 Based on the above fitting functional relationship, the average value of k is taken as 1 / 1.349 = 0.741, and the product solid content is a = 0.77, so the expression is y = 0.962a·x.

[0049] Polyurethane coating: The product solid content is a = 0.9. Let the wet film thickness be x and the target cured coating film thickness be y. The functional relationship is y = kx, and the following data is used for fitting: Serial number Wet film thickness (mm) Target cured coating film thickness (mm) 1 0.6 0.53 2 1.1 1.01 3 2.2 2 Based on the above fitting functional relationship, the average value of k is taken as 1 / 1.107 = 0.903, and the product solid content is a = 0.9, so the expression is y = 1.003a·x.

[0050] Acrylic paint: The solid content of the product is a = 0.65. Let the wet film thickness be x and the target cured film thickness be y. The functional relationship is y = kx. The following data is used for fitting: Serial number Wet film thickness (mm) Target cured coating film thickness (mm) 1 0.8 0.52 2 1.5 1. 04 3 2.0 2.25 Based on the above fitting functional relationship, the average value of k is taken as 0.581, so the expression is y = 0.894a·x.

[0051] In order to ensure that the target template can complete the film formation of the paint to be tested, the target template can be matched according to the volume of the film-forming paint slurry and the volume of the target template. It is easy to think that after mixing and stirring each paint to be tested to form a film-forming paint slurry, by obtaining the target image of the container of the paint to be tested, and then analyzing and processing the target image to obtain the height of the target paint in the container of the paint to be tested, the volume of the film-forming paint slurry is determined according to the shape and size of the container of the paint to be tested, and then a template with a volume greater than or equal to the volume of the wet film formed by scraping the film-forming paint slurry is matched in the preset template library, and this template is determined as the target template. When the robot determines the target template in the preset template library, it preferentially determines the template with the smallest difference between the template volume and the volume of the target film-forming paint slurry as the target template.

[0052] After the target template is determined, the target scraper is determined according to the size of the target template. When the volume of the target template is equal to or less than the volume of the film-forming paint slurry, in order to ensure that the film-forming paint slurry in the target template can be scraped, the length of the target scraper needs to be greater than or equal to the length of the target template parallel to the scraping direction; when the volume of the target template is greater than the volume of the film-forming paint slurry, the length of the target scraper needs to be less than or equal to the length of the effective internal space of the target mold parallel to the scraping direction.

[0053] It is easy to think that in order to avoid the formation of unevenness inside the target cured film due to the presence of air bubbles in the slurry when injecting the film-forming paint slurry into the target template to prepare the target cured film, which affects the performance test results of the paint to be tested, after mixing and stirring each paint to be tested to form a film-forming paint slurry, the robot transfers the film-forming paint slurry to a vibrating table to vibrate and eliminate the air bubbles in the film-forming paint to ensure the uniformity inside the target cured film.

[0054] The robot scrapes the film-forming paint slurry in the target template along the film-forming path, so that the target paint in the target template forms a wet film with a flat surface and uniform internal structure, and then cures it in the target template placed in an environment meeting the standard requirements to form a target cured film.

[0055] For example, for JS products, the wet film curing to form the target cured coating film is divided into curing before demolding and curing after demolding. The film after demolding is the target cured coating film. The curing environment before demolding is at a temperature of (23±2) °C and a humidity of (50±10) %RH for 96 h. The curing environment after demolding is to be treated in a constant temperature and humidity chamber at (40±2) °C and a humidity of (25±5) %RH for 48 h, then placed in a dryer to cool for (2 - 3) h, and then the performance test of the paint to be measured is carried out.

[0056] In the embodiment of the present application, the robot receives a film-making instruction and moves to the sampling table. During the process of collecting the image to be measured, in order to ensure that the identification code on the paint container to be measured can be collected, the clamping part 22 of the robotic arm 2 clamps the paint container to be measured, and then the driving motor 2224 rotates to drive the conveyor belt 2223 to drive, so as to drive the paint container to be measured to rotate. During the rotation of the paint container to be measured, the image acquisition device 3 continuously collects the image to be measured of the paint container to be measured and transmits it to the controller 11. The controller 11 processes and analyzes the image to be measured to obtain the basic information of the paint to be measured corresponding to the identification code of each paint container to be measured, and then mixes all the paints to be measured into the same paint container to be measured. During the mixing process, the powdery paint to be measured can be added to the liquid paint to be measured, and the other paint containers that have been emptied are discarded into the recycling device, and the paint slurry container to be measured is transferred to the stirring table. The vibrating table vibrates the film-making paint slurry to eliminate the bubbles in the film-making paint slurry, and then pours the vibrated film-making paint slurry into the target template. The robot moves to the scraping table, and the guide angle of the recycling device is located on the side of the target template close to the recycling device, and then grabs the target scraper to scrape the film-making paint slurry in the target template according to the film-making path. During the scraping process, the residual paint slurry will be scraped by the scraper into the recycling device. The receiving plate and the recycling cylinder of the recycling device are in a closed state when the robot starts film-making. After the robot finishes the scraping operation, the robot moves to the sampling table. The robotic arm 2 clamps the sliding part 47 at the top of the adjusting bolt, and the driving motor 2224 rotates in reverse to drive the conveyor belt 2223 to drive so that the sliding part 47 rotates, and the adjusting bolt moves towards the bottom of the recycling cylinder, so that the receiving plate and the recycling cylinder are opened, and the paint container to be measured and the residual paint in the recycling cylinder are poured. Then the driving motor 2224 rotates forward again to drive the conveyor belt to drive so that the sliding part 47 rotates, and the adjusting bolt moves towards the top of the recycling cylinder to close the receiving plate and the recycling cylinder for collecting sundries for the next film-making.

[0057] Referring to Figure 8 , the present application also provides a robot-based paint film-making method, which is applied to a robot, and the method includes: S100, in response to a film forming instruction, obtain a to-be-tested image of at least one to-be-tested coating container based on the film forming instruction, where the to-be-tested coating container is used to contain a to-be-tested coating, and a corresponding identification code is pasted on each of the to-be-tested coating containers; S200, determine basic information of the corresponding to-be-tested coating in each of the to-be-tested coating containers based on the to-be-tested image, where the basic information at least includes the name and weight of the to-be-tested coating; S300, based on the basic information, determine film forming coating information corresponding to a film forming coating slurry formed by mixing and stirring each of the to-be-tested coatings; S400, traverse in a predefined template library according to the film forming coating information, determine the template with the highest adaptability to the film forming coating slurry as the target template, and determine a corresponding target squeegee according to the target template; S500, determine a film forming path of the target squeegee according to the target template and the target squeegee; S600, complete a film forming operation of the to-be-tested coating based on the film forming path to obtain a target cured coating film corresponding to the to-be-tested coating; S700, determine the thickness of the target cured coating film based on the film forming coating information; S800, compare the thickness of the target cured coating film with a preset standard required thickness range; S901, when the thickness of the target cured coating film is within the preset standard required thickness range, end the film forming of the film forming coating; S902, when the thickness of the target cured coating film is not within the preset standard required thickness range, generate a re-film forming instruction based on the film forming coating information, and repeat the above steps until the thickness of the target cured coating film is within the preset standard required thickness range.

[0058] It should be noted that: the method and system embodiments provided in the above embodiments belong to the same concept, and the specific implementation process is detailed in the system embodiment, which will not be elaborated here.

[0059] This application also discloses an electronic device 500. Refer to Figure 9 , Figure 9 is a schematic structural diagram of an electronic device 500 disclosed in an embodiment of the present application. The electronic device 500 may include: at least one processor 501, at least one network interface 504, a user interface 503, a memory 505, and at least one communication bus 502.

[0060] Among them, the communication bus 502 is used to realize connection communication between these components.

[0061] Among them, the user interface 503 may include a display screen and a camera. Optionally, the user interface 503 may further include standard wired interfaces and wireless interfaces.

[0062] Among them, the network interface 504 may optionally include standard wired interfaces and wireless interfaces (such as Wi-Fi interfaces).

[0063] Among them, the processor 501 may include one or more processing cores. The processor 501 connects various parts within the entire server through various interfaces and lines. By running or executing instructions, programs, code sets, or instruction sets stored in the memory 505, and by calling data stored in the memory 505, it performs various functions of the server and processes data. Optionally, the processor 501 may be implemented in at least one of the hardware forms of digital signal processing (DSP), field-programmable gate array (FPGA), and programmable logic array (PLA). The processor 501 may integrate one or several combinations of a central processing unit (CPU), a graphics processing unit (GPU), and a modem, etc. Among them, the CPU mainly processes the operating system, user interfaces, and application programs, etc.; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 501 and may be implemented separately by a single chip.

[0064] Among them, the memory 505 may include random access memory (RAM) and may also include read-only memory. Optionally, the memory 505 includes a non-transitory computer-readable storage medium. The memory 505 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 505 may include a program storage area and a data storage area. Among them, the program storage area may store instructions for implementing the operating system, instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store the data involved in the above-mentioned various method embodiments. Optionally, the memory 505 may further be at least one storage device located far from the aforementioned processor 501. Refer to Figure 9, in the memory 505, which is a computer storage medium, an operating system, a network communication module, a user interface module, and an application program for a robot-based coating film forming method may be included.

[0065] In Figure 9 In the electronic device 500 shown, the user interface 503 is mainly used to provide an interface for the user to input data and obtain the data input by the user; while the processor 501 can be used to call the application program for a robot-based coating film forming method stored in the memory 505. When executed by one or more processors 501, the electronic device 500 is caused to execute one or more of the methods as described in the above embodiments. It should be noted that for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the present application is not limited by the described action sequence, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to the present application.

[0066] In the above embodiments, the descriptions of the respective embodiments have their own focuses. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0067] In several implementation manners provided by the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point, the displayed or discussed coupling or direct coupling or communication connection to each other can be through some service interfaces. The indirect coupling or communication connection of the device or unit can be in an electrical or other form.

[0068] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they can be located in one place, or they can be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0069] In addition, in each embodiment of the present application, the functional units can be integrated in one processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0070] When the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory 505. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory 505 and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in various embodiments of the present application. The aforementioned memory 505 includes various media that can store program codes, such as USB flash drives, mobile hard disks, magnetic disks, or optical discs.

[0071] The foregoing are only exemplary embodiments of the present disclosure, and the scope of the present disclosure cannot be limited thereby. That is, any equivalent changes and modifications made in accordance with the teachings of the present disclosure still fall within the scope covered by the present disclosure. After considering the specification and the practice of the present disclosure, those skilled in the art will readily conceive of other embodiments of the present disclosure.

[0072] The present application aims to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common general knowledge or conventional technical means in the technical field not recorded in the present disclosure. The specification and the embodiments are only regarded as exemplary, and the scope and spirit of the present disclosure are defined by the claims.

Claims

1. A robot-based coating film making system, characterized in that: The system comprises a film making control terminal, a robot, a recovery device, and a sampling platform, a stirring platform, and a scraping platform connected in sequence, wherein the robot, the sampling platform, the stirring platform, and the scraping platform are respectively connected to the film making control terminal for communication; the robot comprises a controller (11), a mechanical arm (2), and an image acquisition device (3); The controller (11) is used to receive a film-making instruction, generate an image acquisition instruction based on the film-making instruction, and receive the image to be tested corresponding to each paint container to be tested on the sampling table acquired by the image acquisition device (3) in response to the image acquisition instruction, and determine the basic information of the paint to be tested in each paint container to be tested based on the image to be tested; it is also used to control the mechanical arm (2) to collect each of the paints to be tested into the same paint container to be tested, and transfer the paint container to be tested to a stirring table for mixing and stirring to obtain a film-making paint slurry; it is also used to determine a corresponding target template based on the film-making paint slurry, control the mechanical arm (2) to obtain the target template and place the target template on the scraping table; it is also used to control the mechanical arm (2) to inject the film-making paint slurry into the target template; it is also used to determine a corresponding target scraper based on the target template, determine a film-making path of the target scraper according to the target scraper and the target template, generate a film-making control instruction according to the film-making path, and control the mechanical arm (2) to complete the film-making operation based on the film-making control instruction to obtain a target cured coating corresponding to the film-making paint; The image acquisition device (3) is used to respond to the image acquisition instruction of the controller (11) to acquire the image to be tested of each of the paint containers to be tested on the sampling table; and is also used to transmit the image to be tested to the controller (11); The robot arm (2) is used to transfer each of the coatings to be tested from the sampling platform to the stirring platform for mixing and stirring, and inject the mixed and stirred film-forming coating slurry into the target template, and respond to the film-forming control instruction of the controller (11) to complete the film-forming operation; The recovery device is used to recover the residual paint slurry and the paint container to be tested.

2. A robot-based coating film-making system according to claim 1, characterized in that: The controller (11) is also used to determine the target cured film thickness based on the film-forming coating slurry, and compare the target cured film thickness with a preset standard required thickness range. When the target cured film thickness is not within the preset standard required thickness range, a film-forming plan is generated based on the film-forming coating, and a confirmation instruction of the film-forming control terminal for the film-forming plan is responded to to control the robot arm (2) to perform film-forming again.

3. A robot-based coating film-making system according to claim 2, characterized in that: The controller calculates the target cured coating thickness based on the following formula: ； Where y represents the target cured film thickness of the coating to be tested, Indicates the solid content of the coating to be tested, represents the density of the coating to be tested, represents the cured coating density of the coating to be tested, and x represents the wet film thickness of the coating to be tested.

4. The robot-based coating film-making system according to claim 1, characterized in that: The system also includes a vibration table, which is communicatively connected to the film-making control terminal. The controller (11) is also used to control the mechanical arm (2) to transfer the film-making coating slurry to the vibration table.

5. The robot-based coating film-making system according to claim 1, characterized in that: The mechanical arm (2) comprises a clamping portion (22) and a supporting portion (21); the clamping portion (22) comprises a connecting head (221) and at least two clamps (222) fixed on the connecting head (221); the clamps (222) are arranged relative to each other so that a clamping space is formed between the clamps (222); and an adjustment mechanism (2225) is fixedly mounted on the clamping surface of each clamp (222); the adjustment mechanism (2225) comprises a driving motor (2224), a driving wheel (2221) and a driven wheel (2222); the driving wheel (222 1) and the driven wheel (2222) are respectively fixedly mounted on the two ends of the clamp (222); a conveyor belt (2223) is tightly sleeved on the driving wheel (2221) and the driven wheel (2222); a surface of the conveyor belt (2223) is provided with an anti-slip texture; an output shaft of the driving motor (2224) is fixedly connected to the driving wheel (2221); the image acquisition device (3) is fixedly mounted on the connecting head (221) toward the clamp (222); and the image acquisition device (3) is located on the extension line of the symmetry axis of the two clamps (222).

6. A robot-based coating film-making system according to claim 5, characterized in that: The adjustment mechanism (2225) further comprises an elastic adjustment member, which comprises an adjustment wheel and an adjustment rod, wherein the adjustment wheel is fixedly connected to the adjustment rod, and the adjustment rod is fixedly mounted on the clamp (222), and the adjustment wheel is pressed against the conveyor belt (2223).

7. The robot-based coating film forming system according to claim 5, characterized in that: The system also includes a recovery device, and the robot also includes a main frame (1). The recovery device is fixedly mounted on the main frame (1). The recovery device includes a recovery drum and a receiving plate. The receiving plate is hinged to the bottom of the recovery drum near the main frame (1). An adjustment ring is fixedly mounted on the top of the recovery drum near the main frame (1). An adjustment bolt is threadedly connected in the adjustment ring. An adjustment rope (45) is fixedly mounted on the adjustment bolt. The free end of the adjustment rope (45) is fixedly mounted on the free end of the receiving plate. A loss reduction ring (46) for the adjustment rope (45) to pass through is fixedly mounted on the recovery drum. A sliding member (47) matching the clamp (222) is fixedly mounted on the top of the adjustment bolt.

8. A coating film-making method based on a robot, characterized in that: Applied to a robot, the method comprises: Responding to a film-making instruction, and acquiring a test image of at least one paint container to be tested based on the film-making instruction, wherein the paint container to be tested is used to contain the paint to be tested, and each of the paint containers to be tested is pasted with a corresponding identification code; Determining basic information of the paint to be tested corresponding to each of the paint containers to be tested based on the image to be tested, wherein the basic information at least includes the name and weight of the paint to be tested; Based on the basic information, determine the film-forming coating information corresponding to the film-forming coating slurry formed by mixing and stirring each of the coatings to be tested; Traversing the predefined template library according to the film-making coating information, determining the template with the highest degree of adaptability to the film-making coating as the target template, and determining the corresponding target scraper according to the target template; Determine a film-making path of the target scraper according to the target template and the target scraper; Complete the film-forming operation of the coating to be tested based on the film-forming path to obtain a target cured coating film corresponding to the coating to be tested; Determining the target cured coating thickness based on the film-forming coating information; Comparing the target cured coating thickness with a preset standard required thickness range; When the target cured coating thickness is within the preset standard required thickness range, the film forming of the film forming coating is terminated; When the target cured coating thickness is not within the preset standard required thickness range, a re-filming instruction is generated based on the film-forming coating information, and the above steps are repeated until the target cured coating thickness is within the preset standard required thickness range.

9. An electronic device, characterized in that: The electronic device (500) comprises a processor (501), a memory (505), a user interface (503) and a network interface (504), wherein the memory (505) is used to store instructions, the user interface (503) and the network interface (504) are used to communicate with other devices, and the processor (501) is used to execute the instructions stored in the memory (505) so that the electronic device (500) executes the method as claimed in claim 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed, the method according to claim 8 is performed.

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