Robot-based Coating Film Forming System, Method, Electronic Device and Storage Medium

Abstract

A robot-based coating film forming system, method, electronic device and storage medium, which relate to the field of automatic control of film forming. The system includes a film forming 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 communicatively connected with the film forming control terminal; the robot includes a controller, a robotic arm, and an image acquisition device. The controller determines the corresponding target template and target blade according to the relevant information of the paint to be tested, and plans the film forming path according to the target template and the target blade. The robotic arm completes the film forming operation according to the film forming path to obtain the corresponding target cured coating film, and calculates the thickness of the target cured coating film according to the basic information of the paint to be tested to ensure that the thickness of the target cured coating film is within the thickness range required by the preset standard. Implementing the technical solution provided by this application achieves the effect of improving the accuracy and reliability of the coating performance detection data.

Description

Technical Field

[0001] This application relates to the technical field of automatic control for film making, and particularly relates 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 easily causes defects such as uneven film thickness and air 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 the coating performance test. 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 coating performance test data.

[0005] In a first aspect, this application provides a robot-based intelligent film making system. The system includes a film making control terminal, a robot, a recovery device, and a sampling table, a mixing table, and a scraping table connected in sequence. The robot, the sampling table, the mixing 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;

[0006] The controller is configured to receive a film-forming instruction, generate an image acquisition instruction based on the film-forming instruction, receive the measured images corresponding to the paint containers to be measured on the sampling table acquired by the image acquisition device in response to the image acquisition instruction, and determine the basic information of the paint to be measured in each paint container to be measured based on the measured images; it is also configured to control the robotic arm to collect each of the paints to be measured into the same paint container to be measured, and transfer the paint container to be measured to a stirring table for mixing and stirring to obtain a film-forming paint slurry; it is also configured to determine a corresponding target template based on the film-forming paint slurry, and control the robotic arm to obtain the target template and place the target template on a scraping table; it is also configured to control the robotic arm to inject the film-forming paint slurry into the target template; it is also configured to determine a corresponding target scraper based on the target template, determine the film-forming path of the target scraper according to the target scraper and the target template, generate a film-forming control instruction according to the film-forming path, and control the robotic arm to complete the film-forming operation based on the film-forming control instruction to obtain a target cured coating film corresponding to the film-forming paint;

[0007] The image acquisition device is configured to acquire the measured images of the paint containers to be measured on the sampling table in response to the image acquisition instruction of the controller; it is also configured to transmit the measured images to the controller;

[0008] The robotic arm is configured to transfer each of the paints to be measured from the sampling table to a stirring table for mixing and stirring, inject the mixed and stirred film-forming paint slurry into the target template, and complete the film-forming operation in response to the film-forming control instruction of the controller;

[0009] The recovery device is used to recover the residual film-forming paint slurry and the paint containers to be measured.

[0010] By adopting the above technical solution, 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 measured images of the paint containers to be measured by 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 processes the residual film-forming paint slurry and the paint containers to be measured, improving the environmental protection and resource utilization rate of the system.

[0011] Optionally, the controller is further configured to determine the target cured coating film thickness according to the film-forming coating slurry, compare the target cured coating film thickness with a preset standard required thickness range, and when the target cured coating film thickness is not within the preset standard required thickness range, generate a film-forming plan based on the film-forming coating, 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 formation again.

[0012] By adopting the above technical solution, the target cured coating film thickness is compared with the preset standard required thickness range to determine whether the target cured coating film thickness of the currently completed film formation meets the standard. And the target cured coating film thickness is determined according to the film-forming coating slurry. After the wet film of the film-forming coating in the target template is completed by the robotic arm, it still 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 formation needs to be performed again, which will prolong the film-forming cycle of the coating to be detected. Therefore, the robot pre-selects the corresponding function in the database according to the information of the coating to be detected to calculate the thickness of the target cured coating film finally prepared, so as to judge whether it meets the standard requirements, and can formulate the coating film-forming plan in advance, thereby improving the production efficiency.

[0013] Optionally, the controller calculates the cured coating film thickness based on the following formula:

[0014] ;

[0015] where y represents the target cured coating film thickness of the coating to be detected, represents the solid content of the coating to be detected, represents the density of the coating to be detected, represents the density of the cured coating film of the coating to be detected, and x represents the wet film thickness of the coating to be detected.

[0016] By adopting the above technical solution, the solid content, density and other information of the film-forming coating slurry after mixing and stirring of each coating to be detected are determined, and the target cured coating film thickness is quickly determined, thereby improving the production efficiency.

[0017] Optionally, the system further includes a vibrating table, the vibrating 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 detected to the vibrating table.

[0018] By adopting the above technical solution, after the stirring device on the stirring table completes the mixing and stirring to form the film-forming coating slurry, the robot transfers the film-forming coating slurry to the vibrating table, and the vibrating table vibrates the film-forming coating slurry to eliminate the bubbles in the film-forming coating slurry, thereby ensuring the uniformity inside the target cured coating film.

[0019] 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 arranged oppositely to form a clamping space therebetween, 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 an 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.

[0020] 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, the situation where the basic information of the to-be-tested coating cannot be obtained may occur. At this time, the robotic arm 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 conveying process, the conveyor belt drives the to-be-tested coating container to rotate. At the same time, the image acquisition device on the connecting head continuously acquires images of the to-be-tested coating container and transmits them back to the controller, so as to ensure that the controller can identify the identification code on the to-be-tested coating container when analyzing the to-be-tested images, thereby obtaining the basic information of the to-be-tested coating in the identification code.

[0021] 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 clamping jaw. The adjusting wheel abuts against the conveyor belt.

[0022] By adopting the above technical solution, the setting of the elastic adjusting member makes the clamping space formed by the clamping portion of the robotic arm variable, so as to adapt to the clamping of to-be-tested coating containers of different sizes.

[0023] 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. An adjusting ring is fixedly installed at the top of the side of the recycling cylinder close to the main body frame. An adjusting bolt is threadedly connected to the adjusting ring. An adjusting rope is fixedly installed on the adjusting bolt. A free end of the adjusting rope is fixedly installed at a free end of the receiving plate. A wear-reducing ring for the adjusting rope to pass through is fixedly installed on the recycling cylinder. A sliding member matching the clamping jaw is fixedly installed at the top of the adjusting 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.

[0024] After adopting the above technical solution, after pouring the film-forming coating into the target template, the paint container to be tested can be recycled to 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 adjusting bolt moves up and down in the adjusting ring to achieve the sealing and separation of the receiving plate and the recycling cylinder, thereby realizing 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, thereby realizing 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, thereby realizing 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, thereby realizing the full-automatic recycling and pouring of the residual paint slurry, avoiding the residual paint slurry staying on the scraping table and causing dirt, which affects the subsequent use of the scraping table.

[0025] 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:

[0026] Respond to the film-forming instruction, and obtain at least one test image of the paint container to be tested based on the film-forming instruction. Among them, the paint container to be tested is used to hold the paint to be tested, and corresponding identification codes are pasted on each of the paint containers to be tested;

[0027] Based on the test image, determine the basic information of the corresponding paint to be tested in each of the paint containers to be tested. Among them, the basic information at least includes the name and weight of the paint to be tested;

[0028] 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 paints to be tested;

[0029] 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;

[0030] Determine the film-forming path of the target squeegee according to the target template and the target squeegee;

[0031] Based on the film-forming path, complete the film-forming operation of the paint to be tested to obtain the target cured paint film corresponding to the paint to be tested;

[0032] Determine the thickness of the target cured paint film based on the film-forming paint information;

[0033] Compare the thickness of the target cured paint film with the preset standard required thickness range;

[0034] When the thickness of the target cured coating film is within the range of the preset standard required thickness, the film formation is ended;

[0035] When the thickness of the target cured coating film is not within the range of the preset standard required thickness, a re-film formation instruction is generated based on the film formation coating information, and the above steps are repeated until the thickness of the target cured coating film is within the range of the preset standard required thickness.

[0036] In the third aspect of the present application, an electronic device is provided, including 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, and 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.

[0037] In the 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.

[0038] In summary, one or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0039] 1. A composite robot is adopted. The composite robot determines the target template, the target scraper, and the film formation path of the target scraper required for the corresponding film formation according to the basic information of the paint to be measured, effectively solving the technical problem that the internal uniformity of the target cured coating film is caused by manual film formation in the prior art, and further achieving the technical effect of improving the quality of the target cured coating film to improve the accuracy and reliability of the physical property detection data of the paint;

[0040] 2. Calculate the corresponding thickness of the target cured coating film according to the film formation coating, so as to quickly judge whether the thickness of the target cured coating film meets the preset standard required thickness range. When it does not meet the preset standard required thickness range, re-film formation is carried out according to the film formation program until the thickness of the target cured coating film meets the preset standard required thickness range, thereby improving production efficiency;

[0041] 3. The setting of the adjustment mechanism of the mechanical arm clamping part can ensure that the identification code of the paint to be measured is included in the image to be measured collected by the image acquisition device. The setting of the recovery device can recover the residual paint slurry and the containers for the paints to be measured during the film formation process, avoiding the contamination of the sampling table, the stirring table, and the scraping table and affecting the film formation. Description of the Drawings

[0042] Figure 1It is a schematic structural diagram of a paint film forming system based on a robot provided by an embodiment of the present application;

[0043] Figure 2 It is a schematic structural diagram of a robot of a paint film forming system based on a robot disclosed by an embodiment of the present application;

[0044] Figure 3 It is a schematic structural diagram of a robotic arm of a paint film forming system based on a robot disclosed by an embodiment of the present application clamping a paint container to be tested;

[0045] Figure 4 It is a schematic structural diagram of a robotic arm of a robot of a paint film forming system based on a robot disclosed by an embodiment of the present application;

[0046] Figure 5 It is a schematic structural diagram of a robotic arm and a clamp of a robot of a paint film forming system based on a robot disclosed by an embodiment of the present application;

[0047] Figure 6 It is a schematic structural diagram of a recovery device of a paint film forming system based on a robot disclosed by an embodiment of the present application;

[0048] Figure 7 It is a schematic structural diagram of a robotic arm of a paint film forming system based on a robot disclosed by an embodiment of the present application adjusting the state of a recovery device;

[0049] Figure 8 It is a schematic flowchart of a paint film forming method based on a robot disclosed by an embodiment of the present application;

[0050] Figure 9 It is a schematic structural diagram of an electronic device disclosed by an embodiment of the present application.

[0051] 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

[0052] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this application, rather than all of the embodiments.

[0053] In the description of the embodiments of this application, words such as "for example" or "for illustration" are used to give examples, illustrations or explanations. Any embodiment or design solution described as "for example" or "for illustration" in the embodiments of this application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "for example" or "for illustration" is intended to present the relevant concepts in a specific manner.

[0054] In the description of the embodiments of this application, the meaning of the term "plural" refers to two or more. For example, a plurality of systems refers to two or more systems, and a plurality of screen terminals refers to two or more screen terminals. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed 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.

[0055] The technical solution provided by this 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 bar code scale similar to that for weighing items in a supermarket is set at the sampling location. The bar code 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 bar code scale. When the paint to be tested is placed on the bar code 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.

[0056] The film forming control terminal in the embodiments of this application may include an intelligent interactive tablet, a mobile phone, a tablet computer, a laptop computer, a desktop computer, an all-in-one computer, in-vehicle multimedia, a server, or a workstation, etc.

[0057] This application provides a robot-based paint film forming system, referring to Figure 1 , Figure 1It is a schematic architecture diagram of a paint film forming system based on a robot disclosed in an embodiment 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 recovery 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.

[0058] 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 staff touches the film forming control terminal to start the robot for film forming. After the robot receives the film forming 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, 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 the 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 collect 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 forming paint slurry is formed. Controls the robotic arm 2 to transfer the film forming paint slurry to the vibrating table, and eliminates the bubbles in the film forming paint slurry through the vibration of the vibrating table; and determines the corresponding target template according to the film forming paint information, controls the robotic arm 2 to place the target template on the scraping table and inject the film forming 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 forming path of the target scraper according to the target scraper and the target template, generates the corresponding film forming control instruction according to the film forming path, and controls the robotic arm 2 to complete the film forming operation according to the film forming control instruction, thereby completing the target cured paint film corresponding to the paint to be tested. During the preparation of the target cured paint film, the controller 11 also determines the target cured paint film thickness according to the film forming paint information, and compares the target cured paint film thickness with the preset standard requirement thickness range. When the target cured paint film thickness is within the preset standard requirement thickness range, it indicates that the target cured paint film meets the product standard requirements; when the target cured paint thickness is not within the preset standard requirement thickness range, a film forming plan is regenerated according to the paint to be tested, and the film forming plan is sent to the film forming control terminal, and responds to the confirmation instruction of the film forming control terminal to control the robotic arm 2 to perform secondary film forming on the basis of the film forming paint, so that the target cured paint film thickness is within the preset standard requirement thickness range, ensuring that the target cured paint film meets the standard requirements for physical performance testing of the product.

[0059] The robotic arm 2 is used to transfer each paint to be tested from the sampling table to the stirring 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.

[0060] 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.

[0061] 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 midline 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, a camera.

[0062] The robot includes a main body frame 1. The 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.

[0063] 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.

[0064] 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.

[0065] The generation of the film-forming instruction can be that the operator touches and starts film formation on the human-machine interface of the robot. When the controller 11 of the robot receives the confirmation instruction to start film formation, it automatically starts film formation. It can also be a control signal formed by the operator inputting the confirmation instruction to start the robot's film formation on the film-forming control terminal that communicates with the robot in real time. After the robot receives this control signal, it starts film formation. It can also be a control signal formed by the management personnel inputting the confirmation instruction to start the robot's film formation on the mobile terminal that communicates with the robot in real time. After the robot receives the control signal, it automatically starts film formation and other ways to realize robot control can be used.

[0066] 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 placement 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 placement area. After the robot collects the images on the sampling table, the images to be measured of the paint containers to be measured can be quickly determined according to the division of the material placement area and the non-material placement area. The material placement area can be a placement groove opened on the sampling table or a placement board installed, and the position information of the placement groove or the placement board is pre-stored in the robot, so that the robot can quickly determine the images to be measured of the paint containers to be measured when analyzing the images to be measured.

[0067] The paint includes solid paint and liquid paint. The paint to be measured can be composed of one component, two components, or even multiple components. In the embodiment of the present application, the paint composed of two components is taken as an example for description, including paint component A and paint component B. Before inputting the film-forming instruction to the robot, the operator weighs paint component A and paint component B according to the film-forming ratio, and obtains the corresponding identification codes a and b for paint component A and paint component B respectively, and pastes the identification code a on the outer wall of the paint container a of paint component A, and pastes the identification code b on the outer wall of the paint container b of paint component B. After the robot receives the film-forming instruction, it moves to the position where the sampling table is located to collect the images to be measured, and the images to be measured at least include the paint container a and the paint container b.

[0068] During the process of processing the images to be measured, the controller 11 obtains the images of the paint containers to be measured by performing target detection, image segmentation, etc. on the images to be measured, and then locates the identification codes of the images of the paint containers to be measured to determine the identification codes corresponding to each paint container to be measured, and analyzes the information of the identification codes 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.

[0069] 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.

[0070] 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.

[0071] The calculation formula for the dry film thickness is pre-stored in the controller 11:

[0072] ;

[0073] 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.

[0074] The characteristics of each paint are pre-stored in the robot. After determining the name and weight of each paint to be measured through the image to be measured, the weight, solid content, density of the cured film, etc. of the film-forming paint obtained by mixing and stirring the paint to be measured can be determined according to the characteristics of the corresponding paint to be measured. Then, through traversing in the predefined template library according to the paint information, the template with the highest adaptability to 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.

[0075] 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 JS products, the process of forming the film-forming coating slurry is as follows: the JS coating corresponding to the JS product includes the liquid component A and the 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 the container A of the liquid component A and the surface of the 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.

[0076] 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.

[0077] 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:

[0078] 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

[0079] 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. Then the expression is y = 0.962a·x.

[0080] 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:

[0081] 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

[0082] Based on the above fitting function relationship, when k takes the average value of 1 / 1.107 = 0.903 and the product solids content is a = 0.9, the expression is y = 1.003a·x.

[0083] Acrylic paint: The product solids content is a = 0.65. Let the wet film thickness be x and the target cured film thickness be y. The function relationship is y = kx. The following data is used for fitting:

[0084] 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

[0085] Based on the above fitting function relationship, when k takes the average value of 0.581, the expression is y = 0.894a·x.

[0086] 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, determining the volume of the film-forming paint slurry according to the shape and size of the container of the paint to be tested, and thus matching a template in the preset template library whose volume is greater than or equal to the volume of the wet film formed by scraping the film-forming paint slurry, and determining this template 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.

[0087] 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, 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.

[0088] It is easy to think that in order to avoid bubbles in the slurry when injecting the film-forming paint slurry into the target template to prepare the target cured film, resulting in non-uniformity inside the formed target cured film and thus affecting 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 bubbles in the film-forming paint to ensure the uniformity inside the target cured film.

[0089] The robot scrapes the film-forming coating slurry in the target template along the film-forming path, so that the target coating in the target template forms a wet film with a flat surface and a uniform interior, and then cures it by placing it in the target template in an environment meeting the standard requirements to form a target cured coating film.

[0090] For example, for JS products, the curing of the wet film 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 hours. 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 hours, and then placed in a dryer to cool for (2 - 3) hours, and then the performance test of the coating to be tested is carried out.

[0091] In the embodiment of the present application, the robot receives a film-forming instruction and moves to the sampling station. During the process of collecting the image to be tested, in order to ensure that the identification code on the coating container to be tested can be collected, the clamping part 22 of the robotic arm 2 clamps the coating container to be tested, and then the driving motor 2224 rotates to drive the conveyor belt 2223 to drive, thereby driving the coating container to be tested to rotate. During the rotation of the coating container to be tested, the image acquisition device 3 continuously collects the image to be tested of the coating container to be tested and transmits it to the controller 11. The controller 11 processes and analyzes the image to be tested to obtain the basic information of the coating to be tested corresponding to the identification code of each coating container to be tested, and then mixes all the coatings to be tested into the same coating container to be tested. During the mixing process, the powdered coating to be tested can be added to the liquid coating to be tested, and the other coating containers that have been emptied are discarded into the recycling device, and the coating slurry container to be tested is transferred to the stirring table. The vibrating table vibrates the film-forming coating slurry to eliminate the bubbles in the film-forming coating slurry, and then pours the vibrated film-forming coating slurry into the target template. The robot moves to the scraping station, and the guide angle of the recycling device is located on the side of the target template close to the recycling device. Then, the target scraper is grabbed to scrape the film-forming coating slurry in the target template along the film-forming path. During the scraping process, the residual coating 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-forming. After the robot completes the scraping operation, the robot moves to the sampling station. 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, thereby opening the receiving plate and the recycling cylinder to pour the coating container to be tested and the residual coating in the recycling cylinder. 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-forming.

[0092] Refer toFigure 8 The present application also provides a robot-based coating film forming method, which is applied to the robot, and the method comprises:

[0093] S100, 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;

[0094] S200, determining basic information of the paint to be tested in 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;

[0095] S300, based on the basic information, determining the film-forming coating information corresponding to the film-forming coating slurry formed by mixing and stirring each of the coatings to be tested;

[0096] S400, traversing a predefined template library according to the film-forming coating information, determining a template with the highest degree of compatibility with the film-forming coating slurry as a target template, and determining a corresponding target scraper according to the target template;

[0097] S500, determining a film forming path of the target scraper according to the target template and the target scraper;

[0098] S600, completing the film-forming operation of the coating to be tested based on the film-forming path, and obtaining a target cured coating film corresponding to the coating to be tested;

[0099] S700, determining the target cured coating thickness based on the film-forming coating information;

[0100] S800, comparing the target cured coating thickness with a preset standard required thickness range;

[0101] S901, when the target cured coating thickness is within the preset standard required thickness range, ending the film forming of the film forming coating;

[0102] S902, 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.

[0103] It should be noted that the method and system embodiments provided in the above embodiments belong to the same concept, and their specific implementation processes are detailed in the system embodiments, which will not be repeated here.

[0104] The present application also discloses an electronic device 500. Figure 9 , Figure 9It 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.

[0105] Among them, the communication bus 502 is used to realize the connection and communication between these components.

[0106] Among them, the user interface 503 may include a display screen (Display) and a camera (Camera). Optionally, the user interface 503 may further include a standard wired interface and a wireless interface.

[0107] Among them, the network interface 504 may optionally include a standard wired interface and a wireless interface (such as a Wi-Fi interface).

[0108] 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 the data stored in the memory 505, it executes various functions of the server and processes data. Optionally, the processor 501 may be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), or programmable logic array (PLA). The processor 501 may integrate a central processing unit (CPU), a graphics processing unit (GPU), a modem, etc. in a combination of one or several. Among them, the CPU mainly processes the operating system, user interface, application programs, etc.; the GPU is responsible for the rendering and drawing of the content to be displayed on the display screen; the modem is used to process wireless communication. It can be understood that the above modem may not be integrated into the processor 501 and may be implemented separately by a single chip.

[0109] Among them, the memory 505 may include a Random Access Memory (RAM), or may also include a 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, codes, 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 can 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 method embodiments, etc.; the data storage area can store the data involved in the above-mentioned method embodiments. Optionally, the memory 505 may also be at least one storage device located far from the aforementioned processor 501. Refer to Figure 9 , the memory 505 as a computer storage medium may include an operating system, a network communication module, a user interface module, and an application program for a robot-based paint film forming method.

[0110] In Figure 9 In the electronic device 500 shown, the user interface 503 is mainly used to provide an input interface for the user to obtain the data input by the user; and the processor 501 can be used to call the application program for a robot-based paint 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 required by the present application.

[0111] In the above embodiments, the descriptions of the respective embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0112] In several implementation manners provided in the present application, it should be understood that the disclosed device can be implemented in other manners. 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 manners. 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 is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some service interfaces. The indirect coupling or communication connection of devices or units can be in an electrical or other form.

[0113] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place, or 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.

[0114] In addition, in each embodiment of the present application, each functional unit can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0115] If 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 such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of this 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 can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in each embodiment of the present application. And the aforementioned memory 505 includes: various media such as USB flash drives, mobile hard disks, magnetic disks, or optical discs that can store program codes.

[0116] The above are only exemplary embodiments of the present disclosure and cannot be used to limit the scope of the present disclosure. That is, all equivalent changes and modifications made in accordance with the teachings of the present disclosure still fall within the scope covered by the present disclosure. Those skilled in the art will easily think of other implementation manners of the present disclosure after considering the specification and the disclosed practice truth.

[0117] This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include well-known knowledge or conventional technical means in the technical field not recorded in the present disclosure. The description and examples are only regarded as exemplary, and the scope and spirit of the present disclosure are defined by the claims.

Claims

1. A robot-based paint film forming system, characterized in that: The system includes a film-making control terminal, a robot, a recycling device, a sampling table, a stirring table, and a scraping table that are connected in sequence. The robot, the sampling table, the stirring table, and the scraping table are respectively communicatively connected to the film-making control terminal. The robot includes a controller (11), a robotic arm (2), and an image acquisition device (3). The controller (11) is configured to receive a film-making instruction, generate an image acquisition instruction based on the film-making instruction, receive the measured images corresponding to the measured paint containers 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 measured paint in each measured paint container based on the measured images. It is also configured to control the robotic arm (2) to collect each of the measured paints into the same measured paint container, transfer the measured paint container to the stirring table for mixing and stirring to obtain a film-making paint slurry. It is further configured to determine a corresponding target template based on the film-making paint slurry, control the robotic arm (2) to obtain the target template and place the target template on the scraping table. It is also configured to control the robotic arm (2) to inject the film-making paint slurry into the target template. It is further configured to determine a corresponding target scraper based on the target template, determine the 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 robotic arm (2) to complete the film-making operation based on the film-making control instruction to obtain a target cured coating film corresponding to the film-making paint. The image acquisition device (3) is configured to acquire the measured images of the measured paint containers on the sampling table in response to the image acquisition instruction of the controller (11). It is also configured to transmit the measured images to the controller (11). The robotic arm (2) is configured to transfer each of the measured paints from the sampling table to the stirring table for mixing and stirring, inject the mixed and stirred film-making paint slurry into the target template, and complete the film-making operation in response to the film-making control instruction of the controller (11). The recycling device is used to recycle the residual paint slurry and the measured paint containers.

2. The paint film forming system based on a robot according to claim 1, wherein: The controller (11) is further configured to determine the thickness of the target cured coating film according to the film-making paint slurry, compare the thickness of the target cured coating film with the preset standard required thickness range. When the thickness of the target cured coating film is not within the preset standard required thickness range, generate a film-making plan based on the film-making paint, and respond to the confirmation instruction of the film-making control terminal for the film-making plan to control the robotic arm (2) to perform film-making again.

3. A robot-based coating film forming system according to claim 2, characterized in that: The controller calculates the thickness of the target cured coating film based on the following formula ； where 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.

4. A robot-based coating film forming system according to claim 1, characterized in that: The system further includes a vibrating table. The vibrating table is communicatively connected to the film-making control terminal. The controller (11) is further configured to control the robotic arm (2) to transfer the film-making paint slurry to the vibrating table.

5. A robot-based paint film forming system according to claim 1, characterized in that: 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 to the connecting head (221). The clamping jaws (222) are arranged oppositely to form a clamping space between them. An adjusting mechanism (2225) is fixedly installed on the clamping surface of each clamping jaw (222). The adjusting mechanism (2225) includes a driving motor (2224), a driving wheel (2221), and a driven wheel (2222). The driving wheel (2221) and the driven wheel (2222) are respectively fixedly installed at both ends of the clamping jaw (222). A conveyor belt (2223) is tightly sleeved on the driving wheel (2221) and the driven wheel (2222). The surface of the conveyor belt (2223) is provided with anti-slip textures. The output shaft of the driving motor (2224) is fixedly connected to the driving wheel (2221). 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 extension line of the symmetry axis of the two clamping jaws (222).

6. The coating film forming system based on a robot according to claim 5, wherein: The adjusting mechanism (2225) 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 clamping jaw (222). The adjusting wheel abuts against the conveyor belt (2223).

7. A robot-based coating film forming system according to claim 5, characterized in that: The system further includes a recycling device. The robot further includes a main body frame (1). The recycling device is fixedly installed on the main body frame (1). 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 (1). An adjusting ring is fixedly installed at the top of the side of the recycling cylinder close to the main body frame (1). An adjusting bolt is threadedly connected to the adjusting ring. An adjusting rope (45) is fixedly installed on the adjusting bolt. The free end of the adjusting rope (45) is fixedly installed at the free end of the receiving plate. A wear-reducing ring (46) for the adjusting rope (45) to pass through is fixedly installed on the recycling cylinder. A sliding member (47) matching the clamping jaw (222) is fixedly installed at the top of the adjusting bolt.

8. A robot-based method for forming a paint film, characterized in that, Applied to a robot, the method includes: Responding to a film-making instruction and obtaining at least one measured image of a measured paint container based on the film-making instruction, where the measured paint container is used to hold measured paint, and a corresponding identification code is pasted on each measured paint container; Determining the basic information of the corresponding measured paint in each measured paint container based on the measured image, where the basic information at least includes the name and weight of the measured paint; Determining the film-making paint information corresponding to the film-making paint slurry formed by mixing and stirring each measured paint based on the basic information; Traversing in a predefined template library according to the film-making paint information, determining the template with the highest adaptability to the film-making paint as the target template, and determining the corresponding target scraper according to the target template; Determine the film-forming path of the target doctor blade according to the target template and the target doctor blade; Complete the film-forming operation of the paint to be measured based on the film-forming path to obtain the target cured coating film corresponding to the paint to be measured; Determine the thickness of the target cured coating film based on the film-forming paint information; Compare the thickness of the target cured coating film with the preset standard required thickness range; When the thickness of the target cured coating film is within the preset standard required thickness range, end the film-forming of the paint to be measured; 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 paint information, and repeat the above steps until the thickness of the target cured coating film is within the preset standard required thickness range.

9. An electronic device, characterized in that, It includes a processor (501), a memory (505), a user interface (503) and a network interface (504). The memory (505) is used to store instructions. The user interface (503) and the network interface (504) are used to communicate with other devices. The processor (501) is used to execute the instructions stored in the memory (505) so that the electronic device (500) executes the method according to 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 executed.

Images