Coating system, control device, control method and program

Abstract

The subject seeks to stabilize the coating quality. Solution A coating system according to one aspect of the present disclosure comprises: a coating device that discharges the coating from a discharge portion; a multi-joint robot that changes the position and posture of the discharge portion in such a way as to apply the coating from the discharge portion to a workpiece; and a control device that controls the coating device and the multi-joint robot. The control device comprises: a target value calculation unit that calculates a control target value for controlling the coating device and the multi-joint robot based on action state information indicating an action state of at least one of the coating device and the multi-joint robot and target quality information indicating a target coating quality of the coating on the workpiece; and an action control unit that controls the coating device and the multi-joint robot according to the control target value calculated by the target value calculation unit.

Description

Technical Field

[0001] The present disclosure relates to a coating system, a control device, a control method, and a program. Background Art

[0002] Patent document 1 discloses a coating device for coating a viscous material onto an object to be coated. The coating device comprises: a nozzle device for discharging a viscous material from a nozzle onto the object to be coated; and a moving unit for moving the nozzle device relative to the object to be coated. The moving unit is a multi-joint robot configured to move the nozzle device relative to the object to be coated by the movement of each joint.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: International Publication No. 2013 / 140814 Summary of the invention

[0006] Problem that the invention aims to solve

[0007] The present disclosure provides a coating system, a control device, a control method, and a program that are advantageous for stabilizing quality.

[0008] Technical Solution

[0009] A coating system according to one aspect of the present disclosure comprises: a coating device that discharges coating material from a discharge portion; a multi-joint robot that changes the position and posture of the discharge portion in such a manner that the coating material from the discharge portion is applied to a workpiece; and a control device that controls the coating device and the multi-joint robot. The control device comprises: a target value calculation unit that calculates a control target value for controlling the coating device and the multi-joint robot based on action state information indicating an action state of at least one of the coating device and the multi-joint robot and target quality information indicating a target of coating quality of the coating material to the workpiece; and an action control unit that controls the coating device and the multi-joint robot according to the control target value calculated by the target value calculation unit.

[0010] Beneficial Effects

[0011] According to the present disclosure, it is possible to provide a coating system, a control device, a control method, and a program that are advantageous in stabilizing quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram showing an example of the configuration of a coating system.

[0013] Figure 2 It is a schematic diagram showing an example of the configuration of a coating device.

[0014] Figure 3This is a block diagram showing an example of the functional configuration of the control device.

[0015] Figure 4 (a) and Figure 4 (b) is a schematic diagram showing an example of a coating material applied to a workpiece.

[0016] Figure 5 This is a block diagram showing an example of the hardware configuration of the control device.

[0017] Figure 6 This is a flowchart showing an example of a control method of a coating system. DETAILED DESCRIPTION

[0018] Hereinafter, one embodiment will be described with reference to the drawings. In the description, the same elements or elements having the same functions are denoted by the same reference numerals, and repeated descriptions are omitted.

[0019] [Coating system]

[0020] Figure 1 The coating system 1 shown is a system for automatically performing at least a part of the coating operation of a coating object (hereinafter referred to as "workpiece W"). The workpiece W is, for example, a part of the body of a car. As an example of the workpiece W, a floor panel, a roof panel, and a door panel of a car can be cited. The coating applied to the workpiece W is, for example, a sealing material or a vibration-damping material (a component for sound insulation) for suppressing vibration. The vibration-damping material may also include a material (resin) having viscosity and elasticity. For example, the vibration-damping material includes a material having viscosity that does not drip at room temperature and can maintain the coated shape until solidification. The coating system 1 includes a multi-joint robot 10, a coating device 40, and a control device 100.

[0021] (Multi-joint robot)

[0022] The articulated robot 10 is, for example, a six-axis vertical articulated robot, and includes a base 11 , a rotary unit 12 , a first arm 13 , a second arm 14 , a wrist 15 , and actuators 31 , 32 , 33 , 34 , 35 , and 36 .

[0023] The base 11 is fixed to the ground or a base having a linear motion mechanism, etc. The rotary unit 12 is provided on the base 11 and can rotate around a vertical axis Ax1. That is, the multi-jointed robot 10 has a joint 21 that allows the rotary unit 12 to rotate around the axis Ax1.

[0024] The first arm 13 extends from the rotating part 12 and can rotate around the axis Ax2 that intersects (for example, is orthogonal to) the axis Ax1. That is, the multi-joint robot 10 has a joint 22 that enables the first arm 13 to rotate around the axis Ax2. It should be noted that the intersection here includes an intersection in a state of being in a mutually non-planar relationship such as a so-called three-dimensional intersection. The same is true for the following.

[0025] The second arm 14 extends from the top end of the first arm 13 and is rotatable about an axis Ax3 intersecting (eg, orthogonal to) the axis Ax1. That is, the multi-joint robot 10 has a joint 23 that enables the second arm 14 to rotate about the axis Ax3. The axis Ax3 may be parallel to the axis Ax2.

[0026] The tip of the second arm 14 is rotatable about an axis Ax4 intersecting (eg, orthogonal to) the axis Ax3 along the extending direction of the second arm 14. That is, the multi-joint robot 10 includes the joint 24 that allows the tip of the second arm 14 to rotate about the axis Ax4.

[0027] The wrist 15 extends from the tip of the second arm 14 and is rotatable about an axis Ax5 intersecting (eg, orthogonal to) the axis Ax4. That is, the multi-joint robot 10 includes a joint 25 that allows the wrist 15 to rotate about the axis Ax5.

[0028] A member of an action object is provided at the top end of the wrist 15, and the member can rotate around an axis Ax6 that intersects (e.g., is orthogonal to) the axis Ax5 along the extension direction of the wrist 15. That is, the multi-joint robot 10 has a joint 26 that enables the member of the action object to rotate around the axis Ax6. The member of the action object is a discharge portion 41 (described later) that functions as a gun for discharging paint.

[0029] Actuators 31, 32, 33, 34, 35, 36 drive joints 21, 22, 23, 24, 25, 26, respectively. For example, actuator 31 rotates the rotary portion 12 around axis Ax1, actuator 32 rotates the first arm 13 around axis Ax2, and actuator 33 rotates the second arm 14 around axis Ax3. Actuator 34 rotates the top end of the second arm 14 around axis Ax4, actuator 35 rotates the wrist 15 around axis Ax5, and actuator 36 rotates the member of the action object around axis Ax6.

[0030] It should be noted that the multi-joint robot 10 can be configured arbitrarily as long as the position and posture of the component of the action object can be changed within the desired range. For example, the multi-joint robot 10 can also be a seven-axis vertical multi-joint robot with redundant axes added to the above-mentioned six-axis vertical multi-joint robot.

[0031] (Coating device)

[0032] The coating device 40 is a device that applies paint to the workpiece W in cooperation with the multi-joint robot 10. Figure 2 As shown, the coating device 40 includes a discharge unit 41 , a pressure-feeding unit 46 , and a supply unit 49 .

[0033] The discharge unit 41 discharges the paint. The discharge unit 41 is provided at the top end of the wrist 15 of the multi-joint robot 10. That is, the position and posture of the discharge unit 41 are changed by the movement of the multi-joint robot 10. A discharge port may be provided at the top end surface 42 of the discharge unit 41. When the position and posture of the discharge unit 41 are changed by the multi-joint robot 10, the discharge position and discharge direction of the paint discharged from the discharge port are changed.

[0034] The discharge portion 41 has a discharge valve 43 (opening and closing valve). The discharge valve 43 switches between a state in which the paint is discharged from the discharge portion 41 (discharge port) and a state in which the paint is not discharged from the discharge portion 41 through an opening and closing action. The discharge valve 43 is, for example, a pneumatic valve, and an air pipe for conveying air for the opening and closing action is connected to the discharge valve 43. The discharge valve 43 may also have a function of outputting a signal indicating its own opening and closing state. It should be noted that the discharge portion 41 may not have the discharge valve 43. In this case, the opening and closing valve located on the upstream side of the discharge portion 41 (for example, the delivery valves 67a, 67b described later) may switch between a state in which the paint is discharged from the discharge portion 41 and a state in which the paint is not discharged from the discharge portion 41.

[0035] The pressure-feeding section 46 pressure-feeds the paint to the discharge section 41. The pressure-feeding section 46 includes pumps 51a, 51b, a liquid feeding tube 54, and delivery valves 67a, 67b.

[0036] The pump 51a and the pump 51b have the same structure and function. The pumps 51a and 51b receive the paint by suction action, and respectively send (pressure-send) the paint for discharge to the workpiece W to the discharge portion 41. The pumps 51a and 51b are, for example, servo booster pumps, and respectively have a container 52a and 52b and an actuator 53a and 53b. The container 52a and 52b respectively contain the paint for discharge. The actuators 53a and 53b cause the piston to move, thereby applying pressure to the paint contained in the container 52a and 52b, and respectively sending the paint to the discharge portion 41.

[0037] The liquid supply pipe 54 guides the paint from the pumps 51a and 51b to the discharge portion 41. The upstream end of the liquid supply pipe 54 is connected to the pumps 51a and 51b, respectively, and the downstream end of the liquid supply pipe 54 is connected to the discharge portion 41. That is, the pumps 51a and 51b each supply the paint to the discharge portion 41 via the liquid supply pipe 54. The liquid supply pipe 54 has a delivery pipe 55 and branch pipes 56a and 56b. The delivery pipe 55 is connected to the discharge portion 41, and the branch pipes 56a and 56b are branched from the delivery pipe 55 and connected to the pumps 51a and 51b, respectively.

[0038] The delivery valve 67a opens and closes between the pump 51a and the discharge portion 41. The delivery valve 67a is provided in the branch pipe 56a. The delivery valve 67b opens and closes between the pump 51b and the discharge portion 41. The delivery valve 67b is provided in the branch pipe 56b. The delivery valves 67a and 67b are, for example, pneumatic valves, and air pipes for conveying air for opening and closing operations are connected to the delivery valves 67a and 67b, respectively. Each of the delivery valves 67a and 67b may also have a function of outputting a signal indicating its own opening and closing state.

[0039] The supply unit 49 supplies the paint to the pressure-feeding unit 46. That is, the pumps 51a and 51b of the pressure-feeding unit 46 deliver the paint supplied (sucked) from the supply unit 49 to the discharge unit 41. The supply unit 49 includes a liquid source 57, a supply pipe 58, suction valves 68a and 68b, a return pipe 59, and a circulation valve 69.

[0040] The liquid source 57 is a supply source of the coating. The supply pipe 58 connects the liquid source 57 to each pump 51a, 51b. Specifically, the supply pipe 58 has a delivery pipe connected to the liquid source 57 at one end and two branch pipes branched from the other end of the delivery pipe and connected to the pumps 51a, 51b respectively. The suction valve 68a opens and closes between the liquid source 57 and the pump 51a. The suction valve 68b opens and closes between the liquid source 57 and the pump 51b. The suction valves 68a, 68b are, for example, pneumatic valves, and air pipes for conveying air for opening and closing actions are respectively connected to the suction valves 68a, 68b. Each suction valve 68a, 68b may also have the function of outputting a signal indicating its own opening and closing state.

[0041] The return pipe 59 connects the delivery pipe 55 of the liquid delivery pipe 54 to the liquid source 57. As a result, the paint delivered from the pumps 51a and 51b can be returned to the liquid source 57 without being delivered to the discharge portion 41. The circulation valve 69 is provided in the return pipe 59, and switches the flow path in the return pipe 59 from a closed state to an open state when the paint flows back. The circulation valve 69 is, for example, a pneumatic valve. The circulation valve 69 may also have a function of transmitting a signal indicating its own open and closed state.

[0042] The coating device 40 has pressure sensors 61, 62a, and 62b. The pressure sensors 61, 62a, and 62b respectively measure the pressure of the coating in the coating device 40 (hereinafter referred to as "the pressure in the coating device 40") as the operating state of the coating device 40. The pressure sensors 61, 62a, and 62b measure the pressure of multiple parts in the coating device 40. The above-mentioned multiple parts include at least two parts whose positions are different from each other along the direction of the liquid supply pipe 54 (branch pipe 56a and delivery pipe 55). It should be noted that the direction along the liquid supply pipe 54 corresponds to the direction in which the liquid supply pipe 54 extends, and corresponds to the direction in which the paint flows in the liquid supply pipe 54.

[0043] For example, the pressure sensor 61 is provided in the liquid supply pipe 54 (discharge pipe 55) at a position close to the discharge portion 41. The pressure sensor 62a is provided in the liquid supply pipe 54 at a position close to the pump 51a (between the pump 51a and the discharge valve 67a). The pressure sensor 62b is provided in the liquid supply pipe 54 at a position close to the pump 51b (between the pump 51b and the discharge valve 67b).

[0044] The coating device 40 has temperature sensors 64 and 65. The temperature sensors 64 and 65 respectively measure the temperature of the coating material in the coating device 40 (hereinafter, referred to as "the temperature in the coating device 40") as the operating state of the coating device 40. The temperature sensors 64 and 65 measure the temperature of multiple locations in the coating device 40. The multiple locations include at least two locations whose positions are different from each other along the direction of the liquid supply pipe 54. The temperature sensor 64 is provided at a position close to the discharge portion 41 in the liquid supply pipe 54 (discharge pipe 55), for example. The temperature sensor 65 is provided at a position closer to the pumps 51a and 51b than the discharge portion 41 in the liquid supply pipe 54.

[0045] The coating device 40 includes a flow sensor 71. The flow sensor 71 is provided, for example, at the delivery pipe 55 of the liquid delivery pipe 54. The flow sensor 71 measures the flow rate of the coating material in the delivery pipe 55 as the operating state of the coating device 40. The flow sensor 71 measures the flow rate per unit time of the coating material in the delivery pipe 55 or the accumulated flow rate of the coating material in the delivery pipe 55.

[0046] return Figure 1 The coating system 1 includes a coating state detection unit 90. The coating state detection unit 90 detects the state of the coating applied to the workpiece W. The coating state detection unit 90 includes, for example, a camera 92. The camera 92 can capture the area of ​​the workpiece W coated with the coating. The camera 92 outputs image data obtained by capturing the workpiece W in the state of being coated with the coating to the control device 100. The camera 92 can be fixed at a predetermined position, or the workpiece W can be captured when the workpiece W is arranged within the field of view of the camera 92.

[0047] (Control device)

[0048] The control device 100 controls the multi-joint robot 10 and the coating device 40. The control device 100 performs the following operations based on at least information indicating the operation state of at least one of the coating device 40 and the multi-joint robot 10 (hereinafter referred to as "operation state information") and information indicating the target quality of coating of the coating material to the workpiece W (hereinafter referred to as "target quality information"): calculating a control target value for controlling the coating device 40 and the multi-joint robot 10; and controlling the coating device 40 and the multi-joint robot 10 according to the calculated control target value.

[0049] The coating system 1 may include an input device 104 and an output device 106 connected to the control device 100. The input device 104 is a device for inputting information to the control device 100. More specifically, the input device 104 inputs input information representing instructions from an operator to the control device 100. The input device 104 may be any device as long as it can input the desired information, and specific examples thereof include a keyboard, an operation panel, and a mouse.

[0050] The output device 106 is a device for notifying information output from the control device 100. The output device 106 is, for example, a monitor for an operator to confirm information from the control device 100. The monitor may be any monitor as long as it can display information on a screen, and a liquid crystal panel or the like can be cited as a specific example.

[0051] like Figure 3 As shown, the control device 100 includes, for example, an action control unit 112, an action information acquisition unit 114, a target quality acquisition unit 116, a quality acquisition unit 118, a target value calculation unit 120, a model holding unit 122, a model construction unit 128, an abnormality detection unit 124, and a notification unit 126 as functional components (hereinafter referred to as "functional modules"). The processing performed by these functional modules is equivalent to the processing performed by the control device 100.

[0052] The motion control unit 112 controls the coating device 40 and the multi-joint robot 10 according to the control target value for controlling the coating device 40 and the multi-joint robot 10. The motion control unit 112 controls the coating device 40 in such a manner that the coating material is discharged from the discharge unit 41 according to the control target value related to the motion of the coating device 40. The motion control unit 112 controls the multi-joint robot 10 in such a manner that the coating material from the discharge unit 41 is applied to the workpiece W according to the control target value related to the motion of the multi-joint robot 10.

[0053] Alternatively, the motion control unit 112 changes the position and posture of the discharge unit 41 so that the adhesion position of the paint discharged by the discharge unit 41 and the workpiece W moves along a preset path. For example, the motion control unit 112 calculates the target angle (command value) of the actuators 31 to 36 through inverse kinematics calculation based on the target position and target posture of the discharge unit 41, and controls the actuators 31 to 36 in a manner that follows the target angle.

[0054] like Figure 4As shown, a plurality of coating paths (paths P1 to P5) indicating the paths of the coating adhesion positions are defined on the workpiece W. The motion control unit 112 controls the coating device 40 in such a manner that the coating is discharged from the discharge unit 41 while the position and posture of the discharge unit 41 follow the target position and target posture corresponding to each coating path. Thus, ridges B1 to B5 (a plurality of ridges) are formed on the workpiece W along the plurality of coating paths.

[0055] Alternatively, the motion control unit 112 controls the coating device 40 and the multi-joint robot 10 in such a manner that the coating width BW and thickness BT of each protrusion B1 to B5 are substantially constant. The coating width BW is, for example, the length (width) of the protrusion in a direction perpendicular to the coating path and along the surface of the workpiece W. The thickness BT is, for example, the length (thickness) of the protrusion in a direction perpendicular to both the coating path and the surface of the workpiece W. Alternatively, the motion control unit 112 controls at least one of the pumps 51a, 51b in such a manner that the coating is discharged at a substantially constant flow rate, or controls the actuators 31 to 36 in such a manner that the moving speed of the discharge unit 41 relative to the workpiece W is substantially constant.

[0056] As control target values ​​related to the coating device 40, for example, the command value of the rotation speed of the motor included in the actuators 53a and 53b and the opening and closing timing of the discharge valve 43 (more specifically, the timing of sending the opening and closing command to the discharge valve 43) can be listed. The timing of sending the opening and closing command to the discharge valve 43 is the timing of sending the opening command to the discharge valve 43 and the timing of sending the closing command to the discharge valve 43 when coating is applied to one coating path.

[0057] As control target values ​​related to the multi-joint robot 10, for example, there can be listed the command value of the movement speed of the multi-joint robot 10, and the target angles of the actuators 31 to 36 corresponding to the target position and target posture of the position and posture of the discharge portion 41. It should be noted that the target value of the distance between the workpiece W and the discharge portion 41 (discharge port) is specified based on the above-mentioned target position and target posture. When the coating system 1 starts to operate, the control target value can be set to an initial value. The initial value of the control target value can be pre-set based on input information from the operator.

[0058] The motion information acquisition unit 114 acquires motion state information indicating the motion state of at least one of the coating device 40 and the multi-joint robot 10. For example, the motion information acquisition unit 114 acquires motion state information from at least the coating device 40 or the multi-joint robot 10 when applying paint to the workpiece W. The motion information acquisition unit 114 may also acquire motion state information including information indicating the motion state of the coating device 40 and information indicating the motion state of the multi-joint robot 10. For example, the motion information acquisition unit 114 acquires information indicating the motion state of the coating device 40 from the coating device 40 at a prescribed period. The motion information acquisition unit 114 acquires information indicating the motion state of the multi-joint robot 10 from the multi-joint robot 10 at a prescribed period.

[0059] As the operation state information related to the coating device 40, for example, information related to the paint in the flow path of the delivery pipe 55 connected to the discharge part 41, information indicating the operation state of the discharge valve 43, and information indicating the operation state of the pumps 51a and 51b that pressurize the paint to the discharge part 41 can be listed. The information related to the paint in the flow path of the delivery pipe 55 can also include information indicating the flow rate of the paint in the flow path, information indicating the pressure of the paint in the flow path, and information indicating the temperature of the paint in the flow path. In one example, the information related to the paint in the flow path of the delivery pipe 55 is obtained from the measurement results of the pressure sensors 61, 62a, and 62b, the measurement results of the temperature sensors 64 and 65, and the measurement results of the flow sensor 71.

[0060] As information indicating the operating state of the discharge valve 43, for example, information indicating the timing from when the discharge valve 43 receives an opening and closing instruction until the opening and closing state is actually changed can be listed. This timing can be calculated based on the signal indicating the opening and closing state from the discharge valve 43. As information indicating the operating state of the pumps 51a and 51b, the actual rotation speed of the actuators 53a and 53b included in the pumps 51a and 51b can be listed. In one example, the actual rotation speed of the actuators 53a and 53b is obtained from the rotation sensors included in the actuators 53a and 53b, respectively.

[0061] As information indicating the operating state of the multi-joint robot 10, for example, information indicating the operating state of the actuators 31 to 36 included in the multi-joint robot 10 can be listed. The information indicating the operating state of the actuators 31 to 36 includes information indicating the actual rotation speed and the actual rotation angle of the actuators 31 to 36. Based on these rotation speeds and rotation angles, the actual position and posture of the discharge unit 41 (the actual distance between the discharge unit 41 and the workpiece W) and the actual operating speed of the discharge unit 41 can be calculated. In one example, the actual rotation speed and the actual rotation angle of the actuators 31 to 36 are obtained based on the measurement results of the rotation sensors included in each of the actuators 31 to 36. It should be noted that the position, posture and operating speed of the discharge unit 41 depend on the operation of the multi-joint robot 10, and therefore indicate the operating state of the multi-joint robot 10.

[0062] The target quality acquisition unit 116 acquires target quality information indicating a target quality of coating of the coating material to the workpiece W. The coating quality includes, for example, at least a coating width of the coating material on the workpiece W or a thickness of the coating material on the workpiece W. The target quality information may also include a target value of a coating width BW of the coating material (protrusion) on the workpiece W and a target value of a thickness BT of the coating material (protrusion) on the workpiece W (see also Figure 4 ).

[0063] The quality acquisition unit 118 acquires information indicating the actual quality of coating of the coating material to the workpiece W (hereinafter referred to as "actual quality information") from the detection result of the coating state detection unit 90. For example, the quality acquisition unit 118 may acquire at least one of the actual value of the coating width BW of the protrusion formed on the workpiece W and the actual value of the thickness BT of the protrusion formed on the workpiece W as the actual quality information.

[0064] The quality acquisition unit 118 may also acquire the actual value of the coating width BW of the protrusion and the actual value of the thickness BT of the protrusion from the image data obtained by photographing the workpiece W coated with the coating by the camera 92. The quality acquisition unit 118 may acquire the actual value of the coating width BW or the thickness BT at a plurality of locations within one coating path, or may acquire the average value of the coating width BW and the average value of the thickness BT in one protrusion (coating path) as the actual value.

[0065] The target value calculation unit 120 calculates the control target value of the conditions for the action when the motion control unit 112 controls the coating device 40 and the multi-joint robot 10. The initial value of the above-mentioned control target value is set, for example, assuming that the surrounding environment is a reference state. When the paint is actually applied, there may be a difference between the target coating quality (for example, the target value of the coating width BW) and the actual coating quality (for example, the performance value of the coating width BW). Therefore, the target value calculation unit 120 calculates the control target value to reduce the difference. When the target value calculation unit 120 calculates the control target value, the motion control unit 112 updates the control target value (for example, the initial value) in the current setting to the control target value calculated by the target value calculation unit 120. Then, the motion control unit 112 controls the coating device 40 and the multi-joint robot 10 according to the updated (calculated) control target value.

[0066] The target value calculation unit 120 calculates the control target value based on the action state information and the target quality information. For example, the target value calculation unit 120 calculates the control target value based on the action state information and the target quality information in a manner that reduces the difference between the target quality information and the actual quality information. The target value calculation unit 120 can calculate the control target value based on the action state information, the target quality information, and the actual quality information (for example, the actual quality information acquired by the quality acquisition unit 118). In one example, the target value calculation unit 120 calculates the control target value using an estimated model constructed to output the amount of change in the control target value based on the difference between the target quality information and the actual quality information and the input of the action state information. The estimated model is saved (stored) in the model storage unit 122.

[0067] Alternatively, the target value calculation unit 120 calculates the control target value when the deviation level (hereinafter referred to as "quality deviation level") between the target quality represented by the target quality information and the actual quality represented by the actual quality information exceeds the prescribed level. That is, the control target value may be updated (adjusted) when the quality deviation level between the target quality and the actual quality exceeds the prescribed level. Alternatively, the target value calculation unit 120 compares the quality deviation level with the prescribed level each time the coating is applied to a coating path. The prescribed level is pre-set, for example, in consideration of the allowable error in the coating quality.

[0068] As one of the reasons for the deviation between the target quality and the actual quality, it can be considered that the environment (external environment) in which the multi-joint robot 10 and the coating device 40 are operated is changed. For example, if the temperature around the area where the multi-joint robot 10 and the coating device 40 are set changes, the temperature of the paint in the coating device 40 will change from the value (reference value) under the reference state considered in the setting of the initial value of the control target value. In this case, the viscosity (viscosity) of the paint changes, so even if the coating device 40 is operated with the same control target value, the adhesion behavior of the paint discharged from the discharge portion 41 on the workpiece W will change. As a result, the coating width BW or the thickness BT of the paint as the coating quality will be affected. The target value calculation unit 120 uses the above-mentioned estimation model to calculate the control target value, so that even if the temperature of the paint changes, the actual quality close to the target quality can be obtained.

[0069] As one of the reasons for the deviation between the target quality and the actual quality, in addition to the above-mentioned changes in the external environment, it can also be considered that the actual action changes relative to the control target value (deviation from the reference value). The change of the actual action of the device relative to the control target value is detected by comparing the action state information with the reference value. For example, sometimes, when the timing from when the discharge valve 43 receives the opening instruction to when it actually opens is delayed compared to the reference value, the pressure in the liquid delivery pipe 54 at the start time of discharge (immediately before) becomes higher, and the coating at the beginning of the protrusion formed in a coating path becomes thicker. That is, the delay in timing will affect the coating width BW, which is one of the coating qualities.

[0070] The target value calculation unit 120 calculates the control target value using the above-mentioned estimation model so that even if the timing until the actual opening varies, the actual quality close to the target quality can be obtained. The above-mentioned reference value can also be set as a statistical value of the action state information instead of the value under the reference state. For example, the reference value related to the opening and closing action of the discharge valve 43 can also be set as the cumulative average value of the timing of the actual opening of the discharge valve 43.

[0071] As another example of the reason for the deviation between the target quality and the actual quality, the difference between the standard specifications (e.g., size) of each device contained in the coating system 1 considered in the setting of the initial value of the control target value and the specifications (e.g., size) of each device in actual operation can be cited. For example, the same coating system 1 is sometimes used in different usage environments (different installation locations in the factory or different factories). In this case, it is assumed that the size of each device (e.g., the length of the liquid delivery pipe 54) is different depending on the usage environment.

[0072] It can be considered that the actual quality of the coating is related to the action state information obtained when the coating is discharged from the workpiece W. Therefore, the target value calculation unit 120 may calculate the control target value when the deviation level of the action state information obtained by the action information acquisition unit 114 from the reference value (hereinafter referred to as "action deviation level") exceeds the prescribed setting level. In the case where the action state information includes information representing multiple action states, reference values ​​corresponding to the multiple action states are set. In addition, the target value calculation unit 120 compares the action deviation level of the information representing the action state and the corresponding reference value with the above-mentioned setting level for each of the multiple action states.

[0073] The setting level is set in advance, for example, by considering the deviation from the reference value estimated to exceed the allowable error of the coating quality. In one example, when the timing until the discharge valve 43 is actually opened deviates, the target value calculation unit 120 uses the above-mentioned estimation model to adjust the timing of sending the opening instruction to the discharge valve 43 so that the timing until the actual opening is close to the reference value (so as to reduce the deviation level from the reference value).

[0074] The model construction unit 128 constructs an estimation model for the target value calculation unit 120 to calculate the control target value. The model construction unit 128 constructs an estimation model that represents the relationship between the target quality information, the actual quality information, and the action state information and the control target value. In the estimation model, the relationship with the control target value itself or the relationship with the change in the control target value can be shown for the target quality information, the actual quality information, and the action state information. The model construction unit 128, for example, constructs the following estimation model: from the performance data of various information accumulated, according to the input of the target quality information, the actual quality information, and the action state information, the control target value (the recommended value) is output. In addition, the model construction unit 128 can also construct the following estimation model: from the performance data of various information accumulated, according to the difference between the target quality information and the actual quality information and the input of the action state information, the change in the control target value (the recommended change from the currently set control target value) is output. An example of the construction of the estimation model is described below.

[0075] The model building unit 128 accumulates action state information and control target values ​​as well as performance quality information based on the action state information and the control target values. The model building unit 128 changes the control target value within a specified range, and accumulates the action state information and control target value at this time in correspondence with the performance quality information. At this time, the model building unit 128 may also accumulate the change in the control target value and the change in the performance quality information based on the change in the control target value in one action state information. That is, the model building unit 128 may also perform an accumulation process of accumulating the change in the control target value and the change in the performance quality information in correspondence when the multi-joint robot 10 and the coating device 40 are operating in a specific action state. The model building unit 128 may also repeatedly perform the above-mentioned accumulation process in various action state information with different values ​​in any action state.

[0076] Alternatively, the model building unit 128 repeatedly performs the accumulation process, and performs machine learning based on the accumulated data obtained by establishing a correspondence between the change amount of the control target value and the change amount of the actual quality information, thereby building an estimation model. The estimation model is constructed to represent the relationship between the change amount of the actual quality information and the change amount of the action state information and the control target value. In detail, the estimation model is constructed so that when the change amount of the actual quality information (the difference between the current actual quality and the target quality) and the action state information (the current action state information) are input, the change amount of the control target value that reduces the difference between the current actual quality and the target quality is output based on these input values.

[0077] As an example of an estimation model, a neural network can be used that uses the change in performance quality information and action state information as input vectors and the change in control target value as output vectors. The neural network has an input layer, one or more intermediate layers, and an output layer. The input layer outputs the input vector as it is to the next intermediate layer. The intermediate layer converts the input from the previous layer through an activation function and outputs it to the next layer. The output layer converts the input from the intermediate layer farthest from the input layer through an activation function and outputs the conversion result.

[0078] The abnormality detection unit 124 detects abnormality in the action of the coating device 40 or the multi-joint robot 10 based on the comparison result of the above-mentioned action deviation level of the action state information and the reference value and the prescribed action permission level (permitted level). Alternatively, when the action deviation level exceeds the action permission level, the abnormality detection unit 124 determines that an abnormality has occurred in the coating device 40 or the multi-joint robot 10. The permitted level is pre-set to a value greater than the above-mentioned set level. The permitted level is set, for example, to a level at which the action state and the reference value are judged to deviate to a degree that cannot be adjusted in the correction of the control target value.

[0079] In the case where the action state information includes information representing multiple action states, the abnormality detection unit 124 can detect abnormalities in the multiple action states contained in the action state information. The abnormality detection unit 124 can determine whether there is an abnormality at a specified period, or it can determine whether there is an abnormality each time a protrusion is formed on the coating path. In the case where the action deviation level of the action state information related to the coating device 40 and the reference value exceeds the allowable level, the abnormality detection unit 124 determines that an abnormality has occurred in the coating device 40. In the case where the action deviation level of the action state information related to the multi-joint robot 10 and the reference value exceeds the allowable level, the abnormality detection unit 124 determines that an abnormality has occurred in the multi-joint robot 10.

[0080] The notification unit 126 notifies the detection result of the abnormality detection unit 124. For example, when the abnormality detection unit 124 detects an abnormality, the notification unit 126 outputs a signal indicating that an abnormality has occurred to the output device 106. The notification unit 126 may further output a signal indicating which of the coating device 40 and the multi-joint robot 10 has an abnormality to the output device 106. The output device 106 may also display information corresponding to the signal when receiving the signal indicating that an abnormality has occurred.

[0081] Figure 5 1 is a block diagram showing an example of the hardware configuration of the control device 100. Figure 5 As shown, the control device 100 has a circuit 150. The circuit 150 includes one or more processors 152, a memory 154, a storage device (storage) 156, a driver (drive circuit) 158, and an input / output port 162. The storage device 156 is a computer-readable storage medium such as a nonvolatile semiconductor memory.

[0082] The storage device 156 stores a program for causing the control device 100 to execute the following steps: calculating a control target value based on the action state information indicating the action state of at least one of the coating device 40 and the multi-joint robot 10 and the target quality information indicating the target coating quality of the coating on the workpiece W; and controlling the coating device 40 and the multi-joint robot 10 according to the calculated control target value. For example, the storage device 156 stores a program for constituting the above-mentioned functional modules in the control device 100.

[0083] The memory 154 temporarily stores the program loaded from the storage medium of the storage device 156 and the calculation results of the processor 152. The processor 152 cooperates with the memory 154 to execute the above program, thereby constituting each functional module of the control device 100. The driver 158 outputs driving power to the actuators 31 to 36 of the multi-joint robot 10 according to the instructions from the processor 152. The input / output port 162 inputs / outputs information between the actuators 31 to 36, the discharge valve 43, the actuators 53a, 53b, the pressure sensors 61, 62a, 62b, the temperature sensors 64, 65, the flow sensor 71, the input device 104, and the output device 106 according to the instructions from the processor 152.

[0084] It should be noted that the circuit 150 is not necessarily limited to configuring each function by a program. For example, the circuit 150 may configure at least a part of its functions by a dedicated logic circuit or an ASIC (Application Specific Integrated Circuit) integrating the logic circuit.

[0085] [Control method]

[0086] Next, refer to Figure 6 , an example of a control method executed in the coating system 1 is described. Figure 6 This is a flowchart showing a control flow executed by the control device 100 after the model construction unit 128 has constructed the estimation model.

[0087] In this control process, the control device 100 first executes steps S01 and S02. In step S01, for example, the target quality acquisition unit 116 acquires target quality information representing the target of the coating quality. The target quality acquisition unit 116 may also acquire the target quality information from input information from the operator via the input device 104. In step S02, for example, the control device 100 sets the control target value for controlling the coating device 40 and the multi-joint robot 10 to an initial value. The control device 100 may also pre-store the initial value of the control target value.

[0088] Next, the control device 100 executes step S03. In step S03, for example, the motion control unit 112 discharges paint to a coating path according to the control target value set as the initial value. As a result, a ridge is formed on the workpiece W. In step S03, during the execution of discharging paint to the workpiece W, the motion information acquisition unit 114 acquires motion state information representing the states of these actions from the coating device 40 and the multi-joint robot 10. The motion information acquisition unit 114 may also acquire motion state information at a predetermined period during the execution of discharging paint.

[0089] Next, the control device 100 executes step S04. In step S04, for example, the quality acquisition unit 118 acquires actual quality information indicating the actual performance of the coating quality of the coating on the workpiece W from the detection result of the coating state detection unit 90 for the coating applied in step S03. The quality acquisition unit 118 may also acquire the coating width BW and thickness BT of the protrusion formed in step S03 from the image data obtained by photographing the range including the protrusion formed in step S03 on the workpiece W by the camera 92. The quality acquisition unit 118 may also acquire the coating width BW and thickness BT at multiple locations on the coating path (in the extension direction of the protrusion).

[0090] Next, the control device 100 executes step S05. In step S05, for example, the target value calculation unit 120 determines whether it is necessary to adjust the control target value. For example, the target value calculation unit 120 determines whether the quality deviation level between the actual quality information obtained in step S04 and the target quality information obtained in step S01 exceeds a prescribed level. The target value calculation unit 120 may compare the quality deviation level with the prescribed level at each of the plurality of locations on the coating path, or may compare the average value of the actual quality information at the plurality of locations on the coating path with the prescribed level.

[0091] The target value calculation unit 120 may determine whether the action deviation level between the action state information obtained in step S03 and the reference value exceeds the above-mentioned set level instead of whether the deviation between the actual quality and the target quality exceeds the above-mentioned set level. In the case where the quality deviation level exceeds the prescribed level, or in the case where the action deviation level of any action state information exceeds the set level, the target value calculation unit 120 determines that it is necessary to adjust the control target value. On the other hand, in the case where the quality deviation level is below the prescribed level, or in the case where the action deviation level of any action state information is below the set level, the target value calculation unit 120 determines that it is not necessary to adjust the control target value.

[0092] When it is determined in step S05 that the control target value needs to be adjusted (step S05: yes), the control device 100 executes step S06. In step S06, for example, the target value calculation unit 120 uses the above-mentioned estimation model to calculate the adjustment range of the control target value based on the current state and the target quality information. The adjustment range is equivalent to the amount by which the control target value should be adjusted in order to obtain the target quality state under the current state. The current state includes the current action state information obtained in step S03 and the current actual quality information obtained in step S04. The target value calculation unit 120 calculates a new control target value by adding the above-mentioned adjustment range of the calculated control target value to the current control target value (for example, the initial value of the control target value).

[0093] On the other hand, in step S05, if it is determined that the control target value does not need to be adjusted (step S05: No), the control device 100 does not execute step S06. Next, the control device 100 executes step S07. In step S07, for example, the control device 100 determines whether coating of all coating paths (for example, all coating paths set for a plurality of workpieces W) has been completed.

[0094] In step S07, when it is determined that coating of all coating paths is not completed (step S07: No), the control device 100 returns to step S03. In this case, the control device 100 executes the processing of steps S03 to S05 (S06) again. In the coating of the next coating path in step S03, the motion control unit 112 controls the coating device 40 and the multi-joint robot 10 according to the control target value calculated after executing the previous coating path, so as to discharge the coating to the coating path as the coating object. In step S07, when it is determined that coating of all coating paths is completed (step S07: Yes), a series of processing of the control device 100 ends.

[0095] The above series of processes is an example and can be changed appropriately. In the above series of processes, the control device 100 can execute a step and the next step in parallel, or execute each step in a different order from the above example. The control device 100 can omit any step, or execute a process different from the above example in any step.

[0096] The control device 100 may detect abnormalities in the actions of the coating device 40 and the multi-joint robot 10 in coordination with the execution of step S05 or at predetermined intervals in the execution of step S03. For example, for each of the plurality of action states contained in the action state information, when the action deviation level between the action state and the reference value exceeds the action permission level, the abnormality detection unit 124 of the control device 100 detects that an abnormality has occurred in either the coating device 40 or the multi-joint robot 10. When the action deviation level is below the action permission level, the abnormality detection unit 124 may determine that both the coating device 40 and the multi-joint robot 10 are operating normally.

[0097] (Variation Example)

[0098] In the above example, the actual quality information is obtained from the detection result of the coating state detection unit 90, but the actual quality information can also be estimated based on the action state information. The action state of the multi-joint robot 10 obtained from the multi-joint robot 10 and the action state of the coating device 40 obtained from the coating device 40 will affect the coating quality of the coating applied to the workpiece W (for example, the coating width BW and thickness BT of the protrusion). Therefore, the coating quality can be estimated based on the action state information. For example, Figure 3 As shown in FIG. 1 , the control device 100 includes a mass estimation unit 132. In this case, the coating system 1 may not include the coating state detection unit 90.

[0099] The quality estimation unit 132 estimates the coating quality based on the action state information acquired by the action information acquisition unit 114. Hereinafter, the information indicating the coating quality estimated by the quality estimation unit 132 is also referred to as "actual quality information". The target value calculation unit 120 can calculate the control target value based on the action state information, the target quality information and the actual quality information estimated by the quality estimation unit 132. For example, the target value calculation unit 120 can also calculate the adjustment amount of the control target value based on the change amount (output value) of the control target value obtained by inputting the difference between the actual quality information estimated by the quality estimation unit 132 and the target quality information into the above-mentioned estimation model.

[0100] When the control device 100 includes the quality estimation unit 132, the control device 100 may also be configured as follows: Figure 6 A series of processing is performed in the same process as the flowchart shown in FIG. 1 . In this case, in step S04, the quality estimation unit 132 may also estimate the quality information of the coating applied to the coating path based on the action state information obtained in step S03 (the action state information obtained in discharging the coating to the coating path). When executing step S06, the target value calculation unit 120 may also calculate (adjust) the control target value using the estimation model based on the difference between the actual quality information estimated in step S04 and the target quality obtained in step S01, and the action state information obtained in step S03.

[0101] The model construction unit 128 of the control device 100 may also construct an estimation model for estimating actual quality information. The model construction unit 128 accumulates the operation state information and information indicating the coating quality (for example, the coating quality obtained by a camera, etc.) based on the operation state information. The model construction unit 128 constructs an estimation model that outputs actual quality information based on the input of the operation state information, based on the accumulated data accumulated by associating the operation state information with the information indicating the coating quality.

[0102] Instead of the estimation model for estimating the adjustment amount (the amount to be adjusted) of the control target value and the estimation model for estimating the actual quality information from the operation state information, one estimation model may be constructed. For example, the target value calculation unit 120 may calculate (adjust) the control target value using another estimation model constructed to represent the relationship between the current operation state information and the target quality information and the amount of change in the control target value.

[0103] The coating state detection unit 90 may detect the state of the coating (protrusion) on the workpiece W using a laser instead of a camera. In this case, the mass acquisition unit 118 may acquire the coating width BW of the protrusion from the measurement result obtained by the light receiving state of the laser. The coating device 40 may also have one pump instead of two pumps (pumps 51a, 51b).

[0104] [Effects of Embodiment]

[0105] The coating system 1 of the above-mentioned embodiment comprises: a coating device 40 that discharges the coating material from a discharge portion 41; a multi-joint robot 10 that changes the position and posture of the discharge portion 41 in such a manner that the coating material from the discharge portion 41 is applied to the workpiece W; and a control device 100 that controls the coating device 40 and the multi-joint robot 10. The control device 100 comprises: a target value calculation unit 120 that calculates a control target value for controlling the coating device 40 and the multi-joint robot 10 based on action state information indicating an action state of at least one of the coating device 40 and the multi-joint robot 10 and target quality information indicating a target of coating quality of the coating material to the workpiece W; and an action control unit 112 that controls the coating device 40 and the multi-joint robot 10 according to the control target value calculated by the target value calculation unit 120.

[0106] The control target value for obtaining the target quality changes according to the operating state of at least one of the coating device 40 and the multi-joint robot 10. In the coating system 1, the control target value is calculated based on the information indicating the operating state and the information indicating the target quality, so the coating device 40 and the multi-joint robot 10 are controlled with the control target value that can obtain a quality closer to the target quality. Therefore, it is conducive to stabilizing the quality of the coating applied to the workpiece W.

[0107] Alternatively, in the coating system 1 of the above embodiment, the target value calculation unit 120 may further calculate the control target value based on the actual quality information indicating the actual quality of coating of the coating on the workpiece W. In this case, the control target value can be calculated by taking into account the difference between the current coating quality of the coating and the target quality. Therefore, it is advantageous to calculate the control target value with high accuracy.

[0108] Alternatively, in the coating system 1 of the above embodiment, the target value calculation unit 120 calculates the control target value using an estimation model constructed to represent the relationship between the target quality information, the actual quality information, and the action state information and the control target value. In this case, the control target value can be easily calculated by applying the target quality information, the actual quality information, and the action state information to the estimation model. Therefore, it is conducive to the simplification of the calculation of the control device 100.

[0109] Alternatively, the coating system 1 of the above embodiment further includes: a quality estimation unit 132 that estimates actual quality information based on the operation state information. Alternatively, the target value calculation unit 120 calculates the control target value based on the operation state information, the target quality information, and the actual quality information estimated by the quality estimation unit 132. In this case, the control target value can be adjusted without observing the coating result of the coating actually applied to the workpiece W. Therefore, it is conducive to simplifying the operation for adjusting the control target value.

[0110] Alternatively, in the coating system 1 of the above-mentioned embodiment, the quality estimation unit 132 estimates the actual quality information based on the action state information using an estimation model that is constructed to output the actual quality information based on the input of the action state information. In this case, when estimating the actual quality information, the estimated value of the actual quality information can be obtained by applying the action state information to the estimation model. Therefore, it is advantageous to simplify the calculation of the control device 100 when estimating the actual quality information from the action state information.

[0111] Alternatively, the coating system 1 of the above embodiment further includes: a coating state detection unit 90 for detecting the state of the coating applied to the workpiece W; and a quality acquisition unit 118 for acquiring actual quality information from the detection result of the coating state detection unit 90. Alternatively, the target value calculation unit 120 calculates the control target value based on the action state information, the target quality information, and the actual quality information acquired by the quality acquisition unit 118. In this case, information indicating the coating quality is obtained based on the state of the coating actually applied to the workpiece W, so the actual quality information can be obtained with high precision. Therefore, it is conducive to the high-precision calculation of the control target value.

[0112] Alternatively, in the coating system 1 of the above embodiment, the operation state information includes information indicating at least one selected from the group consisting of the flow rate of the coating in the flow path until the discharge portion 41, the pressure of the coating in the flow path, the temperature of the coating in the flow path, the operation state of the on-off valve (discharge valve 43) provided in the flow path, the operation state of the pumps 51a and 51b for pressurizing the coating to the discharge portion 41, and the operation state of the actuators 31 to 36 included in the multi-joint robot 10. These information may change due to external environmental factors, or there may be a difference between these information and the control target value indicating the command value. In the above configuration, the control target value is calculated in consideration of the change or difference. Therefore, it is advantageous to adjust the control target value with high precision. For example, the amount to be adjusted of the control target value is different depending on the temperature of the coating in the flow path until the discharge portion 41 (for example, when the temperature is 25° C. and when the temperature is 35° C.). In the above coating system 1, the adjustment amount of the control target value is calculated in consideration of the temperature of the coating, so that the control target value corresponding to the current state of the device can be adjusted.

[0113] Alternatively, in the coating system 1 of the above embodiment, the coating quality of the paint on the workpiece W includes at least the coating width BW of the paint on the workpiece W or the thickness BT of the paint on the workpiece W. In this case, the coating width or thickness of the paint applied to the workpiece W can be made close to the target value.

[0114] Alternatively, the coating system 1 of the above-mentioned embodiment further comprises: an action information acquisition unit 114, which acquires action state information from at least the coating device 40 or the multi-joint robot 10 when applying the paint to the workpiece W. Alternatively, the target value calculation unit 120 calculates the control target value when the deviation level between the action state information acquired by the action information acquisition unit 114 and the reference value exceeds a prescribed set level. When the action state information deviates from the reference value, it can be considered that the difference between the target quality and the actual quality becomes larger. In the above-mentioned structure, the control target value can be calculated even if the action state information deviates from the reference value, so the difference between the target quality and the actual quality can be reduced. Therefore, it is beneficial to stabilize the quality of the paint applied to the workpiece W.

[0115] Alternatively, the coating system 1 of the above embodiment further includes: an abnormality detection unit 124, which detects abnormality in the operation of the coating device 40 or the multi-joint robot 10 based on a comparison result of the above deviation level with a prescribed allowable level greater than the above set level. In this case, when adjusting the control target value, changes to the extent that the actual quality cannot be brought close to the target quality can be detected.

[0116] Description of Reference Numerals

[0117] 1: Coating system

[0118] 10: Multi-joint robot

[0119] 31~36: Actuator

[0120] 40: Coating device

[0121] 41: Discharge unit

[0122] 43: Discharge valve

[0123] 51a, 51b: Pump

[0124] 90: Coating status detection unit

[0125] 100: Control device

[0126] 112: Motion Control Department

[0127] 114: Action information acquisition unit

[0128] 118: Quality Acquisition Department

[0129] 120: Target value calculation unit

[0130] 124: Abnormal Detection Department

[0131] 132: Quality Assurance Department

[0132] W: Workpiece

[0133] BW: coating width

[0134] BT: Thickness

Claims

1. A coating system, comprising: a coating device that discharges the coating from a discharge portion; a multi-joint robot that changes the position and posture of the discharge portion in such a manner that the paint from the discharge portion is applied to a workpiece; and a control device, wherein the control device controls the coating device and the multi-joint robot, The control device has: an action information acquisition unit, wherein the action information acquisition unit acquires action state information indicating an action state from at least the coating device or the multi-joint robot during the execution of the discharge of the coating material onto the workpiece, a target value calculation unit that calculates a control target value for controlling the coating device and the multi-joint robot based on the action state information acquired by the action information acquisition unit and target quality information representing a target of coating quality of the coating material on the workpiece; and An action control unit controls the coating device and the multi-joint robot according to the control target value calculated by the target value calculation unit.

2. The coating system according to claim 1, wherein: The target value calculation unit further calculates the control target value based on actual quality information indicating actual performance of coating quality of the paint on the workpiece.

3. The coating system according to claim 2, wherein: The target value calculation unit calculates the control target value using an estimation model constructed to represent a relationship between the target quality information, the actual quality information, and the operation state information, and the control target value.

4. The coating system according to claim 2 or 3, further comprising: a quality estimating unit that estimates the actual quality information based on the operation state information, The target value calculation unit calculates the control target value based on the operation state information, the target quality information, and the actual quality information estimated by the quality estimation unit.

5. The coating system according to claim 4, wherein: The quality estimation unit estimates the actual performance quality information based on the operation state information using an estimation model configured to output the actual performance quality information based on the input of the operation state information.

6. The coating system according to claim 2 or 3, further comprising: a coating state detecting section that detects a state of the coating material that has been applied to the workpiece; and a quality acquisition unit that acquires the actual quality information from the detection result of the coating state detection unit, The target value calculation unit calculates the control target value based on the operation state information, the target quality information, and the actual quality information acquired by the quality acquisition unit.

7. The coating system according to any one of claims 1 to 3, wherein: The action status information includes at least one information selected from a group consisting of the flow rate of the paint in the flow path to the discharge portion, the pressure of the paint in the flow path, the temperature of the paint in the flow path, the action status of an opening and closing valve provided in the flow path, the action status of a pump that pressurizes the paint to the discharge portion, and the action status of an actuator contained in the multi-joint robot.

8. The coating system according to any one of claims 1 to 3, wherein: The coating quality of the coating on the workpiece includes at least the coating width of the coating on the workpiece or the thickness of the coating on the workpiece.

9. The coating system according to any one of claims 1 to 3, wherein: The target value calculation unit calculates the control target value when a level of deviation between the operation state information acquired by the operation information acquisition unit and a reference value exceeds a predetermined setting level.

10. The coating system according to claim 9, further comprising: An abnormality detection unit detects abnormality in the operation of the coating device or the multi-joint robot based on a comparison result between the deviation level and a predetermined allowable level greater than the set level.

11. A control device, comprising: an action information acquisition unit that acquires action state information indicating an action state from at least a coating device that discharges the paint from a discharge unit or a multi-joint robot that changes a position and a posture of the discharge unit in a manner that applies the paint from the discharge unit to the workpiece during execution of the discharge of the paint to the workpiece; and a target value calculation unit that calculates a control target value for controlling the coating device and the multi-joint robot based on the action state information acquired by the action information acquisition unit and target quality information representing a target of coating quality of the coating material on the workpiece; and An action control unit controls the coating device and the multi-joint robot according to the control target value calculated by the target value calculation unit.

12. A control method, comprising: During the execution of the discharge of the paint onto the workpiece, obtaining action state information indicating the action state from at least a coating device that discharges the paint from a discharge unit or a multi-joint robot that changes the position and posture of the discharge unit in a manner that applies the paint from the discharge unit to the workpiece; calculating a control target value for controlling the coating device and the multi-joint robot based on the action state information and target quality information indicating a target coating quality of the coating material on the workpiece; and The coating device and the multi-joint robot are controlled according to the calculated control target value.

13. A computer program product, comprising a computer program, wherein the computer program causes a computer to execute the control method according to claim 12.

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