Painting determination device of painting head and painting system

Abstract

This invention provides a coating determination device for a coating head, which can prevent coating defects caused by clogging during continuous multiple coating processes. The coating determination device of this invention performs coating determination on a coating head having multiple nozzles for discharging paint. The paint is discharged from the multiple nozzles while moving in one direction, and the discharged paint is used to coat a workpiece. The coating determination device is characterized by having: an image acquisition unit that acquires an image of the workpiece being coated; and a determination unit that determines whether the coating of the workpiece is being performed normally based on the image acquired by the image acquisition unit.

Description

Technical Field

[0001] This invention relates to a coating determination device and a coating system for a coating head. Background Technology

[0002] Typically, techniques for exterior painting are proposed using painting devices equipped with painting heads having multiple nozzles for discharging paint. As an example, a technique has been proposed in which a painting device consisting of a multi-jointed robot with the aforementioned painting head is installed on a painting line in an automobile manufacturing plant to paint the car body. In this painting method using a painting head, because a paint with a viscosity different from the ink used for printing on paper is used, nozzle clogging due to paint residue adhesion can easily occur inside the nozzle.

[0003] Therefore, a technique is considered to detect the state of the droplets of coating agent and paint discharged from the coating device and to clean each nozzle of the coating head before clearing blockages (see Patent Document 1). In Patent Document 1, a light source for illuminating inspection light and a camera for capturing images of droplets illuminated by the light source are installed in the cleaning device. The number of droplets, the discharge angle of the droplets, and whether the discharge direction of the droplets discharged from each nozzle is closed are evaluated based on the images captured by the camera to detect whether there is a blockage.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: International Publication No. 2020 / 115117 Summary of the Invention

[0007] The problem that the invention aims to solve

[0008] The cleaning device disclosed in Patent Document 1 has the advantage of being able to detect the presence or absence of blockages and clean nozzles using a single device. However, Patent Document 1 detects blockages and their degree during nozzle cleaning, such as when changing paint colors or during periods of paint application interruption, rather than detecting blockages and their degree that occur during the painting process itself. Therefore, Patent Document 1 has the problem of not being able to detect whether blockages occur during multiple consecutive paint applications, i.e., it cannot detect whether paint defects have occurred.

[0009] The present invention was proposed to solve the above-mentioned problems, and aims to provide a technology that can prevent coating defects caused by clogging that occurs in consecutive multiple coating processes.

[0010] Methods for solving problems

[0011] To address the aforementioned issues, one embodiment of the coating head determination device of the present invention is a coating head determination device having a plurality of nozzles for discharging paint, discharging paint from the plurality of nozzles while moving in one direction, and using the discharged paint to coat a workpiece. The coating head determination device includes: an image acquisition unit that acquires an image of the workpiece being coated; and a determination unit that determines whether coating of the workpiece is being performed normally based on the image acquired by the image acquisition unit.

[0012] Additionally, the system includes an extraction unit for extracting coating defects occurring on the workpiece from an image of the workpiece being coated. When the extraction unit extracts coating defects occurring on the workpiece, the determination unit identifies the nozzle among the plurality of nozzles in the coating head that is experiencing coating discharge defects.

[0013] In addition, the coating head has a control unit that controls the discharge of paint from multiple nozzles according to the nozzles. The control unit moves the coating head in one direction and uses the multiple nozzles of the coating head to coat the workpiece with a determination pattern for determining whether there is a problem with paint discharge. The determination unit determines whether the coating of the workpiece is proceeding normally based on the image of the workpiece coated with the determination pattern.

[0014] In this case, the coating head is configured with a plurality of nozzle rows in a direction orthogonal to the one direction, wherein the nozzle rows are arranged with a predetermined number of nozzles in a direction inclined relative to the one direction, and the determination pattern includes at least a plurality of baselines arranged in a two-dimensional shape and extending along the one direction. When the coating head moves in one direction, the control unit performs the following action on all nozzles while switching nozzles to coat the workpiece with the plurality of baselines: continuously discharging the paint from any of the predetermined number of nozzles in each of the plurality of nozzle rows.

[0015] Furthermore, in the image of the determination pattern acquired by the image acquisition unit, if a predetermined number or more baselines of any nozzle in the same nozzle array have poor coating, the determination unit determines that the workpiece is not being coated normally using the coating head.

[0016] In addition, it also includes: one or more camera units that capture images of the workpiece at multiple different locations; a three-dimensional image generation unit that uses the captured images obtained by the one or more camera units to generate a three-dimensional image of the workpiece coated by the coating head; and a state determination unit that uses the three-dimensional image of the workpiece generated by the three-dimensional image generation unit to determine the coating state of the workpiece.

[0017] In this case, an indicator unit is also provided. The state determination unit uses the three-dimensional image to determine whether the thickness of the coating on the workpiece is below a preset thickness. When the state determination unit determines that the thickness of the coating is below the preset thickness, the indicator unit indicates that a determination pattern for determining whether there is a problem with the discharge of the coating is applied to the workpiece.

[0018] In addition, one embodiment of the coating system of the present invention includes: a coating head having a plurality of nozzles; a moving unit disposed in a coating chamber under explosion-proof management, capable of moving the coating head in one direction along the workpiece; a coating determination device for the coating head; and a cleaning unit that cleans the plurality of nozzles of the coating head, wherein the cleaning unit cleans the plurality of nozzles of the coating head when the coating determination device of the coating head determines that the coating of the workpiece is not being performed normally.

[0019] In addition, the workpiece includes a first workpiece for determining whether the coating of the workpiece is proceeding normally in the coating determination device of the coating head. The coating determination device of the coating head is located outside the coating chamber. The coating system also includes a conveying unit that conveys the first workpiece coated by the coating head to the coating determination device of the coating head.

[0020] Invention Effects

[0021] According to the present invention, it is possible to prevent coating defects caused by clogging that occurs during multiple consecutive coating processes. Attached Figure Description

[0022] Figure 1 This is a diagram illustrating an example of a coating system in an embodiment of the present invention.

[0023] Figure 2 (a) is a diagram showing an example of the configuration of nozzles provided on the nozzle forming surface, (b) is a diagram showing a partial enlargement of the nozzle forming surface, and (c) is a diagram showing the result of paint being discharged from each nozzle.

[0024] Figure 3 (a) is a diagram showing an example of a test pattern, and (b) is a diagram showing region A in (a) magnified.

[0025] Figure 4 This is a diagram showing an example of the division of a nozzle disposed on the nozzle forming surface.

[0026] Figure 5 This is a diagram showing the control configuration of the coating system.

[0027] Figure 6This is an example of a test pattern that results in a poor coating.

[0028] Figure 7 This is an example of a test pattern that results in a poor coating.

[0029] Figure 8 This is an example of a test pattern that results in a poor coating.

[0030] Figure 9 This is an example of a test pattern that results in a poor coating.

[0031] Figure 10 This is a flowchart illustrating the process from coating the test pattern to cleaning the coating head unit.

[0032] Figure 11 It is shown that Figure 10 The flowchart shown is a flowchart of the process for determining and handling coating defects.

[0033] Figure 12 This diagram illustrates an example of a coating system that performs coating defect determination processing based on the coating status of the coating surface of the object being coated.

[0034] Explanation of reference numerals in the attached figures

[0035] 10…Painting System

[0036] 11…Painting Robot

[0037] 12…Image processing device

[0038] 13…Conveying device

[0039] 14… Coating Judgment Device

[0040] 24…Painting Head Unit

[0041] 30…Painting head

[0042] 31… Nozzle forming surface

[0043] Nozzle groups 32a, 32b...

[0044] 33… Nozzle

[0045] 34a, 34b... Nozzle array

[0046] 41…Camera Department

[0047] 42…light source

[0048] 43… Computer

[0049] FR…body

[0050] S…sample

[0051] TP…test pattern Detailed Implementation

[0052] The following description, based on the accompanying drawings, illustrates the coating system for implementing the present invention. Figure 1 As shown, the coating system 10 includes a coating robot 11, an image processing device 12, a conveying device 13, and a coating determination device 14. It should be noted that the coating robot 11 is disposed inside a coating chamber 17 that has undergone explosion-proof treatment, while the image processing device 12 is disposed outside the coating chamber 17. Furthermore, the coating determination device 14 is disposed inside an inspection chamber 18 adjacent to the coating chamber 17. The conveying device 13 is configured to span both the coating chamber 17 and the inspection chamber 18.

[0053] Although the illustration is omitted, the object to be painted is transported from the upstream side of the painting line into the painting chamber 17, and painted while being transported inside the painting chamber 17, or painted while temporarily stopped at a designated position inside the painting chamber 17. If the object to be painted is painted, the painted object is transported from the painting chamber 17 to the downstream side of the painting line. Hereinafter, as an example of the object to be painted, the car body FR will be described. As the object to be painted, it can also be, for example, a car part other than the car body (for example, doors, engine hoods, various panels, etc. can be given, but it is not limited to these), various other parts other than cars (for example, aircraft, railway exterior parts), etc., as long as the part needs to be painted, it is not limited to the car body.

[0054] In addition, the following description describes a painting system 10 that uses one painting robot 11 to paint the vehicle body FR, but it is also possible to use two or more painting robots 11 to paint the vehicle body FR.

[0055] The purpose of painting is to form a coating on the surface of the object to protect it and give it an aesthetic appeal. Therefore, painting, in addition to using paint of a specific color or paint with a specific function, includes painting the object with multiple colors of paint sequentially. Furthermore, painting includes, for example, painting patterns, illustrations, or images.

[0056] As an example, the painting robot 11 has a base 20, legs 21, a rotary drive unit 22, a robotic arm 23, and a painting head unit 24. The base 20 is a component that holds the lower end of the vertically extending legs 21 and supports the entire painting robot 11. The base 20 can be fixed to, for example, the floor of the painting chamber 17, or it can move inside the painting chamber 17. It should be noted that the painting robot 11 rotates around the legs 21 as a center of rotation, and the position where the painting robot 11 paints the car body FR transported on the painting line (…). Figure 1 (The solid line in the middle) and the test pattern TP for coating of sample S (refer to) Figure 3 The position of (a) Figure 1 Rotate between the double-dotted lines in the diagram. Here, the vehicle body FR and the sample S are equivalent to the workpiece described in the technical solution.

[0057] A rotary drive unit 22 is disposed at the upper end of the leg 21. The rotary drive unit 22 includes a rotary shaft 25 and a rotary arm 26. The rotary shaft 25 causes the robotic arm 23, connected via the rotary arm 26, to rotate at a plane parallel to the ground. Figure 1 The rotation is centered on a straight line contained in the XY plane. The rotating arm 26 is positioned between the rotating shaft 25 and the robotic arm 23. The rotating arm 26 is driven by the motor M1 (see reference...). Figure 5 When driven, it rotates around the central axis of the rotating shaft of the motor M1, that is, the central axis of the rotating shaft portion 25. As the motor M1, an electric motor or a pneumatic motor can be cited.

[0058] The robotic arm 23 includes a first rotating arm 27 and a second rotating arm 28. The first rotating arm 27 extends in the direction of its extension. Figure 1 One end of the shaft (e.g., in the X-axis direction) is connected to the rotating arm 26 via a shaft (not shown in the diagram), and is connected to the motor M2 (see reference). Figure 5 Driven by the rotation of the motor, the motor rotates around the central axis of the shaft. It should be noted that, although detailed illustrations are omitted, the motor M2 is housed within the housing of the rotating arm 26 or the housing of the first rotating arm 27.

[0059] The second rotating arm 28 extends in the direction of the first rotating arm 27. Figure 1 The other end of the shaft (e.g., in the X-axis direction) is connected to the first rotating arm 27 via a shaft portion (not shown in the diagram), and is connected to the motor M3 (see reference). Figure 5 Driven by the rotation of the shaft, the motor rotates around the central axis of the shaft. It should be noted that, although detailed illustrations are omitted, the motor M3 is housed within the housing of the first rotating arm 27 or the housing of the second rotating arm 28.

[0060] The second rotating arm 28 holds the wrist 29 on the opposite side from the end connected to the first rotating arm 27. While holding the painting head unit 24, the wrist 29 causes the held painting head unit 24 to rotate around one of its multiple shafts as a rotation center. Here, as an example, the multiple shafts are three shafts with different directions. It should be noted that the number of shafts can be two or more.

[0061] The wrist 29 has motors M4, M5, and M6 (see reference). Figure 5 By being driven by one of these motors, the wrist 29 can achieve rotational movement with the shaft corresponding to the driving motor among the plurality of shafts as the center of rotation.

[0062] The coating head unit 24 includes a head control unit 54, which controls the coating head 30, the circulation path for circulating the coating material (not shown in the figure), and the piezoelectric substrate 60 (see reference) of the coating head 30. Figure 5 To control.

[0063] Figure 2 Image (a) shows a front view of the nozzle forming surface 31 of the coating head 30. (See image for reference.) Figure 2 As shown in (a), the nozzle forming surface 31 has a main scanning direction along the coating head unit 24. Figure 2 The two nozzle groups 32a and 32b are configured in the S1 direction of (a). Figure 2 As shown in (b), nozzle assembly 32a is in a sub-scanning direction orthogonal to the main scanning direction ( Figure 2 In (a) in the S2 direction, multiple nozzle rows 34a are arranged, wherein, for example, four nozzles 33 are arranged at certain intervals on a straight line L1 inclined at a predetermined angle relative to the main scanning direction. Here, if the four nozzles constituting the nozzle row 34a are arranged from... Figure 2 If nozzles 33a, 33b, 33c, and 33d are designated from the top in (b), then the positions of nozzles 33a in each nozzle column 34a are identical in the main scanning direction. Similarly, nozzles 33b, 33c, and 33d in each nozzle column 34a are identical in the main scanning direction. Here, if the interval between two adjacent nozzles 33 in the same nozzle column 34a in the sub-scanning direction is set as D1, then the interval D2 between two nozzles 33a and 33d located at the ends of two adjacent nozzle columns 34a that are close to each other in the sub-scanning direction is the same as the interval D1 (D1 = D2).

[0064] Similarly, the nozzle group 32b has multiple nozzle rows 34b arranged in the sub-scanning direction, wherein each nozzle row 34b has four nozzles 33 arranged on a straight line L2 inclined at a predetermined angle relative to the main scanning direction. Here, the straight line L1 is parallel to the straight line L2. Here, if the four nozzles constituting the nozzle row 34b are... Figure 2 In (a), nozzles 33e, 33f, 33g, and 33h are designated from the top. Therefore, the positions of nozzles 33e in each nozzle column 34b are identical in the main scanning direction. Similarly, nozzles 33f, 33g, and 33h in each nozzle column 34b are identical in the main scanning direction. It should be noted that, although the diagram is omitted, the interval D3 between two adjacent nozzles 33 in the same nozzle column 34b in the sub-scanning direction, and the interval D4 between two nozzles 33e and 33h located at the ends of two adjacent nozzle columns 34b that are close to each other in the sub-scanning direction, are the same as the aforementioned interval D1 (D3 = D4 = D1).

[0065] In addition, each nozzle column 34b of nozzle group 32b is arranged in the sub-scanning direction at a position offset from the nozzle column 34a of nozzle group 32a by a distance D1 / 2.

[0066] Therefore, as Figure 2 As shown in (c), if each nozzle 33 provided on the nozzle forming surface 31 is projected onto the same projection surface PL1, then the nozzle 33a of nozzle row 34a is located between the nozzles 33e and 33f of nozzle row 34b. Furthermore, the nozzle 33b of nozzle row 34a is located between the nozzles 33f and 33g of nozzle row 34b. Additionally, the nozzle 33c of nozzle row 34a is located between the nozzles 33g and 33h of nozzle row 34b. Therefore, during coating, the dot density can be increased using the two nozzle groups 32a and 32b formed on the nozzle forming surface 31.

[0067] Back Figure 1 To explain, the image processing device 12 generates a 3D model (painting 3D model) based on CAD data corresponding to the paint area of ​​the vehicle and measurement data obtained by measuring the actual vehicle. Additionally, the image processing device 12 is based on the arm memory 57 (see reference...). Figure 5 The trajectory data stored in the system and the generated 3D model for painting are used to generate 2D image data (painting pattern data) for the painting head unit 24 during painting. The painting pattern data is obtained by segmenting the painting area in the vehicle body FR, and is sent to the painting robot 11 sequentially during the painting of the vehicle body FR.

[0068] The conveying device 13 transports the sample S, coated with the test pattern TP by the coating robot 11, from the coating chamber 17 to the inspection chamber 18. The conveying device 13 is, for example, a conveyor system.

[0069] The coating judgment device 14 takes pictures of the test pattern TP coated on the sample S, and judges whether the coating head unit 24 is coating normally, i.e., whether coating defects have occurred, based on the captured video data and judgment image data.

[0070] The coating judgment device 14 includes a camera unit 41, a light source 42, and a computer 43. The camera unit 41 captures images of the coating surface of the sample S transported by the conveying device 13. The light source 42 illuminates the coating surface of the sample S transported by the conveying device 13. The computer 43 drives and controls the camera unit 41 and the light source 42. Furthermore, the computer 43 determines whether a coating defect has occurred based on the image data obtained by the camera unit 41 and the judgment image data. Alternatively, the computer 43 determines whether a coating defect has occurred based on reference information other than the image data obtained by the camera unit 41 and the image data used to determine coating defects (e.g., a threshold for pixel values ​​used to determine linearity, the width of the linear portion, etc.). When a coating defect is determined to have occurred, the coating robot 11 is instructed to clean the coating head unit 24.

[0071] Next, the test pattern TP applied to the coating surface of sample S will be described. For example... Figure 3 (a) and Figure 3 As shown in (b), the test pattern TP has a pattern along the main scanning direction (in Figure 3 Multiple baselines MCL extending in the S1 direction and along the sub-scan direction (in Figure 3 Multiple baselines SCL extending in the S2 direction (in the middle).

[0072] The baseline SCL extending along the sub-scanning direction is generated by the discharge of paint droplets from the nozzles 33 that have reached specific positions in the main scanning direction when multiple nozzles 33 of the coating head unit 24, which are located on the nozzle forming surface 31, reach specific positions in the main scanning direction.

[0073] like Figure 4 As shown, the baseline MCL extending along the main scanning direction is achieved by switching the nozzles 33 that discharge paint droplets while all nozzles 33 belonging to the same group perform the following operation: that is, in the sub-scanning direction (in the nozzle forming surface 31) on the nozzle forming surface 31. Figure 4 In the S2 direction, Figure 4The nozzle columns 34a of nozzle group 32a and 34b of nozzle group 32b, which are in the same row from the left, are divided into the same group (Gr1, Gr2, Gr3, ...). While the coating head 30 moves along the main scanning direction, a baseline is generated by the action of repeatedly ejecting paint droplets from one of the nozzles 33 in the same group (which nozzle 33 forms which line of the baseline MCL will be described later). The number of these baselines MCL and baseline SCL varies depending on the number of nozzles provided on the nozzle forming surface 31.

[0074] As described above, nozzle row 34a of nozzle group 32a and nozzle row 34b of nozzle group 32b are each provided with four nozzles 33. Therefore, Figure 3 (a) and Figure 3 The test pattern TP shown in (b) has 8 baselines MCL1 to MCL8 extending along the main scanning direction and 9 baselines SCL1 to SCL9 extending along the sub-scanning direction. In addition, the 8 baselines MCL1 to MCL8 correspond to the number of groups divided in the sub-scanning direction.

[0075] exist Figure 3 In (b), baseline MCL1 is generated by repeatedly discharging paint from nozzle 33e of nozzle row 34b in nozzle group 32b. Baseline MCL2 is generated by repeatedly discharging paint from nozzle 33a of nozzle row 34a in nozzle group 32a. Baseline MCL3 is generated by repeatedly discharging paint from nozzle 33f of nozzle row 34b in nozzle group 32b. Baseline MCL4 is generated by repeatedly discharging paint from nozzle 33b of nozzle row 34a in nozzle group 32a.

[0076] Furthermore, baseline MCL5 is generated by repeatedly and continuously discharging paint from nozzle 33g of nozzle row 34b in nozzle group 32b. Baseline MCL6 is generated by repeatedly and continuously discharging paint from nozzle 33c of nozzle row 34a in nozzle group 32a. Baseline MCL7 is generated by repeatedly and continuously discharging paint from nozzle 33g of nozzle row 34b in nozzle group 32b. Baseline MCL8 is generated by repeatedly and continuously discharging paint from nozzle 33d of nozzle row 34a in nozzle group 32a.

[0077] It should be noted that the test pattern TP determines whether the multiple nozzles 33 set on the nozzle forming surface 31 are blocked. Therefore, the baseline SCL extending along the sub-scanning direction is not necessary, and it can also be set as a test pattern with only the baseline MCL extending along the main scanning direction.

[0078] Next, the control configuration of the coating system 10 in this embodiment will be explained. Figure 5 This is a diagram showing the control configuration in the painting system 10. (See diagram for example.) Figure 5 As shown, in addition to the painting robot 11, image processing device 12, conveying device 13 and painting judgment device 14, the painting system 10 also includes a management device 35 and a nozzle cleaning device 36.

[0079] The painting robot 11 has a main control unit 51, an arm control unit 52, a paint supply control unit 53, and a head control unit 54. Although not shown in the figure, the main control unit 51, arm control unit 52, paint supply control unit 53, and head control unit 54 are composed of a CPU (Central Processing Unit), storage units (ROM (Read Only Memory), RAM (Random Access Memory), non-volatile memory, etc.), and other elements.

[0080] The main control unit 51 sends a specified control signal to the arm control unit 52, the paint supply control unit 53 and the head control unit 54, so that the motors M1, M2, M3, M4, M5, M6, the paint supply unit 58 and the piezoelectric substrate 60 work together to perform coating on the object to be coated.

[0081] The arm control unit 52 controls the driving of motors M1, M2, M3, M4, M5, and M6. The arm control unit 52 has an arm memory 57. The arm memory 57 stores data (trajectory data) created through robot teaching, which takes into account the width (hereinafter referred to as coating width) of the coating head unit 24 in the sub-scanning direction of the object to be coated when the coating head unit 24 moves along the main scanning direction and is related to the trajectory of the coating head unit 24, as well as data (attitude data) related to the attitude of the coating head unit 24, such as the tilt angle of the coating head unit 24.

[0082] Furthermore, the arm control unit 52 controls the driving of motors M1, M2, M3, M4, M5, and M6 based on trajectory data and posture data stored in the arm memory 57 and image processing performed by the image processing device 12. Through the control of these motors M1, M2, M3, M4, M5, and M6, the painting head unit 24 can pass through or stop at the target position at a predetermined speed during painting. It should be noted that the arm memory 57 can be installed either within the painting robot 11 or externally. When the arm memory 57 is installed externally, it is preferable that the arm memory 57 is connected to a communication unit capable of wireless or wired communication with external machines.

[0083] The paint supply control unit 53 controls the supply of paint to the coating head 30. Although not shown in the figure, the paint supply control unit 53 controls the operation of the pumps, valves, etc. provided in the paint supply unit 58, so that the paint stored in the paint tanks, boxes, etc. connected to the paint supply unit 58 circulates between the paint supply unit 58 and the coating head unit 24.

[0084] The head control unit 54 controls the movement of the piezoelectric substrate 60 of the coating head 30 based on data generated from image processing in the image processing device 12 and position information from the position sensor 61 (described later). In other words, when the head control unit 54 determines that the coating head 30 has reached a predetermined position in the trajectory data based on the position information from the position sensor 61, it moves the piezoelectric substrate 60 based on the coating data corresponding to that position. Here, the head control unit 54 can not only control the movement of the piezoelectric substrate 60, but also control the movement frequency of the piezoelectric substrate 60, control the voltage applied to the piezoelectric substrate, and control the amount of droplets discharged from the plurality of nozzles 33 provided on the nozzle forming surface 31.

[0085] The position sensor 61 detects the position of the painting head 30, which moves under the control of the arm control unit 52, and outputs its detection signal to the main control unit 51.

[0086] The conveying device 13 includes a drive control unit 65, a motor M7, and a drive pulley 66. The drive control unit 65 drives the motor M7 based on a drive signal sent from the painting robot 11, causing the drive pulley 66 to rotate. The drive pulley 66 rotates under the drive of the motor M7, thereby spanning the drive pulley 66 and the driven pulley 67 (see reference 1). Figure 1 The conveyor belt 68, which is rolled up and suspended, moves to transport the sample S placed on the conveyor belt 68 from the coating chamber 17 to the inspection chamber 18. Figure 1 (The arrow in the middle indicates the direction of transport).

[0087] Additionally, such as based on Figure 1 As explained, the coating determination device 14 includes a camera unit 41, a light source 42, and a computer 43. The computer 43 includes a control unit 71, an operation unit 72, and a display panel 73. The control unit 71 includes a main control unit 75, a camera control unit 76, a light emission control unit 77, and a display control unit 78. The main control unit 75 executes the determination program 80 stored in the memory 79 of the control unit 71, thereby performing the functions of an image processing unit 84, an extraction unit 85, and a determination unit 86.

[0088] In addition to performing noise reduction, strain reduction, brightness adjustment, and contour extraction on the image data of the test pattern TP captured by the camera unit 41 (hereinafter referred to as camera data), the image processing unit 84 also performs image processing such as scaling. Furthermore, the image processing unit 84 may perform binarization on the camera data as needed. It should be noted that scaling is the process of enlarging or reducing the size of the test pattern TP in the image based on the camera data to match the size of the test pattern TP in the image based on the judgment image data 81.

[0089] The extraction unit 85 uses the judgment image data 81 stored in the memory 79 and the image data obtained by image processing performed by the image processing unit 84 (hereinafter referred to as processed data) to extract the unpainted (missing painted) baseline MCLs from the baseline MCLs included in the test pattern TP. In the processed data, painted baseline MCLs exist in the form of outlines, while unpainted baseline MCLs do not exist in the form of outlines. Therefore, the extraction unit 85 extracts the unpainted baseline MCLs by comparing the multiple baseline MCLs included in the judgment image data 81 with the multiple outlines included in the processed data.

[0090] It should be noted that the extraction unit 85 can also calculate the difference data between the processed data and the judgment image data 81, and in the difference data, when there is a specified number of pixels with pixel values ​​exceeding the specified range in the main scanning direction within the range of the test pattern TP coating, the baseline MCL of the corresponding part is extracted as the uncoated baseline MCL.

[0091] In all the nozzles 33 provided, for example, on the nozzle forming surface 31, under normal conditions (no clogging), all baselines MCL in the test pattern TP coated on the sample S are coated. The determination image data 81 is data obtained from coating all baselines in the test pattern TP. Therefore, since the processed data contains the outlines of each baseline MCL constituting the test pattern TP, in this case, the uncoated baselines MCL are not extracted.

[0092] On the other hand, if, for example, one of the plurality of nozzles 33 provided on the nozzle forming surface 31 becomes blocked, the baseline MCL corresponding to that nozzle 33 is not painted.

[0093] Therefore, the baseline MCL corresponding to the clogged nozzle 33 in the baseline MCL that constitutes the test pattern TP is not present in the processed data. Therefore, in this case, the unpainted baseline MCL is extracted.

[0094] The extraction unit 85 uses the decision image data 81 and the processed data to extract the unpainted baseline MCL and generates extraction data representing the extraction result. For example, if an unpainted baseline MCL is extracted, the extraction data includes the location information of the unpainted baseline MCL.

[0095] The determination unit 86 uses the extracted data generated by the extraction unit 85 to determine whether a coating defect has occurred. It should be noted that coating defects are described later. The determination unit 86 sends the determination result of whether a coating defect has occurred to the management device 35.

[0096] The management device 35 includes a CPU, memory, etc. (not shown in the diagram), and performs comprehensive control over the painting robot 11, image processing device 12, conveying device 13, and painting judgment device 14 that constitute the painting system 10. Based on the judgment result sent from the painting judgment device 14 indicating whether a painting defect has occurred, the management device 35 sends a cleaning signal to the painting robot 11 and the nozzle cleaning device 36.

[0097] The nozzle cleaning device 36 is a device for cleaning the nozzle forming surface 31 of the coating head 30.

[0098] Next, we will explain coating defects. For example, a coating defect is an unpainted area classified as... Figure 4 The following describes the case where three or more baselines MCL1 to MCL8 are generated from the paint discharged by nozzles 33 of the same group (Gr1, Gr2...). Examples of poor coating are shown below.

[0099] (1) Case where more than 3 unpainted baselines (MCLs) are extracted consecutively.

[0100] like Figure 3 As shown in (b), for example, when paint is normally discharged from each of the nozzles 33 that are in the same group, all baselines MCL1 to MCL8 are coated. On the other hand, if one of the multiple nozzles 33 that are in the same group becomes clogged, the baseline MCL corresponding to the clogged nozzle 33 is not coated. Figure 6 As shown, for example, baselines MCL3, MCL4, and MCL5 are not painted. Figure 6 In the diagram, the unpainted baselines MCL3, MCL4, and MCL5 are shown as dashed lines. For example... Figure 2 As shown in (c), nozzles 33b, 33f, and 33g are adjacent nozzles 33 when projected onto the same projection plane PL1. If the vehicle body FR is painted in this state, the painted vehicle body FR will have unpainted strip-shaped areas.

[0101] (2) Extracting more than 3 unpainted baselines in every other column.

[0102] like Figure 7 As shown, for example, when baselines MCL2, MCL4, and MCL6 are not painted, nozzle 33a corresponding to baseline MCL2, nozzle 33b corresponding to baseline MCL4, and nozzle 33c corresponding to baseline MCL6 become clogged. It should be noted that in... Figure 7 In the diagram, the unpainted baselines MCL2, MCL4, and MCL6 are shown as dashed lines. For example... Figure 2 As shown in (c), nozzles 33a, 33b, and 33c are arranged with one nozzle between them when projected onto the same projection plane PL1. If the vehicle body FR is painted in this state, the unpainted and painted parts alternate in the sub-scanning direction, giving the impression that the painted vehicle body FR has a discolored appearance or dents.

[0103] In addition, such as Figure 8 As shown, for example, when baselines MCL2, MCL5, and MCL8 are not painted, nozzle 33a corresponding to baseline MCL2, nozzle 33g corresponding to baseline MCL5, and nozzle 33d corresponding to baseline MCL8 become clogged. It should be noted that in... Figure 8 In the diagram, the unpainted baselines MCL2, MCL5, and MCL8 are shown as dashed lines. For example... Figure 2 As shown in (c), nozzles 33a, 33d, and 33g are arranged with two nozzles spaced apart when projected onto the same projection plane PL1. If the vehicle body FR is painted in this state, the unpainted areas will give the impression that the color of the painted vehicle body FR has changed.

[0104] (3) Case where multiple unpainted baselines are continuous and multiple unpainted areas are extracted.

[0105] like Figure 9 As shown, for example, when baselines MCL2, MCL3, MCL6, and MCL7 are not painted, nozzle 33a corresponding to baseline MCL2, nozzle 33f corresponding to baseline MCL3, nozzle 33c corresponding to baseline MCL6, and nozzle 33h corresponding to baseline MCL7 become clogged. It should be noted that in... Figure 9 In the diagram, the unpainted baselines MCL2, MCL3, MCL6, and MCL7 are shown as dashed lines. For example... Figure 2 As shown in (c), nozzles 33a and 33f, and nozzles 33c and 33h are adjacent to each other when projected onto the same projection plane PL1. If the sample S is coated in this state, a strip-shaped area of ​​uncoated paint will be produced on the coated vehicle body FR.

[0106] Here, even if the nozzle 33 in group Gr1 (and the same applies to other groups Gr2, Gr3, etc.) discharges droplets, if the number of unpainted baselines due to blockage exceeds three, it is determined to be a coating defect. However, it is possible to set the number of unpainted baselines when a coating defect is determined, taking into account the number of nozzles 33 in each group, the composition of the paint used for painting, the color of the paint, etc.

[0107] The following is based on Figure 10 The flowchart illustrates the process from the application of the test pattern TP in the coating system 10 to the cleaning of the coating head unit 24. It should be noted that... Figure 10 The flowchart is implemented in either the case where the painting robot 11 is used to paint a specified number of vehicle bodies FR before painting begins, or in the case where a certain period of time has passed after the painting robot 11 has been set up in the painting room 17.

[0108] Step S101: Test the coating of pattern TP

[0109] The management device 35 instructs the image processing device 12 and the painting robot 11 to apply the test pattern TP. Upon receiving the instruction from the management device 35 to apply the test pattern TP, the image processing device 12 generates painting pattern data based on the test pattern TP and sends it to the painting robot 11. When the main control unit 51 of the painting robot 11 receives the painting pattern data, it instructs the arm control unit 52 and the head control unit 54 to start the drive. Upon receiving this instruction, the arm control unit 52 reads the trajectory data of the test pattern TP from the arm memory 57 and drives each motor M1 to M6 based on the read trajectory data. The head control unit 54 actuates the piezoelectric substrate 60 of the painting head unit 24 based on the painting pattern data. Thus, the painting robot 11 applies the test pattern TP to the sample S.

[0110] Step S102: Transfer of sample S

[0111] If the coating robot 11 coats the test pattern TP onto the sample S, the coating completion information is transmitted from the coating robot 11 to the management device 35. Upon receiving this information, the management device 35 instructs the conveyor 13 to transport the sample S. The drive control unit 65 of the conveyor 13 stops the drive of the drive motor M7 after a predetermined time. Here, the predetermined time refers to the transport time of the sample S, placed on the conveyor belt 68, from the coating chamber 17 to the inspection chamber 18.

[0112] Step S103: Determination of coating defects

[0113] The main control unit 75 of the control unit 71 in the coating judgment device 14 uses the judgment image data 81 and camera data stored in the memory 79 to determine whether a coating defect has occurred. It should be noted that the details of the coating defect judgment will be described later. The main control unit 75 of the control unit 71 sends the coating defect judgment result to the management device 35.

[0114] In step S104, if the management device 35 determines that a coating defect has occurred, the process proceeds to step S105. Conversely, if it determines that no coating defect has occurred, the process proceeds to step S105. Figure 10 The processing of the flowchart has ended.

[0115] Step S105: Cleaning the coating head

[0116] The management device 35 instructs the nozzle cleaning device 36 and the painting robot 11 to begin nozzle cleaning. Upon receiving this instruction, the main control unit 51 of the painting robot 11 drives the rotating arm 26 and the first and second rotating arms 27 and 28, moving the painting head unit 24 to the cleaning position while detecting the position of the painting head unit 24 using the position sensor 61. Furthermore, as the painting head unit 24 moves to the cleaning position, the nozzle cleaning device 36 activates to clean the nozzle forming surface 31 of the painting head 30. This removes the blockage.

[0117] It should be noted that in step S105, a new coating head unit 24 can be replaced instead of cleaning the nozzle forming surface 31 of the coating head 30. When replacing the coating head unit 24, the previously used coating head unit 24 can also be cleaned at a different cleaning location.

[0118] Next, use Figure 11 The flowchart illustrates the defective coating determination process in step S103. It should be noted that the defective coating determination process in step S103 is executed by the computer 43 of the coating determination device 14.

[0119] Step S201: Photographing of sample S

[0120] The management device 35 instructs the coating judgment device 14 to judge the coating of the sample S. Upon receiving this instruction, the main control unit 75 of the control unit 71 instructs the camera control unit 76 to take a picture. At the same time, the main control unit 75 instructs the light source 42 to emit light to the light emission control unit 77. Upon receiving this instruction, the light emission control unit 77 illuminates the light source 42. As a result, the sample S coated with the test pattern TP is illuminated. In addition, the camera control unit 76 drives the camera unit 41 to take a picture of the sample S illuminated by the light source 42. The camera data acquired by the camera unit 41 is output to the main control unit 75 of the control unit 71.

[0121] Step S202: Image processing of camera data

[0122] The image processing unit 84 of the main control unit 75 performs image processing such as noise reduction, strain reduction, brightness adjustment, and contour extraction on the camera data to generate processed data.

[0123] Step S203: Extraction of the unpainted baseline MCL

[0124] The extraction unit 85 of the main control unit 75 reads the determination image data 81 stored in the memory 79. Furthermore, while referring to the read determination image data 81, the extraction unit 85 of the main control unit 75 extracts the unpainted baseline MCL from the processed data generated in step S202. The extraction unit 85 of the main control unit 75 then generates extraction data representing the extraction result.

[0125] Step S204: Determining whether coating defects have occurred

[0126] The determination unit 86 of the main control unit 75 determines whether there are uncoated baseline MCLs for each of the above groups based on the extracted data generated by the processing in step S203. Furthermore, if there is one or more groups with, for example, three or more uncoated baseline MCLs, a coating defect is determined to have occurred. It should be noted that the number of groups with, for example, three or more uncoated baseline MCLs is appropriately set. In this case, in step S105, the nozzle forming surface 31 of the coating head 30 is cleaned.

[0127] Therefore, by photographing the coated surface of the sample S of the coating test pattern TP and comparing it with the judgment image, it is possible to determine whether a coating defect has occurred. In addition, by judging the coating state of the baseline MCL, the location of the clogged nozzle 33 can be determined.

[0128] In the above embodiments, it is also possible to determine whether a coating defect has occurred based on the presence or absence of the baseline MCL on the coating surface of the sample S. For example, the coating state on the coating surface of the sample S is measured by using a three-dimensional displacement sensor to measure the thickness of the baseline MCL, the splashing state of the paint, the thickness of the baseline MCL (i.e., the film thickness of the paint), etc., and the state of nozzle 33 blockage is determined based on the measurement results.

[0129] The determination of painting defects in the above embodiments can be implemented, for example, in the case where the painting robot 11 paints a specified number of vehicle bodies FR before painting begins, or in the case where the painting robot 11 is placed in the painting chamber 17 and a certain period of time has passed. The determination of painting defects can also be based on the painting state of the painted surface of the object being painted. Figure 12 This explains the situation.

[0130] like Figure 12 As shown, multiple cameras 91, which will capture images of the painted vehicle body FR from different positions, are installed in the paint booth 17. These cameras 91 are connected to and controlled by a state determination device 92. Here, the multiple cameras 91 are arranged in different positions, and the multiple cameras 91 can be either fixed or movable.

[0131] The state determination device 92 generates a three-dimensional image of the painted surface of the vehicle body FR based on the image data obtained from multiple camera units 91, and determines the state of the painted surface of the vehicle body FR. The state determination device 92 includes a three-dimensional image generation unit 93 and a painting state determination unit 94. Here, the painting state determination unit 94 is equivalent to the state determination unit described in the technical solution.

[0132] The 3D image generation unit 93 uses the camera data obtained by multiple camera units 91 and the position data of the camera units 91 when the camera data is obtained to generate 3D image data on the painted surface of the vehicle body FR.

[0133] The coating condition determination unit 94 uses the three-dimensional image data generated by the three-dimensional image generation unit 93 and the three-dimensional data of the vehicle body FR to calculate the thickness of the coating film applied to the vehicle body FR. Furthermore, if there are areas where the coating film thickness is below a predetermined value, the coating condition is determined using the aforementioned coating determination device 14.

[0134] In this case, the state determination device 92 receives information such as the completion of painting of the vehicle body FR by the painting robot 11, and drives the camera unit 91 to perform imaging of the vehicle body FR. Furthermore, the state determination device 92 generates three-dimensional data of the vehicle body FR obtained from the camera unit 91. If, when using the three-dimensional data of the vehicle body FR, there are multiple areas where, for example, the thickness of the coating film is below a predetermined value, the state determination device 92 instructs the management device 35 to paint the test pattern TP. Upon receiving this instruction, the management device 35 stops painting the vehicle body FR and instructs the painting of the sample S. Therefore, the management device 35 functions as an instruction unit as described in the technical solution.

[0135] In this case, if uneven coating is detected in the painted body FR (Front-End Paint), the test sample S is directed to the coating test pattern TP. Therefore, by minimizing the downtime of the painting line, the working efficiency of the body FR can be maintained.

[0136] In the embodiments described above, the uncoated baseline MCL is extracted using the image data 81 for determination and the camera data obtained through image processing. However, depending on the clogging state of the nozzle 33, paint can be discharged from the nozzle 33. At this time, if the amount of droplets discharged from the nozzle is less than the amount of paint droplets discharged from the nozzle when no clogging occurs, the baseline MCL becomes thinner. In addition, in the case of a clogged nozzle 33, the continuity of paint droplets adhering to the coating surface becomes abnormal. Therefore, the thickness of the coated baseline and the continuity of paint droplets adhering to the coating surface can also be considered in the determination of whether there is clogging. Furthermore, by considering the above aspects, it is possible not only to determine whether the nozzle 33 corresponding to the target baseline MCL is clogged, but also to determine the degree of clogging in the nozzle.

[0137] In cases such as a thin or curved baseline, the corresponding nozzle 33 is determined to be in a semi-blocked state. In this case, the nozzle 33 determined to be in a semi-blocked state can be set as a nozzle that will not be used for subsequent coating.

[0138] It should be noted that, in the case of a nozzle that is determined not to be used for subsequent painting, a nozzle located on the periphery of the nozzle can still be used for interpolation during subsequent painting.

[0139] The coating determination device 14 described in this embodiment is the coating determination device 14 of the coating head unit 24. The coating head unit 24 has a plurality of nozzles 33 for discharging paint. While moving in one direction, paint is discharged from the plurality of nozzles 33. The discharged paint is used to coat the sample S. The coating determination device 14 has an image unit 41 for acquiring an image of the coated sample S and a determination unit 86 for determining whether the coating of the sample S is proceeding normally based on the image acquired by the image unit 41.

[0140] Therefore, it is possible not only to determine whether the sample S is being coated correctly based on the image of the coated sample S, but also to monitor the status of the multiple nozzles 33 in the coating head unit 24 (whether there is pore blockage, the degree of pore blockage, etc.). Furthermore, it is possible to reliably detect whether the sample S is being coated correctly in a short time. By monitoring the status of the multiple nozzles 33 in the coating head unit 24, the coating quality for the FR (front-mounted) body can be improved.

[0141] In addition, the extraction unit 85 is equipped with an extraction unit that extracts coating defects occurring in the sample S from an image of the sample S being coated. When the extraction unit 85 extracts coating defects occurring in the sample S, the determination unit 86 determines the nozzle 33 among the plurality of nozzles 33 in the coating head unit 24 that has coating discharge defects.

[0142] Since it is possible to determine the uncoated areas and the offset of the paint position during discharge based on the image of the coated sample S, it is possible to easily determine the position of the nozzle 33 in the nozzle 33 of the coating head unit 24 that results in poor paint discharge.

[0143] In addition, the coating head unit 24 has a head control unit 54 that controls the paint discharge from multiple nozzles 33 according to the nozzles. The head control unit 54 moves in one direction in coordination with the coating head unit 24. The multiple nozzles 33 of the coating head unit 24 are used to apply the test pattern TP, which is used to determine whether there is poor paint discharge, to the sample S. The determination unit 86 determines whether the coating of the sample S is normal based on the image of the sample S with the test pattern TP applied.

[0144] The coating head unit 24 is used to determine whether the coating is proceeding normally by using an image of, for example, the test pattern TP. Here, since the test pattern TP is used to determine whether the nozzle 33 is clogged, the clogging status of multiple nozzles 33 can be reliably detected (assured).

[0145] In addition, the coating head unit 24 is provided with a plurality of nozzle rows 34a and 34b in a direction orthogonal to one direction. The nozzle rows 34a and 34b are arranged with a predetermined number of nozzles 33 in a direction inclined relative to one direction. The test pattern TP includes at least a plurality of baselines MCL arranged in a two-dimensional shape and extending in one direction. When the coating head 30 moves in one direction, the head control unit 54 switches the nozzles 33 and performs an action of continuously discharging the paint from one of the predetermined number of nozzles 33 in each of the plurality of nozzle rows 34a and 34b, thereby coating the sample S with multiple baselines MCL.

[0146] In this invention, paint is discharged from each nozzle 33 while the paint head unit 24 is moved in one direction to paint the workpiece to be painted. Therefore, multiple paint heads 30 are used, each with multiple nozzle rows 34a, 34b arranged in a direction orthogonal to the stated direction. Each nozzle row 34a, 34b has a predetermined number of nozzles 33 arranged in a direction inclined relative to the moving direction of the paint head unit 24. Furthermore, multiple baselines MCLs corresponding to the nozzles 33 of each paint head 30 are set as test patterns TP. Therefore, by determining the painting state on each baseline MCL, it is easy to determine whether there are any nozzles 33 that result in poor painting, and simultaneously, the painting state of the vehicle body FR can be easily monitored.

[0147] Furthermore, in the image of the test pattern TP acquired by the camera unit 41, if a predetermined number of baseline MCLs of one of the nozzles 33 in the same nozzle rows 34a and 34b are found to have poor coating, the determination unit 86 determines that the sample S using the coating head unit 24 is not being coated properly.

[0148] For example, if a specified number of baseline MCLs exhibit poor coating, the paint cannot be evenly applied to the vehicle body FR. Vehicle body FRs exhibiting this coating condition are treated as poorly coated and unusable. Therefore, by controlling the coating condition of the sample S using the paint head unit 24, it is possible to prevent the generation of vehicle body FRs that are treated as poorly coated.

[0149] In addition, it also includes: at least one camera unit 91 that captures images of the vehicle body FR at multiple different positions; a three-dimensional image generation unit 93 that uses the captured images obtained by the camera unit 91 to generate a three-dimensional image of the vehicle body FR painted by the painting head 30; and a painting state determination unit 94 that uses the three-dimensional image of the vehicle body FR generated by the three-dimensional image generation unit 93 to determine the painting state of the vehicle body FR.

[0150] Therefore, by acquiring a three-dimensional image of the painted vehicle body FR, the coating state on the painted surface of the vehicle body FR can be grasped. In other words, it is possible to determine whether uneven coating has occurred. For example, if uneven coating occurs, the nozzle 33 corresponding to the location of uneven coating can be identified among the multiple nozzles 33 of the paint head unit 24. In addition, the degree of uneven coating can be used to determine the clogging status of the orifices of the corresponding nozzle 33.

[0151] In addition, the coating condition determination unit 94 also has a management device 35, which uses the three-dimensional image to determine whether the thickness of the coating of the coating sample S is below a preset thickness. When the coating condition determination unit 94 determines that the thickness of the coating is below the preset thickness, it instructs the sample S to be coated with a test pattern TP for determining whether there is a coating discharge defect.

[0152] Therefore, in the event of uneven coating on the painted surface of the painted car body FR based on the three-dimensional image, by instructing the test pattern TP to be applied to the sample S, it is possible to properly detect nozzles 33 among the multiple nozzles 33 of the coating head 30 that have poor discharge, such as those with pore blockage.

[0153] Additionally, the device includes: a coating head unit 24 having multiple nozzles 33; a coating robot 11 disposed in an explosion-proof coating chamber 17, capable of moving the coating head unit 24 along the sample S in one direction; the aforementioned coating determination device 14; and a nozzle cleaning device 36 that cleans the multiple nozzles 33 of the coating head 30 when the coating determination device 14 determines that the coating of the sample S has not been performed normally.

[0154] Therefore, when the coating determination device 14 determines that the coating of the sample S cannot be performed normally, the multiple nozzles 33 of the coating head 30 are cleaned to remove the pore blockage of the nozzles 33 and maintain the coating quality for the vehicle body FR.

[0155] At this time, the workpiece is included in the test pattern coating sample S used in the coating determination device 14 to determine whether the coating of the vehicle body FR is proceeding normally. The coating determination device 14 is located outside the coating chamber 17 and also includes a conveying device 13 for conveying the test pattern coating sample S coated by the coating head unit 24 to the coating determination device 14.

[0156] When coating the test sample S for the test pattern, the coated test sample S is transferred to the coating judgment device 14 while the vehicle body FR to be coated is placed in a designated position. At this time, for example, while the vehicle body FR is being placed, the coating judgment device 14 determines whether the test sample S in the transported coating head unit 24 is being coated normally. If it is determined that the coating is not being coated normally, the coating of the vehicle body FR is not performed, and the coating head unit 24 is cleaned. As a result, it is possible to prevent the formation of a poorly coated vehicle body FR. Furthermore, by placing the coating judgment device 14 outside the coating chamber 17, a configuration is created where only the test sample S or the vehicle body FR is coated within the coating chamber 17, thus preventing flammable components from being removed from the coating chamber 17.

Claims

1. A coating judgment device of a coating head that performs coating judgment of a coating head that has a plurality of nozzles that discharge a coating material, discharges the coating material from the plurality of nozzles while moving in one direction, uses the discharged coating material to coat a work, characterized by comprising: an image acquisition unit that acquires an image of the coated work; and a judgment unit that judges whether or not coating of the work is being performed normally based on the image acquired by the image acquisition unit, the coating head has a control unit that controls discharge of the coating material at the plurality of nozzles on a per nozzle basis, the control unit uses the plurality of nozzles that the coating head has in conjunction with movement of the coating head in one direction to cause a judgment pattern that judges whether or not there is discharge failure of the coating material to be coated on the work, the judgment unit judges whether or not coating of the work is being performed normally based on an image of the work on which the judgment pattern is coated, the nozzle rows have a prescribed number of nozzles arranged in a direction that is inclined with respect to the one direction, the judgment pattern includes at least a plurality of base lines that are arranged in a two-dimensional shape and extend in the one direction, and the control unit causes the plurality of base lines to be coated on the work by switching nozzles while performing the following action at all nozzles when the coating head moves in one direction: continuously discharging the coating material from any of the prescribed number of nozzles that each of the plurality of nozzle rows has.

2. The coating judgment device of a coating head according to claim 1, characterized by further comprising an extraction unit that extracts coating failure that occurs in the work from the image of the coated work, and in the case where the extraction unit extracts coating failure that occurs in the work, the judgment unit determines a nozzle in which discharge failure of the coating material occurs among the plurality of nozzles that the coating head has.

3. The coating judgment device of a coating head according to claim 1, characterized in that, in the image of the judgment pattern acquired by the image acquisition unit, in the base lines that use any of the prescribed number of nozzles that the same nozzle row has, when a prescribed number or more of base lines have coating failure, the judgment unit judges that coating of the work using the coating head is not being performed normally, and further comprising: one or more camera units that take an image of the work at different positions; a three-dimensional image generation unit that generates a three-dimensional image of the work coated by the coating head using the taken images acquired by the one or more camera units; and a state judgment unit that judges a state of coating of the work using the three-dimensional image of the work generated by the three-dimensional image generation unit. Further comprising an instruction unit that, in the case where the state judgment unit judges that a thickness of the coating material that coats the work is a predetermined thickness or less using the three-dimensional image, instructs that the judgment pattern that judges whether or not there is discharge failure of the coating material be coated on the work. Further comprising: ​ ​ The coating head is provided with a plurality of nozzle rows in a direction orthogonal to the one direction, wherein ​ ​ ​ ​ ​ ​ ​ ​ 4. The coating determination device of the coating head according to any one of claims 1 to 3, characterized in that, ​ ​ ​ ​ ​ 5. The coating determination device of the coating head according to claim 4, characterized in that ​ 6. A coating system characterized in that, ​ A painting head having a plurality of nozzles; A moving unit configured in a painting room subjected to explosion-proof management, capable of moving the painting head in one direction along a workpiece; A painting determination device of the painting head according to any one of claims 1 to 5; And A cleaning unit that cleans the plurality of nozzles of the painting head, The cleaning unit cleans the plurality of nozzles of the painting head when it is determined by the painting determination device of the painting head that painting of the workpiece is not being performed normally.

7. The painting system according to claim 6, wherein The workpiece includes a first workpiece used to determine whether painting of the workpiece is being performed normally in the painting determination device of the painting head, The painting determination device of the painting head is provided outside the painting room, The painting system further includes a conveying unit that conveys the first workpiece painted by the painting head to the painting determination device of the painting head.

Images