Coating apparatus, information processing apparatus, coating method, and recording medium

Abstract

A coating apparatus includes: a head including a nozzle configured to discharge a liquid from the nozzle to an object; a detector configured to output information related to three-dimensional positions of three or more feature points of the object; a moving mechanism configured to move the head with respect to the object; and a controller configured to control discharge of the liquid from the head and operation of the moving mechanism based on predetermined shape data of the object and information relating to the three-dimensional positions of the three or more feature points output from the detector.

Description

Technical Field

[0001] The present disclosure relates to a coating apparatus, an information processing apparatus, a coating method, and a recording medium. Background Art

[0002] In the art, a liquid discharge coating apparatus is known that coats an object using a liquid discharged from a nozzle.

[0003] In addition, a technique is disclosed for performing coating while maintaining a constant distance between a bell-shaped cover for coating attached to the tip of a robot arm and a vehicle body. This technique uses a distance sensor attached to the tip of the robot arm to correct the scan path data of off-line positioning according to the shape of the carry-in position of the vehicle body (for example, see PTL 1).

[0004] Citation List

[0005] Patent Literature

[0006] [Patent Document 1] Japanese Unexamined Patent Application Publication No. 2009-20846 Summary of the Invention

[0007] Technical Problem

[0008] In a liquid discharge coating apparatus, it is preferable to three-dimensionally align the position of the object with the position of the nozzle.

[0009] Solution to Problem

[0010] An embodiment of the present disclosure provides a coating apparatus including: a head including a nozzle configured to discharge a liquid from the nozzle toward an object; a detector configured to output information related to three-dimensional positions of three or more feature points of the object; a moving mechanism configured to move the head relative to the object; and a controller configured to control the discharge of the liquid from the head and the operation of the moving mechanism based on predetermined shape data of the object and information related to the three-dimensional positions of the three or more feature points output from the detector.

[0011] An embodiment of the present disclosure provides an information processing apparatus including an output unit that outputs information related to a relative movement path of a head including a nozzle relative to the object in response to obtaining predetermined shape data of the object and information related to three-dimensional positions of three or more feature points of the object output from a detector, and discharges a liquid from the nozzle toward the object.

[0012] Embodiments of the present disclosure provide a painting method, which is executed by a painting device. The painting device includes: a head having a nozzle; a detector; a moving mechanism; and a controller. The painting method includes: discharging a liquid from the nozzle to an object by the head; outputting, by the detector, information related to three-dimensional positions of three or more feature points of the object; moving the head relative to the object by the moving mechanism; and controlling, by the controller, the discharge of the liquid by the head and the operation of the moving mechanism based on pre-specified shape data of the object and the information related to the three-dimensional positions of the three or more feature points output from the detector.

[0013] Embodiments of the present disclosure provide a recording medium storing a program for causing a painting device to execute a painting method. The painting device includes: a head having a nozzle, a detector, a moving mechanism, and a controller. The painting method includes: discharging a liquid from the nozzle to an object by the head; outputting, by the detector, information related to three-dimensional positions of three or more feature points of the object; moving the head relative to the object by the moving mechanism; and controlling, by the controller, the discharge of the liquid by the head and the operation of the moving mechanism based on pre-specified shape data of the object and the information related to the three-dimensional positions of the three or more feature points output from the detector.

[0014] Effects of the present invention

[0015] According to the present disclosure, it is possible to provide a painting device, an information processing device, a painting method, and a recording medium that can three-dimensionally align the position of an object with the position of a nozzle. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] A more complete understanding of the embodiments of the present disclosure and many of its attendant advantages and features can be readily obtained and understood from the following detailed description with reference to the accompanying drawings.

[0017] Figure 1

[0018] Figure 1 is a diagram showing an example of the structure of a painting device according to an embodiment.

[0019] Figure 2

[0020] Figure 2 is a block diagram showing an example of the structure of a painting device Figure 1 of

[0021] Figure 3

[0022] Figure 3 is a diagram showing Figure 1 ​​​​​​A diagram showing an example of the structure of the supply mechanism of the coating device.

[0023] Figure 4

[0024] Figure 4 It is Figure 1 A perspective view showing an example of the structure of the head of the coating device.

[0025] Figure 5

[0026] Figure 5 It is a cross-sectional view of the head taken along the Figure 4 plane P1 in

[0027] Figure 6

[0028] Figure 6 A block diagram showing an example of the functional structure of the controller of the first embodiment.

[0029] Figure 7

[0030] Figure 7 It is Figure 1 A flowchart showing an example of the coating operation of the coating device.

[0031] Figure 8

[0032] Figure 8 A flowchart showing an example of the detection process of the position and tilt deviation of the object by the controller of the first embodiment.

[0033] Figure 9

[0034] Figure 9 A view showing an example of the feature points according to the embodiment.

[0035] Figure 10

[0036] Figure 10 It is Figure 9 An enlarged view of region X in

[0037] Figure 11

[0038] Figure 11 It is Figure 9 An enlarged view of region XI in

[0039] Figure 12

[0040] Figure 12 It is Figure 9 ​​​​​​​​​​​​​​​​​​An enlarged view of region XII in

[0041] Figure 13

[0042] Figure 13 is Figure 9 An enlarged view of region XIII in

[0043] Figure 14

[0044] Figure 14 A view showing an example of a coordinate processing method for feature points according to an embodiment.

[0045] Figure 15

[0046] Figure 15 A view showing an example of the correction result of relative movement path information of an embodiment.

[0047] Figure 16

[0048] Figure 16 A view showing an example of relative movement path information.

[0049] Figure 17

[0050] Figure 17 A view showing an example of correction path information.

[0051] Figure 18

[0052] Figure 18 A block diagram showing an example of the functional structure of the controller of the second embodiment.

[0053] Figure 19

[0054] Figure 19 A flowchart showing an example of the detection process of the inclination amount of the roof side portion of an object with respect to the roof by the controller of the second embodiment.

[0055] Figure 20

[0056] Figure 20 A view showing an example of the roof forming groove in the rear part of the roof.

[0057] Figure 21

[0058] Figure 21 is Figure 20 An enlarged view of region XXI in

[0059] ​​​​​​​​​​​​​​​​​​​Figure 22

[0060] Figure 22 is Figure 21 a cross-sectional view taken along line XXII-XXII.

[0061] Figure 23

[0062] Figure 23 is a view showing an example of a roof forming groove in the front part of the roof of a vehicle.

[0063] Figure 24

[0064] Figure 24 is a diagram showing an example of relative movement path information of the side part of the roof.

[0065] Figure 25

[0066] Figure 25 is a diagram showing an example of correction path information of the side part of the roof.

[0067] The accompanying drawings are intended to depict embodiments of the present invention and should not be construed as limiting its scope. The drawings are not to be regarded as drawn to scale unless explicitly noted. Similarly, the same or similar reference numerals denote the same or similar components in multiple views. Detailed Description of the Invention

[0068] In describing the embodiments shown in the drawings, specific terms are adopted for the sake of clarity. However, the disclosure of this specification is not intended to be limited to the specific terms so selected, and it should be understood that each specific element includes all technical equivalents having similar functions, operating in a similar manner, and achieving similar results.

[0069] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. As used herein, the singular forms "a", "an", and "the" are also intended to include the plural forms unless the context clearly indicates otherwise.

[0070] ​​​​​​​Hereinafter, a coating apparatus, an information processing apparatus, a coating method, and a recording medium according to embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the embodiments described below are examples of a coating apparatus, an information processing apparatus, a coating method, and a recording medium for embodying the technical idea of the present disclosure, and the present disclosure is not limited to the embodiments described below. The dimensions, materials, shapes, relative arrangements, etc. of the constituent components described in the embodiments are not intended to limit the scope of the present invention only thereto, but are shown as examples. For the sake of clarity of description, the dimensions, positional relationships, etc. of the components shown in the drawings may be exaggerated. In the following description, the same names and reference numerals denote the same or corresponding components, and detailed descriptions thereof are appropriately omitted.

[0071] <Example of the structure of the coating apparatus 100>

[0072] Refer to Figure 1 and Figure 2 to describe the structure of the coating apparatus 100 according to an embodiment.

[0073] Figure 1 is a diagram showing an example of the structure of the coating apparatus 100. Figure 2 is a block diagram showing an example of the structure of the coating apparatus 100.

[0074] As Figure 1 shown, the coating apparatus 100 applies a liquid discharged by a liquid discharge method to the object 200. The liquid applied to the object 200 adheres to the object 200 after drying. The liquid discharge method of the coating apparatus 100 is, for example, a continuous discharge method. As the continuous discharge method, for example, the following can be cited: a valve method in which the nozzle is opened and closed by controlling the operation of the valve body to control the discharge; a continuous method in which the ink particles continuously discharged from the nozzle are charged and deflected by a deflection electrode and then sprayed onto the printing surface.

[0075] Examples of the object 200 include the main bodies of vehicles, airplanes, ships, etc. Examples of vehicles include automobiles, trucks, trains, etc. In this description, the case where the object 200 is a vehicle is taken as an example for description.

[0076] The coated surface, which is the liquid coating surface of the object 200, has non-permeability. Non-permeability means the property that the liquid applied to the coated surface does not penetrate into the interior. By applying the liquid to the object 200, the coating apparatus 100 can coat the coated surface of the object 200 having non-permeability. However, the coated surface of the object 200 is not limited to a surface having non-permeability, and may also be a surface having permeability. In addition, the coated surface is not limited to a flat surface, and may also be a curved surface.

[0077] As Figure 1 and Figure 2As shown, the coating device 100 includes four heads 11, four detectors 12, four robotic arms 13, a supply mechanism 14, a maintenance mechanism 15, and a controller 20. The coating device 100 drives the robotic arms 13 holding the four heads 11 under the control of the controller 20 based on the shape data of the object 200 set in advance and the information on the three-dimensional positions of three or more feature points respectively output from the four detectors 12. The coating device 100 changes the relative position and relative inclination of the four heads 11 with respect to the object 200 by driving the four robotic arms 13, and discharges liquid from the four heads 11 to the object 200 respectively. The coating device 100 coats the liquid discharged from the four heads 11 onto the object 200, thereby coating the object 200 with the liquid.

[0078] The four heads 11 include a head 11-1, a head 11-2, a head 11-3, and a head 11-4. The four heads 11 may have the same configuration or different configurations. In this specification, it is assumed that the four heads 11 have the same configuration. In addition, the number of heads 11 provided in the coating device 100 is not limited to four, and can be appropriately changed according to the size, shape, etc. of the object 200.

[0079] The four heads 11 respectively spray liquid from the nozzles onto the object 200. For example, the head 11 has a nozzle surface having a plurality of nozzles for spraying liquid, and the head 11 is arranged such that the nozzle surface faces the coated surface of the object 200. The four spray heads 11 respectively coat the liquid sprayed from the plurality of nozzles onto the object 200. Regarding the structure of the head 11, reference is also made to Figure 4 and Figure 5 which will be described in detail later.

[0080] The four heads 11 can discharge liquid to mutually different regions of the object 200. The liquid discharged from the four heads 11 can be discharged to regions that partially overlap each other. Since the four heads 11 discharge liquid to mutually different regions of the object 200, coating can be performed in a short time even when the size of the object 200 is large.

[0081] The four detectors 12 include a detector 12-1, a detector 12-2, a detector 12-3, and a detector 12-4. The four detectors 12 may have the same structure or different structures. In this specification, it is assumed that the four detectors 12 have the same configuration. In addition, the number of detectors 12 provided in the coating device 100 is not limited to four, and can be appropriately changed according to the number of heads 11, etc.

[0082] The four detectors 12 respectively output information related to the three-dimensional positions of three or more feature points of the object 200, i.e., feature point information. The four detectors 12 are respectively constituted by, for example, stereo cameras. The stereo camera includes a plurality of cameras, and obtains a distance image of the object 200 by a triangulation method based on the parallax between the images captured by the plurality of cameras. The stereo camera outputs the distance image as feature point information to the controller 20. The so-called distance image is an image in which each of a plurality of pixels included in the image includes distance information. Since the detector 12 includes a stereo camera, the painting apparatus 100 can obtain the feature point information of the object 200 with a simple structure. However, the detector 12 is not limited to a structure having a stereo camera, and may be a structure other than a stereo camera as long as it can obtain and output the feature point information of the object 200.

[0083] The four detectors 12 can obtain and output feature point information from mutually different regions of the object 200. For example, the stereo cameras included in the four detectors 12 can obtain distance images of mutually different regions of the object 200 and output them as feature point information. The feature point information output from the four detectors 12 may partially overlap each other. Since the four detectors 12 obtain feature point information from mutually different regions of the object 200, even when the size of the object 200 is large, the feature point information can be obtained in a short time.

[0084] The four robotic arms 13 include a robotic arm 13-1, a robotic arm 13-2, a robotic arm 13-3, and a robotic arm 13-4. The four robotic arms 13 may have the same structure or different structures. In this specification, the four robotic arms 13 have the same structure. In addition, the number of robotic arms 13 included in the painting apparatus 100 is not limited to four, and can be appropriately changed according to the number of heads 11 and the like.

[0085] The four robotic arms 13 are respectively an example of a moving mechanism that moves the head 11 relative to the object 200. The four robotic arms 13 are respectively arranged near the object 200. Here, the four robotic arms 13 are arranged around the object 200, and respectively hold the head 11 and the detector 12, and move the head 11 and the detector 12 relative to the object 200 respectively. The moving mechanism is not limited to the robotic arm 13, and may be a combination of a plurality of linear stages or the like as long as the head 11 can move relative to the object 200.

[0086] Refer to Figure 2 , the supply mechanism 14 supplies liquid to each of the four heads 11. Regarding the structure of the supply mechanism 14, also refer to Figure 3 which will be described in detail later.

[0087] The maintenance mechanism 15 maintains the discharge state of the liquid for each of the four heads 11. The maintenance mechanism 15 includes, for example, a wiper that wipes the nozzle surfaces of each of the four heads 11 and a suction pump that sucks the liquid from inside each of the four heads 11. The maintenance mechanism 15 uses the wiper, the suction pump, etc. to remove the viscous liquid or foreign matter attached to the nozzle surfaces or the viscous liquid, foreign matter, etc. present in the heads 11. The maintenance mechanism 15 can reduce abnormal discharges of each of the four heads 11, such as non-discharge, bent discharge, or change in discharge speed, by removing the viscous liquid, foreign matter, etc., and can keep the discharge state of each of the four heads 11 in a normal state.

[0088] Refer to Figure 1 and Figure 2 , the controller 20 controls the discharge of the liquid from the heads 11 and the operation of the robotic arm 13 based on the shape data of the preset object 200 and the feature point information output from the detector 12.

[0089] For example, the controller 20 relatively moves the head 11 with respect to the object 200 based on the information related to the relative position and relative inclination between the object 200 and the nozzle of the head 11 obtained from the shape data of the preset object 200 and the feature point information output from the detector 12. In this case, the controller 20 controls the operation of the four robotic arms 13 to relatively move the four heads 11 held by the four robotic arms 13 and the four detectors 12 with respect to the object 200.

[0090] The controller 20 includes, for example, a processor or a circuit mounted on an electric substrate. The controller 20 is communicably connected to the four heads 11, the four detection units 12, and the four robotic arms 13 respectively by wire or wirelessly. The controller 20 can receive detection signals from the four detectors 12 and send control signals to the four heads 11 and the four robotic arms 13. The electric substrate on which the controller 20 is mounted can be set at any position, and this electric substrate can be set at a position far from the heads 11, etc.

[0091] As Figure 2 shown, the controller 20 includes a central processing unit (CPU) 31, a read-only memory (ROM) 32, a random access memory (RAM) 33, a hard disk drive (HDD) / solid state drive (SSD) 34, a device connection (I / F) 35, and a communication (I / F) 36. These components are electrically connected to each other via a system bus S.

[0092] The CPU 31 uses the RAM 33 as a work area and executes the processing specified by the program stored in the ROM 32, thereby controlling the overall operation of the controller 20.

[0093] The ROM 32 is a non-volatile memory that stores programs for controlling the CPU 31 to perform operations such as recording operations and other fixed data.

[0094] The RAM 33 is a volatile memory that temporarily stores various data for the discharge of liquid by the head 11, the driving of the robotic arm 13, etc., and the detection results detected by the detector 12.

[0095] The HDD / SSD 34 is a volatile memory that temporarily stores shape data of the object 200, image data of patterns, characters, etc. to be drawn on the object 200.

[0096] The device connection I / F 35 is an interface for communicably connecting to the head 11, the detector 12, the robotic arm 13, the supply mechanism 14, and the maintenance mechanism 15 respectively.

[0097] The communication I / F 36 is an interface for communicably connecting an external device such as a host personal computer (PC) to the controller 20.

[0098] The coating apparatus 100 may further include a display unit (display) and an operation unit. The display unit displays a setting screen for the coating conditions of the liquid of the coating apparatus 100, etc., and the operation unit is an operation input device such as a touch panel, a keyboard, or a mouse that accepts operations of the coating apparatus 100.

[0099] <Example structure of the supply mechanism 14>

[0100] Figure 3 It is a diagram showing an example of the structure of the supply mechanism 14.

[0101] The four heads 11 include a head 11Y for discharging yellow (Y) liquid, a head 11M for discharging magenta (M) liquid, a head 11C for discharging cyan (C) liquid, and a head 11K for discharging black (K) liquid.

[0102] In addition to the heads for discharging liquids of various colors, the head 11 may further include heads for discharging other liquids, such as a head for discharging a coating liquid and a head for discharging a primer or a white liquid. The supply mechanism 14 can supply liquids of various colors to the head 11.

[0103] The supply mechanism 14 includes a liquid tank 330 that serves as a sealed container for accommodating liquids 325 of various colors to be discharged from the head 11. The liquid tank 330 and the injection port (supply port) of the head 11 are connected to each other via a tube 333 in such a manner that the liquid can flow.

[0104] The liquid tank 330 is connected to the compressor 230 via a pipe 331 including an air regulator 332. The compressor 230 supplies pressurized air. Accordingly, pressurized liquid 325 of various colors is supplied to the ejection ports of the head 11. The coating apparatus 100 discharges the liquid 325 from the nozzles of the head 11.

[0105] <Example structure of the head 11>

[0106] Figure 4 and Figure 5 is a diagram showing an example of the structure of the head 11. Figure 4 is a perspective view, Figure 5 is along Figure 4 a cross-sectional view of the head taken along the plane P1 in

[0107] As Figure 4 and Figure 5 shown, the head 11 includes a plurality of discharge modules 340 arranged in one or more columns within the housing 110.

[0108] The head 11 includes a supply port 111 and a recovery port 112. The supply port 111 supplies pressurized liquid from the outside to the discharge module 340. The recovery port 112 discharges the undischarged liquid to the outside. The housing 110 also includes a connector 113.

[0109] As Figure 5 shown, the discharge module 340 includes: a nozzle plate 321 provided with nozzles 311 for discharging liquid; a flow path 322 communicating with the nozzles 311 to supply pressurized liquid; and a piezoelectric element 324 for driving a needle-shaped valve body that opens and closes the nozzles 311.

[0110] The nozzle plate 321 is joined to the housing 110. The flow path 322 is a flow path shared by the plurality of discharge modules 340 provided in the housing 110. The coating apparatus 100 supplies the pressurized liquid from the supply port 111 via the flow path 322 and discharges the liquid from the recovery port 112. During the discharge of the liquid to the object 200, in order to prevent a reduction in the efficiency of discharging the liquid from the nozzles 311, it is also possible to temporarily stop discharging the liquid from the recovery port 112.

[0111] <Example of the functional configuration of the controller 20>

[0112] Figure 6 is a block diagram showing an example of the functional structure of the controller 20. The controller 20 includes an input unit 21, an acquisition unit 22, a generation unit 23, a correction unit 24, a discharge controller 25, a supply controller 26, a maintenance controller 27, a movement controller 28, and an output unit 29.

[0113] The functions of the input unit 21 and the output unit 29 are, for example, realized by Figure 2It is implemented by connecting the device connection I / F 35 and the communication I / F 36.

[0114] The functions of the acquisition unit 22, the generation unit 23, the correction unit 24, the discharge controller 25, the supply controller 26, the maintenance controller 27, and the movement controller 28 are implemented by causing the CPU 31 to expand the program stored in the ROM 32 in the RAM 33 and execute the processing specified by the program.

[0115] In one example, components such as the head 11 other than the controller 20 may have at least a part of the functions of the controller 20. In one example, at least a part of the functions of the controller 20 may be implemented by distributed processing between the controller 20 and components other than the controller 20.

[0116] The input unit 21 controls communication with an external device and receives the shape data D of the object 200 and the object information K1 representing the object 200, which is the object information. The input unit 21 controls communication with the detector 12 and receives the feature point information E from the detector 12.

[0117] The acquisition unit 22 acquires information related to the color of the liquid coated on the object 200, that is, the coating color information K2, based on the object information K1 received from the external device via the input unit 21. For example, the acquisition unit 22 refers to a table Figure 2 previously created and stored in the HDD / SSD 34 or the like, which represents the correspondence between the object information K1 and the coloring information K2, to acquire the coloring information K2.

[0118] The acquisition unit 22 outputs the acquired coloring information K2 to the supply controller 26.

[0119] The generation unit 23 generates information related to the relative movement path for the robot arm 13 to move the head 11 relative to the object 200, that is, the relative movement path information T1, based on the shape data D of the object 200 received from the external device via the input unit 21. The shape data D is, for example, CAD data of the object 200 including information related to the size and configuration of the object 200. The generation unit 23 outputs the generated relative movement path information T1 to the correction unit 24.

[0120] The relative movement path represents a path along which the head 11 passes above the object 200 while changing the relative position of the head 11 with respect to the object 200. The head 11 can change the relative inclination with respect to the object 200 according to the shape of the object 200 at each relative position with respect to the object 200. When the relative inclination of the head 11 with respect to the object 200 changes, the relative movement path is a path that passes above the object 200 while changing the relative position and relative inclination of the head 11 with respect to the object 200.

[0121] The correction unit 24 corrects the relative movement path information T1 generated by the generation unit 23 based on the feature point information E respectively received from the plurality of detectors 12 via the input unit 21. The correction unit 24 outputs the corrected path information T2, which is information related to the corrected relative movement path, to the movement controller 28. The feature point information E will also be referred to later Figures 9 to 14 and described in detail. Regarding the corrected path information T2, reference is also made to Figures 15 to 17 the following for a detailed description.

[0122] For example, when the object 200 is conveyed to the position where the painting device 100 paints the object 200 and painting is performed in a stopped state, due to conveyance errors of conveyance equipment such as conveyors, etc., the position and inclination of the object 200 vary for each object 200. When the position and inclination of the object 200 change, when the head 11 is relatively moved with respect to the object 200 based on the relative movement path information T1, the relative position and relative inclination of the nozzle of the head 11 with respect to the object 200 deviate from the shape data D, and there may be painting omissions and uneven painting. Painting omission means that the area to be painted on the object 200 is not painted. Uneven painting means that the thickness of the coating film is uneven, or the hue, concentration, etc. of the painting color are uneven.

[0123] The correction unit 24 detects the three-dimensional deviation of the position and inclination of the conveyed object 200 with respect to the shape data D based on the feature point information E. The three-dimensional deviation of the position and inclination of the object 200 with respect to the shape data D corresponds to the information related to the position and inclination of the object 200.

[0124] The correction unit 24 corrects the relative movement path information T1 according to the detection result of the three-dimensional deviation of the position and inclination of the object 200 with respect to the shape data D, and obtains the corrected path information T2. The correction unit 24 outputs the obtained corrected path information T2 to the movement controller 28. The painting device 100 relatively moves the head 11 with respect to the object 200 according to the corrected path information T2. Thus, the painting device 100 can perform painting by three-dimensionally aligning the position of the object 200 with the position of the nozzle of the head 11.

[0125] The discharge controller 25 outputs a discharge control signal C1 via the output unit 29 to control the discharge of liquid from the plurality of heads 11. For example, the discharge controller 25 can control the selection of the nozzles for discharging liquid from the plurality of nozzles each provided in the plurality of heads 11, the timing of discharging liquid from the nozzles, the amount of liquid discharged from the nozzles, and the number of discharges.

[0126] The discharge controller 25 can control the selection of the nozzles for discharging liquid, the timing of discharging liquid from the nozzles, etc. based on the correction path information T2.

[0127] The supply controller 26 outputs a supply control signal C2 via the output unit 29 to control the supply of liquid from the supply mechanism 14 to the plurality of heads 11. For example, the supply controller 26 can control the selection of the color of the liquid supplied to the plurality of heads 11, the supply timing, and the supply amount.

[0128] The maintenance controller 27 outputs a maintenance control signal C3 via the output unit 29 to maintain the discharge state of the liquid from the plurality of heads 11 by the maintenance mechanism 15. For example, the maintenance controller 27 can control the selection of the heads to be maintained among the plurality of heads 11 and the timing of the maintenance operation.

[0129] Based on the correction path information T2, the movement controller 28 outputs a movement control signal C4 via the output unit 29 to control the relative movement of the plurality of robotic arms 13 with respect to the object 200 such that the plurality of heads 11 are respectively moved. The movement controller 28 controls the movement direction, movement speed, movement acceleration, etc. of the robotic arm 13 for the head 11. In this case, the movement controller 28 performs control to change the relative positions and relative inclinations of the plurality of heads 11 with respect to the object 200.

[0130] The output unit 29 controls communication with the head 11 and outputs the discharge control signal C1 to the head 11. The output unit 29 controls communication with the robotic arm 13 and outputs the movement control signal C4 to the robotic arm 13. The output unit 29 controls communication with the supply mechanism 14 and outputs the supply control signal C2 to the supply mechanism 14. The output unit 29 controls communication with the maintenance mechanism 15 and outputs the maintenance control signal C3 to the maintenance mechanism 15.

[0131] The above output unit 29 corresponds to the following output unit: Based on the preset shape data D of the object 200 obtained and the information related to the three-dimensional positions of three or more feature points of the object 200 output from the detector 12, it outputs information related to the relative movement path of the head 11 with respect to the object 200. The controller 20 including the output unit 29 corresponds to the information processing device according to the present embodiment.

[0132] <Example of the operation of the coating device 100>

[0133] (Example of painting operation)

[0134] Figure 7 This is a flowchart showing an example of the painting operation of the painting apparatus 100. The painting apparatus 100 starts the Figure 7 operation shown based on the situation where the object 200 stops at the painting position of the painting apparatus 100. It is possible to detect whether the object 200 stops at the painting position based on a signal from a conveyor or the like that conveys the object 200.

[0135] First, in step S71, the acquisition unit 22 of the painting apparatus 100 acquires painting color information K2, which is information related to the color of the liquid to be painted on the object 200, based on the object information K1 received from an external device via the input unit 21. The acquisition unit 22 outputs the acquired painting color information K2 to the supply controller 26.

[0136] Then, in step S72, the supply controller 26 of the painting apparatus 100 controls the operation of the supply mechanism 14 to supply liquids of the color corresponding to the painting color information K2 to the four heads 11 respectively. In one example, when the multiple heads discharge liquids of different colors respectively, the painting apparatus 100 can supply the liquid to the head that discharges the liquid of the color corresponding to the painting color information K2. In one example, when the painting apparatus 100 performs painting of multiple colors, the painting apparatus 100 can supply liquids of different colors to each of the four heads 11.

[0137] Then, in step S73, the maintenance controller 27 of the painting apparatus 100 controls the operation of the maintenance mechanism 15 to perform a maintenance operation on the four heads 11 that discharge the liquid of the color corresponding to the painting color information K2. In one example, in the case where the multiple heads spray liquids of different colors respectively, the painting apparatus 100 can also perform a maintenance operation on the head that discharges the liquid of the color corresponding to the painting color information K2.

[0138] Then, in step S74, the generation unit 23 of the painting apparatus 100 generates relative movement path information T1 based on the shape data D of the object 200 received from an external device via the input unit 21. The generation unit 23 outputs the generated relative movement path information T1 to the correction unit 24.

[0139] Next, in step S75, the correction unit 24 of the painting apparatus 100 detects the three-dimensional deviation of the position and inclination of the conveyed object 200 with respect to the shape data D based on the feature point information E received from the multiple detectors 12 via the input unit 21.

[0140] Then, in step S76, the calibration unit 24 of the coating device 100 calibrates the relative movement path information T1 based on the detection result of the three-dimensional deviation of the position and inclination of the object 200 with respect to the shape data D, and obtains the calibrated path information T2. The calibration unit 24 outputs the obtained calibrated path information T2 to the movement controller 28.

[0141] Then, in step S77, the movement controller 28 of the coating device 100 controls the actions of the four robotic arms 13 to change the relative positions and relative inclinations of the plurality of heads 11 with respect to the object 200, and moves the four heads 11. In the coating device 100, the discharge controller 25 controls the relative movement of the heads 11 and the discharge of the liquid from each of the four heads 11 to coat the object 200. The coating device 100 may also move the heads 11 relative to the area of the object 200 where coating is not performed without discharging the liquid from the heads 11. The coating device 100 may also appropriately change the relative movement speed of the heads 11 based on the robotic arms 13, the number of discharges based on the heads 11, etc. for coating.

[0142] Next, in step S78, the controller 20 of the coating device 100 determines whether to end the coating. For example, the controller 20 can determine whether to end the coating by receiving an operation input of a coating end instruction via the operation unit, or by determining whether the coating range of the preset object 200 has been coated.

[0143] Then, in step S78, when it is determined not to end the coating ( "No" in step S78), the coating device 100 executes step S77 and subsequent actions again. On the other hand, in step S78, when it is determined that the coating is ended ( "Yes" in step S78), the coating device 100 ends the operation.

[0144] As described above, the coating device 100 can coat the object 200. After the coating of one object 200 is completed, when the next object 200 is transported to the coating position by a conveyor or the like and stopped, the coating device 100 performs the actions after step S71 to coat the next object 200.

[0145] (Example of detection process for deviation of position and inclination of object 200)

[0146] Figure 8 It represents Figure 7 a flowchart showing an example of the detection process by the calibration unit 24 of the deviation of the position and inclination of the object 200 with respect to the shape data D in the coating operation of the coating device 100 shown. The calibration unit 24 starts Figure 7 the operation of step S75 Figure 8 and starts the

[0147] First, in step S81, the calibration unit 24 receives, via the input unit 21, the feature point information E respectively output from the four detectors 12.

[0148] Then, in step S82, the calibration unit 24 extracts four sets of feature point coordinates based on the four pieces of feature point information E. For example, the feature point information E is a distance image from a stereo camera in one of the detectors 12. The feature point coordinates are the coordinates of the feature points extracted from the distance image. The calibration unit 24 receives the distance images from the four detectors 12 respectively, and extracts the feature point coordinates from the four distance images respectively.

[0149] Then, in step S83, the calibration unit 24 compares the coordinates of the feature point data, which are the corresponding points of the feature points in the shape data D, with the coordinates of the feature points.

[0150] Then, in step S84, the calibration unit 24 calculates the three-dimensional deviation of the position and tilt of the object 200 relative to the shape data D according to the comparison result in step S83.

[0151] As described above, the calibration unit 24 can detect the three-dimensional deviation of the position and tilt of the object 200 relative to the shape data D.

[0152] <Examples of Feature Points>

[0153] Refer to Figures 9 to 13 , and the feature points used in the painting apparatus 100 will be described. Figure 9 is a view showing an example of the feature points according to the present embodiment. Figure 10 is Figure 9 an enlarged view of the region X in Figure 11 is Figure 9 an enlarged view of the region XI in Figure 12 is Figure 9 an enlarged view of the region XII in Figure 13 is Figure 9 an enlarged view of the region XIII in

[0154] Figure 9 is a view of the top portion 201 of the object 200 and its surroundings as viewed from above. The feature point 210-1 is a corner on the boundary between the top portion 201 and the front window 202. The feature point 210-2 is a corner on the boundary between the top portion 201 and the rear window 203. The feature point 210-3 is another corner on the boundary between the top portion 201 and the front window 202. The feature point 210-4 is another corner on the boundary between the top portion 201 and the rear window 203.

[0155] Figure 1The shown detector 12-1 acquires and outputs a distance image of the periphery of the feature point 210-1 including the feature point 210-1 as the feature point information E. Figure 1 The shown detector 12-2 acquires and outputs a distance image of the periphery of the feature point 210-2 including the feature point 210-2 as the feature point information E. Figure 1 The shown detector 12-3 acquires and outputs a distance image of the periphery of the feature point 210-3 including the feature point 210-3 as the feature point information E. Figure 1 The shown detector 12-4 acquires and outputs a distance image of the periphery of the feature point 210-4 including the feature point 210-4 as the feature point information E.

[0156] Since the four detectors 12 are independent, when the three-dimensional positional relationship of the four detectors 12 is not clear, the three-dimensional coordinate systems of the distance images acquired by the four detectors 12 are independent of each other and do not correspond. In this case, it is difficult to coordinately drive and maintain the four robotic arms and the four heads 11 of the four detectors 12 for painting based on the outputs of the four detectors 12.

[0157] In the present embodiment, in order to clarify the three-dimensional positional relationship of the four robotic arms 13, the three-dimensional positions of the four robotic arms 13 holding the four detectors 12 and the four heads 11 are measured in advance. Then, the three-dimensional coordinate systems of the four robotic arms 13 are correlated with each other so that the three-dimensional positions of the four robotic arms 13 can be represented in a single three-dimensional coordinate system. Therefore, the feature point information E output from the four detectors 12 held by the four robotic arms 13 can be represented in a single three-dimensional coordinate system.

[0158] <Examples of Coordinate Processing Methods for Feature Points>

[0159] Figure 14 is a view showing an example of a coordinate processing method for feature points according to an embodiment. Refer to Figure 14 , the coordinates (X1, Y1, Z1) are the coordinates representing the three-dimensional position of the feature point 210-1. The coordinates (X2, Y2, Z2) are the coordinates representing the three-dimensional position of the feature point 210-2. The coordinates (X3, Y3, Z3) are the coordinates representing the three-dimensional position of the feature point 210-3. The coordinates (X4, Y4, Z4) are the coordinates representing the three-dimensional position of the feature point 210-4.

[0160] The feature point data 210-1D is the data corresponding to the feature point 210-1 in the shape data D. The feature point data 210-2D is the data corresponding to the feature point 210-2 in the shape data D. The feature point data 210-3D is the data corresponding to the feature point 210-3 in the shape data D. The feature point data 210-4D is the data corresponding to the feature point 210-4 in the shape data D.

[0161] The coordinates (ΔXd1, ΔYd1, ΔZd1) are the coordinates representing the three-dimensional position of the feature point data 210-1D. The coordinates (ΔXd2, ΔYd2, ΔZd2) are the coordinates representing the three-dimensional position of the feature point data 210-2D. The coordinates (ΔXd3, ΔYd3, ΔZd3) are the coordinates representing the three-dimensional position of the feature point data 210-3D. The coordinates (ΔXd4, ΔYd4, ΔZd4) are the coordinates representing the three-dimensional position of the feature point data 210-4D.

[0162] Figure 6 The illustrated correction unit 24 calculates the position deviation (ΔX, ΔY, ΔZ) and the tilt amount (Rx, Ry, Rz) by comparing the coordinates (X1, Y1, Z1) with the coordinates (ΔXd1, ΔYd1, ΔZd1), comparing the coordinates (X2, Y2, Z2) with the coordinates (ΔXd2, ΔYd2, ΔZd2), comparing the coordinates (X3, Y3, Z3) with the coordinates (ΔXd3, ΔYd3, ΔZd3), and comparing the coordinates (X4, Y4, Z4) with the coordinates (ΔXd4, ΔYd4, ΔZd4). The label ΔX represents the position offset in the X-axis direction, the label ΔY represents the position offset in the Y-axis direction, and the label ΔZ represents the position offset in the Z-axis direction. The label Rx represents the tilt amount about the X-axis, the label Ry represents the tilt amount about the Y-axis, and the label Rz represents the tilt amount about the Z-axis. The coordinates (Xc, Yc, Zc) represent the center of the vehicle top 201.

[0163] The correction unit 24 performs a three-dimensional coordinate transformation process using the position deviation (ΔX, ΔY, ΔZ) and the tilt amount (Rx, Ry, Rz) on Figure 6 the relative movement path information T1 generated by the generation unit 23 shown in the figure, and obtains the corrected path information T2.

[0164] <Example of the correction result of the relative movement path information T1>

[0165] Refer to Figures 15 to 17 , and the correction result of the relative movement path information T1 will be described. Figure 15 is a diagram showing an example of the correction result of the relative movement path information T1. Figure 16 is a diagram showing an example of the relative movement path information T1. Figure 17 is a diagram showing an example of the corrected path information T2.

[0166] Figure 15 represents the relative movement path information T1 of the painting range 211 and the head 11. The painting range 211 is Figure 1The four robotic arms 13 shown respectively move the head 11 relative to the object 200 to perform the painting range. The four heads 11 respectively have different painting ranges 211 and different relative movement path information T1.

[0167] The painting range 211-1 indicates the range where the head 11-1 is moved relative to the object 200 by the robotic arm 13-1 for painting. The relative movement path information T1-1 indicates the path of the head 11-1 moving relative to the object 200.

[0168] The painting range 211-2 indicates the range where the head 11-2 is moved relative to the object 200 by the robotic arm 13-2 for painting. The relative movement path information T1-2 indicates the path of the head 11-2 moving relative to the object 200.

[0169] The painting range 211-3 indicates the range where the head 11-3 is moved relative to the object 200 by the robotic arm 13-3 for painting. The relative movement path information T1-3 indicates the path of the head 11-3 moving relative to the object 200.

[0170] The painting range 211-4 indicates the range where the head 11-4 is moved relative to the object 200 by the robotic arm 13-4 for painting. The relative movement path information T1-4 indicates the path of the head 11-4 moving relative to the object 200.

[0171] Figure 16 Indicates the painting range 211-1 and the relative movement path information T1-1 of the head 11-1 among the four painting ranges 211 and the four relative movement path information T1. Figure 17 Is a diagram showing the painting range 211a-1 and the corrected path information T2-1 corrected by the three-dimensional coordinate transformation process of the Figure 6 correction unit 24. Even when performing three-dimensional transformation processing on the painting range 211 and the relative movement path information T1, it is possible to correct the offset of the position and inclination of the head 11 relative to the shape data D without changing the longitudinal movement distance and the lateral line break width. By performing such processing, the processing of the correction unit 24 can be simplified.

[0172] The coating device 100 relatively moves the head 11 with respect to the object 200 based on the calibration path information T2, discharges a liquid, and can perform coating in a state where the position of the object 200 and the position of the nozzle are three-dimensionally aligned. That is, in the present embodiment, a coating device 100 that can three-dimensionally align the position of the object 200 and the position of the nozzle can be provided. Therefore, even when the position and inclination of the object 200 transported to the coating position vary depending on the object 200, coating can be performed on the object 200 while reducing coating omission or coating unevenness. In addition, in the present embodiment, an example of using four feature point information E output from four detectors 12 has been described, but as long as the number of the feature point information E is three or more, the above effects can be obtained.

[0173] In the present embodiment, the head 11 discharges a liquid from a plurality of nozzles respectively.

[0174] Therefore, a plurality of regions on the object 200 can be coated simultaneously. Therefore, compared with the case of discharging a liquid from one nozzle to perform coating, the coating time can be reduced.

[0175] In the present embodiment, the moving mechanism includes a robotic arm 13 that holds the head 11 and the detector 12 and moves each of the head 11 and the detector 12 with respect to the object 200. The controller 20 controls the discharge of the liquid by the head 11 and the operation of the robotic arm 13. Thereby, compared with the case of combining a plurality of linear motion platforms to move the head 11 and the detector 12, the degree of freedom in the moving direction and the control of inclination of the head 11 and the detector 12 can be improved.

[0176] In the present embodiment, the moving mechanism includes a plurality of robotic arms 13 that are arranged near the object 200, hold the head 11 and the detector 12 respectively, and move the head 11 and the detector 12 with respect to the object 200 respectively. The controller 20 controls the discharge of the liquid by the head 11 and the operations of the plurality of robotic arms 13. Since a plurality of robotic arms 13 can be used to coat different regions of the object 200 simultaneously, compared with the case of using one robotic arm, the coating time can be shortened.

[0177] [Second Embodiment]

[0178] The coating device of the second embodiment will be described. The same names and reference numerals as those in the above embodiment represent the same or equivalent components or parts as those in the above embodiment, and their detailed descriptions are appropriately omitted.

[0179] The difference between this embodiment and the first embodiment is that the controller relatively moves the head 11 relative to the object 200 based on the information related to the inclination of the roof side portion with respect to the vehicle roof obtained from the shape data D of the object 200 and the information of three or more feature points E.

[0180] <Example of the functional configuration of the controller 20a>

[0181] Figure 18 It is a block diagram showing an example of the functional structure of the controller 20a of this embodiment.

[0182] The controller 20a is different from the controller 20 according to the first embodiment in that the controller 20a includes a correction unit 24a. Figure 2 The shown CPU 31 expands the program stored in the ROM 32 in the RAM 33 and executes the processing specified by this program, thereby realizing the function of the correction unit 24a.

[0183] The correction unit 24a obtains three-dimensional inclination amount information of the roof side portion of the object 200 with respect to the vehicle roof based on the shape information D of the object 200 as a vehicle and the information of three or more feature points E. The three-dimensional inclination amount information of the roof side portion with respect to the vehicle roof corresponds to the information related to the inclination of the roof side portion with respect to the vehicle roof.

[0184] The correction unit 24a corrects the relative movement path information T1 based on the detection result of the three-dimensional inclination amount of the roof side portion with respect to the vehicle roof, and obtains the corrected path information T2. The correction unit 24a outputs the obtained corrected path information T2 to the movement controller 28. The painting device 100 relatively moves the head 11 relative to the object 200 according to the corrected path information T2, thereby three-dimensionally aligning the position of the object 200 with the position of the nozzle of the head 11.

[0185] <Example of the processing of the controller 20a>

[0186] Figure 19 It is a flowchart showing an example of the detection process of the inclination amount of the roof side portion of the object 200 with respect to the vehicle roof performed by the controller 20a. For example, when performing the operation of step S75 in Figure 7 , the correction unit 24a starts Figure 19 processing. Figure 19 The processing from step S191 to step S194 in Figure 8 is the same as the processing from step S81 to step S84 in

[0187] In step S195, the correction unit 24a detects the assembly width of the roof molding groove at each of the front and rear portions of the object 200 based on three or more feature point information E. The so-called roof molding groove refers to a groove formed between the vehicle top portion and the roof side portion. The so-called assembly width refers to the width of the roof molding groove when the vehicle top portion is assembled to the roof side portion. When the vehicle top portion is assembled in an inclined manner in the rotational direction with respect to the shape data D of the object 200 set in advance, a difference occurs between the assembly width of the roof molding groove in the shape data D and the width of the roof molding groove.

[0188] Then, in step S196, the correction unit 24a compares the width of the roof molding groove in the shape data D of the object 200 with the assembly width of the roof molding groove detected in step S195.

[0189] Then, in step S197, the correction unit 24a detects the inclination amount of the roof side portion with respect to the vehicle top portion based on the comparison result in step S196.

[0190] As described above, the correction unit 24 can detect the inclination amount of the roof side portion with respect to the vehicle top portion of the object 200.

[0191] <Example of Inclination of Roof Side Portion 204 with Respect to Vehicle Top Portion 201>

[0192] Refer to Figures 20 to 25 The inclination of the roof side portion 204 with respect to the vehicle top portion 201 is described in detail. Figure 20 It is a view showing an example of the roof molding groove in the rear portion of the vehicle top portion 201. Figure 21 It is Figure 20 An enlarged view of region XXI in Figure 22 It is Figure 21 A cross-sectional view taken along line XXII-XXII of Figure 23 It is a view showing an example of the roof molding groove in the front portion of the vehicle top portion 201. Figure 24 It is a view showing an example of the relative movement path information T1a of the roof side portion 204. Figure 25 It is a view showing an example of the correction path information T2a of the roof side portion 204.

[0193] Figures 20 to 22 It shows Figure 9 The feature point 210-2 and its periphery in . The roof molding groove 205-2 is a groove between the vehicle top portion 201 and the roof side portion 204. The rear assembly distance Δr is the assembly distance of the roof molding groove 205-2.

[0194] On the contrary, Figure 23 It shows Figure 9Feature point 210-1 therein and its surroundings. The roof forming groove 205-1 is a groove between the roof top 201 and the roof side 204. The front assembly distance Δf is the assembly distance of the roof forming groove 205-1.

[0195] Figure 18 The calibration unit 24a shown can calculate the inclination amount of the roof side 204 relative to the roof top 201 using the rear assembly distance Δr and the front assembly distance Δf.

[0196] Figure 24 It represents the painting range 212-1 and the relative movement path information T1a-1 within the painting range 212-1, and the painting range 212-2 and the relative movement path information T1a-2 within the painting range 212-2. The painting range 212-1 and the relative movement path information T1a-1, as well as the painting range 212-2 and the relative movement path information T1a-2, deviate from the shape data D according to the position and inclination of the conveyed object 200.

[0197] Figure 25 It represents the calibration path information T2a-1 within the painting range 212a-1 and the calibration path information T2a-2 within the painting range 212a-2. Based on the inclination amount of the roof side 204 relative to the roof top 201, the deviation of the position and inclination of the conveyed object 200 relative to the shape data D is calibrated. The painting range 212a-1 and the calibration path information T2a-1, as well as the painting range 212a-2 and the calibration path information T2a-2, are calibrated without changing the longitudinal movement distance and the lateral line feed width. By performing such processing, the calibration processing of the calibration unit 24a can be simplified.

[0198] As described above, in this embodiment, the controller 20a relatively moves the head 11 with respect to the object 200 based on the information related to the inclination of the roof side 204 relative to the roof top 201 obtained from the shape information D of the object 200 and the information of three or more feature points E. Therefore, in this embodiment, it is possible to paint the side of the vehicle in a state where the position of the object 200 and the position of the nozzle are three-dimensionally aligned. That is, in this embodiment, it is possible to provide a painting apparatus 100 that can three-dimensionally align the position of the object 200 and the position of the nozzle on the side of the vehicle. The painting apparatus of this embodiment paints the side of the vehicle in a state where the position of the object 200 and the position of the nozzle are three-dimensionally aligned, thereby enabling painting with reduced painting omission and uneven painting.

[0199] The embodiments of the present invention have been described above, but the present disclosure is not limited to the above embodiments. That is, various deformations and improvements can be made within the scope of the present disclosure.

[0200] In this embodiment, the liquid discharged from the head 11 can be a solution, suspension, or emulsion of a solvent such as water or an organic solvent, a colorant such as a dye or a pigment, a functional material such as a polymerizable compound, a resin, or a surfactant, a biocompatible material such as DNA (deoxyribonucleic acid), an amino acid, or a protein, calcium, or an edible material such as a natural pigment. These can be used, for example, in applications such as ink for inkjet, paint for coating, surface treatment liquid, components such as electronic components and light-emitting elements, liquid for forming an electronic circuit resist pattern, and material liquid for three-dimensional modeling.

[0201] The object 200 represents an object to which the liquid adheres and solidifies, an object into which the liquid adheres and penetrates, etc. As the object 200, without particular limitation, for example, a vehicle body, building materials, paper, recording paper, recording medium such as a recording sheet, film, cloth, an electronic substrate, electronic components such as a piezoelectric element, a powder layer, an organ model, a medium to which the liquid adheres such as an inspection unit can be cited.

[0202] Each function in the above embodiment can be implemented by one or more processing circuits. In this specification, the so-called "processing circuit" includes: a processor programmed in a manner to implement each function by software, such as a processor installed by an electronic circuit; and devices such as an application specific integrated circuit (ASIC), a digital signal processor (DSP), a field programmable gate array (FPGA), and existing circuit modules.

[0203] Aspects of the present disclosure are as follows, for example:

[0204] In a first aspect, a coating apparatus includes: a head including nozzles configured to discharge a liquid from the nozzles toward an object; a detector configured to output information related to three-dimensional positions of three or more feature points of the object; a moving mechanism configured to move the head relative to the object; and a controller configured to control the discharge of the liquid from the head and the operation of the moving mechanism based on pre-specified shape data of the object and the information related to the three-dimensional positions of the three or more feature points output from the detector.

[0205] According to a second aspect, in the coating apparatus according to the first aspect, the controller moves the head relative to the object based on information related to the position and inclination of the object obtained from the pre-specified shape data of the object and the information related to the three-dimensional positions of the three or more feature points output from the detector.

[0206] According to a third aspect, in the coating apparatus according to the first aspect or the second aspect, the nozzles include a plurality of nozzles, and the head discharges the liquid from each of the plurality of nozzles.

[0207] According to a fourth aspect, in the coating device according to any one of the first to third aspects, the detector includes a stereo camera.

[0208] According to a fifth aspect, in the coating device according to any one of the first to fourth aspects, the moving mechanism includes a robotic arm that holds the head and the detector and is configured to move the head and the detector relative to the object. The controller controls the discharge of the liquid from the head and the operation of the robotic arm.

[0209] According to a sixth aspect, in the coating device according to any one of the first to fifth aspects, the moving mechanism includes a plurality of robotic arms disposed near the object. Each of the robotic arms holds the head and the detector and is configured to move the head and the detector relative to the object. The controller controls the discharge of the liquid from the head and the operations of the plurality of robotic arms.

[0210] According to a seventh aspect, in the coating device according to any one of the first to sixth aspects, the object is a vehicle including a vehicle top portion and a vehicle top side portion. The controller moves the head relative to the object based on information related to the inclination of the vehicle top side portion with respect to the vehicle top portion obtained from the predetermined shape data of the object and information related to the three-dimensional positions of the three or more feature points output from the detector.

[0211] In an eighth aspect, an information processing device includes: an output unit configured to output information related to a relative movement path of a head including a nozzle relative to an object in response to obtaining predetermined shape data of the object and information related to the three-dimensional positions of three or more feature points of the object output from a detector, and configured to discharge a liquid from the nozzle to the object.

[0212] In a ninth aspect, a coating method uses a coating device. The coating device includes: a head having a nozzle; a detector; a moving mechanism; and a controller. The coating method includes: discharging a liquid from the nozzle of the head to an object; outputting, by the detector, information related to the three-dimensional positions of three or more feature points of the object; moving, by the moving mechanism, the head relative to the object; and controlling, by the controller, the discharge of the liquid from the head and the operation of the moving mechanism based on the predetermined shape data of the object and the information related to the three-dimensional positions of the three or more feature points output from the detector.

[0213] In a tenth aspect, a program causes a coating apparatus to perform a process, the process including: discharging a liquid from the nozzle to an object by the head; outputting, by the detector, information related to three-dimensional positions of three or more feature points of the object; moving the head relative to the object by the moving mechanism; and controlling, by the controller, the discharge of the liquid by the head and the operation of the moving mechanism based on pre-specified shape data of the object and the information related to the three-dimensional positions of the three or more feature points output from the detector.

[0214] The above embodiments are illustrative and do not limit the present invention. Accordingly, many additional modifications and variations are possible in light of the above teachings. For example, within the scope of the present invention, elements and / or features of different illustrative embodiments may be combined with and / or substituted for one another. Any of the above operations may be performed in various other ways, such as in a different order than the above-described order.

[0215] The present disclosure may be implemented in any convenient form, such as using dedicated hardware or a combination of dedicated hardware and software. The present disclosure may be implemented as computer software applied by one or more networked processing devices. The processing facilities may be any suitably programmed device, such as a general-purpose computer, a personal digital assistant, a mobile phone (e.g., a WAP or 3G compatible phone), and so on. Since the present disclosure may be applied as software, each aspect of the present disclosure includes computer software executable on a programmable device. The computer software may be provided to the programmable device using any conventional carrier medium (carrier method). The carrier medium can accommodate transient carrier methods, such as electrical, optical, microwave, acoustic, or radio frequency signals carrying computer code. An example of such a transient method is a TCP / IP signal carrying computer code over an IP network (such as the Internet). The carrier medium may also include a storage medium for storing processor-readable code, such as a floppy disk, a hard disk, a CD-ROM, a tape device, or a solid-state storage device.

[0216] This patent application is based on and claims priority to Japanese Patent Application No. 2022-189549, filed with the Japan Patent Office on November 28, 2022, the entire disclosure of which is incorporated herein by reference.

[0217] List of Reference Numerals

[0218] 11, 11Y, 11M, 11C, 11K Heads

[0219] 11-1, 11-2, 11-3, 11-4 Heads

[0220] 12, 12-1, 12-2, 12-3, 12-4 Detectors

[0221] 13, 13-1, 13-2, 13-3, 13-4 Robot Arm

[0222] 14 Supply Mechanism

[0223] 15 Maintenance Mechanism

[0224] 20, 20a Controller

[0225] 21 Input Unit

[0226] 22 Acquisition Unit

[0227] 23 Generation Unit

[0228] 24, 24a Calibration Unit

[0229] 25 Discharge Controller

[0230] 26 Supply Controller

[0231] 27 Maintenance Controller

[0232] 28 Movement Controller

[0233] 29 Output Unit

[0234] 31 CPU

[0235] 32 ROM

[0236] 33 RAM

[0237] 34 HDD / SSD

[0238] 35 Device Connection I / F

[0239] 36 Communication I / F

[0240] 100 Painting Device

[0241] 110 Housing

[0242] 111 Supply Port

[0243] 112 Recovery Port

[0244] 113 Connector

[0245] 200 Object

[0246] 201 Roof Top

[0247] 202 Front Window

[0248] 203 Rear Window

[0249] 204 Roof Side

[0250] 205-1 and 205-2 Roof Molding Groove

[0251] 210-1, 210-2, 210-3, and 210-4 Feature Points

[0252] 210-1D, 210-2D, 210-3D, and 210-4D Feature Point Data

[0253] 211, 211-1, 211-2, 211-3, and 211-4 Coating Ranges

[0254] 230 Compressor

[0255] 311 Nozzle

[0256] 321 Nozzle Plate

[0257] 322 Flow Path

[0258] 324 Piezoelectric Element

[0259] 325 Liquid

[0260] 330Y, 330M, 330C, and 330K Liquid Tanks

[0261] 331 Pipe

[0262] 332 Air Regulator

[0263] 333 Pipe

[0264] 340 Discharge Module

[0265] C1 Discharge Control Signal

[0266] C2 Supply Control Signal

[0267] C3 Maintenance Control Signal

[0268] C4 Movement Control Signal

[0269] D Shape Data

[0270] E Feature Point Information

[0271] K1 Object Information

[0272] K2 Coating Color Information

[0273] S System Bus

[0274] P1 Plane

[0275] T1, T1-1, T1-2, T1-3, and T1-4 Relative Movement Path Information

[0276] T2 correction path information

[0277] Rx, Ry, Rz tilt amounts

[0278] Δf pre-assembly distance

[0279] Δr post-assembly distance

Claims

1. A coating device, comprising: a head including a nozzle configured to discharge a liquid from the nozzle toward an object; a detector configured to output information related to three-dimensional positions of three or more feature points of the object; a moving mechanism configured to move the head relative to the object; and a controller configured to control the discharge of the liquid from the head and the operation of the moving mechanism based on predetermined shape data of the object and the information related to the three-dimensional positions of the three or more feature points output from the detector.

2. The coating device according to claim 1, wherein the controller moves the head relative to the object based on information related to the position and inclination of the object obtained from the predetermined shape data of the object and the information related to the three-dimensional positions of the three or more feature points output from the detector.

3. The coating device according to claim 1 or 2, wherein the nozzle includes a plurality of nozzles, and the head discharges the liquid from each of the plurality of nozzles.

4. The coating device according to any one of claims 1 to 3, wherein the detector includes a stereo camera.

5. The coating device according to any one of claims 1 to 4, Among them, the moving mechanism includes a robotic arm that holds the head and the detector and is configured to move the head and the detector relative to the object, and wherein the controller controls the discharge of the liquid from the head and the operation of the robotic arm.

6. The coating device according to any one of claims 1 to 5, Among them, the moving mechanism includes a plurality of robotic arms disposed near the object, each robotic arm holding the head and the detector and being configured to move the head and the detector relative to the object, and wherein the controller controls the discharge of the liquid from the head and the operation of the plurality of robotic arms.

7. The coating device according to any one of claims 1 to 6, Among them, the object is a vehicle including a vehicle top portion and a vehicle roof side portion, and wherein the controller moves the head relative to the object based on information related to the inclination of the vehicle roof side portion relative to the vehicle top portion obtained from the predetermined shape data of the object and the information related to the three-dimensional positions of the three or more feature points output from the detector.

8. An information processing device, comprising: an output unit configured to output information related to a relative movement path of a head including a nozzle relative to an object in response to obtaining predetermined shape data of the object and information related to three-dimensional positions of three or more feature points of the object output from a detector, the head being configured to discharge a liquid from the nozzle toward the object.

9. A coating method performed by a coating device including a head having a nozzle, a detector, a moving mechanism, and a controller, the coating method comprising: discharging a liquid from the nozzle toward an object with the head; Output information related to the three-dimensional positions of three or more feature points of the object using the detector; Move the head relative to the object using the moving mechanism; and Control the discharge of the liquid from the head and the operation of the moving mechanism using the controller based on the predefined shape data of the object and the information related to the three-dimensional positions of the three or more feature points output from the detector.

10. A recording medium storing a program for causing a coating apparatus to execute a coating method, the coating apparatus including: a head having a nozzle, a detector, a moving mechanism, and a controller, the coating method including: Discharge a liquid from the nozzle of the head onto an object; Output information related to the three-dimensional positions of three or more feature points of the object using the detector; Move the head relative to the object using the moving mechanism; and Control the discharge of the liquid from the head and the operation of the moving mechanism using the controller based on the predefined shape data of the object and the information related to the three-dimensional positions of the three or more feature points output from the detector.

Images